Follow-up same-speed belt sampling system

Abstract

The invention provides a follow-up same-speed belt sampling system, and relates to the technical field of coal sampling, the follow-up same-speed belt sampling system comprises an equipment assembly and a control system, the equipment assembly comprises running rails, a supporting frame and a sampling sealed cabin, the running rails are arranged on two sides of a coal conveying belt conveyor, and the supporting frame is arranged on the supporting frame; the supporting frame is movably arranged on the running track and is used for controlling rapid acceleration and braking through a servo system, and the supporting frame is positioned above the coal conveying belt conveyor; the sampling vehicle above the coal conveying belt conveyor moves through the running track, during sampling, the belt speed of the coal conveying belt conveyor is collected, the sampling vehicle is controlled to be rapidly accelerated to the speed, coal flow on a belt is subjected to full-section cutting collection through the rotary shovel head in the same-speed state, and deceleration braking is conducted after collection is finished; the whole process is automatically carried out, manual work is not needed, the rotating shovel head and the coal flow are at the same speed in the sampling process, a seamless connection state is achieved in the sampling process, and the sampling efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal sampling, and in particular to a follow-up constant-speed belt sampling system. Background Art

[0002] Coal is a solid combustible mineral. It is gradually formed by ancient plants undergoing complex biochemical and physical and chemical changes underground. Coal is known as "black gold" and "food for industry". It is one of the most abundant and widely distributed fossil fuels on earth. It is mainly composed of carbon, hydrogen, oxygen, nitrogen and other elements. Carbon, hydrogen and oxygen are the main organic matter in coal, accounting for more than 95%. Coal generates heat during combustion and is an important raw material in many fields such as thermal power generation, steel smelting, and chemical production. The quality of coal is also of paramount importance. In the electric power, metallurgy, coal, mining, port and terminal industries, in order to ensure that the quality and composition of coal meet the market demand, enterprises need to rely on scientific sampling and analysis methods. With the advancement of automation and mechanization technology, the traditional manual sampling method is inefficient and has large errors, which cannot meet the needs of the modern coal industry. In addition, the traditional sampling method generally directly inserts the shovel head into the coal flow on the running belt conveyor, causing smoke and dust to fly, and easily damaging the shovel head. Therefore, the present invention proposes a follow-up isospeed belt sampling system to solve the problems existing in the prior art. Summary of the invention

[0003] In response to the above problems, the present invention proposes a follow-up same-speed belt sampling system, which improves sampling efficiency and accuracy, standardizes the sampling process, improves work safety, adapts to modern production needs, and thus promotes the scientific, automated and standardized coal production.

[0004] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a follow-up same-speed belt sampling system, including an equipment component and a control system, the equipment component includes a running track, a support frame and a sampling sealed cabin, the running track is arranged on both sides of the coal conveyor belt, the support frame is movably arranged on the running track and controls sudden acceleration and braking through a servo system, the support frame is located above the coal conveyor belt, the sampling sealed cabin is arranged on the support frame to form a sampling vehicle, a rotating shovel head is arranged inside the sampling sealed cabin, and a discharge port is arranged at one end of the sampling sealed cabin, a distance measuring encoder is arranged on the sampling vehicle, and a coal flow detection device is arranged on the rotating shovel head; The control system includes a synchronization unit and an analysis unit. The synchronization unit is used to access the controller of the coal conveyor belt, collect and set the belt speed, and simultaneously access the distance measuring encoder for positioning and collect the real-time belt speed. During sampling, the synchronization unit controls the servo system to drive the sampling vehicle to accelerate rapidly and move synchronously with the belt. The analysis unit is used to collect parameters of the coal flow detection device and monitor the coal flow on the coal conveyor belt, thereby driving the rotating shovel head to telescopically rotate, adjust the angle and rotation frequency, and perform full-section cutting and collection of the coal flow on the belt in a synchronous state. After collection, the sampling vehicle is driven by the servo system to decelerate and brake, and the material is discharged through the discharge port.

[0005] A further improvement is that the servo system comprises a reduction motor and a track wheel, the track wheel is provided with a brake, and the track wheel is adapted to the running track, and the reduction motor is used to drive the track wheel to rotate.

[0006] Further improvement is that after collection, the sampling vehicle is driven by the servo system to slow down and brake, positioned and stopped at the sealed crusher, connected to the sealed crusher through the discharge port, and crushed and reduced to the required coal samples after discharge.

[0007] A further improvement is that maintenance platforms are provided on both sides above the support track, and fences are provided on the outer sides of the maintenance platforms.

[0008] Further improvements are: the rotating shovel head includes a shovel head adjustment device and a sampling shovel head, the shovel head adjustment device is arranged inside the sampling sealed cabin, the sampling shovel head is arranged below the shovel head adjustment device, and the sampling shovel head is equipped with 360° rotation and telescopic functions, and the coal flow detection device is arranged on the sampling shovel head.

[0009] Further improvements are as follows: the coal conveyor belt includes a roller bracket and a belt roller, the belt rollers are provided with multiple groups, and the multiple groups of belt rollers are arranged in an arc shape and rotatably installed on the roller bracket, a belt is wound around the belt roller, and the upper surface conveying surface of the belt is arc-shaped, and the movement path of the sampling shovel head is adapted to the arc shape of the conveying surface of the belt.

[0010] Further improvements are as follows: the synchronization unit includes an access unit, a PC program controller and a judgment and alarm unit, the access unit is used to access the controller of the coal conveyor belt conveyor and collect the set belt speed, the PC program controller is used to access the distance measuring encoder for primary and secondary positioning and collect the real-time belt speed, the judgment and alarm unit is used to compare the values ​​collected by the access unit and the PC program controller, when the values ​​match or the error values ​​are within the specified range, a control signal is sent to control the servo system, and the sampling vehicle is driven to accelerate and move synchronously with the belt according to the real-time belt speed, when the error value of the value is not within the specified range, it is judged that the current coal conveyor belt conveyor is faulty, an alarm signal is transmitted to the control room, and the driving of the servo system sampling vehicle is stopped.

[0011] Further improvements are as follows: the analysis unit includes a real-time detection unit and an execution unit. The real-time detection unit is used to connect to the coal flow detection device, monitor the coal flow rate on the coal conveyor belt in real time through the coal flow detection device, and convert it into variables for adjusting the rotating shovel head according to the conversion algorithm. The variables include the telescopic distance, rotation angle and rotation frequency of the rotating shovel head. The execution unit is used to convert the above variables into control signals, transmit them to the shovel head adjustment device, and adjust the sampling shovel head.

[0012] A further improvement is that the control system also includes a recording unit and a modeling unit, wherein the recording unit is used to record the number of operations of the entire sampling vehicle and the time of each operation, and output a maintenance report to the control room after reaching the specified maintenance time.

[0013] Further improvements are as follows: the modeling unit is used to construct a three-dimensional model of the running track, coal conveyor belt and sampling vehicle, and display it on the display terminal in the control room. The sampling vehicle has a built-in positioning module, and the positioning module is connected to the three-dimensional model by wireless communication. The three-dimensional model displays the coordinates of the sampling vehicle and the real-time position of the sampling vehicle relative to the running track and coal conveyor belt in real time.

[0014] The beneficial effects of the present invention are: 1. The present invention uses a running track to move a sampling vehicle above a coal conveyor belt. During sampling, the belt speed of the coal conveyor belt is collected, and the sampling vehicle is controlled to accelerate rapidly to the speed. The coal flow on the belt is cut and collected in full section by a rotating shovel head at the same speed. After the collection is completed, the sampling is decelerated and braked, and the collected coal samples are output from a discharge port. The whole process is automated and does not require manual labor. In addition, the rotating shovel head and the coal flow are at the same speed during the sampling process, which creates a seamless connection during the sampling process, improves sampling efficiency and accuracy, and standardizes the sampling process. The relatively static sampling method can effectively suppress dust, extend the life of the rotating shovel head, and improve work safety.

[0015] 2. The rotating shovel head of the present invention is equipped with 360° rotation and telescopic functions and a coal flow detection device, which can effectively monitor the coal flow in real time to facilitate the adjustment of the sampling shovel head angle and rotation frequency, greatly reducing the sampling error rate, thereby improving the accuracy and reliability of coal samples.

[0016] 3. The present invention has a recording unit to record the number of times the entire sampling vehicle runs and the time of each operation. After reaching the specified maintenance time, it outputs a maintenance report to facilitate maintenance personnel to perform maintenance and avoid damage. It also has a three-dimensional model of the running track, coal conveyor belt and sampling vehicle. The coordinates of the sampling vehicle and the real-time position of the sampling vehicle relative to the running track and coal conveyor belt can be displayed on the display terminal, which is convenient for maintenance personnel to quickly locate and has diversified functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the present invention; Figure 2 It is a side cross-sectional schematic diagram of the sampling vehicle of the present invention; Figure 3 It is a front cross-sectional schematic diagram of the sampling vehicle of the present invention.

[0018] In the figure, 1. running track, 2. supporting frame, 3. sampling sealed cabin, 4. discharge port, 5. maintenance platform, 6. sampling bucket, 7. coal flow detection device, 8. shovel head adjustment device, 9. belt roller, 10. roller bracket. DETAILED DESCRIPTION

[0019] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention. Example 1

[0020] according to Figure 1 , 2 As shown in FIG. 3 , this embodiment proposes a follow-up same-speed belt sampling system, including an equipment component and a control system, wherein the equipment component includes a running track 1, a support frame 2 and a sampling sealed cabin 3, wherein the running track is arranged on both sides of the coal conveyor belt, the support frame is movably arranged on the running track and controls the rapid acceleration and braking through a servo system, the support frame is located above the coal conveyor belt, the sampling sealed cabin is arranged on the support frame to form a sampling vehicle, a rotating shovel head is arranged inside the sampling sealed cabin, and a discharge port 4 is arranged at one end of the sampling sealed cabin, a distance measuring encoder is arranged on the sampling vehicle, and a coal flow detection device 7 is arranged on the rotating shovel head; The control system includes a synchronization unit and an analysis unit. The synchronization unit is used to access the controller of the coal conveyor belt, collect and set the belt speed, and simultaneously access the distance measuring encoder for positioning and collect the real-time belt speed. During sampling, the synchronization unit controls the servo system to drive the sampling vehicle to accelerate rapidly and move synchronously with the belt. The analysis unit is used to collect parameters of the coal flow detection device and monitor the coal flow on the coal conveyor belt, thereby driving the rotating shovel head to telescopically rotate, adjust the angle and rotation frequency, and perform full-section cutting and collection of the coal flow on the belt in a synchronous state. After collection, the sampling vehicle is driven by the servo system to decelerate and brake, and the material is discharged through the discharge port. The sampling vehicle is equipped with a distance measuring encoder, and the primary and secondary positioning control is performed through a PC program controller. The secondary positioning adopts an advanced positioning AC servo system. When sampling is required, the sampling vehicle accelerates rapidly to the speed of the coal conveyor belt. At the same speed, the sampler cuts and collects the coal flow on the belt through a rotating shovel head. After the collection, the sampling vehicle decelerates through the servo system, and passes the collected coal samples to a sealed crusher for crushing and reduction to the required coal samples. The equipment performs synchronous movement on the running belt to rotate and cut the coal flow for sampling. This equipment can reach the same speed as the belt transportation, and plays a seamless connection during the sampling process. The efficiency of coal sample collection is significantly improved, thereby reducing the wear of the sampling head.

[0021] The servo system includes a reduction motor and a track wheel, the track wheel is provided with a brake, and the track wheel is adapted to the running track, and the reduction motor is used to drive the track wheel to rotate. The sampling vehicle frame is arranged above the coal conveyor belt, and can realize rapid acceleration and braking through the control of the reduction motor.

[0022] After the collection, the sampling vehicle is driven by the servo system to decelerate and brake, and then positioned and stopped at the sealed crusher. The coal is connected to the sealed crusher through the discharge port, and the coal is crushed and reduced to the required coal samples after discharge. After the collection is completed, the sampling vehicle is decelerated and braked, and the collected coal samples are output from the discharge port to the sealed crusher. The whole process is automated and no manual labor is required.

[0023] Both sides above the support track are provided with an inspection platform 5, and the outer side of the inspection platform is provided with a fence, which is convenient for manual inspection and improves safety through the fence.

[0024] The rotating shovel head includes a shovel head adjustment device 8 and a sampling shovel head 6. The shovel head adjustment device is arranged inside the sampling sealed cabin, the sampling shovel head is arranged below the shovel head adjustment device, and the sampling shovel head is equipped with 360° rotation and telescopic functions, and the coal flow detection device is arranged on the sampling shovel head. The rotating shovel head is equipped with 360° rotation and telescopic functions and a coal flow detection device, which can effectively monitor the coal flow in real time, so as to adjust the sampling shovel head angle and rotation frequency, greatly reducing the sampling error rate, thereby improving the accuracy and reliability of coal samples.

[0025] The coal conveyor belt includes a roller support 10 and a belt roller 9. The belt rollers are provided in multiple groups, and the multiple groups of belt rollers are arranged in an arc shape and rotatably installed on the roller support. A belt is wound around the belt roller, and the upper conveying surface of the belt is in an arc shape. The movement path of the sampling shovel head is adapted to the arc shape of the conveying surface of the belt.

[0026] The synchronization unit includes an access unit, a PC program controller and a judgment alarm unit. The access unit is used to access the controller of the coal conveyor belt machine and collect the set belt speed. The PC program controller is used to access the distance measuring encoder for primary and secondary positioning and collect the real-time belt speed. The judgment alarm unit is used to compare the values ​​collected by the access unit and the PC program controller. When the values ​​match or the error value is within the specified range, a control signal is sent to control the servo system, and the sampling vehicle is driven to accelerate and move synchronously with the belt according to the real-time belt speed. When the error value of the value is not within the specified range, the current coal conveyor belt machine is judged to be faulty, an alarm signal is transmitted to the control room, and the driving of the servo system sampling vehicle is stopped. The present invention has a safety identification function. In the process of collecting the belt speed of the coal conveyor belt machine and controlling the synchronization of the sampling vehicle, by comparing the values ​​collected by the access unit and the PC program controller, it is judged whether the set speed matches the real-time speed, thereby judging whether the coal conveyor belt machine has a fault, thereby improving the overall safety.

[0027] The analysis unit includes a real-time detection unit and an execution unit. The real-time detection unit is used to access the coal flow detection device, monitor the coal flow rate on the coal conveyor belt in real time through the coal flow detection device, and convert it into a variable for adjusting the rotating shovel head according to the conversion algorithm. The variable includes the telescopic distance, rotation angle and rotation frequency of the rotating shovel head. The execution unit is used to convert the above variables into control signals, transmit them to the shovel head adjustment device, and adjust the sampling shovel head. The conversion algorithm includes the following: Coal flow rate to telescopic distance conversion algorithm: Responsible for converting the real-time monitored coal flow data into the telescopic distance of the rotating shovel head. It is necessary to consider factors such as the density and speed of the coal flow, the width and speed of the belt conveyor, as well as the physical characteristics and design parameters of the shovel head; the conversion algorithm of coal flow to rotation angle: converting the coal flow to the rotation angle of the shovel head involves factors such as the distribution of the coal flow on the belt conveyor, the geometric shape and rotation radius of the shovel head, and simulation or experimental data on the impact of shovel head rotation on the coal flow; the conversion algorithm of coal flow to rotation frequency: determining the rotation frequency of the shovel head based on the coal flow, it is necessary to consider factors such as the kinetic energy of the shovel head rotation, the dynamic characteristics of the coal flow, and the transmission efficiency of the belt conveyor. Example 2

[0028] according to Figure 1 , 2As shown in , 3, this embodiment proposes a follow-up same-speed belt sampling system, including an equipment component and a control system, the equipment component includes a running track, a support frame and a sampling sealed cabin, the running track is arranged on both sides of the coal conveyor belt, the support frame is movably arranged on the running track and controls the rapid acceleration and braking through the servo system, the support frame is located above the coal conveyor belt, the sampling sealed cabin is arranged on the support frame to form a sampling vehicle, a rotating shovel head is arranged inside the sampling sealed cabin, and a discharge port is arranged at one end of the sampling sealed cabin, a distance measuring encoder is arranged on the sampling vehicle, and a coal flow detection device is arranged on the rotating shovel head; The control system includes a synchronization unit and an analysis unit. The synchronization unit is used to access the controller of the coal conveyor belt, collect and set the belt speed, and simultaneously access the distance measuring encoder for positioning and collect the real-time belt speed. During sampling, the synchronization unit controls the servo system to drive the sampling vehicle to accelerate rapidly and move synchronously with the belt. The analysis unit is used to collect parameters of the coal flow detection device and monitor the coal flow on the coal conveyor belt, thereby driving the rotating shovel head to telescopically rotate, adjust the angle and rotation frequency, and perform full-section cutting and collection of the coal flow on the belt in a synchronous state. After collection, the sampling vehicle is driven by the servo system to decelerate and brake, and the material is discharged through the discharge port. The sampling vehicle is equipped with a distance measuring encoder, and the primary and secondary positioning control is performed through a PC program controller. The secondary positioning adopts an advanced positioning AC servo system. When sampling is required, the sampling vehicle accelerates rapidly to the speed of the coal conveyor belt. At the same speed, the sampler cuts and collects the coal flow on the belt through a rotating shovel head. After the collection, the sampling vehicle decelerates through the servo system, and passes the collected coal samples to a sealed crusher for crushing and reduction to the required coal samples. The equipment performs synchronous movement on the running belt to rotate and cut the coal flow for sampling. This equipment can reach the same speed as the belt transportation, and plays a seamless connection during the sampling process. The efficiency of coal sample collection is significantly improved, thereby reducing the wear of the sampling head.

[0029] The control system also includes a recording unit and a modeling unit. The recording unit is used to record the number of operations of the entire sampling vehicle and the time of each operation, and output a maintenance report to the control room after reaching the specified maintenance time. The modeling unit is used to construct a three-dimensional model of the running track, coal conveyor belt and sampling vehicle, and display it on the display terminal in the control room. The sampling vehicle has a built-in positioning module, and the positioning module is connected to the three-dimensional model by wireless communication. The three-dimensional model displays the coordinates of the sampling vehicle in real time, as well as the real-time position of the sampling vehicle relative to the running track and coal conveyor belt. It is equipped with a recording unit to record the number of operations of the entire sampling vehicle and the time of each operation. After reaching the specified maintenance time, a maintenance report is output to facilitate maintenance personnel to perform maintenance and avoid damage. It is equipped with a three-dimensional model of the running track, coal conveyor belt and sampling vehicle, and the coordinates of the sampling vehicle and the real-time position of the sampling vehicle relative to the running track and coal conveyor belt can be displayed on the display terminal, which is convenient for maintenance personnel to quickly locate and has diversified functions. During the modeling process, the data sets such as the operating parameters and dimensions of the running tracks, coal conveyor belts and sampling vehicles were input into ArcGIS and Revit software, the parameters were stretched into three-dimensional form, and a three-dimensional model was constructed. ContextCapture was then used to process the data set and the image model was constructed based on image automation. The position coordinates were then vectorized using ArcMAP software, and the feature layers of each vectorized coordinate were loaded into ArcScene to visualize the coordinate data. The three-dimensional model and the image model obtained in the above process were then merged to obtain a three-dimensional model.

[0030] The follow-up same-speed belt sampling system moves the sampling vehicle above the coal conveyor belt through the running track. During sampling, the belt speed of the coal conveyor belt is collected, and the sampling vehicle is controlled to accelerate to the speed. The coal flow on the belt is cut and collected by the rotating shovel head at the same speed. After the collection is completed, the deceleration and braking are performed to output the collected coal sample from the discharge port. The whole process is automated and does not require manual labor. In addition, the same speed of the rotating shovel head and the coal flow during the sampling process provides a seamless connection during the sampling process, improves sampling efficiency and accuracy, and standardizes the sampling process. The relatively static sampling method can effectively suppress dust, extend the life of the rotating shovel head, and improve work safety. At the same time, the rotating shovel head of the present invention is equipped with 360° rotation and telescopic functions and a coal flow detection device, which can effectively monitor the coal flow in real time, so as to adjust the sampling shovel head angle and rotation frequency, greatly reducing the sampling error rate, thereby improving the accuracy and reliability of coal samples. In addition, the present invention has a recording unit to record the number of times the entire sampling vehicle runs and the time of each operation. After reaching the specified maintenance time, a maintenance report is output to facilitate maintenance personnel to perform maintenance and avoid damage. It also has a three-dimensional model of the running track, coal conveyor belt and sampling vehicle. The coordinates of the sampling vehicle and the real-time position of the sampling vehicle relative to the running track and coal conveyor belt can be displayed on the display terminal, which is convenient for maintenance personnel to quickly locate and has diversified functions.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A follow-up same-speed belt sampling system, including equipment components and a control system, characterized in that: The equipment assembly includes a running track, a support frame and a sampling sealed cabin, wherein the running track is arranged on both sides of the coal conveyor belt, the support frame is movably arranged on the running track and controls rapid acceleration and braking through a servo system, the support frame is located above the coal conveyor belt, the sampling sealed cabin is arranged on the support frame to form a sampling vehicle, a rotating shovel head is arranged inside the sampling sealed cabin, and a discharge port is arranged at one end of the sampling sealed cabin, a distance measuring encoder is arranged on the sampling vehicle, and a coal flow detection device is arranged on the rotating shovel head; The control system includes a synchronization unit and an analysis unit. The synchronization unit is used to access the controller of the coal conveyor belt, collect and set the belt speed, and simultaneously access the distance measuring encoder for positioning and collect the real-time belt speed. During sampling, the synchronization unit controls the servo system to drive the sampling vehicle to accelerate rapidly and move synchronously with the belt. The analysis unit is used to collect parameters of the coal flow detection device and monitor the coal flow on the coal conveyor belt, thereby driving the rotating shovel head to telescopically rotate, adjust the angle and rotation frequency, and perform full-section cutting and collection of the coal flow on the belt in a synchronous state. After collection, the sampling vehicle is driven by the servo system to decelerate and brake, and the material is discharged through the discharge port.

2. The following same-speed belt sampling system according to claim 1 is characterized in that: The servo system comprises a reduction motor and a track wheel. The track wheel is provided with a brake and is adapted to the running track. The reduction motor is used to drive the track wheel to rotate.

3. The following same-speed belt sampling system according to claim 2 is characterized in that: After collection, the sampling vehicle is driven by the servo system to slow down and brake, and is positioned to stop at the sealed crusher. It is connected to the sealed crusher through the discharge port, and the coal is crushed and reduced to the required coal samples after discharge.

4. The following same-speed belt sampling system according to claim 1 is characterized in that: Maintenance platforms are provided on both sides above the support track, and fences are provided on the outer sides of the maintenance platforms.

5. The following same-speed belt sampling system according to claim 1 is characterized in that: The rotating shovel head includes a shovel head adjustment device and a sampling shovel head. The shovel head adjustment device is arranged inside the sampling sealed cabin, and the sampling shovel head is arranged below the shovel head adjustment device. The sampling shovel head is equipped with 360° rotation and telescopic functions, and the coal flow detection device is arranged on the sampling shovel head.

6. The following same-speed belt sampling system according to claim 5 is characterized in that: The coal conveyor belt includes a roller support and belt rollers. The belt rollers are provided in multiple groups, and the multiple groups of belt rollers are arranged in an arc shape and rotatably installed on the roller support. A belt is wound around the belt rollers, and the upper conveying surface of the belt is in an arc shape. The movement path of the sampling shovel head is adapted to the arc shape of the conveying surface of the belt.

7. The follow-up same-speed belt sampling system according to claim 6 is characterized in that: The synchronization unit includes an access unit, a PC program controller and a judgment and alarm unit. The access unit is used to access the controller of the coal conveyor belt and collect the set belt speed. The PC program controller is used to access the distance measuring encoder for primary and secondary positioning and collect the real-time belt speed. The judgment and alarm unit is used to compare the values ​​collected by the access unit and the PC program controller. When the values ​​match or the error values ​​are within the specified range, a control signal is sent to control the servo system, and the sampling vehicle is driven to accelerate and move synchronously with the belt according to the real-time belt speed. When the error value of the value is not within the specified range, the current coal conveyor belt is judged to be faulty, an alarm signal is transmitted to the control room, and the driving of the servo system sampling vehicle is stopped.

8. The follow-up same-speed belt sampling system according to claim 7 is characterized in that: The analysis unit includes a real-time detection unit and an execution unit. The real-time detection unit is used to connect to the coal flow detection device, monitor the coal flow rate on the coal conveyor belt in real time through the coal flow detection device, and convert it into variables for adjusting the rotating shovel head according to the conversion algorithm. The variables include the telescopic distance, rotation angle and rotation frequency of the rotating shovel head. The execution unit is used to convert the above variables into control signals, transmit them to the shovel head adjustment device, and adjust and execute the sampling shovel head.

9. A follow-up same-speed belt sampling system according to any one of claims 1 to 8, characterized in that: The control system also includes a recording unit and a modeling unit. The recording unit is used to record the number of operations of the entire sampling vehicle and the time of each operation, and output a maintenance report to the control room after reaching the specified maintenance time.

10. The follow-up same-speed belt sampling system according to claim 9, characterized in that: The modeling unit is used to construct a three-dimensional model of the running track, coal conveyor belt and sampling vehicle, and display it on the display terminal in the control room. The sampling vehicle has a built-in positioning module, and the positioning module is connected to the three-dimensional model through wireless communication. The three-dimensional model displays the coordinates of the sampling vehicle and the real-time position of the sampling vehicle relative to the running track and coal conveyor belt in real time.

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