A coal sampling system and a sampling method

Abstract

The present invention provides a coal sampling system and a sampling method, which relate to the technical field of sampling. The coal sampling system includes a gantry truss, a three-way moving device and a sampling mechanism. The sampling mechanism includes a base, a sampling cylinder, a driving rod, a spiral blade, a sampling hopper and a reduction orifice. The control unit is electrically connected to the three-way moving device and the sampling mechanism. A control mechanism for connecting the sampling cylinder to the base or the driving rod is provided inside the sampling cylinder. A discharge hood connected to the sampling cylinder is provided outside the reduction orifice, and a discharge pipe is communicated with the discharge hood. The control unit includes a control computer, a lidar and a digital camera, and the lidar and the digital camera are arranged on the three-way moving device. The sampling method includes: before sampling, if the discharge pipe is outside the coal region, the control mechanism connects the sampling cylinder to the driving rod, and the driving rod rotates to swing the discharge pipe into the coal region. The present invention can sample the coal near the baffle of the vehicle, avoiding waste and environmental impact caused by the coal falling outside the vehicle from the reduction orifice.

Description

Technical Field

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

[0002] A thermal power plant, abbreviated as a thermal power station, is a factory that uses combustibles (such as coal) as fuel to produce electric energy. Currently, before the coal transported by vehicle enters the power plant, it needs to be sampled, and then crushed, detected, analyzed, stored, etc.

[0003] In the prior art, when a coal sampling machine samples, due to the change in the parking position of the vehicle, there is a large safety distance between the sampling area of the sampling machine and the vehicle baffle. This can avoid the sampling machine from colliding with the baffle during the sampling process. However, this also results in the coal near the baffle inside the vehicle not being sampled, and there is a situation of fraud in this area. Moreover, even with a safety distance, if the parking position of the vehicle deviates too much, there may still be a situation where the sampling machine collides 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 that can sample the coal near the baffle of the vehicle and avoid waste and environmental impact caused by the coal falling outside the vehicle from the splitting port.

[0005] The present invention is realized through the following technical solutions:

[0006] A coal sampling system, comprising:

[0007] A gantry truss, the inside of which is a sampling channel;

[0008] A three-way moving device, arranged on the gantry truss;

[0009] A sampling mechanism, arranged on the three-way moving device, comprising:

[0010] A base, on the top of which there is a motor;

[0011] A sampling cylinder, rotatably arranged at the bottom of the base;

[0012] A driving rod, arranged inside the sampling cylinder and in transmission connection with the motor;

[0013] A spiral blade, arranged on the driving rod;

[0014] A sampling hopper, arranged on the outer wall top of the sampling cylinder;

[0015] A splitting port, arranged on the outer wall of the sampling cylinder below the sampling hopper;

[0016] A control unit, electrically connected to the three-way moving device and the sampling mechanism;

[0017] Among them, the base is connected to the three-way moving device. A chassis horizontally arranged and sleeved outside the driving rod is provided near the top inside the sampling cylinder. A control mechanism for connecting the sampling cylinder to the base or the driving rod is provided on the chassis. A discharge hood connected to the sampling cylinder is provided outside the reduction opening, and a discharge pipe is communicated with the discharge hood;

[0018] The control unit includes a control computer, a lidar, and a digital camera, and the lidar and the digital camera are arranged on the three-way moving device.

[0019] Optionally, the control mechanism includes a connection groove provided on the outer wall of the driving rod above the chassis. The connection groove is arranged 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 connection components are provided on the circumferential outside of the connection groove. The plurality of connection components are equally spaced in the circumferential direction of the connection groove, and the connection components can slide to be in close contact with the connection groove or the fixing ring.

[0020] Optionally, the connection component includes a sliding rod horizontally arranged above the chassis. The sliding rod is arranged along the radial direction of the driving rod. A support ring is sleeved on the sliding rod on the side away from the driving rod. A support rod connected to the chassis is provided at the bottom of the support ring. A support block is sleeved on the sliding rod on the side close to the driving rod, and the support block is connected to the chassis.

[0021] Optionally, a connection block adapted to the connection groove is provided at the end of the sliding rod close to the driving rod. The connection block is arc-shaped in the circumferential direction of the driving rod to match it. The top and bottom of the connection groove are both arc surfaces, and the cross-sectional shape of the connection block is adapted to the connection groove.

[0022] Optionally, the fixing ring is arranged in a circular ring around the driving rod. A plurality of fixing blocks are equally spaced at the top of the sliding rod. A plurality of fixing rings are correspondingly provided at the bottom of the base. The fixing blocks are vertically arranged and the tops are arc-shaped. A plurality of fixing grooves adapted to the fixing blocks are closely arranged on the inner wall of the fixing ring.

[0023] Optionally, an armature is provided at the end of the sliding rod away from the driving rod. An electromagnet cooperating with it is provided on the chassis on the side of the armature close to the driving rod. 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 fixedly connected to the sliding rod coaxially. A spring is provided between the retaining ring and the support block.

[0024] Optionally, the reduction opening is provided around the circumference of the sampling cylinder. A plurality of vertical pull rods are provided in the reduction opening. The two ends of the pull rods are respectively connected to the top and bottom of the reduction opening. The plurality of pull rods are equally spaced in the circumferential direction of the sampling cylinder;

[0025] The discharge hood is arranged on the outer circumference of the sampling cylinder. A closed cavity communicating with the reduction opening is formed between the discharge hood and the sampling cylinder. The bottom of the discharge hood is inclined. The discharge pipe is communicated with the lowest end of the bottom of the discharge hood. The discharge pipe is inclined and its high end is communicated with the discharge hood.

[0026] Optionally, the sampling hopper is cylindrical and inclined. The high end of the sampling hopper is communicated with the sampling cylinder. A baffle is arranged at the low end of the sampling hopper. The top of the baffle is hinged to the sampling hopper. An electric push rod is arranged at the top of the sampling hopper. One end of the electric push rod is hinged to the sampling hopper, and the other end is hinged to the top of the baffle.

[0027] A sampling method for a coal-fired sampling system includes:

[0028] Establish a coordinate origin within the operating range of the three-way moving device and the sampling mechanism. Use 3D laser scanning technology through a lidar to calibrate the spatial coordinates of all equipment and structures in the sampling channel. The space outside the operating range of the three-way moving device and the sampling mechanism is defined as an invalid space and an operating boundary is set. Establish a grid-based spatial basic coordinate system database within the effective working range of the three-way moving device and the sampling mechanism and solidify and save it on the control computer;

[0029] Establish a digital model of the three-way moving device and the sampling mechanism and debug and synthesize it with the grid-based spatial basic coordinate system, so that the digital model of the three-way moving device and the sampling mechanism is integrated with the grid-based spatial basic coordinate system. The coordinates of each part of the initial state of the three-way moving device and the sampling mechanism are displayed and memorized in the control computer. Each movement of the three-way moving device and the sampling mechanism will record the position coordinates of each part in the control computer;

[0030] When coal sampling is carried out, the vehicle loaded with coal enters from the entrance of the sampling channel. The license plate number of the vehicle is identified and compared in the control computer. After confirming that the vehicle has a transportation task, the vehicle is driven into the sampling channel;

[0031] After the vehicle stops stably in the sampling channel, the three-way moving device operates to make the lidar scan the vehicle contour and calculate the position coordinates of the vehicle in the grid-based spatial basic coordinate system. The three-way moving device drives the digital camera to move above the vehicle. The digital camera takes a picture of the vehicle top and transmits the picture to the control computer. The control computer identifies the black area in the picture. The black area is the coal-loaded area in the vehicle. The control computer generates the position coordinates of the boundary of the coal-loaded area in the grid-based space. The control computer controls the three-way moving device and the sampling mechanism to cooperate to carry out multi-point coal sampling in the black area;

[0032] During coal sampling, the control computer determines multiple sampling points and controls the three-way moving device to drive the sampling mechanism to move to the sampling points. Then, the sampling mechanism descends to conduct coal sampling, and the coal sample is collected into the sampling hopper.

[0033] Among them, before the sampling mechanism descends for sampling, if the projection of the end of the discharge pipe on the horizontal plane is within the coal region, the sampling mechanism descends and conducts coal sampling.

[0034] 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 region, the control mechanism connects the sampling cylinder to the driving rod, and the motor runs to rotate the sampling cylinder to swing the end of the discharge pipe until the projection of the end of the discharge pipe on the horizontal plane is within the coal region. Then the motor stops running, and the control mechanism connects and fixes the sampling cylinder to the base. Then the sampling mechanism descends and conducts coal sampling.

[0035] Optionally, the number of coal sampling points for each vehicle is N, N≥3. The three-way moving device that drives the sampling mechanism to descend has a force feedback control measure. The sampling cylinder rebounds when it touches the bottom during sampling, and the sampling depth of the current sampling point is recorded. Among them:

[0036] If the difference in sampling depth between any two of the N sampling points does not exceed 10 cm, the sampling operation is normal.

[0037] If there is a situation where the difference in sampling depth between any two of the N sampling points exceeds 10 cm, the number of sampling points is increased by two. After sampling, 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.

[0038] On the premise that the sampling operation is normal, 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 measure intervenes within the range of 6 - 8 cm above and below the reference height. When it is more than 6 - 8 cm above the reference height, the force feedback control measure does not intervene, and the sampling mechanism still descends when encountering resistance. The maximum sampling depth is 6 - 8 cm below the reference height.

[0039] According to the license plate number recognized by the license plate recognition machine, it is searched and verified in the control computer. If the vehicle's previous M consecutive sampling operations are normal and the coal sample analysis and testing are qualified, M≥3, then the sampling points of the vehicle are randomly selected. Otherwise, if the vehicle does not have a record of M consecutive normal sampling operations and qualified coal sample analysis and testing before, at least one sampling point of the vehicle is at the edge of its coal region.

[0040] The beneficial effects of the present invention are:

[0041] The present invention automatically identifies the parking position of a vehicle and the coal-loading area inside the vehicle, controls the sampling mechanism to sample within the coal-loading area, improves the sampling range, and enables the coal even at the edge of the vehicle baffle to be sampled, reducing the space for the vehicle to deceive. When sampling at the edge of the vehicle baffle, by adjusting the rotation angle of the sampling cylinder itself, the coal at the reduction orifice can be discharged into the vehicle through the discharge pipe, avoiding the coal from falling outside the vehicle from the reduction orifice, which not only avoids wasting coal but also avoids the accumulation of the coal falling in the sampling channel from affecting the environmental cleanliness and coal sampling operation.

[0042] Two groups of sampling mechanisms are provided to cooperate in the sampling operation, improving the coal sampling efficiency. The reference height, that is, the height of the bottom of the hopper, is read according to the vehicle information, and then the bottom-touching and rebounding of the sampling mechanism adopts dual control of displacement and force feedback to improve the sampling efficiency, avoiding the sampling mechanism from being prematurely triggered to rebound due to the blockage of large coal particles before touching the bottom of the hopper, resulting in sampling failure.

[0043] By recording the vehicle information and the records of its previous sampling operations, the selection of its sampling points is controlled, avoiding new vehicles or vehicles with previous abnormal conditions from falsifying in the blind area of traditional sampling, that is, the edge area of the hopper, and improving the representativeness of the samples in the sampling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a structural diagram of the present invention;

[0046] Figure 2 It is an external structural diagram of the sampling mechanism;

[0047] Figure 3 It is an internal structural diagram of the sampling mechanism;

[0048] Figure 4 It is Figure 3 The enlarged view at A in

[0049] Reference numerals: 1, gantry truss; 2, ceiling; 3, electric gate; 4, three-way moving device; 41, cross beam; 42, longitudinal beam; 43, support; 5, sampling mechanism; 51, sampling cylinder; 52, base; 53, motor; 54, sampling hopper; 55, baffle plate; 56, electric push rod; 57, discharge hood; 58, discharge pipe; 59, driving rod; 510, spiral blade; 511, reduction opening; 512, chassis; 513, electromagnet; 514, armature; 515, sliding rod; 516, support ring; 517, fixed ring; 518, fixed block; 519, retaining ring; 520, spring; 521, support block; 522, connecting block; 523, connecting groove; 6, receiving hopper. Detailed implementation manners

[0050] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0052] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0053] As Figures 1 to 4 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. A rain-proof ceiling 2 is provided at the top of the gantry truss 1.

[0054] Electric gates 3 are provided at both the entrance and the exit of the sampling channel, and a license plate recognition machine is also provided at the entrance.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] On the outer wall of the sampling cylinder 51 at the bottom of the chassis 512, there is a sampling hopper 54. The sampling hopper 54 is communicated with the sampling cylinder 51. The sampling hopper 54 is cylindrical and inclined. Its high end is communicated with the sampling cylinder 51, and its low end is provided with a baffle 55. The top of the baffle 55 is hinged to the sampling hopper 54. At the top of the sampling hopper 54, there is an electric push rod 56. 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 55. The telescopic movement of the electric push rod 56 can drive the baffle 55 to swing, and the baffle 55 can block or open the outlet at the low end of the sampling hopper 54.

[0061] On the cylinder wall of the sampling cylinder 51 below the sampling hopper 54, there is a quartering port 511. The quartering port 511 is opened around the circumference of the sampling cylinder 51. Inside the quartering port 511, there are multiple vertical pull rods. The two ends of the pull rods are respectively connected to the top and bottom of the quartering port 511. The multiple pull rods are arranged at equal intervals in the circumferential direction of the sampling cylinder 51.

[0062] Outside the quartering port 511, there is a discharge hood 57. The discharge hood 57 is connected to the sampling cylinder 51. The discharge hood 57 is arranged on the outer circumference of the sampling cylinder 51. A closed cavity communicated with the quartering port 511 is formed between the discharge hood 57 and the sampling cylinder 51. The bottom of the discharge hood 57 is communicated with a discharge pipe 58. The discharge pipe 58 is inclined and its high end is communicated with the discharge hood 57. The bottom of the discharge hood 57 is in an inclined plane, and the discharge pipe 58 is communicated at the lowest end of the bottom of the discharge hood 57.

[0063] Above the chassis 512, there is a control mechanism. The control mechanism can connect the sampling cylinder 51 with the driving rod 59 so that the two are synchronously driven by the motor 53 to rotate, and the control mechanism can also connect and fix the sampling cylinder 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 circumferential outer wall of the driving rod 59 in a ring 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. Outside the circumference of the connecting groove 523, there are multiple groups of connecting components. The multiple groups of connecting components are arranged at equal intervals in the circumferential direction of the connecting groove 523.

[0064] The connecting component includes a sliding rod 515 provided above the chassis 512 and arranged horizontally. The sliding rod 515 is arranged along the radial direction of the driving rod 59. A support ring 516 is sleeved on the sliding rod 515 on the side far from the driving rod 59. 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. 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 along the radial direction of the driving rod 59.

[0065] An end of the sliding rod 515 away from the driving rod 59 is provided with an armature 514, and an electromagnet 513 cooperating with it is provided on the chassis 512 on one side of the armature 514 close to the driving rod 59. An end of the sliding rod 515 close to the driving rod 59 is provided with a connecting block 522 cooperating with the connecting groove 523. The connecting block 522 is arc-shaped in cooperation with it in the circumferential direction of the driving rod 59. Both the top and bottom of the connecting groove 523 are arc surfaces. The cross-sectional shape of the connecting block 522 is adapted to the connecting groove 523. The connecting block 522 can be snapped into the connecting groove 523 by sliding along the radial direction of the driving rod 59, so that the outer wall of the connecting block 522 is in close contact with the inner wall of the connecting groove 523. Friction layers are provided on the outer wall of the connecting block 522 and the inner wall of the connecting groove 523. The friction layer is made of a material with a high coefficient of friction, which can be rubber material.

[0066] A retaining ring 519 is provided on the sliding rod 515 on one side of the supporting block 521 away from the driving rod 59. The retaining ring 519 is disc-shaped and fixedly connected to the sliding rod 515 coaxially. A spring 520 is provided between the retaining ring 519 and the supporting block 521. The elastic force of the spring 520 pushes the retaining ring 519 to slide in a direction away from the driving rod 59.

[0067] A plurality of fixing blocks 518 are provided on the sliding rod 515 between the retaining ring 519 and the supporting ring 516. The plurality of fixing blocks 518 are arranged at the top of the sliding rod 515 and are equally spaced. The fixing blocks 518 are arranged vertically and the top is arc-shaped. A fixing ring 517 connected to the base 52 is provided on one side of the fixing block 518 away from the driving rod 59. The fixing ring 517 is arranged in a circular ring around the driving rod 59. The fixing ring 517 is located above the sliding rod 515. A plurality of fixing grooves adapted to the shape of the fixing blocks 518 are closely arranged on the inner wall of the fixing ring 517.

[0068] When the electromagnet 513 is energized, the armature 514 slides towards the driving rod 59, the sliding rod 515 slides towards the driving rod 59 along the radial direction of the driving rod 59, the spring 520 is compressed, the connecting block 522 is pushed into the connecting groove 523 by the sliding rod 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 cylinder 51 is driven to rotate by the motor 53 along with the driving rod 59. When the electromagnet 513 is de-energized, the elastic force of the spring 520 pushes the retaining ring 519 to slide in a direction away from the driving rod 59, the connecting block 522 is separated from the connecting groove 523, and the elastic force of the spring 520 pushes the sliding rod 515 to slide until the fixing block 518 abuts tightly against the fixing ring 517. If the fixing block 518 just snaps into the fixing groove of the fixing ring 517, the sampling cylinder 51 is fixed to the base 52 at this time. If the fixing block 518 abuts between two adjacent fixing grooves on the fixing ring 517, when the sampling cylinder 51 rotates slightly later, the fixing block 518 will snap into the corresponding fixing groove to also realize the fixation between the sampling cylinder 51 and the base 52.

[0069] An incremental angle measurement sensor for providing the rotational angle measurement data of the sampling cylinder 51 is provided inside the base 52. The incremental angle measurement sensor includes a circular grating encoder and a circular grating reading head. The rotational angle of the sampling cylinder 51 is measured by the circular grating encoder, and the circular grating reading head outputs a signal to the control computer.

[0070] The present invention also discloses a sampling method for the above coal sampling system, including:

[0071] Establish a coordinate origin within the operating ranges of the three-way moving device 4 and the sampling mechanism 5. Use a lidar to calibrate the spatial coordinates of all equipment and structures in the sampling channel by means of three-dimensional laser scanning technology. Define the space outside the operating ranges of the three-way moving device 4 and the sampling mechanism 5 as an invalid space and set an operating boundary. Establish a grid-based spatial basic coordinate system database within the effective working range of the three-way moving device 4 and the sampling mechanism 5 and solidify and save it on the control computer;

[0072] Establish a digital model of the three-way moving device 4 and the sampling mechanism 5 and debug and synthesize it with the grid-based spatial basic coordinate system, so that the digital model of the three-way moving device 4 and the sampling mechanism 5 is integrated with the grid-based spatial basic coordinate system. The coordinates of each part in the initial state of the three-way moving device 4 and the sampling mechanism 5 are displayed and memorized in the control computer. Each movement of the three-way moving device 4 and the sampling mechanism 5 will record the position coordinates of each part in the control computer;

[0073] When coal sampling is carried out, the vehicle loaded with coal enters from the entrance of the sampling channel. The license plate recognition machine recognizes the license plate number and compares it in the control computer. After confirming that the vehicle has a transportation task, the electric gate is opened, and the vehicle drives into the sampling channel;

[0074] After the vehicle stops stably in the sampling channel, the three-way moving device 4 operates to make the lidar scan the vehicle contour and calculate the position coordinates of the vehicle in the grid-based spatial basic coordinate system. The support 43 moves above the vehicle, and the digital camera takes a picture of the vehicle top and transmits the picture to the control computer. The control computer identifies the black area in the picture. The black area is the coal loading area in the vehicle. The control computer generates the position coordinates of the boundary of the coal loading area in the grid-based space, and the control computer controls the three-way moving device 4 and the sampling mechanism 5 to cooperate to perform multi-point coal sampling within the black area;

[0075] When multi-point coal sampling is carried out, the control computer determines multiple sampling points and controls the three-way moving device 4 to drive the sampling mechanism 5 to move to the sampling points, and then the sampling mechanism 5 descends to carry out coal sampling, and the coal sample is collected into the sampling hopper 54;

[0076] After the multi-point coal sampling is completed, after the three-way mobile device 4 drives the sampling mechanism 5 to rise and separate from the vehicle, the electric gate 3 at the sampling channel outlet is opened, 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 adapt it to the receiving hopper 6. Then the control mechanism connects the sampling cylinder 51 to the driving rod 59, and the motor 53 drives the sampling cylinder 51 to rotate to adjust the position of the sampling hopper 54 so that the sampling hopper 54 is above the receiving hopper 6. Then the baffle 55 is opened to make the coal sample in the sampling hopper 54 slide into the receiving hopper 6;

[0077] Before the sampling mechanism 5 descends for sampling, if the projection of the end of the discharge pipe 58 on the horizontal plane is within the coal region, the sampling mechanism 5 descends and coal sampling is carried out;

[0078] Before the sampling mechanism 5 descends for sampling, if the projection of the end of the discharge pipe 58 on the horizontal plane is outside the coal region, the control mechanism connects the sampling cylinder 51 to 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 region. Then the motor 53 stops operating, and the control mechanism connects and fixes the sampling cylinder 51 to the base 52. Then the sampling mechanism 5 descends and coal sampling is carried out;

[0079] During the movement of the sampling mechanism 5, the lidar continuously detects and scans the front of the operation of the sampling mechanism 5 and feeds the scanning signal back to the control computer. The control computer compares and identifies with each device and structure in the grid-based spatial basic coordinate system to judge 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 the occurrence of collision;

[0080] During the coal sampling operation, the two sampling mechanisms 5 can cooperate to carry out the sampling operation. The coal region is divided into two equal parts in the length direction of the crossbeam 41, and each sampling mechanism 5 respectively carries out coal sampling in the two regions;

[0081] The number of coal sampling points for each vehicle is N, N≥3. The three-way mobile device 4 that drives the sampling mechanism 5 to descend has a force feedback control measure. The sampling cylinder 51 rebounds when it touches the bottom during the sampling process, and records the sampling depth of the current sampling point, where:

[0082] If the difference in sampling depth between any two of the N sampling points does not exceed 10 cm, the sampling operation is normal;

[0083] If the difference in sampling depths between any two of the N sampling points exceeds 10 cm, the number of sampling points is increased by two. After sampling is completed, if the difference in sampling depths of three or more sampling points among these 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.

[0084] On the premise that the sampling operation is normal, the average value of the sampling depths of all sampling points is taken as the reference height of the vehicle. When the vehicle next enters the sampling channel for coal sampling, the force feedback control measure intervenes within the range of 6 - 8 cm above and below the reference height. When it is above 6 - 8 cm above the reference height, the force feedback control measure does not intervene, and the sampling mechanism 5 still descends when encountering resistance. The maximum sampling depth is 6 - 8 cm below the reference height.

[0085] Search and check according to the license plate number recognized by the license plate recognition machine in the control computer. If the previous M consecutive sampling operations of the vehicle are normal and the coal sample analysis and testing are qualified, where M ≥ 3, the sampling points of the vehicle are randomly selected. Conversely, if there is no record of the vehicle having M consecutive normal sampling operations and qualified coal sample analysis and testing before, at least one sampling point of the vehicle is at the edge of its coal loading area.

[0086] The present invention can automatically identify the parking position of the vehicle and the coal loading area inside the vehicle, control the sampling mechanism 5 to sample within the coal loading area, improve the sampling range, and even the coal at the edge of the vehicle baffle can be sampled, reducing the space for vehicle fraud. And when sampling at the edge of the vehicle baffle, by adjusting the rotation angle of the sampling cylinder 51 itself, the coal at the reduction orifice 511 can be discharged into the vehicle through the discharge pipe 58, avoiding the coal from falling outside the vehicle from the reduction orifice 511, which not only avoids waste of coal but also avoids the accumulation of coal dropped in the sampling channel from affecting the environmental cleanliness and coal sampling operation.

[0087] Two groups of sampling mechanisms 5 are provided to cooperate in the sampling operation to improve the coal sampling efficiency. According to the vehicle information, its reference height, that is, the height of the bottom of the hopper, is read, and then the bottom - touch and rebound of the sampling mechanism 5 adopt dual control of displacement and force feedback to improve the sampling efficiency, avoiding the sampling failure caused by the premature trigger of rebound due to the blockage of large coal particles before the sampling mechanism 5 touches the bottom of the hopper due to force feedback.

[0088] By recording the vehicle information and its previous sampling operation records, the selection of its sampling points is controlled, avoiding new vehicles or vehicles with previous abnormal conditions from falsifying in the blind area of traditional sampling, that is, the edge area of the hopper, and improving the representativeness of the sampling operation samples.

[0089] The above embodiments are only preferred embodiments of the present invention and do not limit the technical solutions of the present invention. Any technical solution that can be achieved on the basis of the above embodiments without creative work shall be regarded as falling within the scope of the patent rights 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; 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.

2. The coal sampling system according to claim 1, 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.

3. The coal combustion sampling system according to claim 2, 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.

4. The coal combustion sampling system according to claim 2, 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.

5. The coal combustion sampling system according to claim 2, 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.

6. 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.

7. 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.

8. A sampling method of a coal sampling system according to any one of claims 1 to 7, 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 the position coordinates of the vehicle in the grid space basic coordinate system are calculated in the control computer. The three-dimensional mobile device drives the digital camera to move above 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, which 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, and 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.

9. The sampling method of the coal sampling system according to claim 8, 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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