Passive mine cage operation state monitoring system and method

Abstract

The invention discloses a passive mine cage operation state monitoring system and method, and relates to the technical field of mine cage operation state monitoring, the passive mine cage operation state monitoring system comprises a cage body and a remote monitoring terminal, the remote monitoring terminal communicates with the cage body through a wireless receiving box at a wellhead and communicates with a winch room control box through a data bus, and the winch room control box is connected with the remote monitoring terminal. A roller cage shoe, a flywheel energy storage device, a cage external monitoring sensor group, a cage internal monitoring sensor group, a substation and a radio transmission box are mounted on the cage body, and the cage external monitoring sensor group comprises a pressure sensor, a laser range finder, a vibration sensor and a displacement sensor; and the cage internal monitoring sensor group comprises a high-definition camera, voice communication equipment and an audible and visual alarm. According to the invention, the running state of the mine cage can be continuously monitored, the running stability and safety of the cage are improved, and the intelligent development of underground cage operation is promoted.

Description

Technical Field

[0001] The invention relates to the technical field of mine cage operation status monitoring, and in particular to a passive mine cage operation status monitoring system and method. Background Art

[0002] The mine cage is one of the important equipment for shaft hoisting, and is mainly responsible for lifting personnel and equipment. Once a failure occurs during operation, it will affect the normal production of the mine at the least, and cause casualties at the worst. Since the cage has been working in harsh environments for a long time, its key components are prone to failure under the influence of large impacts and vibrations. At the same time, with the continuous improvement of the intelligence level of coal mines, the increase in mining depth, and the increase in lifting speed and single lifting load, higher requirements are placed on the safe operation and maintenance of the cage. Therefore, it is urgent to carry out research on the mine cage operation status monitoring system and method to ensure the safe and efficient operation of the mine cage.

[0003] Although some scholars have conducted research on cage operation status monitoring systems, most existing cage operation status monitoring systems are battery-powered or wirelessly charged, which mainly have the following problems:

[0004] 1) The underground environment is complex, with flammable and explosive gases (gas, dust, etc.), which may cause sparks when they come into contact with batteries, posing the risk of explosion;

[0005] 2) The battery life is limited by its storage capacity. For the cage status monitoring system that needs to work continuously for a long time, due to the underground explosion-proof requirements, large-capacity batteries cannot be used, so the battery needs to be replaced frequently or charged regularly, which reduces the operation efficiency of the cage;

[0006] 3) The service life of the battery is affected by many factors such as the number of charge and discharge cycles, the operating environment, and maintenance conditions. Frequent charge and discharge cycles will accelerate battery aging and reduce its service life, which further increases the maintenance cost of the battery itself.

[0007] As a passive storage technology, flywheel energy storage technology has the advantages of high efficiency, long life, reliability, rapid response and environmental protection. From the perspective of technical characteristics, it has the potential to be applied to underground coal mines, which have special requirements for explosion protection. At the same time, considering that the operating states of the cage mainly include acceleration, constant speed and deceleration. Among them, the braking energy during the deceleration process is usually wasted, and there is currently a lack of research on energy storage solutions for the efficient utilization of the braking energy of the cage.

[0008] In view of the above situation, the present invention discloses a passive mine cage operation status monitoring system and method. Combined with the characteristics of the cage operation conditions (acceleration first, then constant speed, and finally deceleration), flywheel energy storage technology is used to collect the braking energy during the cage deceleration process to meet the power consumption requirements of each load in the cage, and then various monitoring sensors are used to realize real-time and reliable monitoring of the cage operation status in a wireless transmission manner, thereby ensuring the safe operation of the lifting system. Summary of the invention

[0009] The purpose of the present invention is to solve the problems raised by the above-mentioned background technology and to propose a passive mine cage operation status monitoring system and method, so as to realize continuous monitoring of the mine cage operation status, improve the stability and safety of the cage operation, and promote the intelligent development of underground cage operations.

[0010] The purpose of the present invention can be achieved through the following technical solutions:

[0011] In the first aspect, the present invention provides a passive mine cage operation status monitoring system, including a cage body and a remote monitoring terminal, the remote monitoring terminal communicates with the cage body through a radio receiving box at the wellhead, and communicates with a winch room control box through a data bus; two roller ears and a flywheel energy storage device installed above the roller ears are symmetrically installed on both sides of the cage body; a high-speed camera, a radio transmitting box and a substation are installed in sequence between the two roller ears on the cage body; a pressure sensor, a laser rangefinder, a displacement sensor and a vibration sensor are arranged on the roller ears, and a high-definition camera, voice communication equipment and an audible and visual alarm are installed inside the cage body.

[0012] As a preferred embodiment of the present invention, both ends of the roller tank ear axis are square heads, the pressure sensor is arranged on the square heads, the laser rangefinder is arranged on the side wall of the roller tank ear, the displacement sensor and the vibration sensor are arranged on the bottom plate of the roller tank ear, and each sensor is powered by the flywheel energy storage device in real time. The collected sensor signals are integrated into the substation, the substation processes the sensor signals, and connects to the radio transmitter box through the serial port to realize communication.

[0013] As a preferred embodiment of the present invention, the radio transmitting box includes an acquisition circuit board, a transmitting module and a radio antenna. The sensor signals collected by the pressure sensor, laser rangefinder, vibration sensor, displacement sensor and vibration sensor are first integrated and processed by the substation, and then sent by the radio transmitting box to the wellhead radio receiving box through the wireless sensor network.

[0014] As a preferred embodiment of the present invention, the radio receiving box includes a receiving antenna, a receiving module and a serial communication module 1. The radio receiving box receives the radio signal from the radio transmitting box and demodulates it into serial data for transmission to the remote monitoring terminal.

[0015] As a preferred embodiment of the present invention, the remote monitoring terminal includes a serial communication module 2, a switch quantity acquisition card, an industrial computer and an indication panel. The remote monitoring terminal receives the load signal and displacement signal demodulated from the radio receiving box, extracts various auxiliary judgment signals, and uses the upper computer software to analyze and judge the collected data and output control and display signals.

[0016] As a preferred embodiment of the present invention, the flywheel energy storage device includes a flywheel, a transmission shaft, a track, a controllable wheel group, a generator, an energy conversion device and a shell. The flywheel is connected to the generator through the transmission shaft, and the generator is fixedly connected above the controllable wheel group. The controllable wheel group is used to adjust the distance between the flywheel and the tank channel; in the energy storage stage, the controllable wheel group reduces the distance between the flywheel and the tank channel, and the flywheel contacts and rotates with the tank channel to achieve energy storage; in the energy release stage, the controllable wheel group increases the distance between the flywheel and the tank channel, and the flywheel moves away from the tank channel and releases energy; the shell is arranged above the generator and the track, and the shell is provided with an inlet and outlet of the flywheel on the side close to the tank channel, and the flywheel contacts and separates with the tank channel through the inlet and outlet, and the remaining components are fixed inside the shell; the flywheel is a disc-shaped flywheel with uniform mass distribution.

[0017] In a second aspect, the present invention provides a passive mine cage operation status monitoring method, comprising the following steps:

[0018] S1. Real-time perception of cage operation status: The absolute distance between the cage body and the tank channel in the wellbore is measured in real time by a laser rangefinder, the pressure of the tank ear on the tank channel is obtained by a pressure sensor, and the displacement information and vibration information of the cage body are obtained by a displacement sensor and a vibration sensor;

[0019] S2. Full-view visual monitoring of the cage: The full-view monitoring screen of the cage body is obtained in real time through a high-definition camera, and the remote visual operation of the cage body is realized. The voice communication equipment is used to realize the remote audio transmission and information interaction functions, thereby realizing the real-time monitoring and communication of the actual operating conditions of the cage body;

[0020] S3. Visual monitoring of well wall information: Through the high-speed camera arranged on the cage body, the well wall related information during the operation of the cage body is monitored in real time and sent to the remote monitoring terminal through the wireless sensor network;

[0021] S4, monitoring data transmission and control: Based on the wireless sensor network, image data, audio data and tank ear sensor data are integrated and transmitted to the remote monitoring terminal, which realizes the visualization of the video monitoring interface and the measurement results of related sensors, and sends instructions to the winch room control box according to the operation status of the tank cage, so as to adjust the operation status of the tank cage body;

[0022] S5. Flywheel energy storage control: According to the real-time operating status of the cage body, the remote monitoring terminal sends instructions to the controllable wheel group of the flywheel energy storage device through the wireless sensor network to control the flywheel in the flywheel energy storage device to contact or stay away from the tank channel, thereby realizing the charging and discharging process of the flywheel energy storage device.

[0023] As a preferred embodiment of the present invention, the real-time perception of the cage operation status in S1 includes the following steps:

[0024] S11. During cage operation, when the roller ears are subjected to pressure from the tank channel, the rollers transmit the pressure to the square head plane through the mandrel. At this time, the pressure sensor installed on the square head plane detects the pressure change, and its internal resistance changes, converting the pressure into an electrical signal for output; the displacement sensor collects the cage displacement signal, the vibration sensor collects the cage vibration signal, and the laser rangefinder measures the absolute distance between the cage body and the tank channel in the wellbore;

[0025] S12. The collected roller ear pressure signal, cage displacement signal and cage-to-tank channel distance signal are weak voltage signals, which are sent to the substation through the wireless sensor network. After data conversion and processing at the substation, they are used as input signals of the AD converter. Then, the AD converter outputs a digital signal, and the digital signal is encoded and processed to generate a serial output signal with a check bit. Finally, the carrier is modulated to obtain a high-frequency modulated wave. The substation communicates with the radio transmitter box through the serial port.

[0026] As a preferred embodiment of the present invention, monitoring data transmission and control includes the following steps:

[0027] S41, the signal transmitting module in the radio transmitting box sends the horizontal pressure value on the roller tank ear, the displacement value of the tank cage, the vibration value, and the distance value between the tank cage and the tank channel to the signal receiving module in the wellhead radio receiving box, demodulates it into serial data through the A / D converter, and then uses the serial communication module in the radio receiving box to transmit the data to the remote monitoring terminal. At the same time, the image data and audio data of the tank cage and the well wall are transmitted to the remote monitoring terminal through the wireless sensor network;

[0028] S42, the remote monitoring terminal receives the demodulated pressure signal, displacement signal, vibration signal, distance signal, image data of the cage and the well wall, and audio data to assist in the judgment signal. The upper computer software of the remote monitoring terminal uses the distance between the cage body and the tank channel to indirectly grasp the stress state of the roller ear and the deformation state of the tank channel through data conversion. The upper computer software analyzes the physical model of the cage and determines the flatness of the current tank channel in combination with the information in the background database. At the same time, the upper computer software uses the pressure of the roller ear on the tank channel to analyze whether the roller ear is operating abnormally. The upper computer software displays and saves the operation state change curve and abnormal situation record during the cage operation process on the remote monitoring terminal;

[0029] S43. Before the cage operation begins, the remote monitoring terminal first self-checks the wireless communication status and sensor status. If a fault occurs, the system alarm is issued. If it is normal, the serial port signal is read. At this time, the remote monitoring terminal detects whether the signal is complete. If it is incomplete, a communication fault alarm signal is issued. If it is normal, the next step of load pressure calculation is performed. If the load pressure exceeds the preset threshold, the remote monitoring terminal controls the sound and light alarm in the cage body through the wireless sensor network to respond. At the same time, the management personnel confirm the real-time through the high-definition camera in the cage body at the remote monitoring terminal, and coordinate the load through the voice communication equipment in the cage body. If it is normal, the remote monitoring terminal sends a command to the winch room control box to start the winch to realize the normal operation of the cage. If the displacement value, vibration value and distance between the cage body and the tankway exceed the preset threshold during the operation, the remote monitoring terminal controls the sound and light alarm in the cage body through the wireless sensor network to respond, and requests the management personnel to participate in the emergency disposal.

[0030] As a preferred embodiment of the present invention, the flywheel energy storage regulation includes the following steps:

[0031] S51, initial stage: the flywheel energy storage device is arranged above the roller tank ear, the flywheel contacts the tank channel and remains stationary, at this time, the flywheel energy storage device is in a power-off state, and the motor of the controllable wheel set is self-locked due to the power-off state;

[0032] S52, the acceleration stage of the cage descending operation: the flywheel rotates by friction with the tank channel, and drives the generator to rotate and generate electricity through the transmission shaft. As the cage descends at an accelerated speed, the speed of the flywheel continues to increase, and the stored energy of the flywheel energy storage device continues to increase. After time t1, the stored energy of the flywheel energy storage device reaches E1, wherein the energy consumption of the controllable wheel group and the tank ear sensors when working normally is E4. Since E1>E4, the flywheel energy storage device uses the energy conversion device to release energy to meet the continuous power supply requirements of the controllable wheel group and the tank ear sensors. When the acceleration stage is about to end, the controllable wheel group starts to work and adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel. Then the controllable wheel group is self-locked, and the flywheel uses inertia to store the energy obtained in the t1 time period, and transmits part of the energy to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply requirements of various loads;

[0033] S53, the cage performs the uniform speed stage of descending operation: at this time, the flywheel has been away from the tank channel, and as the cage descends at a normal uniform speed, the energy stored in the flywheel is continuously consumed. After time t2, the energy stored in the flywheel is reduced to the critical value E2, at which time E2=E4, and the controllable wheel group releases the self-locking and starts the operation, adjusting the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, and then the controllable wheel group self-locks to achieve energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device continues to store energy;

[0034] S54, the deceleration stage of the cage descending operation: the flywheel speed increases continuously, the energy stored in the flywheel increases continuously and is released through the energy conversion device to meet the continuous power supply demand of each load. After time t3, the flywheel uses inertia to store the energy obtained in the t3 time period, and the flywheel energy storage device completes energy storage, and its stored energy reaches E3. At this time, E3>E4. When the deceleration stage is about to end, the controllable wheel group releases the self-locking and starts to operate, and adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel. At the same time, the flywheel transmits the energy obtained in the t3 time period to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply demand of each load.

[0035] S55, loading and unloading operation: the cage's descending speed is reduced to zero, the cage's descending operation is completed, and the loading and unloading operation begins; at this time, the flywheel is far away from the tank channel, the cage is in a stationary state, and the flywheel storage device releases energy through the energy conversion device to meet the continuous power supply requirements of each load;

[0036] S56, the acceleration stage of the cage performing the ascent operation: at the beginning of the ascent, the controllable wheel group releases the self-locking, and adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel. When the cage performs acceleration, the flywheel and the tank channel rotate frictionally, and the generator is driven to rotate and generate electricity through the transmission shaft. As the cage accelerates and rises, the speed of the flywheel continues to increase, and the stored energy of the flywheel energy storage device continues to increase. After time t4, the stored energy of the flywheel energy storage device reaches E5, wherein the energy consumption of the controllable wheel group and the roller tank ear sensors when working normally is E4. Since E5>E4, the flywheel energy storage device releases energy through the energy conversion device to meet the continuous power supply requirements of the controllable wheel group and the tank ear sensors. At this time, the controllable wheel group starts to work, adjusts the distance between the flywheel and the tank channel to achieve the separation of the flywheel and the tank channel, and then the controllable wheel group self-locks, and the flywheel uses inertia to store the energy obtained in the t4 time period, and transmits this part of energy to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply requirements of various loads;

[0037] S57, the cage performs the uniform speed stage of the ascending operation: at this time, the flywheel has been away from the tank channel, and as the cage body rises normally at a uniform speed, the energy of the flywheel storage device is continuously consumed. After time t5, the stored energy of the flywheel storage device is reduced to the critical value E6. At this time, E6=E4, the controllable wheel group releases the self-locking and starts the operation, adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, and then the controllable wheel group self-locks to realize the energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device starts to store energy;

[0038] S58, the deceleration stage of the cage performing the ascending operation: due to the high-speed friction between the flywheel and the tank channel, the speed of the flywheel is continuously increased, the stored energy of the flywheel storage device is continuously increased and released through the energy conversion device to meet the continuous power supply demand of each load. After time t6, the flywheel uses inertia to store the energy obtained in the t6 time period, and the flywheel energy storage device completes energy storage, and its stored energy reaches E7, where E7>E4; when the deceleration stage is over, the controllable wheel group releases self-locking and starts operation, adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel, and then the controllable wheel group self-locks, and the flywheel transmits the energy obtained in the t5 time period to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply demand of each load device;

[0039] S59, loading and unloading operation: the lifting speed of the cage is reduced to zero, the cage lifting operation is completed, and the loading and unloading operation begins. At this time, the flywheel is far away from the tank channel, the cage is in a static state, and the flywheel storage device releases energy through the energy conversion device to meet the continuous power supply requirements of each load;

[0040] S510, after loading and unloading, enter S51 stage, repeat the above steps S51-S59 to realize the operation status detection of the whole process of cage operation;

[0041] S511, tank cage operation is completed: when the tank cage operation is completed and needs to be stopped, the controllable wheel group releases the self-locking and starts the operation, adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, the controllable wheel group self-locks, and the flywheel always keeps in contact with the tank channel.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention has the functions of real-time image transmission, audio transmission, information interaction, information release, etc., which can realize comprehensive real-time monitoring of the inside and outside of the cage and its operating environment, and can realize remote control through real-time communication and exchange.

[0044] 2. Compared with the existing monitoring systems that rely on large-capacity batteries or wireless charging, the flywheel energy storage device proposed in the present invention can realize the autonomous power supply of the mine cage operation status monitoring system without the need for batteries, thereby improving the safety and operating efficiency of underground coal mine operations.

[0045] 3. Different from the existing fixed flywheel energy storage device, the flywheel energy storage device proposed in the present invention is provided with a controllable wheel set, which can realize adaptive contact and separation between the flywheel energy storage device and the tank channel, so as to efficiently collect the energy wasted by braking of the tank cage during the deceleration stage as much as possible, which is energy-saving and environmentally friendly.

[0046] 4. In order to realize the continuous operation of the mine cage operation status monitoring system, the present invention proposes a controllable wheel group adjustment strategy based on the energy storage level of the flywheel storage device, which improves the energy utilization efficiency on the basis of meeting the power consumption requirements of each load under different operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0048] Figure 1 It is a schematic diagram of the arrangement of the roller can ear sensor;

[0049] Figure 2 is a schematic diagram of a flywheel energy storage device;

[0050] Figure 3 This is a schematic diagram of the cage motion status monitoring system;

[0051] Figure 4 This is the data collection block diagram of the roller tank ear;

[0052] Figure 5 Schematic diagram for monitoring data transmission and control;

[0053] Figure 6 This is a schematic diagram of the operation process of the flywheel energy storage device;

[0054] Figure 7 It is a schematic diagram of charging and discharging of the flywheel energy storage device during operation;

[0055] Figure 8 Flow chart for controlling cage operation using monitoring data.

[0056] Reference numerals:

[0057] 1. Roller support plate; 2. Roller; 3. Pressure sensor; 4. Square head; 5. Roller ear box; 6. Laser rangefinder; 7. Displacement sensor; 8. Vibration sensor; 9. Tankway; 10. Shell; 11. Flywheel; 12. Transmission shaft; 13. Controllable wheel set; 14. Generator; 15. Track; 16. Energy conversion device; 17. Winch room control box; 18. Remote monitoring terminal; 19. Radio receiving box; 20. High-speed camera; 21. Roller ear; 22. Cage body; 23. Flywheel energy storage device; 24. Radio transmitting box; 25. Substation. DETAILED DESCRIPTION

[0058] The technical scheme of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0060] Example 1

[0061] See also Figure 1 - Figure 8As shown, the present invention provides a passive mine cage operation status monitoring system, including a cage body 22 and a remote monitoring terminal 18, the remote monitoring terminal 18 communicates with the cage body 22 through a radio receiving box 19 at the wellhead, and communicates with the winch room control box 17 through a data bus, the cage body 22 is equipped with a roller ear 21, a flywheel energy storage device 23, a high-speed camera 20, a substation 25 and a radio transmitting box 24, the roller ear 21 is provided with a pressure sensor 3, a laser rangefinder 6, a vibration sensor 8 and a displacement sensor 7, and a high-definition camera, a voice communication device and an audible and visual alarm are installed inside the cage body 22.

[0062] The sensor layout is as follows Figure 1 As shown, both ends of the mandrel of the roller can ear 21 are square heads 4, the pressure sensor 3 is arranged on the square head 4, the laser rangefinder 6 is arranged on the side wall of the roller can ear box 5, and the displacement sensor 7 and the vibration sensor 8 are arranged on the bottom plate of the roller can ear 21. Each sensor is powered by the flywheel energy storage device 23 in real time, and the collected sensor signals are integrated into the substation 25, and connected to the radio transmission box 24 through the serial port to realize communication.

[0063] The radio transmitter box 24 includes a collection circuit board, a transmission module, and a radio antenna. The data collected by the pressure sensor 3, the laser rangefinder 6, the displacement sensor 7, and the vibration sensor 8 are first integrated and processed by the substation 25, and then sent by the radio transmitter box 24 to the wellhead radio receiving box 19 through the wireless sensor network.

[0064] The radio receiving box 19 includes a receiving antenna, a receiving module, and a serial communication module. The radio receiving box 19 receives the radio signal from the radio transmitting box 24 , and demodulates it into serial data for transmission to the remote monitoring terminal 18 .

[0065] The remote monitoring terminal 18 includes a serial communication module, a switch quantity acquisition card, an industrial computer, and an indication panel. The remote monitoring terminal 18 receives the load signal and displacement signal demodulated from the radio receiving box 19, extracts various auxiliary judgment signals, uses the upper computer software to analyze and judge the collected data, and outputs control and display signals.

[0066] The structure of the flywheel energy storage device 23 is as follows: Figure 2As shown, the flywheel energy storage device 23 is arranged above the roller tank ear 21 , and the flywheel energy storage device 23 includes a flywheel 11 , a transmission shaft 12 , a track 15 , a controllable wheel set 13 , a generator 14 , an energy conversion device 16 , and a housing 10 . The flywheel 11 is connected to the generator 14 through the transmission shaft 12. The generator 14 is fixedly connected to the controllable wheel group 13. The controllable wheel group 13 can adjust the distance between the flywheel 11 and the tank channel 9; ① in the energy storage stage, the controllable wheel group 13 reduces the distance between the flywheel 11 and the tank channel 9, and the flywheel 11 contacts and rotates with the tank channel 9 to achieve energy storage; ② in the energy release stage, the controllable wheel group 13 increases the distance between the flywheel 11 and the tank channel 9, and the flywheel 11 moves away from the tank channel 9 and releases energy; the shell 10 is arranged above the generator 14 and the track 15. The shell 10 is provided with an inlet and outlet of the flywheel 11 on the side close to the tank channel 9. The flywheel 11 can achieve contact and separation with the tank channel 9 through the inlet and outlet, and the remaining components are fixed inside the shell 10.

[0067] The flywheel 11 is a disc-shaped flywheel with uniform mass distribution, so its moment of inertia I is:

[0068]

[0069] Among them, m is the flywheel mass and r is the flywheel radius.

[0070] The relationship between the rotation speed N of the flywheel 11 and the angular velocity ω is:

[0071]

[0072] The energy E stored in the flywheel 11 energy storage system is determined by the speed w and the moment of inertia I of the flywheel body, and is expressed as:

[0073]

[0074] It can be further known that the relationship between the energy E stored in the flywheel 11 energy storage system and the flywheel speed N can be expressed as:

[0075]

[0076] Furthermore, the energy E stored in the flywheel 11 and the energy released must satisfy the following relationship:

[0077] t1·E≥t2·E c +E t (5)

[0078] In the formula, t1 is the time for storing energy, t2 is the time for releasing energy, Ec is the energy required to be consumed by each load; and Et is the energy required to be consumed by the controllable wheel group 13 to adjust the distance between the flywheel 11 and the tank channel 9.

[0079] Example 2

[0080] Based on Example 1, a passive mine cage operation status monitoring method is provided, comprising the following steps:

[0081] A passive mine cage operation status monitoring system and method, comprising the following steps:

[0082] S1. Real-time perception of cage operation status: The absolute distance between the cage body 22 and the tank channel 9 in the wellbore is measured in real time by the laser rangefinder 6, the pressure of the roller tank ear 21 on the tank channel 9 is obtained by the pressure sensor 3, and the displacement information and vibration information of the cage body 22 are obtained by the displacement sensor 7 and the vibration sensor 8;

[0083] S2. Full-view visual monitoring of the cage: A high-definition camera is installed inside the cage body 22. The high-definition camera is used to obtain a full-view monitoring image of the cage body 22 in real time, realize remote visual operation of the cage, and use voice communication equipment to realize remote audio transmission, information interaction and other functions, thereby realizing real-time monitoring and communication of the actual operating conditions in the cage;

[0084] S3, visual monitoring of well wall information: through the high-speed camera 20 arranged on the cage body 22, the well wall related information during the operation of the cage body 22 is monitored in real time and sent to the remote monitoring terminal 18 through the wireless sensor network;

[0085] S4, monitoring data transmission and control: Based on the wireless sensor network, image data, audio data and tank ear sensor data are integrated and transmitted to the remote monitoring terminal 18, which can realize the visualization of the video monitoring interface and the measurement results of related sensors, and send instructions to the winch room control box 17 according to the operation status of the tank cage to adjust the operation status of the tank cage body 22;

[0086] S5. Flywheel energy storage control: According to the real-time operating status of the cage body 22, the remote monitoring terminal 18 sends instructions to the controllable wheel group 13 of the flywheel energy storage device 23 through the wireless sensor network to control the flywheel 11 in the flywheel energy storage device 23 to contact or stay away from the tank channel 9, thereby realizing the charging and discharging process of the flywheel energy storage device 23.

[0087] Real-time perception of cage operation status includes the following steps:

[0088] S11. During cage operation, when the roller ear 21 is subjected to pressure from the tank channel 9, the roller 2 is transmitted to the plane of the square head 4 through the mandrel. At this time, the pressure sensor 3 installed on the plane of the square head 4 detects the change in pressure, and its internal resistance changes, converting the pressure into an electrical signal for output. Similarly, the displacement sensor 7 collects cage displacement signals, the vibration sensor 8 collects cage vibration signals, and the laser rangefinder 6 measures the absolute distance between the cage body 22 and the tank channel 9 in the wellbore.

[0089] S12, since the roller tank ear 21 pressure signal, tank cage displacement signal and tank cage and tank channel distance signal collected by each sensor are weak voltage signals, such as Figure 4 and Figure 5 As shown, first, these signals are sent to the substation 25 through the wireless sensor network, and after data conversion and processing by the substation 25, they are used as input signals of the AD converter. Then, the AD converter outputs digital signals, and through encoding operations and data processing of the digital signals, a serial output signal with a check bit is generated. Finally, the carrier is modulated to obtain a high-frequency modulated wave, and the substation 25 communicates with the radio transmitter box 24 through the serial port.

[0090] Monitoring data transmission and control includes the following steps:

[0091] S41, the signal transmitting module in the radio transmitting box 24 sends the horizontal pressure value, cage displacement value, vibration value, and cage-to-tank distance value signals on the roller tank ear 21 to the signal receiving module in the wellhead radio receiving box 19, which is demodulated into serial data by an A / D converter, and then the data is transmitted to the remote monitoring terminal 18 by the serial communication module in the radio receiving box 19. At the same time, the image data and audio data of the cage and the well wall are transmitted to the remote monitoring terminal 18 through the wireless sensor network;

[0092] S42, the remote monitoring terminal 18 receives the demodulated pressure signal, displacement signal, vibration signal, distance signal, and auxiliary judgment signals such as image data and audio data inside the cage and on the well wall. The host computer software of the remote monitoring terminal 18 uses the distance between the cage body 22 and the tank channel 9 to indirectly grasp the stress state of the roller tank ear 21 and the deformation state of the tank channel through data conversion (the data conversion formula is obtained by summarizing the previous theoretical calculation results and test results through mathematical statistics, and the data conversion formulas of roller tank ears 21 of different specifications are different). The host computer software analyzes the physical model of the cage and determines the flatness of the current tank channel 9 in combination with the information of the background database. At the same time, the host computer software uses the pressure of the roller tank ear 21 on the tank channel 9 to analyze whether the roller tank ear 21 is deflected or other abnormal operations. The host computer software displays and saves the operation status change curve and abnormal situation records during the cage operation process on the remote monitoring terminal 18;

[0093] S43. Before cage operation begins, Figure 8As shown, first, the remote monitoring terminal 18 self-checks the wireless communication status and sensor status. If a fault occurs, the system alarm is issued. If it is normal, the serial port signal is read; at this time, the remote monitoring terminal 18 will detect whether the signal is complete. If it is incomplete, a communication fault alarm signal is issued. If it is normal, the next step of load pressure calculation is performed. If the load pressure exceeds the preset threshold, the remote monitoring terminal 18 controls the sound and light alarm in the cage body 22 through the wireless sensor network, thereby responding. At the same time, the management personnel confirm the real-time through the high-definition camera in the cage body 22 at the remote monitoring terminal 18, and coordinate the load through the voice communication equipment in the cage body 22. If it is normal, the remote monitoring terminal 18 sends a command to the winch room control box 17 to start the winch to realize the normal operation of the cage. If the displacement value, vibration value and distance between the cage body 22 and the tankway 9 of the cage body 22 exceed the preset threshold during the operation, the remote monitoring terminal 18 controls the sound and light alarm in the cage body 22 through the wireless sensor network, thereby responding, and requesting the management personnel to participate in the emergency disposal.

[0094] The flywheel energy storage regulation process is as follows Figure 6 As shown, the following steps are included:

[0095] S51, initial stage: the flywheel energy storage device 23 is arranged above the roller tank ear 21, the flywheel 11 contacts the tank track 9 and remains stationary, at this time, the flywheel energy storage device 23 is in a power-off state, the motor of the controllable wheel group 13 is self-locked due to the power-off state, and the flywheel energy storage device 23 is difficult to slide along the track 15;

[0096] S52, the acceleration stage of the cage descending operation: the flywheel 11 rotates by friction with the tank channel 9, and drives the generator 14 to rotate and generate electricity through the transmission shaft 12. As the cage descends at an accelerated speed, the speed of the flywheel 11 continues to increase, and the stored energy of the flywheel energy storage device 23 continues to increase. After time t1, the stored energy of the flywheel energy storage device 23 reaches E1, wherein the energy consumption of the controllable wheel group 13 and the tank ear sensors when working normally is E4. Since E1>E4, the flywheel energy storage device 23 uses the energy conversion device 16 to release energy to meet the continuous power supply requirements of the controllable wheel group 13 and the tank ear sensors. When the acceleration stage is about to end, the controllable wheel group 13 starts to work, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the separation of the flywheel 11 and the tank channel 9, and then the controllable wheel group 13 self-locks, and the flywheel uses inertia to store the energy obtained in the t1 time period, and transmits part of the energy to the generator 14 through the transmission shaft 12, thereby maintaining the rotation of the generator 14, and releases energy through the energy conversion device 16 to meet the continuous power supply requirements of various loads;

[0097] S53, the cage performs the uniform speed stage of descending operation: at this time, the flywheel 11 has been away from the tank channel 9. As the cage descends at a normal uniform speed, the energy stored in the flywheel 11 is continuously consumed. After time t2, the energy stored in the flywheel 11 is reduced to the critical value E2. At this time, E2=E4, and the controllable wheel group 13 releases the self-locking and starts the operation, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve the contact between the flywheel 11 and the tank channel 9. Then, the controllable wheel group 13 self-locks to realize the energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device 23 continues to store energy;

[0098] S54, the deceleration stage of the cage descending operation: the speed of the flywheel 11 is continuously increased, the energy stored in the flywheel 11 is continuously increased and released through the energy conversion device 16 to meet the continuous power supply demand of each load. After time t3, the flywheel uses inertia to store the energy obtained in the t3 time period, and the flywheel energy storage device 23 completes energy storage, and its stored energy reaches E3. At this time, E3>E4, when the deceleration stage is about to end, the controllable wheel group 13 releases the self-locking and starts to operate, and adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the separation of the flywheel 11 and the tank channel 9. At the same time, the flywheel transmits the energy obtained in the t3 time period to the generator 14 through the transmission shaft 12, thereby maintaining the rotation of the generator 14, and releases energy through the energy conversion device 16 to meet the continuous power supply demand of each load;

[0099] S55, loading and unloading operation: the descending speed of the cage body 22 is reduced to zero, the cage descending operation is completed, and the loading and unloading operation begins. At this time, the flywheel 11 is far away from the tank channel 9, the cage is in a stationary state, and the flywheel storage device 23 releases energy through the energy conversion device 16 to meet the continuous power supply requirements of each load;

[0100] S56, the acceleration stage of the cage ascending operation: at the beginning of the ascending stage, the controllable wheel group 13 releases the self-locking, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve contact with the tank channel, and when the cage body 22 is accelerating, the flywheel 11 rotates with the tank channel 9 through friction, and drives the generator 14 to rotate and generate electricity through the transmission shaft 12. As the cage accelerates and ascends, the flywheel speed continues to increase, and the stored energy of the flywheel energy storage device 23 continues to increase. After time t4, the stored energy of the flywheel energy storage device 23 reaches E5, among which the energy consumption of the controllable wheel group 13 and the roller tank ear 21 when each sensor is working normally is is E4. Since E5>E4, the flywheel energy storage device 23 releases energy through the energy conversion device 16 to meet the continuous power supply requirements of the controllable wheel group 13 and the tank ear sensors. At this time, the controllable wheel group 13 starts to work, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the separation of the flywheel 11 and the tank channel 9, and then the controllable wheel group 13 is self-locking. The flywheel uses inertia to store the energy obtained during the time period t4, and transmits this part of energy to the generator 14 through the transmission shaft 12, thereby maintaining the rotation of the generator 14, and releases energy through the energy conversion device 16 to meet the continuous power supply requirements of various loads;

[0101] S57, the cage performs the uniform speed stage of the ascending operation: at this time, the flywheel 11 has been away from the tank channel 9, and as the cage body 22 rises at a normal uniform speed, the energy of the flywheel storage device 23 is continuously consumed. After time t5, the stored energy of the flywheel storage device is reduced to the critical value E6. At this time, E6=E4, the controllable wheel group 13 releases the self-locking and starts the operation, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the contact between the flywheel 11 and the tank channel 9, and then the controllable wheel group 13 self-locks to realize the energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device 23 starts to store energy;

[0102] S58, the deceleration stage of the cage performing the ascending operation: due to the high-speed friction between the flywheel 11 and the tank channel 9, the flywheel speed is continuously increased, the stored energy of the flywheel storage device 23 is continuously increased and released through the energy conversion device 16 to meet the continuous power supply requirements of various loads. After time t6, the flywheel uses inertia to store the energy obtained in the t6 time period, and the flywheel energy storage device 23 completes energy storage, and its stored energy reaches E7, where E7>E4; when the deceleration stage is over, the controllable wheel group 13 releases the self-locking and starts the operation, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the separation of the flywheel 11 and the tank channel 9, and then the controllable wheel group 13 self-locks, and the flywheel transmits the energy obtained in the t5 time period to the generator 14 through the transmission shaft 12, thereby maintaining the rotation of the generator 14, and releases energy through the energy conversion device 16 to meet the continuous power supply requirements of various load devices;

[0103] S59, loading and unloading operation: the cage's ascending speed is reduced to zero, the cage's ascending operation is completed, and the loading and unloading operation begins. At this time, the flywheel 11 is far away from the tank channel 9, the cage is in a stationary state, and the flywheel storage device 23 releases energy through the energy conversion device 16 to meet the continuous power supply requirements of each load;

[0104] S510, after loading and unloading, enter S51 stage, repeat the above steps S51-S59 to realize the operation status detection of the whole process of cage operation;

[0105] S511, cage operation is completed: when the cage operation is completed and needs to be shut down, the controllable wheel group 13 releases the self-locking and starts the operation, adjusts the distance between the flywheel 11 and the tank channel 9 to achieve the contact between the flywheel 11 and the tank channel 9, the controllable wheel group 13 self-locks, and the flywheel 11 always keeps in contact with the tank channel 9.

[0106] Therefore, the present invention realizes real-time monitoring of the operating status of the mine cage, improves the stability and safety of the cage operation, and promotes the intelligent development of underground cage operations.

[0107] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A passive mine cage operation status monitoring system, comprising a cage body and a remote monitoring terminal, wherein the remote monitoring terminal communicates with the cage body through a radio receiving box at the wellhead, and communicates with a winch room control box through a data bus; characterized in that: Two roller ears and a flywheel energy storage device installed above the roller ears are symmetrically installed on both sides of the cage body; a high-speed camera, a radio transmitting box and a substation are installed in sequence between the two roller ears on the cage body; a pressure sensor, a laser rangefinder, a displacement sensor and a vibration sensor are arranged on the roller ears, and a high-definition camera, voice communication equipment and an audible and visual alarm are installed inside the cage body.

2. A passive mine cage operation status monitoring system according to claim 1, characterized in that: Both ends of the roller tank ear axis are square heads, the pressure sensor is arranged on the square heads, the laser rangefinder is arranged on the side wall of the roller tank ear, the displacement sensor and the vibration sensor are arranged on the bottom plate of the roller tank ear, and each sensor is powered by the flywheel energy storage device in real time. The collected sensor signals are integrated into the substation, which processes the sensor signals and connects to the radio transmitter box through the serial port to achieve communication.

3. A passive mine cage operation status monitoring system according to claim 2, characterized in that: The radio transmitting box includes a collection circuit board, a transmitting module and a radio antenna. The sensor signals collected by the pressure sensor, laser rangefinder, vibration sensor, displacement sensor and vibration sensor are first integrated and processed by the substation, and then sent by the radio transmitting box to the wellhead radio receiving box through the wireless sensor network.

4. A passive mine cage operation status monitoring system according to claim 3, characterized in that: The radio receiving box comprises a receiving antenna, a receiving module and a serial communication module 1. The radio receiving box receives the radio signal from the radio transmitting box, and demodulates the radio signal into serial data for transmission to the remote monitoring terminal.

5. A passive mine cage operation status monitoring system according to claim 4, characterized in that: The remote monitoring terminal includes a serial communication module 2, a switch quantity acquisition card, an industrial computer and an indication panel. The remote monitoring terminal receives the load signal and displacement signal demodulated from the radio receiving box, extracts various auxiliary judgment signals, and uses the upper computer software to analyze and judge the collected data and output control and display signals.

6. A passive mine cage operation status monitoring system according to claim 2, characterized in that: The flywheel energy storage device comprises a flywheel, a transmission shaft, a track, a controllable wheel set, a generator, an energy conversion device and a housing. The flywheel is connected to the generator through the transmission shaft. The generator is fixedly connected above the controllable wheel set. The controllable wheel set is used to adjust the distance between the flywheel and the tank track. In the energy storage stage, the controllable wheel group adjusts the distance between the flywheel and the tank channel to decrease, and the flywheel contacts and rotates to achieve energy storage; in the energy release stage, the controllable wheel group adjusts the distance between the flywheel and the tank channel to increase, and the flywheel moves away from the tank channel and releases energy; the shell is arranged above the generator and the track, and the shell is provided with an inlet and outlet of the flywheel on the side close to the tank channel, and the flywheel contacts and separates from the tank channel through the inlet and outlet, and the remaining components are fixed inside the shell; the flywheel is a disc-shaped flywheel with uniformly distributed mass.

7. A passive mine cage operating status monitoring method, characterized in that A passive mine cage operation status monitoring system according to any one of claims 1 to 6 is applied, comprising the following steps: S1. Real-time perception of cage operation status: The absolute distance between the cage body and the tank channel in the wellbore is measured in real time by a laser rangefinder, the pressure of the tank ear on the tank channel is obtained by a pressure sensor, and the displacement information and vibration information of the cage body are obtained by a displacement sensor and a vibration sensor; S2. Full-view visual monitoring of the cage: The full-view monitoring screen of the cage body is obtained in real time through a high-definition camera, and the remote visual operation of the cage body is realized. The voice communication equipment is used to realize the remote audio transmission and information interaction functions, thereby realizing the real-time monitoring and communication of the actual operating conditions of the cage body; S3. Visual monitoring of well wall information: Through the high-speed camera arranged on the cage body, the well wall related information during the operation of the cage body is monitored in real time and sent to the remote monitoring terminal through the wireless sensor network; S4, monitoring data transmission and control: Based on the wireless sensor network, image data, audio data and tank ear sensor data are integrated and transmitted to the remote monitoring terminal, which realizes the visualization of the video monitoring interface and the measurement results of related sensors, and sends instructions to the winch room control box according to the operation status of the tank cage, so as to adjust the operation status of the tank cage body; S5. Flywheel energy storage control: According to the real-time operating status of the cage body, the remote monitoring terminal sends instructions to the controllable wheel group of the flywheel energy storage device through the wireless sensor network to control the flywheel in the flywheel energy storage device to contact or stay away from the tank channel, thereby realizing the charging and discharging process of the flywheel energy storage device.

8. A passive mine cage operating status monitoring method according to claim 7, characterized in that: The real-time perception of cage operation status in S1 includes the following steps: S11. During cage operation, when the roller ears are subjected to pressure from the tank channel, the rollers transmit the pressure to the square head plane through the mandrel. At this time, the pressure sensor installed on the square head plane detects the pressure change, and its internal resistance changes, converting the pressure into an electrical signal for output; the displacement sensor collects the cage displacement signal, the vibration sensor collects the cage vibration signal, and the laser rangefinder measures the absolute distance between the cage body and the tank channel in the wellbore; S12. The collected roller ear pressure signal, cage displacement signal and cage-to-tank channel distance signal are weak voltage signals, which are sent to the substation through the wireless sensor network. After data conversion and processing at the substation, they are used as input signals of the AD converter. Then, the AD converter outputs a digital signal, and the digital signal is encoded and processed to generate a serial output signal with a check bit. Finally, the carrier is modulated to obtain a high-frequency modulated wave. The substation communicates with the radio transmitter box through the serial port.

9. A passive mine cage operating status monitoring method according to claim 7, characterized in that: Monitoring data transmission and control includes the following steps: S41, the signal transmitting module in the radio transmitting box sends the horizontal pressure value on the roller tank ear, the displacement value of the tank cage, the vibration value, and the distance value between the tank cage and the tank channel to the signal receiving module in the wellhead radio receiving box, demodulates it into serial data through the A / D converter, and then uses the serial communication module in the radio receiving box to transmit the data to the remote monitoring terminal. At the same time, the image data and audio data of the tank cage and the well wall are transmitted to the remote monitoring terminal through the wireless sensor network; S42, the remote monitoring terminal receives the demodulated pressure signal, displacement signal, vibration signal, distance signal, image data of the cage and the well wall, and audio data to assist in the judgment signal. The upper computer software of the remote monitoring terminal uses the distance between the cage body and the tank channel to indirectly grasp the stress state of the roller ear and the deformation state of the tank channel through data conversion. The upper computer software analyzes the physical model of the cage and determines the flatness of the current tank channel in combination with the information in the background database. At the same time, the upper computer software uses the pressure of the roller ear on the tank channel to analyze whether the roller ear is operating abnormally. The upper computer software displays and saves the operation state change curve and abnormal situation record during the cage operation process on the remote monitoring terminal; S43. Before the cage operation begins, the remote monitoring terminal first self-checks the wireless communication status and sensor status. If a fault occurs, the system alarm is issued. If it is normal, the serial port signal is read. At this time, the remote monitoring terminal detects whether the signal is complete. If it is incomplete, a communication fault alarm signal is issued. If it is normal, the next step of load pressure calculation is performed. If the load pressure exceeds the preset threshold, the remote monitoring terminal controls the sound and light alarm in the cage body through the wireless sensor network to respond. At the same time, the management personnel confirm the real-time through the high-definition camera in the cage body at the remote monitoring terminal, and coordinate the load through the voice communication equipment in the cage body. If it is normal, the remote monitoring terminal sends a command to the winch room control box to start the winch to realize the normal operation of the cage. If the displacement value, vibration value and distance between the cage body and the tankway exceed the preset threshold during the operation, the remote monitoring terminal controls the sound and light alarm in the cage body through the wireless sensor network to respond, and requests the management personnel to participate in the emergency disposal.

10. A passive mine cage operating status monitoring method according to claim 7, characterized in that: Flywheel energy storage regulation includes the following steps: S51, initial stage: the flywheel energy storage device is arranged above the roller tank ear, the flywheel contacts the tank channel and remains stationary, at this time, the flywheel energy storage device is in a power-off state, and the motor of the controllable wheel set is self-locked due to the power-off state; S52, the acceleration stage of the cage descending operation: the flywheel rotates by friction with the tank channel, and drives the generator to rotate and generate electricity through the transmission shaft. As the cage descends at an accelerated speed, the speed of the flywheel continues to increase, and the stored energy of the flywheel energy storage device continues to increase. After time t1, the stored energy of the flywheel energy storage device reaches E1, wherein the energy consumption of the controllable wheel group and the tank ear sensors when working normally is E4. Since E1>E4, the flywheel energy storage device uses the energy conversion device to release energy to meet the continuous power supply requirements of the controllable wheel group and the tank ear sensors. When the acceleration stage is about to end, the controllable wheel group starts to work and adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel. Then the controllable wheel group is self-locked, and the flywheel uses inertia to store the energy obtained in the t1 time period, and transmits part of the energy to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply requirements of various loads; S53, the cage performs the uniform speed stage of descending operation: at this time, the flywheel has been away from the tank channel, and as the cage descends at a normal uniform speed, the energy stored in the flywheel is continuously consumed. After time t2, the energy stored in the flywheel is reduced to the critical value E2, at which time E2=E4, and the controllable wheel group releases the self-locking and starts the operation, adjusting the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, and then the controllable wheel group self-locks to achieve energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device continues to store energy; S54, the deceleration stage of the cage descending operation: the flywheel speed increases continuously, the energy stored in the flywheel increases continuously and is released through the energy conversion device to meet the continuous power supply demand of each load. After time t3, the flywheel uses inertia to store the energy obtained in the t3 time period, and the flywheel energy storage device completes energy storage, and its stored energy reaches E3. At this time, E3>E4. When the deceleration stage is about to end, the controllable wheel group releases the self-locking and starts to operate, and adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel. At the same time, the flywheel transmits the energy obtained in the t3 time period to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply demand of each load. S55, loading and unloading operation: the cage's descending speed is reduced to zero, the cage's descending operation is completed, and the loading and unloading operation begins; at this time, the flywheel is far away from the tank channel, the cage is in a stationary state, and the flywheel storage device releases energy through the energy conversion device to meet the continuous power supply requirements of each load; S56, the acceleration stage of the cage performing the ascent operation: at the beginning of the ascent, the controllable wheel group releases the self-locking, and adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel. When the cage performs acceleration, the flywheel and the tank channel rotate frictionally, and the generator is driven to rotate and generate electricity through the transmission shaft. As the cage accelerates and rises, the speed of the flywheel continues to increase, and the stored energy of the flywheel energy storage device continues to increase. After time t4, the stored energy of the flywheel energy storage device reaches E5, wherein the energy consumption of the controllable wheel group and the roller tank ear sensors when working normally is E4. Since E5>E4, the flywheel energy storage device releases energy through the energy conversion device to meet the continuous power supply requirements of the controllable wheel group and the tank ear sensors. At this time, the controllable wheel group starts to work, adjusts the distance between the flywheel and the tank channel to achieve the separation of the flywheel and the tank channel, and then the controllable wheel group self-locks, and the flywheel uses inertia to store the energy obtained in the t4 time period, and transmits this part of energy to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply requirements of various loads; S57, the cage performs the uniform speed stage of the ascending operation: at this time, the flywheel has been away from the tank channel, and as the cage body rises normally at a uniform speed, the energy of the flywheel storage device is continuously consumed. After time t5, the stored energy of the flywheel storage device is reduced to the critical value E6. At this time, E6=E4, the controllable wheel group releases the self-locking and starts the operation, adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, and then the controllable wheel group self-locks to realize the energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descending operation, the flywheel energy storage device starts to store energy; S58, the deceleration stage of the cage performing the ascending operation: due to the high-speed friction between the flywheel and the tank channel, the speed of the flywheel is continuously increased, the stored energy of the flywheel storage device is continuously increased and released through the energy conversion device to meet the continuous power supply demand of each load. After time t6, the flywheel uses inertia to store the energy obtained in the t6 time period, and the flywheel energy storage device completes energy storage, and its stored energy reaches E7, where E7>E4; when the deceleration stage is over, the controllable wheel group releases self-locking and starts operation, adjusts the distance between the flywheel and the tank channel to achieve separation of the flywheel and the tank channel, and then the controllable wheel group self-locks, and the flywheel transmits the energy obtained in the t5 time period to the generator through the transmission shaft, thereby maintaining the rotation of the generator, and releases energy through the energy conversion device to meet the continuous power supply demand of each load device; S59, loading and unloading operation: the lifting speed of the cage is reduced to zero, the cage lifting operation is completed, and the loading and unloading operation begins. At this time, the flywheel is far away from the tank channel, the cage is in a static state, and the flywheel storage device releases energy through the energy conversion device to meet the continuous power supply requirements of each load; S510, after loading and unloading, enter S51 stage, repeat the above steps S51-S59 to realize the operation status detection of the whole process of cage operation; S511, tank cage operation is completed: when the tank cage operation is completed and needs to be stopped, the controllable wheel group releases the self-locking and starts the operation, adjusts the distance between the flywheel and the tank channel to achieve the contact between the flywheel and the tank channel, the controllable wheel group self-locks, and the flywheel always keeps in contact with the tank channel.

Images