Fire coal sampling system and sampling method

Abstract

The invention provides a fire coal sampling system and a sampling method, and relates to the technical field of sampling. The fire coal sampling system comprises a gantry truss, a three-way moving device and a sampling mechanism, the sampling mechanism comprises a base, a sampling barrel, a driving rod, a spiral blade, a sampling hopper and a division opening, the control unit is electrically connected with the three-way moving device and the sampling mechanism, and the control mechanism enabling the sampling barrel to be connected with the base or the driving rod is arranged in the sampling barrel. A discharging cover connected to the sampling barrel is arranged on the outer side of the division opening, and a discharging pipe is communicated to the discharging cover; the control unit comprises a control computer, a laser radar and a digital camera, and the laser radar and the digital camera are arranged on the three-way mobile equipment. The sampling method comprises the steps that before sampling, if the discharging pipe is located outside a coal burning area, the control mechanism enables the sampling barrel to be connected with the driving rod, and the driving rod rotates to enable the discharging pipe to swing into the coal burning area. The fire coal sampling device can sample fire coal close to the baffle of the vehicle, and waste and environmental influence caused by the fact that the fire coal falls out of the vehicle from the division opening are avoided.

Description

Technical Field

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

[0002] A thermal power plant, also known as a thermal power plant, is a factory that uses combustibles (such as coal) as fuel to produce electricity. Currently, coal loaded and transported by vehicles must be sampled before entering the power plant, and then crushed, tested, assayed, and stored.

[0003] In the prior art, when a coal sampler is sampling, due to changes in the parking position of the vehicle, there is a large safety distance between the sampling area of ​​the sampler and the vehicle baffle, which can prevent the sampler from colliding with the baffle during the sampling process. However, this also results in the coal near the baffle in the vehicle being unable to be sampled, and there is fraud in this area. Moreover, even if a safety distance is left, if the parking position of the vehicle deviates too much, the sampler may still collide with the baffle. Summary of the invention

[0004] The purpose of the present invention is to develop a coal sampling system and a sampling method which can sample the coal near the baffle of a vehicle to avoid the waste and environmental impact caused by the coal falling out of the vehicle from the reduction port.

[0005] The present invention is achieved through the following technical solutions: A coal combustion sampling system, comprising: The gantry truss has a sampling channel inside; Three-way moving equipment, mounted on a gantry truss; The sampling mechanism is arranged on a three-way mobile device and includes: A base, a motor is disposed on the top of the base; A sampling cylinder is rotatably arranged at the bottom of the base; A driving rod is arranged in the sampling tube and is connected to the motor; A spiral blade is arranged on the driving rod; The sampling hopper is arranged on the top of the outer wall of the sampling tube; The reduction port is arranged on the outer wall of the sampling tube below the sampling hopper; A control unit, electrically connected to the three-way mobile device and the sampling mechanism; The base is connected to the three-way mobile device, a chassis arranged horizontally and sleeved on the outside of the driving rod is provided near the top of the sampling tube, a control mechanism for connecting the sampling tube with the base or the driving rod is provided on the chassis, a discharge cover connected to the sampling tube is provided on the outside of the contraction port, and a discharge pipe is connected to the discharge cover; The control unit includes a control computer, a laser radar and a digital camera, and the laser radar and the digital camera are arranged on a three-way mobile device.

[0006] Optionally, the control mechanism includes a connecting groove arranged on the outer wall of the driving rod above the chassis, the connecting groove is opened in a ring shape along the circumferential outer wall of the driving rod, a fixing ring is provided at the bottom of the base, and a plurality of groups of connecting components are provided on the circumferential outer side of the connecting groove, the plurality of groups of connecting components are arranged at equal intervals in the circumferential direction of the connecting groove, and the connecting components can slide to be in close contact with the connecting groove or the fixing ring.

[0007] Optionally, the connecting assembly includes a sliding rod disposed above the chassis and arranged horizontally, the sliding rod being arranged radially along the driving rod, a support ring being provided on the sliding rod away from the driving rod, a support rod connected to the chassis being provided at the bottom of the support ring, a support block being provided on the sliding rod close to the driving rod, and the support block being connected to the chassis.

[0008] Optionally, a connecting block that cooperates with the connecting groove is provided at the end of the sliding rod close to the driving rod. In the circumferential direction of the driving rod, the connecting block is in an arc shape that cooperates with the driving rod. The top and bottom of the connecting groove are both arc surfaces, and the cross-sectional shape of the connecting block is adapted to the connecting groove.

[0009] Optionally, the fixing ring is arranged in a circular shape around the driving rod, a plurality of fixing blocks are provided at equal intervals on the top of the sliding rod, a plurality of fixing rings are correspondingly provided at the bottom of the base, the fixing blocks are arranged vertically and have arc-shaped tops, and a plurality of fixing grooves whose shapes are adapted to the fixing blocks are closely arranged on the inner wall of the fixing ring.

[0010] Optionally, an armature is provided at the end of the sliding rod away from the driving rod, an electromagnet cooperating with the armature is provided on the chassis on the side of the driving rod close to the armature, a retaining ring is provided on the sliding rod on the side of the support block away from the driving rod, the retaining ring is disc-shaped and is coaxially fixedly connected to the sliding rod, and a spring is provided between the retaining ring and the support block.

[0011] Optionally, the contraction opening is opened around the circumference of the sampling tube, and a plurality of vertical pull rods are arranged in the contraction opening, and the two ends of the pull rods are respectively connected to the top and the bottom of the contraction opening, and the plurality of pull rods are arranged at equal intervals in the circumferential direction of the sampling tube; The discharge hood is arranged outside the circumference of the sampling tube, and a closed cavity connected to the shrinkage port is formed between the discharge hood and the sampling tube. The bottom of the discharge hood is inclined, and the discharge pipe is connected to the lowest end of the bottom of the discharge hood. The discharge pipe is inclined and the high end is connected to the discharge hood.

[0012] Optionally, the sampling bucket is cylindrical and tilted, the high end of the sampling bucket is connected to the sampling barrel, the low end of the sampling bucket is provided with a material baffle plate, the top of the material baffle plate is hinged to the sampling bucket, the top of the sampling bucket is provided with an electric push rod, one end of the electric push rod is hinged to the sampling bucket, and the other end is hinged to the top of the material baffle plate.

[0013] A sampling method for a coal-fired sampling system, comprising: Establish a coordinate origin within the operating range of the three-dimensional mobile device and the sampling mechanism, calibrate the spatial coordinates of all equipment and structures in the sampling channel using three-dimensional laser scanning technology through laser radar, define the space outside the operating range of the three-dimensional mobile device and the sampling mechanism as invalid space and set the operating boundary, establish a gridded spatial basic coordinate system database within the effective working range of the three-dimensional mobile device and the sampling mechanism and save it on the control computer; Establish a digital model of the three-dimensional mobile device and sampling mechanism and debug and synthesize it with the grid space basic coordinate system, so that the digital model of the three-dimensional mobile device and sampling mechanism is integrated with the grid space basic coordinate system. The coordinates of the initial state of each part of the three-dimensional mobile device and sampling mechanism are displayed and memorized in the control computer. Each movement of the three-dimensional mobile device and sampling mechanism will record the position coordinates of each part in the control computer. When coal sampling is carried out, the vehicle loaded with coal enters from the entrance of the sampling channel, the vehicle license plate number is identified and compared in the control computer, and after confirming that the vehicle has a transportation task, the vehicle is driven into the sampling channel; After the vehicle stops steadily in the sampling channel, the three-dimensional mobile device is operated to make the laser radar scan the outline of the vehicle and calculate the position coordinates of the vehicle in the grid space basic coordinate system. The three-dimensional mobile device drives the digital camera to move above the vehicle. The digital camera takes a picture of the top of the vehicle and transmits the picture to the control computer. The control computer identifies the black area in the picture. The black area is the coal-burning area loaded in the vehicle. The control computer generates the position coordinates of the boundary of the coal-burning area in the grid space. The control computer controls the three-dimensional mobile device and the sampling mechanism to cooperate to perform multi-point coal sampling in the black area. When sampling coal, the control computer determines multiple sampling points and controls the three-way mobile device to drive the sampling mechanism to move to the sampling point, and then the sampling mechanism descends to sample coal, and the coal sample is collected into the sampling bucket; Before the sampling mechanism descends to take samples, if the projection of the end of the discharge pipe on the horizontal plane is within the coal burning area, the sampling mechanism descends to take samples of the coal; Before the sampling mechanism descends for sampling, if the projection of the end of the discharge pipe on the horizontal plane is outside the coal-burning area, the control mechanism connects the sampling cylinder to the drive rod, and the motor rotates the sampling cylinder to make the end of the discharge pipe swing until the projection of the end of the discharge pipe on the horizontal plane is within the coal-burning area. The motor stops running, and the control mechanism connects and fixes the sampling cylinder to the base, and then the sampling mechanism descends to sample the coal.

[0014] Optionally, the number of coal sampling points on each vehicle is N, N≥3, and the three-way mobile device driving the sampling mechanism to descend has a force feedback control measure. The sampling tube rebounds when it touches the bottom during the sampling process, and the sampling depth of the current sampling point is recorded, where: If the difference in sampling depth between any two of the N sampling points does not exceed 10 cm, the sampling operation is normal; If the difference in sampling depth between any two of the N sampling points exceeds 10 cm, the number of sampling points will be increased by two. After the sampling is completed, if the difference in sampling depth between three or more of the N+2 sampling points exceeds 10 cm, the sampling operation is abnormal and the current vehicle information is recorded for subsequent inspection and investigation. Otherwise, the sampling operation is normal. Under the premise of normal operation, the average value of the sampling depths of all sampling points is taken as the reference height of the vehicle. When the vehicle enters the sampling channel for coal sampling next time, the force feedback control measures are intervened within the range of 6 to 8 cm above and below the reference height. When it is more than 6 to 8 cm above the reference height, the force feedback control measures are not intervened. When the sampling mechanism encounters resistance when descending, it still keeps descending. 6 to 8 cm below the reference height is the maximum sampling depth. The license plate number recognized by the license plate recognition machine is searched and checked in the control computer. If the vehicle has performed normal sampling operations for M consecutive times and the coal sample analysis and testing are qualified, M≥3, then the sampling point of the vehicle is randomly selected. Otherwise, if the vehicle has no record of M consecutive sampling operations being normal and the coal sample analysis and testing being qualified, then at least one sampling point of the vehicle is at the edge of its coal burning area.

[0015] The beneficial effects of the present invention are: The present invention automatically identifies the parking position of the vehicle and the coal-burning area loaded in the vehicle, controls the sampling mechanism to sample in the coal-burning area, and improves the sampling range. Even the coal at the edge of the vehicle baffle can be sampled, and the space for fraud in the vehicle is reduced. When sampling at the edge of the vehicle baffle, the coal at the reduction opening can be discharged into the vehicle through the discharge pipe by adjusting the rotation angle of the sampling tube itself, thereby preventing the coal from falling from the reduction opening to the outside of the vehicle, thereby avoiding the waste of coal and preventing the accumulation of coal dropped in the sampling channel to affect the environmental cleanliness and coal use operation. Two sets of sampling mechanisms are set up to carry out sampling operations in coordination, thereby improving the efficiency of coal sampling. The reference height, that is, the bottom height of the bucket, is read according to the vehicle information, and then the bottoming rebound of the sampling mechanism is controlled by displacement and force feedback to improve the sampling efficiency and avoid sampling failure caused by the sampling mechanism being blocked by large coal particles before touching the bottom of the bucket and rebounding in advance due to force feedback. By recording vehicle information and previous sampling records, the selection of sampling points is controlled to avoid fraud in the blind spot of traditional sampling, that is, the edge of the truck bed, by new vehicles or vehicles with previous abnormal conditions, thereby improving the representativeness of the samples in the sampling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural diagram of the present invention; Figure 2 This is the external structure diagram of the sampling mechanism; Figure 3 This is the internal structure diagram of the sampling mechanism; Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0018] Figure numerals: 1. gantry truss; 2. ceiling; 3. electric gate; 4. three-way moving device; 41. crossbeam; 42. longitudinal beam; 43. support; 5. sampling mechanism; 51. sampling tube; 52. base; 53. motor; 54. sampling bucket; 55. material baffle plate; 56. electric push rod; 57. discharge cover; 58. discharge pipe; 59. driving rod; 510. spiral blade; 511. reduction port; 512. chassis; 513. electromagnet; 514. armature; 515. slide rod; 516. support ring; 517. fixing ring; 518. fixing block; 519. baffle ring; 520. spring; 521. support block; 522. connecting block; 523. connecting groove; 6. receiving hopper. DETAILED DESCRIPTION

[0019] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0021] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] like Figures 1 to 4 As shown, the present invention discloses a coal sampling system, including a gantry truss 1, the ground at the bottom of the gantry truss 1 is a sampling channel, a vehicle loaded with coal enters the sampling channel for sampling, and a rainproof ceiling 2 is provided on the top of the gantry truss 1.

[0023] Electric gates 3 are provided at the entrance and exit of the sampling channel, and a license plate recognition machine is also provided at the entrance.

[0024] Two groups of three-way moving devices 4 are provided on the gantry truss 1 at the lower part of the ceiling 2. The three-way moving devices 4 include two cross beams 41 provided on the gantry truss 1, two longitudinal beams 42 are provided between the two cross beams 41, and moving trolleys sliding on the cross beams 41 are provided at both ends of the two longitudinal beams 42. A support 43 slides between the two longitudinal beams 42, and moving trolleys sliding on the longitudinal beams 42 are provided at both ends of the support 43. A vertically arranged linear drive is provided on the support 43, and a sampling mechanism 5 is provided on the linear drive. The linear drive has a force feedback control measure, so that the sampling mechanism 5 rebounds when it descends in the vehicle for sampling. The two groups of three-way moving devices 4 share the cross beam 41, and the three-way moving devices 4 drive the sampling mechanism 5 to move in three directions.

[0025] A receiving hopper 6 is provided on the side of the sampling channel. The sampling mechanism 5 pours the sampled coal into the receiving hopper 6. The bottom pipeline of the receiving hopper 6 is connected to the conveyor belt, and the conveyor belt transports the sampled coal for subsequent crushing, detection, testing and other operations.

[0026] The sampling system also includes a control unit, which includes a control computer, a laser radar and a digital camera. The laser radar is arranged at the bottom of the crossbeam 41, and the digital camera is arranged at the bottom of the support 43. A 5G wireless communication base station is configured at the location of the sampling system so that the sampling channel is completely within the coverage of the 5G wireless communication signal. Two-way wireless communication is achieved between the control computer, the electric gate 3, the license plate recognition machine, the laser radar, the digital camera, the three-way mobile device 4 and the sampling mechanism 5. The control computer has the function of analyzing and calculating the scanning signal fed back by the laser radar, and issuing execution instructions to the three-way mobile device 4 and the sampling mechanism 5. The control computer has the function of AI intelligent analysis, which can perform intelligent planning and decomposition operations on the movement of the three-way mobile device 4 and the sampling operation instructions of the sampling mechanism 5, and issue execution parameter instruction signals for each action.

[0027] The sampling mechanism 5 includes a base 52, which is connected to the actuator of the linear drive. A sampling cylinder 51 is rotatably provided at the bottom of the base 52, and a driving rod 59 is rotatably provided inside the sampling cylinder 51. The driving rod 59 and the sampling cylinder 51 are in a coaxial state. A reduction box and a motor 53 that are transmission-connected to the driving rod 59 are provided at the top of the base 52.

[0028] A horizontally arranged chassis 512 is provided near the top of the sampling tube 51. The chassis 512 is connected to the inner wall of the sampling tube 51. A through hole is provided at the center of the chassis 512 for the driving rod 59 to pass through and rotate with it. A spiral blade 510 is provided on the driving rod 59 below the chassis 512.

[0029] A sampling hopper 54 is provided on the outer wall of the sampling tube 51 at the bottom of the chassis 512. The sampling hopper 54 is connected to the sampling tube 51. The sampling hopper 54 is cylindrical and tilted. Its high end is connected to the sampling tube 51, and its low end is provided with a baffle plate 55. The top of the baffle plate 55 is hinged to the sampling hopper 54. An electric push rod 56 is provided on the top of the sampling hopper 54. One end of the electric push rod 56 is hinged to the sampling hopper 54, and the other end is hinged to the top of the baffle plate 55. The electric push rod 56 can be extended and retracted to drive the baffle plate 55 to swing, and the baffle plate 55 can block or open the outlet at the low end of the sampling hopper 54.

[0030] A reduction opening 511 is provided on the wall of the sampling tube 51 below the sampling hopper 54. The reduction opening 511 is opened around the circumference of the sampling tube 51. A plurality of vertical pull rods are provided in the reduction opening 511. Both ends of the pull rods are respectively connected to the top and bottom of the reduction opening 511. The plurality of pull rods are arranged at equal intervals in the circumferential direction of the sampling tube 51.

[0031] A discharge cover 57 is provided outside the contraction port 511, and the discharge cover 57 is connected to the sampling tube 51. The discharge cover 57 is arranged outside the circumference of the sampling tube 51, and a closed cavity connected to the contraction port 511 is formed between the discharge cover 57 and the sampling tube 51. A discharge pipe 58 is connected to the bottom of the discharge cover 57, and the discharge pipe 58 is arranged obliquely and the high end is connected to the discharge cover 57. The bottom of the discharge cover 57 is inclined, and the discharge pipe 58 is connected to the lowest end of the bottom of the discharge cover 57.

[0032] A control mechanism is provided above the chassis 512. The control mechanism can connect the sampling barrel 51 with the driving rod 59 so that the two are synchronously driven by the motor 53 to rotate. The control mechanism can also connect and fix the sampling barrel 51 with the base 52. The control mechanism includes a connecting groove 523 provided on the outer wall of the driving rod 59 above the chassis 512. The connecting groove 523 is opened along the outer wall of the circumference of the driving rod 59 in an annular shape. The driving rod 59 above the chassis 512 is enlarged. The outer diameter of the driving rod 59 above the chassis 512 is larger than the outer diameter of the driving rod 59 on the spiral blade 510. A plurality of connecting components are provided on the outer side of the circumference of the connecting groove 523. The plurality of connecting components are arranged at equal intervals in the circumferential direction of the connecting groove 523.

[0033] The connecting assembly includes a sliding rod 515 disposed above the chassis 512 and arranged horizontally, and the sliding rod 515 is arranged radially along the driving rod 59. A support ring 516 is sleeved on the sliding rod 515 on the side away from the driving rod 59, and a support rod connected to the chassis 512 is provided at the bottom of the support ring 516. A support block 521 is sleeved on the sliding rod 515 on the side close to the driving rod 59, and the support block 521 is connected to the chassis 512. Through the support and guidance of the support block 521 and the support ring 516, the sliding rod 515 can only slide radially along the driving rod 59.

[0034] An armature 514 is provided at the end of the slide bar 515 away from the driving rod 59, and an electromagnet 513 cooperating therewith is provided on the chassis 512 on the side of the armature 514 close to the driving rod 59. A connecting block 522 cooperating with the connecting groove 523 is provided at the end of the slide bar 515 close to the driving rod 59. The connecting block 522 is in an arc shape cooperating therewith in the circumferential direction of the driving rod 59, and the top and bottom of the connecting groove 523 are both arc surfaces. The cross-sectional shape of the connecting block 522 is adapted to the connecting groove 523. The connecting block 522 can slide radially along the driving rod 59 and can be inserted into the connecting groove 523, so that the outer wall of the connecting block 522 is in close contact with the inner wall of the connecting groove 523. The outer wall of the connecting block 522 and the inner wall of the connecting groove 523 are both provided with a friction layer, and the friction layer is made of a material with a high friction coefficient, which can be a rubber material.

[0035] A retaining ring 519 is provided on the slide rod 515 on the side of the support block 521 away from the driving rod 59. The retaining ring 519 is disc-shaped and is coaxially fixedly connected to the slide rod 515. A spring 520 is provided between the retaining ring 519 and the support block 521. The elastic force of the spring 520 pushes the retaining ring 519 to slide in the direction away from the driving rod 59.

[0036] A plurality of fixing blocks 518 are provided on the slide bar 515 between the retaining ring 519 and the supporting ring 516. The plurality of fixing blocks 518 are provided on the top of the slide bar 515 and are arranged at equal intervals. The fixing blocks 518 are arranged vertically and have arc-shaped tops. A fixing ring 517 connected to the base 52 is provided on the side of the fixing block 518 away from the driving rod 59. The fixing ring 517 surrounds the driving rod 59 in a circular shape. The fixing ring 517 is located above the slide bar 515. A plurality of fixing grooves whose shapes match the fixing blocks 518 are closely arranged on the inner wall of the fixing ring 517.

[0037] The electromagnet 513 is energized to make the armature 514 slide toward the driving rod 59, and the slide bar 515 slides radially toward the driving rod 59, the spring 520 is compressed, and the connecting block 522 is pushed into the connecting groove 523 by the slide bar 515 and the two are in close contact, and the fixing block 518 is separated from the fixing ring 517. At this time, under the friction force between the connecting block 522 and the connecting groove 523, the sampling tube 51 is driven to rotate along with the driving rod 59 by the motor 53. When the electromagnet 513 is powered off, the elastic force of the spring 520 pushes the retaining ring 519 to slide away from the driving rod 59, and the connecting block 522 disengages from the connecting groove 523. The elastic force of the spring 520 pushes the sliding rod 515 to slide until the fixing block 518 is tightly pressed against the fixing ring 517. If the fixing block 518 is just inserted into the fixing groove of the fixing ring 517, the sampling tube 51 is fixed to the base 52 at this time. If the fixing block 518 is pressed between two adjacent fixing grooves on the fixing ring 517, when the sampling tube 51 subsequently rotates slightly, the fixing block 518 will be inserted into the corresponding fixing groove to also fix the sampling tube 51 and the base 52.

[0038] An incremental angle measuring sensor is provided in the base 52 to provide the measurement data of the rotation angle of the sampling tube 51. The incremental angle measuring sensor includes a circular grating encoder and a circular grating reading head. The rotation angle of the sampling tube 51 is measured by the circular grating encoder, and the circular grating reading head outputs a signal to the control computer.

[0039] The present invention also discloses a sampling method of the above-mentioned coal-fired sampling system, comprising: Establish a coordinate origin within the operating range of the three-dimensional mobile device 4 and the sampling mechanism 5, calibrate the spatial coordinates of all equipment and structures in the sampling channel by using a laser radar and three-dimensional laser scanning technology, define the space outside the operating range of the three-dimensional mobile device 4 and the sampling mechanism 5 as an invalid space and set an operating boundary, establish a gridded spatial basic coordinate system database within the effective working range of the three-dimensional mobile device 4 and the sampling mechanism 5 and save it on the control computer; Establish a digital model of the three-dimensional mobile device 4 and the sampling mechanism 5 and debug and synthesize it with the grid space basic coordinate system, so that the digital model of the three-dimensional mobile device 4 and the sampling mechanism 5 is integrated with the grid space basic coordinate system, and the coordinates of the initial state of each part of the three-dimensional mobile device 4 and the sampling mechanism 5 are displayed and memorized in the control computer, and each movement of the three-dimensional mobile device 4 and the sampling mechanism 5 will record the position coordinates of each part in the control computer; When coal sampling is carried out, the vehicle loaded with coal enters from the entrance of the sampling channel, the license plate recognition machine identifies the license plate number and compares it in the control computer. After confirming that the vehicle has a transportation task, the electric gate opens and the vehicle enters the sampling channel; After the vehicle stops steadily in the sampling channel, the three-dimensional mobile device 4 is operated to make the laser radar scan the vehicle contour and calculate the position coordinates of the vehicle in the grid space basic coordinate system. The support 43 moves to the top of the vehicle, and the digital camera takes a picture of the top of the vehicle and transmits the picture to the control computer. The control computer identifies the black area in the picture. The black area is the coal-burning area loaded in the vehicle. The control computer generates the position coordinates of the boundary of the coal-burning area in the grid space. The control computer controls the three-dimensional mobile device 4 and the sampling mechanism 5 to cooperate to perform multi-point coal sampling in the black area. When multi-point coal sampling is performed, the control computer determines multiple sampling points and controls the three-way mobile device 4 to drive the sampling mechanism 5 to move to the sampling point, and then the sampling mechanism 5 descends to perform coal sampling, and the coal sample is collected into the sampling bucket 54; After the multi-point coal sampling is completed, the three-way mobile device 4 drives the sampling mechanism 5 to rise and detach from the vehicle, and the electric gate 3 at the exit of the sampling channel opens, and the vehicle can drive out of the sampling channel. At the same time, the three-way mobile device 4 drives the sampling mechanism 5 to move to the receiving hopper 6 and adjusts the height of the sampling hopper 54 to make it compatible with the receiving hopper 6. Then the control mechanism connects the sampling barrel 51 with the driving rod 59, and the motor 53 drives the sampling barrel 51 to rotate to adjust the position of the sampling hopper 54, so that the sampling hopper 54 is above the receiving hopper 6, and then the baffle plate 55 opens to allow the coal sample in the sampling hopper 54 to slide into the receiving hopper 6; Before the sampling mechanism 5 descends to perform sampling, if the projection of the end of the discharge pipe 58 on the horizontal plane is within the coal burning area, the sampling mechanism 5 descends to perform coal burning sampling; Before the sampling mechanism 5 descends to take samples, if the projection of the end of the discharge pipe 58 on the horizontal plane is outside the coal burning area, the control mechanism connects the sampling cylinder 51 with the driving rod 59, and the motor 53 operates to rotate the sampling cylinder 51 to swing the end of the discharge pipe 58 until the projection of the end of the discharge pipe 58 on the horizontal plane is within the coal burning area, the motor 53 stops running, the control mechanism connects and fixes the sampling cylinder 51 with the base 52, and then the sampling mechanism 5 descends to take samples of the coal; During the movement of the sampling mechanism 5, the laser radar continuously detects and scans the front of the sampling mechanism 5 and feeds back the scanning signal to the control computer. The control computer compares and identifies various devices and structures in the grid space basic coordinate system, determines whether the three-way mobile device 4 and the sampling mechanism 5 collide with the object in front of the operation, and modifies the movement trajectory in real time to avoid collision. During the coal sampling operation, the two sampling mechanisms 5 can perform the sampling operation in cooperation, dividing the coal area into two equal parts in the length direction of the crossbeam 41, and each sampling mechanism 5 performs coal sampling in the two areas respectively; The number of coal sampling points per vehicle is N, N≥3. The three-way mobile device 4 driving the sampling mechanism 5 to descend has a force feedback control measure. The sampling tube 51 rebounds from the bottom during the sampling process and records the sampling depth of the current sampling point, where: If the difference in sampling depth between any two of the N sampling points does not exceed 10 cm, the sampling operation is normal; If the difference in sampling depth between any two of the N sampling points exceeds 10 cm, the number of sampling points will be increased by two. After the sampling is completed, if the difference in sampling depth between three or more of the N+2 sampling points exceeds 10 cm, the sampling operation is abnormal and the current vehicle information is recorded for subsequent inspection and investigation. Otherwise, the sampling operation is normal. Under the premise of normal operation, the average value of the sampling depths of all sampling points is taken as the reference height of the vehicle. When the vehicle enters the sampling channel for coal sampling next time, the force feedback control measures are intervened within the range of 6 to 8 cm above and below the reference height. When the vehicle is 6 to 8 cm above the reference height, the force feedback control measures are not intervened. When the sampling mechanism 5 encounters resistance when descending, it still keeps descending. 6 to 8 cm below the reference height is the maximum sampling depth. The license plate number recognized by the license plate recognition machine is searched and checked in the control computer. If the vehicle has performed normal sampling operations for M consecutive times and the coal sample analysis and testing are qualified, M≥3, then the sampling point of the vehicle is randomly selected. Otherwise, if the vehicle has no record of M consecutive sampling operations being normal and the coal sample analysis and testing being qualified, then at least one sampling point of the vehicle is at the edge of its coal burning area.

[0040] The present invention automatically identifies the parking position of the vehicle and the coal-burning area loaded in the vehicle, controls the sampling mechanism 5 to sample in the coal-burning area, and improves the sampling range. Even the coal at the edge of the vehicle baffle can be sampled, and the space for fraud in the vehicle is reduced. When sampling at the edge of the vehicle baffle, the coal at the reduction opening 511 can be discharged into the vehicle through the discharge pipe 58 by adjusting the rotation angle of the sampling tube 51 itself, thereby preventing the coal from falling from the reduction opening 511 to the outside of the vehicle, thereby avoiding the waste of coal and preventing the accumulation of coal falling in the sampling channel to affect the environmental cleanliness and coal use operation. Two sets of sampling mechanisms 5 are provided to perform sampling operations in coordination, thereby improving the coal sampling efficiency. The reference height, that is, the bottom height of the bucket, is read according to the vehicle information, and then the bottoming rebound of the sampling mechanism 5 is controlled by displacement and force feedback, thereby improving the sampling efficiency and avoiding the sampling failure caused by the sampling mechanism 5 being blocked by large coal particles before touching the bottom of the bucket and rebounding in advance due to force feedback. By recording vehicle information and previous sampling records, the selection of sampling points is controlled to avoid fraud in the blind spot of traditional sampling, that is, the edge of the truck bed, by new vehicles or vehicles with previous abnormal conditions, thereby improving the representativeness of the samples in the sampling operation.

[0041] The above embodiments are only preferred embodiments of the present invention and are not limitations of the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. A coal sampling system, characterized in that: include: The gantry truss has a sampling channel inside; Three-way moving equipment, mounted on a gantry truss; The sampling mechanism is arranged on a three-way mobile device and includes: A base, a motor is disposed on the top of the base; A sampling cylinder is rotatably arranged at the bottom of the base; A driving rod is arranged in the sampling tube and is connected to the motor; A spiral blade is arranged on the driving rod; The sampling hopper is arranged on the top of the outer wall of the sampling tube; The reduction port is arranged on the outer wall of the sampling tube below the sampling hopper; A control unit, electrically connected to the three-way mobile device and the sampling mechanism; The base is connected to the three-way mobile device, a chassis arranged horizontally and sleeved on the outside of the driving rod is provided near the top of the sampling tube, a control mechanism for connecting the sampling tube with the base or the driving rod is provided on the chassis, a discharge cover connected to the sampling tube is provided on the outside of the contraction port, and a discharge pipe is connected to the discharge cover; The control unit includes a control computer, a laser radar and a digital camera, and the laser radar and the digital camera are arranged on a three-way mobile device.

2. The coal sampling system according to claim 1, characterized in that: The control mechanism includes a connecting groove arranged on the outer wall of the driving rod above the chassis. The connecting groove is opened in a ring shape along the circumferential outer wall of the driving rod. A fixing ring is provided at the bottom of the base. A plurality of connecting components are provided on the circumferential outer side of the connecting groove. The plurality of connecting components are arranged at equal intervals in the circumferential direction of the connecting groove. The connecting components can slide to be in close contact with the connecting groove or the fixing ring.

3. The coal combustion sampling system according to claim 2, characterized in that: The connecting assembly includes a sliding rod disposed above the chassis and arranged horizontally, the sliding rod being arranged radially along the driving rod, a support ring is sleeved on the sliding rod away from the driving rod, a support rod connected to the chassis is disposed at the bottom of the support ring, a support block is sleeved on the sliding rod close to the driving rod, and the support block is connected to the chassis.

4. The coal combustion sampling system according to claim 3, characterized in that: The end of the sliding rod close to the driving rod is provided with a connecting block that cooperates with the connecting groove. The connecting block is in an arc shape that cooperates with the driving rod in the circumferential direction of the driving rod. The top and bottom of the connecting groove are both arc surfaces, and the cross-sectional shape of the connecting block is adapted to the connecting groove.

5. The coal combustion sampling system according to claim 3, characterized in that: The fixing ring is arranged in a circular shape around the driving rod, a plurality of fixing blocks are provided at equal intervals on the top of the sliding rod, a plurality of fixing rings are correspondingly provided at the bottom of the base, the fixing blocks are arranged vertically and have arc-shaped tops, and a plurality of fixing grooves whose shapes are adapted to the fixing blocks are closely arranged on the inner wall of the fixing ring.

6. The coal combustion sampling system according to claim 3, characterized in that: An armature is provided at the end of the slide rod away from the driving rod, and an electromagnet cooperating with the armature is provided on the chassis on the side of the drive rod. A retaining ring is provided on the slide rod on the side of the support block away from the driving rod. The retaining ring is disc-shaped and coaxially fixedly connected to the slide rod, and a spring is provided between the retaining ring and the support block.

7. The coal combustion sampling system according to claim 1, characterized in that: The shrinkage opening is opened around the circumference of the sampling tube, and a plurality of vertical pull rods are arranged in the shrinkage opening, and the two ends of the pull rods are respectively connected to the top and the bottom of the shrinkage opening, and the plurality of pull rods are arranged at equal intervals in the circumferential direction of the sampling tube; The discharge hood is arranged outside the circumference of the sampling tube, and a closed cavity connected to the shrinkage port is formed between the discharge hood and the sampling tube. The bottom of the discharge hood is inclined, and the discharge pipe is connected to the lowest end of the bottom of the discharge hood. The discharge pipe is inclined and the high end is connected to the discharge hood.

8. The coal combustion sampling system according to claim 1, characterized in that: The sampling bucket is cylindrical and tilted, the high end of the sampling bucket is connected to the sampling barrel, the low end of the sampling bucket is provided with a material baffle plate, the top of the material baffle plate is hinged to the sampling bucket, the top of the sampling bucket is provided with an electric push rod, one end of the electric push rod is hinged to the sampling bucket, and the other end is hinged to the top of the material baffle plate.

9. A sampling method of a coal sampling system according to any one of claims 1 to 8, characterized in that: include: Establish a coordinate origin within the operating range of the three-dimensional mobile device and the sampling mechanism, calibrate the spatial coordinates of all equipment and structures in the sampling channel using three-dimensional laser scanning technology through laser radar, define the space outside the operating range of the three-dimensional mobile device and the sampling mechanism as invalid space and set the operating boundary, establish a gridded spatial basic coordinate system database within the effective working range of the three-dimensional mobile device and the sampling mechanism and save it on the control computer; Establish a digital model of the three-dimensional mobile device and sampling mechanism and debug and synthesize it with the grid space basic coordinate system, so that the digital model of the three-dimensional mobile device and sampling mechanism is integrated with the grid space basic coordinate system. The coordinates of the initial state of each part of the three-dimensional mobile device and sampling mechanism are displayed and memorized in the control computer. Each movement of the three-dimensional mobile device and sampling mechanism will record the position coordinates of each part in the control computer. When coal sampling is carried out, the vehicle loaded with coal enters from the entrance of the sampling channel, the vehicle license plate number is identified and compared in the control computer, and after confirming that the vehicle has a transportation task, the vehicle is driven into the sampling channel; After the vehicle stops steadily in the sampling channel, the three-dimensional mobile device is operated to make the laser radar scan the outline of the vehicle and calculate the position coordinates of the vehicle in the grid space basic coordinate system. The three-dimensional mobile device drives the digital camera to move above the vehicle. The digital camera takes a picture of the top of the vehicle and transmits the picture to the control computer. The control computer identifies the black area in the picture. The black area is the coal-burning area loaded in the vehicle. The control computer generates the position coordinates of the boundary of the coal-burning area in the grid space. The control computer controls the three-dimensional mobile device and the sampling mechanism to cooperate to perform multi-point coal sampling in the black area. When sampling coal, the control computer determines multiple sampling points and controls the three-way mobile device to drive the sampling mechanism to move to the sampling point, and then the sampling mechanism descends to sample coal, and the coal sample is collected into the sampling bucket; Before the sampling mechanism descends to take samples, if the projection of the end of the discharge pipe on the horizontal plane is within the coal burning area, the sampling mechanism descends to take samples of the coal; Before the sampling mechanism descends for sampling, if the projection of the end of the discharge pipe on the horizontal plane is outside the coal-burning area, the control mechanism connects the sampling cylinder to the drive rod, and the motor rotates the sampling cylinder to make the end of the discharge pipe swing until the projection of the end of the discharge pipe on the horizontal plane is within the coal-burning area. The motor stops running, and the control mechanism connects and fixes the sampling cylinder to the base, and then the sampling mechanism descends to sample the coal.

10. The sampling method of the coal combustion sampling system according to claim 9, characterized in that: The number of coal sampling points on each vehicle is N, N ≥ 3. The three-way mobile device that drives the sampling mechanism to descend has a force feedback control measure. The sampling tube rebounds when it touches the bottom during the sampling process, and the sampling depth of the current sampling point is recorded, where: If the difference in sampling depth between any two of the N sampling points does not exceed 10 cm, the sampling operation is normal; If the difference in sampling depth between any two of the N sampling points exceeds 10 cm, the number of sampling points will be increased by two. After the sampling is completed, if the difference in sampling depth between three or more of the N+2 sampling points exceeds 10 cm, the sampling operation is abnormal and the current vehicle information is recorded for subsequent inspection and investigation. Otherwise, the sampling operation is normal. Under the premise of normal operation, the average value of the sampling depths of all sampling points is taken as the reference height of the vehicle. When the vehicle enters the sampling channel for coal sampling next time, the force feedback control measures are intervened within the range of 6 to 8 cm above and below the reference height. When it is more than 6 to 8 cm above the reference height, the force feedback control measures are not intervened. When the sampling mechanism encounters resistance when descending, it still keeps descending. 6 to 8 cm below the reference height is the maximum sampling depth. The license plate number recognized by the license plate recognition machine is searched and checked in the control computer. If the vehicle has performed normal sampling operations for M consecutive times and the coal sample analysis and testing are qualified, M≥3, then the sampling point of the vehicle is randomly selected. Otherwise, if the vehicle has no record of M consecutive sampling operations being normal and the coal sample analysis and testing being qualified, then at least one sampling point of the vehicle is at the edge of its coal burning area.

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