A passive mine cage operating status monitoring system and method

Abstract

The present invention discloses a passive mine cage operating status monitoring system and method, which relates to the technical field of mine cage operating status monitoring. The system comprises a cage body and a remote monitoring terminal. The remote monitoring terminal communicates with the cage body via a radio receiving box at the wellhead and communicates with the winch room control box via a data bus. The cage body is equipped with a roller lug, a flywheel energy storage device, a cage external monitoring sensor group, a cage internal monitoring sensor group, a substation, and a radio transmitting box. The cage external monitoring sensor group includes a pressure sensor, a laser rangefinder, a vibration sensor, and a displacement sensor. The cage internal monitoring sensor group includes a high-definition camera, voice communication equipment, and an audible and visual alarm. The present invention can achieve continuous monitoring of the mine cage operating status, improve the stability and safety of cage operation, and promote the intelligent development of underground cage operations.

Description

Technical Field

[0001] The present 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] Mine cages are a crucial piece of equipment for vertical shaft hoisting, primarily responsible for lifting personnel and equipment. Failure during operation can impact normal mine production at best, and even cause casualties at worst. Because cages operate in harsh environments for long periods of time, their key components are susceptible to failures due to large impacts and vibrations. Furthermore, with the increasing intelligence of coal mines, increased mining depths, and increases in hoisting speeds and single-lift loads, higher requirements are placed on the safe operation and maintenance of cages. Therefore, research on mine cage operating status monitoring systems and methods is urgently needed to ensure the safe and efficient operation of mine cages.

[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 have the following main problems:

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

[0005] 2) The battery's endurance is limited by its storage capacity. For cage status monitoring systems that require long-term continuous operation, large-capacity batteries cannot be used due to underground explosion-proof requirements. Therefore, frequent battery replacement or regular charging are required, which reduces the cage's operating efficiency.

[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] Flywheel energy storage technology, as a passive storage technology, offers advantages such as high efficiency, long life, reliability, rapid response, and environmental friendliness. Based on its technical characteristics, it has potential for application in underground coal mines, which have special requirements for explosion protection. Furthermore, considering that cages operate primarily in three states: acceleration, constant speed, and deceleration, the braking energy during deceleration is often wasted, and research on energy storage solutions that efficiently utilize this braking energy is currently lacking.

[0008] In response to 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 (first acceleration, 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 various loads in the cage. Then, through various monitoring sensors, real-time and reliable monitoring of the cage operation status is achieved by wireless transmission, 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 to achieve 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 a first aspect, the present invention provides 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; 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 provided 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 central shaft 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 in real time by the flywheel energy storage device. 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 realize communication.

[0013] As a preferred embodiment of the present invention, the radio transmitter box includes an acquisition circuit board, a transmission 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 transmitter 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 radio signals from the radio transmitting box and demodulates the signals 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 second serial communication module, a switch quantity acquisition card, an industrial computer and an indicator 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 host 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 in 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. 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.

[0017] In a second aspect, the present invention provides a passive mine cage operating 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 using a laser rangefinder, the pressure of the tank ears on the tank channel is obtained using a pressure sensor, and the displacement and vibration information of the cage body are obtained using a displacement sensor and a vibration sensor;

[0019] S2. Full-view visual monitoring of the cage: A high-definition camera is used to obtain real-time full-view monitoring images of the cage body, enabling remote visual operation of the cage body. Voice communication equipment is used to achieve remote audio transmission and information exchange functions, thereby achieving real-time monitoring and communication of the actual operating conditions of the cage body.

[0020] S3. Visual monitoring of well wall information: A high-speed camera placed on the cage body monitors well wall-related information in real time during cage operation and sends it to a remote monitoring terminal via a 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. The remote monitoring terminal realizes the visualization of the video monitoring interface and the measurement results of relevant sensors, and sends instructions to the winch room control box according to the operation status of the tank cage, thereby regulating the operation status of the tank cage body;

[0022] S5. Flywheel energy storage control: Based on 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 pressure to the square head plane through the mandrel. At this point, the pressure sensor mounted on the square head plane detects the pressure change, causing its internal resistance to change, 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-tankway 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 for 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 transmits the horizontal pressure value on the roller lug, the cage displacement value, the vibration value, and the distance value between the cage and the tank channel to the signal receiving module in the wellhead radio receiving box. The signals are demodulated into serial data by an A / D converter, and then the serial communication module in the radio receiving box transmits the data to the remote monitoring terminal. At the same time, the image data and audio data of the cage and the well wall are transmitted to the remote monitoring terminal via the wireless sensor network.

[0028] S42. The remote monitoring terminal receives the demodulated pressure signal, displacement signal, vibration signal, distance signal, and image data and audio data from the cage and the wellbore to assist in the determination of the signal. The host computer software of the remote monitoring terminal uses the distance between the cage body and the tank channel to indirectly determine the stress state of the roller lug and the deformation state of the tank channel through data conversion. The host computer software analyzes the physical model of the cage and determines the flatness of the current tank channel in combination with information from the backend database. Simultaneously, the host computer software uses the pressure of the roller lug on the tank channel to determine whether the roller lug is operating abnormally. The host computer software displays and stores the operating state change curve and abnormality records during the cage operation 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 carried out. 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 cage body displacement value, vibration value and the 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 at the same time requests the management personnel to participate in the emergency response.

[0030] As a preferred embodiment of the present invention, the flywheel energy storage control 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 path and remains stationary. At this time, the flywheel energy storage device is in a power-off state, and the motor of the controllable wheel assembly is self-locked due to the power-off state;

[0032] S52, the acceleration phase of the cage's descent operation: The flywheel rotates by friction with the tank track, driving the generator to rotate and generate electricity through the drive shaft. As the cage accelerates and descends, the flywheel speed increases continuously, and the stored energy in the flywheel energy storage device increases continuously. After time t1, the stored energy in the flywheel energy storage device reaches E1. The energy consumption of the controllable wheel group and the tank ear sensors during normal operation 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 phase is about to end, the controllable wheel group begins to operate, adjusting the distance between the flywheel and the tank track to achieve separation of the flywheel and the tank track. The controllable wheel group then self-locks, and the flywheel uses inertia to store the energy obtained during the t1 period, transfers part of the energy to the generator through the drive 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 a uniform speed descent phase: At this time, the flywheel has moved away from the tank channel. 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 decreases to a critical value E2, at which point E2 = E4. The controllable wheel assembly releases its self-locking function and begins operation, adjusting the distance between the flywheel and the tank channel to achieve contact between the flywheel and the tank channel. The controllable wheel assembly then self-locks to enable the flywheel storage device to collect energy. Finally, when the cage enters the deceleration phase of the descent operation, the flywheel energy storage device continues to store energy.

[0034] S54, deceleration phase of the cage lowering operation: The flywheel speed continues to increase, and the energy stored in the flywheel continues to increase and is released through the energy conversion device to meet the continuous power supply requirements of various loads. After time t3, the flywheel uses inertia to store the energy obtained during the t3 period. The flywheel energy storage device has completed energy storage and its stored energy reaches E3. At this time, E3>E4. When the deceleration phase is about to end, the controllable wheel group releases its self-locking and begins operation, adjusting 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 transfers the energy obtained during the t3 period to the generator via the drive 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.

[0035] S55, loading and unloading operation: The cage's descent speed is reduced to zero, the cage's descent operation is completed, and loading and unloading operations begin. At this time, the flywheel is 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 needs of various loads;

[0036] S56, acceleration phase of the cage ascending operation: At the beginning of the ascending phase, the controllable wheel assembly releases its self-locking function and adjusts the distance between the flywheel and the tank track to achieve contact between the flywheel and the tank track. When the cage accelerates, the flywheel and the tank track rotate due to friction, driving the generator to rotate and generate electricity through the drive shaft. As the cage accelerates and ascends, the flywheel speed continuously increases, and the stored energy of the flywheel energy storage device continuously increases. After time t4, the stored energy of the flywheel energy storage device reaches E5. The energy consumption of the controllable wheel assembly and the sensors of the roller lug during normal operation 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 assembly and the sensors of the tank track. At this time, the controllable wheel assembly begins to operate, adjusting the distance between the flywheel and the tank track to achieve separation of the flywheel and the tank track. The controllable wheel assembly then self-locks, and the flywheel uses inertia to store the energy obtained during the t4 period, and transmits this energy to the generator through the drive shaft, thereby maintaining the rotation of the generator. Energy is then released through the energy conversion device to meet the continuous power supply requirements of various loads.

[0037] S57, the cage ascends at a constant speed: At this point, the flywheel is already away from the tankway. As the cage ascends at a normal constant speed, the energy of the flywheel storage device is continuously consumed. After time t5, the stored energy of the flywheel storage device decreases to a critical value E6. At this point, E6 = E4, and the controllable wheel assembly releases its self-locking function and begins operation. The distance between the flywheel and the tankway is adjusted to achieve contact between the flywheel and the tankway. The controllable wheel assembly then self-locks to enable energy collection by the flywheel storage device. Finally, when the cage enters the deceleration phase of the descent operation, the flywheel energy storage device begins storing energy.

[0038] S58, deceleration phase of the cage ascending operation: Due to the high-speed friction between the flywheel and the tankway, the flywheel speed continues to increase, the stored energy in the flywheel storage device continues to increase, and the energy is released through the energy conversion device to meet the continuous power supply requirements of various loads. After time t6, the flywheel uses inertia to store the energy obtained during the t6 period. The flywheel energy storage device has completed energy storage and its stored energy reaches E7, where E7>E4. When the deceleration phase ends, the controllable wheel assembly releases its self-locking and begins operation, adjusting the distance between the flywheel and the tankway to achieve separation of the flywheel and the tankway. The controllable wheel assembly then self-locks, and the flywheel transfers the energy obtained during the t5 period to the generator via the drive shaft, thereby maintaining the rotation of the generator. The energy is released through the energy conversion device to meet the continuous power supply requirements of various load devices.

[0039] S59, loading and unloading operation: The cage's ascending speed is reduced to zero, the cage's ascending operation is completed, and loading and unloading operations begin. At this time, the flywheel is 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 various loads;

[0040] S510: After loading and unloading are completed, the process goes to S51 and the above steps S51-S59 are repeated to detect the operation status of the cage during operation.

[0041] S511. Cage operation is completed: When the cage operation is completed and the machine needs to be shut down, the controllable wheel group releases the self-locking and starts the operation, and adjusts the distance between the flywheel and the tank channel to achieve contact between the flywheel and the tank channel. The controllable wheel group self-locks, and the flywheel always maintains 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 existing monitoring systems that rely on large-capacity batteries or wireless charging, the flywheel energy storage device proposed in this 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. Unlike existing fixed flywheel energy storage devices, the flywheel energy storage device proposed in the present invention is equipped with a controllable wheel set, which can achieve adaptive contact and separation between the flywheel energy storage device and the tank cage, thereby efficiently collecting the energy wasted by braking during the deceleration phase of the cage as much as possible, saving energy and protecting the environment.

[0046] 4. In order to achieve 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 while meeting the power consumption requirements of each load under different operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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 This is a schematic diagram of the arrangement of the roller tank ear sensor;

[0049] Figure 2 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 acquisition block diagram for 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 This is a schematic diagram of the charge and discharge of the flywheel energy storage device during operation;

[0055] Figure 8 Flowchart 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 housing; 6. Laser rangefinder; 7. Displacement sensor; 8. Vibration sensor; 9. Tankway; 10. Shell; 11. Flywheel; 12. Drive 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 solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" 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 object being described 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. A high-definition camera, voice communication equipment and an audible and visual alarm are installed inside the cage body 22.

[0062] Sensor arrangement as Figure 1 As shown, the roller lug 21 has square heads 4 at both ends of its spindle. A pressure sensor 3 is mounted on these heads, a laser rangefinder 6 is mounted on the sidewall of the roller lug housing 5, and a displacement sensor 7 and a vibration sensor 8 are mounted on the bottom plate of the roller lug 21. Each sensor is powered in real time by a flywheel energy storage device 23. The collected sensor signals are integrated into a substation 25 and connected to a radio transmitter box 24 via a serial port for communication.

[0063] The radio transmitter box 24 includes an acquisition 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 radio signals from the radio transmitting box 24 , demodulates the signals into serial data, and transmits the serial data 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 indicator 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 host 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 above. 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 housing 10 is arranged above the generator 14 and the track 15. The housing 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. The remaining components are fixed inside the housing 10.

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

[0068]

[0069] Where m is the flywheel mass and r is the flywheel radius.

[0070] The relationship between the rotational 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 seen 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] Wherein, 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 operating status monitoring method is provided, comprising the following steps:

[0081] A passive mine cage operating status monitoring system and method includes the following steps:

[0082] S1. Real-time perception of cage operating status: The absolute distance between the cage body 22 and the tank channel 9 in the wellbore is measured in real time by a laser rangefinder 6. The pressure of the roller lug 21 on the tank channel 9 is obtained by a pressure sensor 3. The displacement and vibration information of the cage body 22 are obtained by a displacement sensor 7 and a 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 obtains real-time full-view monitoring images of the cage body 22, enabling remote visual operation of the cage. Voice communication equipment is used to achieve remote audio transmission, information exchange and other functions, thereby achieving real-time monitoring and communication of the actual operating conditions in the cage;

[0084] S3. Visual monitoring of well wall information: Using a 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 via a 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. The remote monitoring terminal 18 can realize the visualization of the video monitoring interface and the measurement results of the relevant sensors, and send instructions to the winch room control box 17 according to the cage operation status to adjust the operation status of the cage body 22;

[0086] S5. Flywheel energy storage control: Based on 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 move 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 roller lug 21 is subjected to pressure from the tank gallery 9, roller 2 transmits this pressure to the flat surface of square head 4 via the mandrel. Pressure sensor 3, mounted on the flat surface of square head 4, detects the pressure change, causing its internal resistance to change, converting the pressure into an electrical signal for output. Similarly, displacement sensor 7 collects cage displacement signals, vibration sensor 8 collects cage vibration signals, and laser rangefinder 6 measures the absolute distance between cage body 22 and the tank gallery 9 within the wellbore.

[0089] S12, since the roller ear 21 pressure signal, cage displacement signal and 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. 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 transmits the horizontal pressure value, cage displacement value, vibration value, and cage-to-tankway distance value signals on the roller lug 21 to the signal receiving module in the wellhead radio receiving box 19, which is demodulated into serial data by an A / D converter. The data is then transmitted to the remote monitoring terminal 18 via 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 via 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 of the cage and 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 lug 21 and the deformation state of the tank channel through data conversion (the data conversion formula is derived from the previous theoretical calculation results and test results through mathematical statistics. The data conversion formula for roller lugs 21 of different specifications is 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 in the background database. At the same time, the host computer software uses the pressure of the roller lug 21 on the tank channel 9 to analyze whether the roller lug 21 has deflected or other abnormal operations. The host computer software displays and saves the operation status change curve and abnormal situation record during the cage operation 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 carried out. 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 response.

[0094] The flywheel energy storage control 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, and 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, and the motor of the controllable wheel assembly 13 is self-locked due to the power-off state, making it difficult for the flywheel energy storage device 23 to slide along the track 15;

[0096] S52, the acceleration phase of the cage's descent operation: the flywheel 11 rotates by friction with the tank channel 9, driving the generator 14 to rotate and generate electricity through the drive shaft 12. As the cage accelerates and descends, 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. The energy consumption of the controllable wheel group 13 and the tank ear sensors during normal operation 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 phase is about to end, the controllable wheel group 13 begins to operate, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve separation of the flywheel 11 and the tank channel 9. The controllable wheel group 13 then self-locks. The flywheel uses inertia to store the energy obtained during the t1 period, transfers part of the energy to the generator 14 through the drive 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 descent: At this time, the flywheel 11 has moved away from the tankway 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 decreases to the critical value E2. At this time, E2=E4. The controllable wheel assembly 13 releases its self-locking function and begins operation. The distance between the flywheel 11 and the tankway 9 is adjusted to achieve contact between the flywheel 11 and the tankway 9. Then, the controllable wheel assembly 13 self-locks to realize energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of descent, the flywheel energy storage device 23 continues to store energy.

[0098] S54, deceleration phase of the cage descending operation: The speed of the flywheel 11 continues to increase, and the energy stored in the flywheel 11 continues to increase and is released through the energy conversion device 16 to meet the continuous power supply requirements of various loads. After time t3, the flywheel uses inertia to store the energy obtained during the t3 period. The flywheel energy storage device 23 has completed energy storage and its stored energy reaches E3. At this time, E3>E4. When the deceleration phase is about to end, the controllable wheel group 13 releases its self-locking and begins operation, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve separation of the flywheel 11 and the tank channel 9. At the same time, the flywheel transmits the energy obtained during the t3 period to the generator 14 via 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.

[0099] S55, Loading and Unloading Operation: The cage body 22's descent speed decreases to zero, the cage descent operation is complete, and loading and unloading operations begin. At this point, the flywheel 11 is away from the tankway 9, the cage is at rest, and the flywheel storage device 23 releases energy through the energy conversion device 16 to meet the continuous power supply requirements of various loads.

[0100] S56, the acceleration phase of the cage's ascent operation: At the beginning of the ascent, the controllable wheel assembly 13 releases its self-locking function and adjusts the distance between the flywheel 11 and the tank channel 9 to achieve contact with the tank channel. When the cage body 22 accelerates, the flywheel 11 rotates with friction with the tank channel 9, driving the generator 14 to rotate and generate electricity through the transmission shaft 12. As the cage accelerates and ascends, the flywheel speed increases continuously, and the stored energy of the flywheel energy storage device 23 increases continuously. After time t4, the stored energy of the flywheel energy storage device 23 reaches E5. Among them, the energy consumption of the controllable wheel assembly 13 and the roller tank ear 21 sensors when they are working normally 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 sensors of the tank ear. At this time, the controllable wheel group 13 starts to operate, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve separation of the flywheel 11 and the tank channel 9. Then the controllable wheel group 13 self-locks, and the flywheel uses inertia to store the energy obtained during the time period t4, and transmits this 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 ascent operation: At this time, the flywheel 11 has moved away from the tank channel 9. 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 decreases to the critical value E6. At this time, E6=E4, and the controllable wheel assembly 13 releases its self-locking and begins operation, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve contact between the flywheel 11 and the tank channel 9. Then, the controllable wheel assembly 13 self-locks to realize energy collection of the flywheel storage device. Finally, when the cage enters the deceleration stage of the descent operation, the flywheel energy storage device 23 begins to store energy;

[0102] S58, deceleration phase of the cage ascending operation: Due to the high-speed friction between the flywheel 11 and the tank channel 9, the flywheel speed continues to increase, the stored energy in the flywheel storage device 23 continues to increase, and the energy is 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 during the time period t6. The flywheel energy storage device 23 has completed energy storage and its stored energy reaches E7, where E7>E4. When the deceleration phase ends, the controllable wheel group 13 releases its self-locking and begins operation, adjusting the distance between the flywheel 11 and the tank channel 9 to achieve separation of the flywheel 11 and the tank channel 9. The controllable wheel group 13 then self-locks, and the flywheel transfers the energy obtained during the time period t5 to the generator 14 via the drive 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 decreases to zero, the cage's ascending operation is complete, and loading and unloading operations begin. At this point, the flywheel 11 is away from the tankway 9, the cage is at rest, 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 are completed, the process goes to S51 and the above steps S51-S59 are repeated to detect the operation status of the cage during operation.

[0105] S511, cage operation completed: When the cage operation is completed and needs to be shut down, the controllable wheel group 13 is released from self-locking and starts operation, and the distance between the flywheel 11 and the tank channel 9 is adjusted to achieve contact between the flywheel 11 and the tank channel 9. The controllable wheel group 13 is self-locked, and the flywheel 11 always maintains 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 intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A passive mine cage operating status monitoring method, characterized in that A passive mine cage operation status monitoring system is applied. The system includes 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 the winch room control box through a data bus. The system is characterized by two roller ears and a flywheel energy storage device installed above the roller ears symmetrically mounted on both sides of the cage body; a high-speed camera, a radio transmitting box, and a substation are installed in sequence on the cage body between the two roller ears; the roller ears are provided with a pressure sensor, a laser rangefinder, a displacement sensor, and a vibration sensor; and a high-definition camera, voice communication equipment, and an audible and visual alarm are installed inside the cage body. Both ends of the roller tank ear's spindle 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, and the displacement sensor and the vibration sensor are arranged on the bottom plate of the roller tank ear. Each sensor is powered in real time by the flywheel energy storage device. 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; The method comprises 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 using a laser rangefinder, the pressure of the tank ears on the tank channel is obtained using a pressure sensor, and the displacement and vibration information of the cage body are obtained using a displacement sensor and a vibration sensor; S2. Full-view visual monitoring of the cage: A high-definition camera is used to obtain real-time full-view monitoring images of the cage body, enabling remote visual operation of the cage body. Voice communication equipment is used to achieve remote audio transmission and information exchange functions, thereby achieving real-time monitoring and communication of the actual operating conditions of the cage body. S3. Visual monitoring of well wall information: A high-speed camera placed on the cage body monitors well wall-related information in real time during cage operation and sends it to a remote monitoring terminal via a 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. The remote monitoring terminal realizes the visualization of the video monitoring interface and the measurement results of relevant sensors, and sends instructions to the winch room control box according to the operation status of the tank cage, thereby regulating the operation status of the tank cage body; S5. Flywheel energy storage control: Based on 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.

2. A passive mine cage operating status monitoring method according to claim 1, characterized in that: The radio transmitter box includes an acquisition circuit board, a transmission module and a radio antenna. The sensor signals collected by the pressure sensor, laser rangefinder, displacement sensor and vibration sensor are first integrated and processed by the substation, and then sent by the radio transmitter box to the wellhead radio receiving box through the wireless sensor network.

3. A passive mine cage operating status monitoring method according to claim 2, 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 radio signals from the radio transmitting box, demodulates the radio signals into serial data and transmits the serial data to the remote monitoring terminal.

4. A passive mine cage operating status monitoring method according to claim 3, characterized in that: The remote monitoring terminal includes a second serial communication module, a switch quantity acquisition card, an industrial computer and an indicator 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 host computer software to analyze and judge the collected data and output control and display signals.

5. The passive mine cage operating status monitoring method according to claim 1, characterized in that: The flywheel energy storage device includes 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 fixed above the controllable wheel set. The controllable wheel set is used to adjust the distance between the flywheel and the tank track. During the energy storage stage, the controllable wheel group reduces the distance between the flywheel and the tank channel, and the flywheel contacts and rotates to achieve energy storage; during 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. 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.

6. The passive mine cage operating status monitoring method according to claim 1, characterized in that: The real-time perception of the cage operating 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 pressure to the square head plane through the mandrel. At this point, the pressure sensor mounted on the square head plane detects the pressure change, causing its internal resistance to change, 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-tankway distance signal are weak voltage signals, which are sent to the substation via the wireless sensor network. After data conversion and processing at the substation, they serve as input signals for the AD converter. The AD converter then outputs a digital signal. The digital signal is coded 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 via the serial port.

7. The passive mine cage operating status monitoring method according to claim 6, characterized in that: Monitoring data transmission and control includes the following steps: S41. The signal transmitting module in the radio transmitting box transmits the horizontal pressure value on the roller lug, the cage displacement value, the vibration value, and the distance value between the cage and the tank channel to the signal receiving module in the wellhead radio receiving box. The signals are demodulated into serial data by an A / D converter, and then the serial communication module in the radio receiving box transmits the data to the remote monitoring terminal. At the same time, the image data and audio data of the cage and the well wall are transmitted to the remote monitoring terminal via the wireless sensor network. S42. The remote monitoring terminal receives the demodulated pressure signal, displacement signal, vibration signal, distance signal, and image data and audio data from the cage and the wellbore to assist in the determination of the signal. The host computer software of the remote monitoring terminal uses the distance between the cage body and the tank channel to indirectly determine the stress state of the roller lug and the deformation state of the tank channel through data conversion. The host computer software analyzes the physical model of the cage and determines the flatness of the current tank channel in combination with information from the backend database. Simultaneously, the host computer software uses the pressure of the roller lug on the tank channel to determine whether the roller lug is operating abnormally. The host computer software displays and stores the operating state change curve and abnormality records during the cage operation 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 carried out. 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 cage body displacement value, vibration value and the 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 at the same time requests the management personnel to participate in the emergency response.

8. The passive mine cage operating status monitoring method according to claim 6, characterized in that: Flywheel energy storage control includes the following steps: S51, initial stage: The flywheel energy storage device is arranged above the roller tank ear, the flywheel contacts the tank path and remains stationary. At this time, the flywheel energy storage device is in a power-off state, and the motor of the controllable wheel assembly is self-locked due to the power-off state; S52, the acceleration phase of the cage's descent operation: The flywheel rotates by friction with the tank track, driving the generator to rotate and generate electricity through the drive shaft. As the cage accelerates and descends, the flywheel speed increases continuously, and the stored energy in the flywheel energy storage device increases continuously. After time t1, the stored energy in the flywheel energy storage device reaches E1. The energy consumption of the controllable wheel group and the tank ear sensors during normal operation 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 phase is about to end, the controllable wheel group begins to operate, adjusting the distance between the flywheel and the tank track to achieve separation of the flywheel and the tank track. The controllable wheel group then self-locks, and the flywheel uses inertia to store the energy obtained during the t1 period, transfers part of the energy to the generator through the drive 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 a uniform speed descent phase: At this time, the flywheel has already moved away from the tankway. 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 decreases to a critical value E2, at which point E2 = E4. The controllable wheel assembly releases its self-locking function and begins operation, adjusting the distance between the flywheel and the tankway to achieve contact between the flywheel and the tankway. The controllable wheel assembly then self-locks to enable energy collection by the flywheel storage device. Finally, when the cage enters the deceleration phase of the descent operation, the flywheel energy storage device continues to store energy. S54, deceleration phase of the cage lowering operation: The flywheel speed continues to increase, and the energy stored in the flywheel continues to increase and is released through the energy conversion device to meet the continuous power supply requirements of various loads. After time t3, the flywheel uses inertia to store the energy obtained during the t3 period. The flywheel energy storage device has completed energy storage and its stored energy reaches E3. At this time, E3>E4. When the deceleration phase is about to end, the controllable wheel group releases its self-locking and begins operation, adjusting 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 transfers the energy obtained during the t3 period to the generator via the drive 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. S55, loading and unloading operation: The cage's descent speed is reduced to zero, the cage's descent operation is completed, and loading and unloading operations begin. At this time, the flywheel is 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 needs of various loads; S56, the acceleration phase of the cage's ascent operation: At the beginning of the ascent, the controllable wheel group releases its self-locking and adjusts the distance between the flywheel and the tank channel to achieve contact between the flywheel and the tank channel. When the cage accelerates, the flywheel and the tank channel rotate frictionally, driving the generator to rotate and generate electricity through the transmission shaft. As the cage accelerates and rises, the flywheel speed 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, among which the energy consumption of the controllable wheel group and the roller tank ear sensors during normal operation 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 operate, 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 uses inertia storage The energy obtained during the time period is transferred to the generator through the transmission shaft to maintain the rotation of the generator, and the energy is released through the energy conversion device to meet the continuous power supply needs of various loads; S57, the cage is performing a uniform speed stage of ascent: At this time, the flywheel has moved away from the tank channel. As the cage body ascends at a normal uniform speed, the energy of the flywheel storage device is continuously consumed. After time t5, the stored energy of the flywheel storage device decreases to a critical value E6. At this time, E6=E4, and the controllable wheel assembly releases its self-locking and begins operation, adjusting the distance between the flywheel and the tank channel to achieve contact between the flywheel and the tank channel. Then, the controllable wheel assembly self-locks to enable energy collection by the flywheel storage device. Finally, when the cage enters the deceleration stage of descent, the flywheel energy storage device begins to store energy. S58, deceleration phase of the cage ascending operation: Due to the high-speed friction between the flywheel and the tankway, the flywheel speed continues to increase, the stored energy in the flywheel storage device continues to increase, and the energy is released through the energy conversion device to meet the continuous power supply requirements of various loads. After time t6, the flywheel uses inertia to store the energy obtained during the t6 period. The flywheel energy storage device has completed energy storage and its stored energy reaches E7, where E7>E4. When the deceleration phase ends, the controllable wheel assembly releases its self-locking and begins operation, adjusting the distance between the flywheel and the tankway to achieve separation of the flywheel and the tankway. The controllable wheel assembly then self-locks, and the flywheel transfers the energy obtained during the t5 period to the generator via the drive shaft, thereby maintaining the rotation of the generator. The energy is released through the energy conversion device to meet the continuous power supply requirements of various load devices. S59, loading and unloading operation: The cage's ascending speed is reduced to zero, the cage's ascending operation is completed, and loading and unloading operations begin. At this time, the flywheel is 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 various loads; S510: After loading and unloading are completed, the process goes to S51 and the above steps S51-S59 are repeated to detect the operation status of the cage during operation. S511. Cage operation is completed: When the cage operation is completed and the machine needs to be shut down, the controllable wheel group releases the self-locking and starts the operation, and adjusts the distance between the flywheel and the tank channel to achieve contact between the flywheel and the tank channel. The controllable wheel group self-locks, and the flywheel always maintains contact with the tank channel.

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