Kilometer vertical shaft lifting gravity energy storage system and running state coupling detection method

Abstract

The invention relates to the technical field of renewable energy storage, in particular to a gravity energy storage system for a kilometer-level large-load-distance, high-load, high-speed and large-capacity vertical shaft and a steel wire rope running state coupling detection method. The problems that an existing gravity energy storage technology is low in energy storage efficiency, small in energy storage capacity, low in operation reliability and the like are solved, the existing conditions that the depth of a vertical shaft of a waste mine is larger than kilometers, a wellhead is generally in the long direction or round, and a double-lifting container can be installed are utilized for transporting balancing weights, mutual conversion between potential energy and electric energy is achieved, and energy saving and environmental protection are achieved. The electric energy is stored in the abandoned mine field, the construction cost and time of the vertical shaft gravity energy storage system can be greatly reduced, and the problems of environmental governance and resource recycling are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of renewable energy storage, and particularly relates to a shaft gravity energy storage system for kilometer-level long-distance transportation, high load, high speed, and large capacity, and a method for coupling detection of the operating state thereof. Background Art

[0002] To achieve the goals of "carbon peak and carbon neutrality", building a new power system has become the main direction of the transformation of China's energy structure. However, the problems of randomness, intermittency, and volatility of renewable energy sources such as wind power and photovoltaic power generation have led to problems such as insufficient power consumption and resource waste when large-scale renewable energy is connected to the power system. Existing energy storage systems such as electrochemical energy storage, pumped-storage energy storage, structure energy storage, and mountain gravity energy storage all face certain limitations. Although electrochemical energy storage has high energy density and fast response ability, it has high costs, limited lifespan, and resource and environmental problems. Pumped-storage energy storage has high efficiency and large energy storage capacity, but has a long construction period, large investment, and requires special topographical conditions. Structure energy storage is suitable for urban applications, but is limited by space and construction costs. Mountain gravity energy storage is environmentally friendly and renewable, but is restricted by specific geographical conditions and has low capacity and efficiency. These energy storage technologies all face challenges in terms of cost, efficiency, environmental impact, and sustainable development, and need to be further optimized and innovated. The shaft gravity energy storage technology based on abandoned mines can achieve stable and controllable conversion of gravitational potential energy and electrical energy by lifting and lowering heavy objects in the system cycle, can flexibly dispatch heavy object blocks for energy storage / discharge, has advantages such as large application scale, low cost, long service life, environmental friendliness, long energy storage time, and no self-discharge, is suitable for power grid peak shaving and realizing the day-night transfer of electric energy, and is of great significance for maintaining the stability of a high-proportion renewable energy power system, and has become a focus issue of current energy storage technologies. Therefore, designing a kilometer-level shaft gravity energy storage system based on abandoned mines and double-rope winding lifting avoids waste of abandoned mine resources and reduces engineering construction costs. At the same time, adopting a double-rope winding lifting system and performing real-time online monitoring of the system operating state can effectively improve the operating safety and reliability, stable and efficient energy storage, and energy storage system capacity of the shaft gravity energy storage system, improve the power grid peak shaving ability and the consumption ability of renewable energy power generation, make it possible for distributed power sources to be connected to the power grid on a large scale, better achieve "peak shaving and valley filling", and reduce the consumption ratio of fossil energy.

[0003] Regarding the gravity energy storage solution, CN201599160U discloses a large-capacity gravity energy storage device for power stations, which realizes the conversion between electric energy and potential energy by lifting standardized counterweight blocks to a high place. This solution requires structures such as large support columns, crossbeams, and cables, and has problems such as high structural safety risks, low storage capacity, and high construction costs. CN201910074856.6 is a gravity energy storage system based on a mine vertical shaft, hoisting, and transportation system, including a headframe sheave, a wire rope winch, an electric generator-integrated motor, and a control system. However, this solution has a low energy storage efficiency and great risks in operation safety. US20200028379 uses a vertical shaft to hoist a single heavy object for gravity energy storage. To increase the energy storage capacity, the weight of a single heavy object is planned to be expanded to 500 tons, which further challenges the design and construction of mechanical structures such as support beam frames and hoisting systems. CN202110714699.8 is a gravity energy storage system based on a vertical shaft and a roadway, including a vertical shaft, a roadway, an upper track, a lower track, a support beam frame, an electric generator, a winch, a car, and n heavy object carriers. This solution also has problems with the structural stability of the support beam frame and cannot predict the operating state of the hoisting mechanism in real time to accurately master the operating state, resulting in problems such as operation safety. CN202111173003.1 proposes a multi-heavy object transfer method using multiple crossbeams and radial beams on a gantry. This method also has problems such as a long lateral transfer time of heavy objects, high manufacturing costs of beam frames, and operation safety and reliability. In summary, the current gravity energy storage systems cannot meet the ultra-large-scale industrial and civil energy storage requirements at the national backbone power grid level and have huge potential safety hazards. Summary of the Invention

[0004] The purpose of the present invention is to provide a gravity energy storage system for lifting in a kilometer-long vertical shaft and a coupling detection method for its operating state, to overcome the problems of low energy storage efficiency, small energy storage capacity, and low operating reliability in existing gravity energy storage technologies. By using the existing conditions that the vertical shaft of an abandoned mine is more than a kilometer deep, the wellhead is generally rectangular or circular, and two hoisting containers can be installed, it is used to transport counterweight blocks to realize the mutual conversion between potential energy and electric energy, and store electric energy in the abandoned mine, which can greatly reduce the construction cost and time of the vertical shaft gravity energy storage system, and solve the problems of environmental governance and resource reuse.

[0005] The technical solution of the present invention is: a kilometer vertical shaft hoisting gravity energy storage system, including a derrick, a double-rope winding hoist, a control module, a permanent magnet synchronous motor, a machine-side converter, a grid-side converter, a transformer, a guide rail, an above-ground counterweight transport device, a below-ground counterweight transport device, counterweights, a hydraulic can-holding device, a drum, a left steel wire rope, a right steel wire rope, a left sheave, a right sheave, a left lifting container, a right lifting container, a steel wire rope bearing strength detection device, a left three-axis fiber optic inertial navigation measuring instrument, a right three-axis fiber optic inertial navigation measuring instrument, an above-ground automatic loading and unloading robotic arm, an above-ground automatic loading and unloading robotic arm, an above-ground counterweight storage bin, an above-ground conveyor belt, a below-ground automatic loading and unloading robotic arm, a below-ground conveyor belt, a below-ground automatic loading and unloading robotic arm, and a below-ground counterweight storage bin.

[0006] Further, the steel wire rope bearing strength detection device is installed between the drum and the left sheave.

[0007] Further, the steel wire rope bearing strength detection device is installed between the drum and the right sheave.

[0008] Further, the left three-axis fiber optic inertial navigation measuring instrument and the right three-axis fiber optic inertial navigation measuring instrument are respectively fixed to the upper sides of the left lifting container and the right lifting container by bolts.

[0009] Further, the derrick is erected directly above the abandoned mine shaft. The left sheave and the right sheave are respectively installed on the derrick. The drum of the double-rope winding hoisting system is fixed on the ground. One end of each of the left steel wire rope and the right steel wire rope is wound around the drum in multiple layers, and the other end passes around the left sheave and the right sheave in the corresponding directions and is respectively fixedly connected to the left lifting container and the right lifting container. The left lifting container and the right lifting container are respectively connected to the guide rail through guide wheels. The guide rail includes four vertical guide rails.

[0010] Further, the permanent magnet synchronous motor is coaxially connected to the drum to ensure synchronous movement. One end of the machine-side converter is connected to the permanent magnet synchronous motor, and the other end is connected to the grid-side converter. One end of the grid-side converter is connected to the machine-side converter, and the other end is connected to the transformer. One end of the transformer is connected to the grid-side converter, and the other end is connected to the power grid.

[0011] Further, the above-ground counterweight transport device includes an above-ground automatic loading and unloading robotic arm, an above-ground automatic loading and unloading robotic arm, an above-ground counterweight storage bin, and an above-ground conveyor belt. The above-ground automatic loading and unloading robotic arm is arranged at the end close to the lifting container, and the above-ground automatic loading and unloading robotic arm is arranged at the end close to the above-ground counterweight storage bin. The above-ground conveyor belt is used to transport the counterweights. The above-ground automatic loading and unloading robotic arms are respectively installed at both ends of the above-ground conveyor belt.

[0012] Further, the underground counterweight transportation device includes an underground automatic loading and unloading robotic arm, an underground automatic loading and unloading robotic arm, an underground counterweight storage bin, and a surface conveyor belt. The underground automatic loading and unloading robotic arm is installed near the hoisting container end, and the underground automatic loading and unloading robotic arm is installed near the surface counterweight storage bin end. The underground conveyor belt is used to transport the counterweights. The underground automatic loading and unloading robotic arms are respectively installed at both ends of the underground conveyor belt.

[0013] Further, the wire rope bearing strength detection device includes a left hydraulic lifting electric cylinder, a vertical guide rail, a support platform, a left magnetic flux leakage detection device, a left high-speed industrial camera group, a left coding wheel, a right coding wheel, a right high-speed industrial camera group, a right magnetic flux leakage detection device, and a right hydraulic lifting electric cylinder; the wire rope bearing strength detection device is installed at the wire rope outlet of the drum, and the left magnetic flux leakage detection device and the right magnetic flux leakage detection device are respectively sleeved on the warning wire rope; the left coding wheel and the right coding wheel are in direct contact with the wire rope; the left high-speed industrial camera group is installed between the left coding wheel and the left magnetic flux leakage detection device; the right high-speed industrial camera group is installed between the right coding wheel and the right magnetic flux leakage detection device; the left magnetic flux leakage detection device, the left high-speed industrial camera group, the left coding wheel, the right coding wheel, the right high-speed industrial camera group, and the right magnetic flux leakage detection device are installed on the support platform; the support platform is installed on the guide rail; the upper ends of the left hydraulic lifting electric cylinder and the right hydraulic lifting electric cylinder are fixed to the support platform to move the support platform up and down along the vertical guide rail.

[0014] Further, the surface counterweight transportation device includes a surface automatic loading and unloading robotic arm one, a surface automatic loading and unloading robotic arm two, a surface counterweight storage bin, and a surface conveyor belt; the surface automatic loading and unloading robotic arm one and the surface automatic loading and unloading robotic arm two are respectively installed at both ends of the surface conveyor belt; the surface counterweight storage bin is installed on the ground.

[0015] Further, the underground counterweight transportation device includes an underground automatic loading and unloading robotic arm one, an underground automatic loading and unloading robotic arm two, an underground counterweight storage bin, and an underground conveyor belt. The underground automatic loading and unloading robotic arm one and the underground automatic loading and unloading robotic arm two are respectively installed at both ends of the underground conveyor belt, and the underground counterweight storage bin is installed in the bottom roadway.

[0016] Further, the method for coupling detection of the operating state of the kilometer vertical shaft hoisting gravity energy storage system includes the following steps:

[0017] a. According to the actual installation positions of the drum, the left head sheave, and the right head sheave of the double-rope winding hoisting system, determine the actual angles of the left hoisting wire rope and the right hoisting wire rope winding out of the drum, and install the wire rope bearing strength detection device in front of the wire rope winding out of the drum of the wire rope.

[0018] b. Adjust the lifting heights of the left and right hydraulic lifting electric cylinders simultaneously to move the support platform up and down along the vertical guide rails, ensuring that the left and right coding wheels are in contact with the left and right lifting steel ropes respectively and can rotate synchronously to obtain rotation pulse signals in real time; the left and right high-speed industrial camera groups are respectively facing the surfaces of the left and right lifting steel ropes to obtain their surface images; the left and right lifting steel ropes pass through the centers of the left and right magnetic flux leakage detection devices respectively to obtain the magnetic flux leakage signals of the steel ropes;

[0019] c. Fix the left and right three-axis fiber optic inertial measurement units to the upper parts of the left and right lifting containers respectively through bolts to obtain the vibration electrical signals of the corresponding lifting containers in the X, Y, and Z directions;

[0020] d. Transmit the rotation pulse signals of the left and right coding wheels, the image information of the left and right lifting steel ropes, the magnetic flux leakage signals, and the electrical signals of the left and right lifting containers in the X, Y, and Z directions obtained in real time to the cloud / local server through the wireless transmission module.

[0021] e. Calculate the lowering / lifting distance of the lifting steel ropes according to the diameters and forward / reverse signals of the left and right coding wheels;

[0022] f. Obtain the wear depth and the number of broken wires of the cross-section of the lifting steel ropes through the surface image information of the left and right lifting steel ropes and the magnetic flux leakage signals of the left and right lifting steel ropes, and combine with the remaining bearing strength model of the steel ropes to obtain the remaining bearing strengths of the left and right lifting steel ropes respectively;

[0023] g. Obtain the vibration displacements of the left and right lifting containers in the X, Y, and Z directions respectively through the electrical signals of the left and right lifting containers in the X, Y, and Z directions and combine with the lifting container state analysis model;

[0024] h. Judge the operating state of the lifting system based on the remaining bearing strengths of the left and right lifting steel ropes and the vibration displacements of the left and right lifting containers in the X, Y, and Z directions, and record the loss positions in combination with the threshold values;

[0025] i. Obtain the operation and maintenance plan based on the operating state of the double-rope winding lifting system, combining the actual data with the relevant standards and state determination bases of the lifting system in the database;

[0026] j. Perform comprehensive visual real-time display of the remaining bearing strengths of the left and right lifting steel ropes, the vibration displacements of the left and right lifting containers in the X, Y, and Z directions, and the operation and maintenance plan of the double-rope winding lifting system.

[0027] Beneficial effects:

[0028] (1) The kilometer-level shaft gravity energy storage system proposed by the present invention can be reconstructed and built based on abandoned mines, and use local abandoned ores to build counterweight blocks, which can solve the problem of waste of resources in abandoned mines, greatly reduce the construction cost and time of the shaft gravity energy storage system, and do not pollute or damage the environment and ecology during operation and construction, and is not affected by the environment, time and space.

[0029] (2) The present invention adopts a double-container double-rope winding lifting system, which has the advantages of fast lifting / lowering speed, fast lifting / lowering of heavy objects at one time with large mass and high transfer efficiency of heavy object blocks, can effectively improve the energy storage system capacity, energy storage efficiency and response frequency, and overcome the problems of low efficiency and small capacity of existing energy storage systems and key problems such as waste of resources and insufficient power consumption.

[0030] (3) The present invention proposes an intelligent warehousing counterweight block transportation system above / below the well, which can flexibly, quickly and effectively dispatch heavy object blocks for energy storage and energy release, and overcome the problems of randomness, intermittency and volatility of renewable energy.

[0031] (4) Based on the relationship model between lifting height, lifting weight, lifting speed and energy storage power and energy storage capacity, the present invention combines a comprehensive intelligent central control system to coordinate and control four parts: the counterweight block intelligent control system, the speed control system, the motor controller system and the grid-side converter system, realizes dynamic speed regulation and weight allocation to provide electric energy on demand, has the advantages of high-quality flow of potential energy and electric energy, realizes stable and efficient conversion of gravitational potential energy and electric energy, and meets the requirements of power grid peak regulation and realization of day-night transfer of electric energy.

[0032] (5) The present invention proposes a safety intelligent evaluation method that couples the remaining bearing strength of the lifting steel wire rope and the vibration state of the lifting container for the special operating conditions of the kilometer-level shaft gravity energy storage system. Based on the intelligent evaluation of the real-time operating state and the intelligent classification of the safety state, it can realize the visual display of the remaining bearing strength of the lifting steel wire rope, the vibration state of the lifting container, the lowering / lifting position of the lifting container, and the dynamic real-time warning of the dangerous state, and provide an operation and maintenance plan based on data analysis technology and decision-making modules to judge the operating state of the lifting system, realizing the intelligent evaluation of the service safety of the shaft gravity energy storage lifting system, and effectively improving the operating reliability and cycle service life of the shaft gravity energy storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of the kilometer-level shaft gravity energy storage system of the present invention;

[0034] Figure 2 is a schematic working principle diagram of the kilometer-level shaft gravity energy storage system of the present invention;

[0035] Figure 3Schematic diagram of the double-rope winding hoisting system of the present invention;

[0036] Figure 4 Schematic diagram of the counterweight transportation device of the shaft gravity energy storage system of the present invention;

[0037] Figure 5 Schematic diagram of the layout of the double hoisting containers of the present invention;

[0038] Figure 6 Schematic diagram of the storage and transportation layout of the present invention (taking the underground as an example, the same as above ground);

[0039] Figure 7 Schematic diagram of the coupling detection device for the operating state of the hoisting system of the present invention;

[0040] Figure 8 Schematic diagram of the wire rope bearing strength detection device of the present invention;

[0041] Figure 9 Schematic diagram of the coupling detection process for the operating state of the hoisting system of the present invention.

[0042] Reference numerals in the drawings: 1 - headframe; 2 - double-rope winding hoisting system; 3 - control system; 4 - ground; 5 - permanent magnet synchronous motor; 6 - machine-side converter; 7 - grid-side converter; 8 - transformer; 9 - power grid; 10 - guide rail; 11 - above-ground counterweight transportation device; 12 - roadway; 13 - underground counterweight transportation device; 14 - counterweight; 15 - hydraulic can support device; 16 - drum; 17 - left wire rope; 18 - right wire rope; 19 - left skywheel; 20 - right skywheel; 21 - left hoisting container; 22 - right hoisting container; 23 - wire rope bearing strength detection device; 24 - left three-axis fiber optic inertial navigation measuring instrument; 25 - right three-axis fiber optic inertial navigation measuring instrument; 26 - above-ground automatic loading and unloading robotic arm I; 27 - above-ground automatic loading and unloading robotic arm II; 28 - above-ground counterweight storage bin; 29 - above-ground conveyor belt; 30 - underground automatic loading and unloading robotic arm I; 31 - underground conveyor belt; 32 - underground automatic loading and unloading robotic arm II; 33 - underground counterweight storage bin; 34 - left hydraulic lifting electric cylinder; 35 - vertical guide rail; 36 - support platform; 37 - left magnetic flux leakage detection device; 38 - left high-speed industrial camera group; 39 - left coding wheel; 40 - right coding wheel; 41 - right high-speed industrial camera group; 42 - right magnetic flux leakage detection device; 43 - right hydraulic lifting electric cylinder. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Example 1:

[0045] Utilize the shaft structure of an abandoned mine, the headframe 1, the sheave, the double-rope winding hoisting system 2, the counterweight 14, the roadway 12, the counterweight storage bin, the intelligent in-shaft / in-surface storage and counterweight transportation system, the permanent magnet synchronous motor 5, the machine-side converter 6, the grid-side converter 7, the transformer 8, the power grid 9, and the comprehensive intelligent central control system.

[0046] The shaft of the abandoned mine is more than a thousand meters deep. The shaft opening is generally rectangular or circular in shape and can install double hoisting containers for transporting the counterweight 14, which can greatly reduce the construction cost and time of the shaft gravity energy storage system.

[0047] The headframe 1 is generally welded by steel alloy and is fixed to the ground 4 by bolts directly above the shaft of the abandoned mine, and is used to place devices such as sheaves.

[0048] The sheave is a fixed pulley installed at the top of the shaft headframe 1 of the mine for adjusting the movement direction of the steel wire rope. It can support the steel wire rope connecting the hoist drum and the hoisting container and guide the steel wire rope to turn. The sheave includes a left sheave 19 and a right sheave 20 which are symmetrically installed.

[0049] The in-surface counterweight transportation device 11 includes the in-surface automatic loading and unloading robotic arm one 26, the in-surface automatic loading and unloading robotic arm two 27, the in-surface counterweight storage bin 28, and the in-surface conveyor belt 29; the in-surface automatic loading and unloading robotic arm one 26 and the in-surface automatic loading and unloading robotic arm two 27 are respectively installed at both ends of the in-surface conveyor belt 29; the in-surface counterweight storage bin 28 is installed on the ground.

[0050] The in-shaft counterweight transportation device 13 includes the in-shaft automatic loading and unloading robotic arm one 30, the in-shaft automatic loading and unloading robotic arm two 32, the in-shaft counterweight storage bin 33, and the in-shaft conveyor belt 31. The in-shaft automatic loading and unloading robotic arm one 30 and the in-shaft automatic loading and unloading robotic arm two 32 are respectively installed at both ends of the in-shaft conveyor belt 31, and the in-shaft counterweight storage bin 33 is installed in the roadway at the bottom of the shaft.

[0051] The double-rope winding hoisting system consists of a drum 16, a hoisting steel wire rope, two hoisting containers, a brake, and a permanent magnet synchronous motor 5. It is generally installed in the hoisting machine room for hoisting or lowering the counterweight 14. Among them, one end of the hoisting steel wire rope is multi-layer wound on the drum 16, and the other end passes around the sheave and connects to the hoisting container, enabling continuous hoisting / lowering of the counterweight and achieving rapid response.

[0052] The drum 16 is connected to the permanent magnet synchronous motor 5, and by rotating forward and backward, the steel wire rope is wound out or wound in, thereby realizing the hoisting or lowering of the counterweight 14.

[0053] The counterweight 14 is a rectangular cement block made of local waste sand, gravel and concrete, which is used to transport solid media to realize the conversion of gravitational potential energy and electrical energy.

[0054] The roadway 12 is an underground passage for transporting and storing the counterweight 14.

[0055] The intelligent in-well / on-well storage counterweight transportation system includes the on-well counterweight transportation device 11 and the in-well counterweight transportation device 13.

[0056] The on-well counterweight transportation device 11 includes the on-well automatic loading and unloading robotic arm 26, the on-well conveyor belt 29 and the on-well counterweight storage bin 28, which are used to quickly load and unload the counterweight 14 in the on-well hoisting container.

[0057] The in-well counterweight transportation device 13 includes the in-well automatic loading and unloading robotic arm 30, the in-well conveyor belt 31 and the in-well counterweight storage bin 33, which are used to load and unload the counterweight 14 in the hoisting container lowered to the bottom of the deep well.

[0058] The permanent magnet synchronous motor 15 is connected to the drum 16. By lowering the counterweight 14, the permanent magnet synchronous motor 15 is driven to rotate, converting gravitational potential energy into electrical energy.

[0059] The machine-side converter 6 is connected to the permanent magnet synchronous motor 5, and is used to rectify the irregular current generated by the permanent magnet synchronous motor 5 into direct current through the rectification module.

[0060] The grid-side converter 7 inversely converts the direct current through insulated gate bipolar transistors to make it a controllable alternating current, meeting the grid connection requirements and obtaining a current with the same voltage and frequency as the power grid 9.

[0061] The transformer 8 uses the principle of electromagnetic induction to change the alternating voltage to meet the grid connection requirements.

[0062] The comprehensive intelligent central control system consists of four parts: the counterweight intelligent control system, the speed control system, the motor controller system and the grid-side converter system. It can realize dynamic speed regulation and weight allocation to provide electrical energy as needed, avoiding resource waste.

[0063] The counterweight intelligent control system controls the in-well / on-well intelligent storage counterweight transportation system to load and unload the counterweight 14 quantitatively and at a fixed speed.

[0064] The speed control system adopts a speed closed-loop control based on electromagnetic torque regulation, that is, by controlling the electromagnetic torque, the lowering speed of the counterweight 14 is actively variable to approach the set speed.

[0065] The motor controller system is connected to the unit to drive the motor to drive the drum 16 to rotate and lift heavy objects, or to drive the drum 16 to rotate when the counterweight is lowered, and then drive the rotor of the permanent magnet synchronous motor 15 to rotate to generate electrical energy, thus realizing the conversion of mechanical energy and electrical energy.

[0066] The control strategy adopted by the grid-side converter 7 system is vector control based on grid 9 voltage orientation. Its function is to achieve a given power factor on the grid 9 side while keeping the input or output DC voltage stable, so as to realize the bidirectional flow of electrical energy between the machine side and high-quality electrical energy of the grid.

[0067] A kilometer vertical shaft hoisting gravity energy storage system and an operation state coupling detection method, including a detection module, a data transmission module, a data analysis module, a data storage module, a decision-making module and a data display module.

[0068] The detection module includes a wire rope bearing strength detection device 23 and a three-axis fiber optic inertial navigation measuring instrument. The three-axis fiber optic inertial navigation measuring instrument includes a left three-axis fiber optic inertial navigation measuring instrument 24 and a right three-axis fiber optic inertial navigation measuring instrument 25.

[0069] The wire rope bearing strength detection device 23 mainly includes a derrick 1, a high-speed industrial camera group, a magnetic flux leakage detection device and a coding wheel. Among them, the magnetic flux leakage detection device includes a left magnetic flux leakage detection device 37 and a right magnetic flux leakage detection device 42. The high-speed industrial camera includes a left high-speed industrial camera 38 and a right high-speed industrial camera 41. The coding wheel includes a left coding wheel 39 and a right coding wheel 40. The high-speed industrial camera group, the magnetic flux leakage detection device and the coding wheel are all fixed on the derrick 1 and are used to detect the damage degree and damage position of the hoisting wire rope.

[0070] The high-speed industrial camera group includes two high-speed industrial cameras, which are symmetrically installed on the derrick 1 and are facing the surface of the hoisting wire rope, and are used to obtain the damaged surface of the hoisting wire rope in real time.

[0071] The magnetic flux leakage detection device is in the shape of a hollow cylinder in the middle, with permanent magnets, Hall elements, etc. arranged annularly inside. The hoisting wire rope passes through the hollow cylinder in the middle of the magnetic flux leakage detection device, and is used to detect the magnetic flux leakage signal formed by the damage of the hoisting wire rope.

[0072] The coding wheel includes a rotary encoder and a nylon roller with a rope groove having the same diameter as the wire rope. The coding wheel is in rolling contact with the hoisting wire rope and is used to record the hoisting or lowering distance of the hoisting wire rope.

[0073] The three-axis fiber optic inertial navigation measuring instrument is installed directly above the hoisting container and moves synchronously with the hoisting container, and is used to detect the vibration displacement of the hoisting container in the X, Y and Z directions; the hoisting container includes a left hoisting container 21 and a right hoisting container 22.

[0074] The data transmission module uses a standardized 5G module to transmit detection signals in real time.

[0075] The data storage module mainly includes a cloud server and a local server, and is used for data storage and calling.

[0076] The data analysis module mainly enhances the analysis models for the remaining load-bearing strength of the wire rope and the vibration state of the hoisting container, and is used to obtain the remaining load-bearing strength of the hoisting wire rope and the vibration displacement of the hoisting container according to the signals obtained by the detection module.

[0077] The decision-making module mainly includes a database and an inference module, which conducts comparative analysis and research based on the analysis results written by the data analysis module to obtain corresponding operation and maintenance plans.

[0078] The comprehensive display module is used to visually display in real time the remaining load-bearing strength of the hoisting wire rope, the vibration displacement of the hoisting system, the lowering / lifting distance of the hoisting container, and the operation and maintenance plan.

[0079] The method for coupling detection of the operating state of the kilometer shaft hoisting gravity energy storage system includes the following steps:

[0080] a. According to the actual installation positions of the drum 16 and the skywheel of the double-rope winding hoisting system 2, determine the actual angle at which the hoisting wire rope winds out of the drum 16, and install the wire rope load-bearing strength detection device 23 at the wire rope where the wire rope winds out of the drum 16.

[0081] b. Adjust the height and tilt angle of the support platform 36 to ensure that the coding wheel and the hoisting wire rope are in contact and can rotate synchronously to obtain rotation pulse signals in real time. Use two high-speed industrial cameras to face the surface of the wire rope to obtain its surface image, and use the magnetic flux leakage detection device to obtain the magnetic flux leakage signal of the wire rope.

[0082] c. Fix two three-axis fiber optic inertial measurement units above the hoisting container respectively through bolts to obtain the electrical signals of the hoisting container in the X, Y, and Z directions.

[0083] d. Transmit the obtained rotation pulse signals, wire rope surface image information, wire rope magnetic flux leakage signals, and electrical signals of the hoisting container in the X, Y, and Z directions to the cloud / local server in real time through the wireless transmission module.

[0084] e. Calculate the lowering or hoisting distance of the hoisting wire rope according to the diameter of the coding wheel and the forward and reverse signals.

[0085] f. Obtain the cross-sectional wear and the number of broken wires of the hoisting wire rope through the wire rope surface image information and the wire rope magnetic flux leakage signal, and combine with the remaining load-bearing strength model of the wire rope to obtain the remaining load-bearing strength of the hoisting wire rope;

[0086] g. Through the electrical signals of the hoisting container in the X, Y, and Z directions, combine with the hoisting container state analysis model to obtain the vibration displacements of the hoisting container in the X, Y, and Z directions;

[0087] h. Judge the operating state of the hoisting system based on the remaining load-bearing strength of the hoisting wire rope and the vibration displacements of the hoisting container in the X, Y, and Z directions combined with the threshold value, and record the loss position;

[0088] i. According to the improved system operation status, combined with the actual data in reality and the relevant standards and status determination basis of the hoisting system in the database, an operation and maintenance plan is obtained.

[0089] j. The remaining bearing strength of the hoisting wire rope, the vibration displacements of the hoisting containers in the X, Y, and Z directions, and the operation and maintenance plan are comprehensively and visually displayed in real time.

[0090] Embodiment 2:

[0091] As Figures 1 to 6 shown, the shaft gravity energy storage system includes a derrick 1, a double-rope winding hoisting system 2, a control system 3, the ground 4, a permanent magnet synchronous motor 5, a machine-side converter 6, a grid-side converter 7, a transformer 8, a power grid 9, a guide rail 10, an above-ground counterweight transport device 11, a roadway 12, a below-ground counterweight transport device 13, a counterweight 14, a hydraulic can-holding device 15, a drum 16, a left wire rope 17, a right wire rope 18, a left sheave 19, a right sheave 20, a left hoisting container 21, and a right hoisting container 22, a wire rope bearing strength detection device 23, a left three-axis fiber optic inertial navigation measuring instrument 24, a right three-axis fiber optic inertial navigation measuring instrument 25, an above-ground automatic loading and unloading robotic arm No. 1 26, an above-ground automatic loading and unloading robotic arm No. 2 27, an above-ground counterweight storage bin 28, an above-ground conveyor belt 29, a below-ground automatic loading and unloading robotic arm No. 1 30, a below-ground conveyor belt 31, a below-ground automatic loading and unloading robotic arm No. 2 32, a below-ground counterweight storage bin 33, a left hydraulic lifting electric cylinder 34, a vertical guide rail 35, a support platform 36, a left magnetic flux leakage detection device 37, a left high-speed industrial camera group 38, a left coding wheel 39, a right coding wheel 40, a right high-speed industrial camera group 41, a right magnetic flux leakage detection device 42, and a right hydraulic lifting electric cylinder 43.

[0092] The derrick 1 is erected directly above the abandoned mine shaft. The left sheave 19 and the right sheave 20 are respectively installed on the derrick 1. The drum 16 of the double-rope winding hoisting system 2 is fixed on the ground 4. One end of each of the left wire rope 17 and the right wire rope 18 is wound around the drum 16 in multiple layers, and the other end passes around the left sheave 19 and the right sheave 20 in the corresponding directions and is fixedly connected to the left hoisting container 21 and the right hoisting container 22 respectively. The left hoisting container 21 and the right hoisting container 22 are respectively connected to the guide rail 10 through guide wheels; further, the guide rail 10 includes four vertical guide rails.

[0093] The permanent magnet synchronous motor 5 is coaxially connected to the drum 16 to ensure synchronous movement; one end of the machine-side converter 6 is connected to the permanent magnet synchronous motor 5, and the other end is connected to the grid-side converter 7; one end of the grid-side converter 7 is connected to the machine-side converter 6, and the other end is connected to the transformer 8; one end of the transformer 8 is connected to the grid-side converter 7, and the other end is connected to the power grid 9.

[0094] The intelligent storage and transportation system for counterweight blocks above / below the well includes an above-well counterweight block transportation device 11 and a below-well counterweight block transportation device 13.

[0095] The above-well counterweight block transportation device 11 includes an above-well automatic loading and unloading robotic arm 26, an above-well automatic loading and unloading robotic arm 27, an above-well counterweight block storage bin 28, and an above-well conveyor belt 29. The above-well automatic loading and unloading robotic arm 26 is arranged near the hoisting container end, the above-well automatic loading and unloading robotic arm 27 is arranged near the above-well counterweight block storage bin 28 end, and the above-well conveyor belt 29 is used to transport the counterweight blocks 14.

[0096] The below-well counterweight block transportation device 13 includes a below-well automatic loading and unloading robotic arm 30, a below-well automatic loading and unloading robotic arm 32, a below-well counterweight block storage bin 33, and a below-well conveyor belt 31. The below-well automatic loading and unloading robotic arm 30 is arranged near the hoisting container end, the below-well automatic loading and unloading robotic arm 32 is arranged near the below-well counterweight block storage bin 33 end, and the below-well conveyor belt 31 is used to transport the counterweight blocks 14.

[0097] The comprehensive intelligent central control system consists of four parts: a counterweight block intelligent control system, a speed control system, a motor controller system, and a grid-side converter system. Based mainly on the relationship model between the hoisting height, hoisting weight, hoisting speed, and energy storage power and energy storage capacity, it actively controls the number of counterweight blocks 14 hoisted, the hoisting speed, and the acceleration and deceleration to meet the energy storage requirements in different time periods.

[0098] Combined with the law of conservation of energy, the relationships between the hoisting height, hoisting weight, hoisting speed, and energy storage power and energy storage capacity are as follows:

[0099]

[0100]

[0101] In the formula, W is the energy storage capacity for one hoisting / lowering; P is the energy storage / discharge power for one hoisting / lowering; m is the total mass of the hoisting container 21 or the right hoisting container 22 loaded with multiple counterweight blocks 14; l is the height of the mine; η is the conversion efficiency of the energy storage system; v is the hoisting / lowering speed of the double-rope winding hoisting system; a is the acceleration and deceleration of the double-rope winding hoisting system during hoisting / lowering.

[0102] When storing energy, the principle of the comprehensive intelligent central control system to determine the lifting speed, acceleration and deceleration of the double-rope winding hoisting system 2 and the number of lifting counterweight blocks 14 (i.e., the total lifting mass) according to the energy storage control requirements is as follows: According to the total energy storage capacity and power demand, combined with the relationship between the lifting height, lifting weight, lifting speed and energy storage power and capacity, determine the single-lifting speed, acceleration and deceleration of the double-rope winding hoisting system 2, the number of counterweight blocks 14 loaded in the left lifting container 21 and the right lifting container 22 respectively, and determine the predetermined number of lifts. Rely on the comprehensive intelligent central control system to coordinate and control the counterweight intelligent control system, speed control system, motor controller system and grid-side converter system to carry out simultaneously.

[0103] When releasing energy, the principle of the comprehensive intelligent central control system to determine the lowering speed, acceleration and deceleration of the double-rope winding hoisting system 2 and the number of lowering counterweight blocks 14 (i.e., the total lifting mass) according to the energy storage control requirements is as follows: According to the total energy storage capacity and power demand, combined with the lowering height, lowering weight, and the relationship between the lifting speed and energy storage power and capacity, determine the single-lowering speed, acceleration and deceleration of the double-rope winding hoisting system, the number of counterweight blocks 14 loaded in the left lifting container 21 and the right lifting container 22 respectively, and determine the predetermined number of lowerings. Rely on the comprehensive intelligent central control system to coordinate and control the counterweight intelligent control system, speed control system, motor controller system and grid-side converter system to carry out the energy release work simultaneously.

[0104] The energy storage process of the solution of the present invention is as follows:

[0105] The underground automatic loading and unloading robotic arm 32 moves the counterweight blocks 14 in the underground counterweight storage bin 33 onto the underground conveyor belt 31. The counterweight blocks 14 are transported to the underground automatic loading and unloading robotic arm 30 through the underground conveyor belt 31. The underground automatic loading and unloading robotic arm 30 moves the counterweight blocks 14 onto the left lifting container 21 and the right lifting container 22 respectively, and repeats this process until the set weight is reached. The speed control system, motor controller system and grid-side converter system in the control system 3 convert the electric energy of the power grid 9 through the machine-side converter 6 and the grid-side converter 7 to drive the permanent magnet synchronous motor 5 to drive the drum 16 to rotate at a certain speed, so that the left lifting wire rope 17 and the right lifting wire rope 18 are wound in simultaneously, and then the left lifting container 21 and the right lifting container 22 loaded with a predetermined number of counterweight blocks are synchronously lifted along the guide rail 10 and stop automatically at the predetermined position. The above-ground automatic loading and unloading robotic arm 26 moves the counterweight blocks in the left lifting container 21 and the right lifting container 22 onto the above-ground conveyor belt 29 in sequence and transports them to the above-ground automatic loading and unloading robotic arm 27. The above-ground automatic loading and unloading robotic arm 27 unloads the counterweight blocks 14 into the above-ground counterweight storage bin 28, completes the counterweight block lifting work, and realizes the conversion process of electric energy into gravitational potential energy.

[0106] The energy release process of this invention patent is as follows:

[0107] The in-well automatic loading and unloading robotic arm 27 transports the counterweight 14 in the in-well counterweight storage bin 28 onto the in-well conveyor belt 29. The counterweight 14 is transported via the in-well conveyor belt 29 to the in-well automatic loading and unloading robotic arm 26. The down-well automatic loading and unloading robotic arm 26 separately transports the counterweight 14 onto the left lifting container 21 and the right lifting container 22. This process is repeated until the set weight is reached. The speed control system in the control system 3 controls the left lifting container 21 and the right lifting container 22 to lower at a certain speed, driving the drum 16 to rotate synchronously with the permanent magnet synchronous motor 5 to generate electric energy. The electric energy is DC-converted to AC via the machine-side converter 6, the grid-side converter 7, and the transformer 8, and is step-up converted and incorporated into the power grid 9. The lifting containers 21 and the right lifting container 22 move downward along the guide rail 10 and automatically stop at the predetermined position. The in-well automatic loading and unloading robotic arm 30 sequentially transports the counterweights in the left lifting container 21 and the right lifting container 22 onto the in-well conveyor belt 31 and conveys them to the in-well automatic loading and unloading robotic arm location 32. The in-well automatic loading and unloading robotic arm 32 unloads the counterweight 14 into the in-well counterweight storage bin 33, completing the work of lowering the counterweight and realizing the conversion process of gravitational potential energy into electric energy.

[0108] Embodiment 3:

[0109] A method for coupling detection of the running state of steel ropes in a kilometer vertical shaft gravity energy storage system, including a detection module, a data transmission module, a data analysis module, a data storage module, a decision-making module, and a data display module.

[0110] The detection module includes a steel rope bearing strength detection device 23, a left three-axis fiber optic inertial navigation measuring instrument 24, and a right three-axis fiber optic inertial navigation measuring instrument 25.

[0111] The steel rope bearing strength detection device 23 includes a left hydraulic lifting electric cylinder 34, a vertical guide rail 35, a support platform 36, a left magnetic flux leakage detection device 37, a left high-speed industrial camera group 38, a left coding wheel 39, a right coding wheel 40, a right high-speed industrial camera group 41, a right magnetic flux leakage detection device 42, and a right hydraulic lifting electric cylinder 43. The steel rope bearing strength detection device 23 is installed at the rope outlet of the drum 16. The left magnetic flux leakage detection device 37, the left high-speed industrial camera group 38, the left coding wheel 39, the right coding wheel 40, the right high-speed industrial camera group 41, and the right magnetic flux leakage detection device 42 are all installed on the support platform 36 at a certain angle and distance. At the same time, the left hydraulic lifting electric cylinder 34 and the right hydraulic lifting electric cylinder 43 are adjusted to move the support platform 36 up and down along the vertical guide rail 35 to ensure that the left magnetic flux leakage detection device 37, the left high-speed industrial camera group 38, the left coding wheel 39, the right coding wheel 40, the right high-speed industrial camera group 41, and the right magnetic flux leakage detection device 42 can all reach the optimal detection position.

[0112] The left three-axis fiber optic inertial navigation measuring instrument 24 and the right three-axis fiber optic inertial navigation measuring instrument 25 are respectively fixedly installed on the left lifting container 21 and the right lifting container 22 to maintain synchronous movement.

[0113] The data transmission module adopts a standardized 5G module for wirelessly and real-time transmitting the detection signals of the wire rope bearing strength detection device 23, the left three-axis fiber optic inertial navigation measuring instrument 24, and the right three-axis fiber optic inertial navigation measuring instrument 25.

[0114] The data storage module mainly includes a cloud server and a local server, which are used for storing and calling the detection data of the wire rope bearing strength detection device 23, the left three-axis fiber optic inertial navigation measuring instrument 24, and the right three-axis fiber optic inertial navigation measuring instrument 25; meanwhile, it can query, download, share, and statistically analyze the collected data.

[0115] The data analysis module mainly includes a remaining bearing strength analysis model of the hoisting wire rope and a vibration state analysis model of the hoisting container, which are used to obtain the remaining bearing strength of the left hoisting wire rope 17 and the right hoisting wire rope 18 and the vibration displacement of the left hoisting container 21 and the right hoisting container 22 according to the signals obtained by the detection module.

[0116] The remaining bearing strength analysis model of the hoisting wire rope is based on the previous breaking tensile test. Artificially manufacture the wear and broken wires of the hoisting wire rope to obtain the data of the remaining bearing strength of the hoisting wire rope with different wear degrees and broken wire numbers. Use the deep learning algorithm to establish the correlation relationship model between different wear degrees and broken wire numbers and the remaining bearing strength, and its effective accuracy rate reaches 98.5%. Furthermore, establish the remaining bearing strength analysis model of the hoisting wire rope.

[0117] The vibration analysis model of the hoisting container is based on the previous collection of the vibration signals of the hoisting container and combines with the big data model to establish the correlation relationship between the vibration signals of the hoisting wire rope and the vibration displacement, and then establish the vibration state analysis model of the hoisting container.

[0118] The decision-making module mainly includes a database and an inference module, which conducts comparative analysis and research based on the analysis results of the data analysis module to obtain the corresponding operation and maintenance plan.

[0119] The database includes the wire rope maintenance plan standard, the wire rope damage determination standard, and the hoisting container vibration state research library.

[0120] The inference module is used to conduct research and analysis on the results of the data analysis module combined with the database to obtain the operation and maintenance plan of the shaft gravity energy storage system.

[0121] The data comprehensive display module visually and real-time displays the results obtained by the data analysis module and the decision-making module based on visualization technology, so as to intuitively display the operation state of the shaft gravity energy storage system.

[0122] The coupling detection method for the running state of the wire rope of the kilometer shaft gravity energy storage system is as follows:

[0123] a. According to the actual installation positions of the drum 16 of the double-rope winding hoisting system 2, the left head sheave 19, and the right head sheave 20, determine the actual angles at which the left hoisting wire rope 17 and the right hoisting wire rope 18 are wound out of the drum, and install the wire rope bearing strength detection device 23 in front of the wire ropes wound out of the drum.

[0124] b. At the same time, adjust the lifting heights of the left hydraulic lifting electric cylinder 34 and the right hydraulic lifting electric cylinder 43 so that the support platform 36 moves up and down along the vertical guide rail 45, ensuring that the left coding wheel 39 and the right coding wheel 39 are in contact with the left hoisting wire rope 17 and the right hoisting wire rope 18 respectively and can rotate synchronously to obtain rotation pulse signals in real time; the left high-speed industrial camera group 38 and the right high-speed industrial camera group 41 are respectively facing the surfaces of the left hoisting wire rope 17 and the right hoisting wire rope 18 to obtain their surface images; the left hoisting wire rope 17 and the right hoisting wire rope 18 respectively pass through the centers of the left magnetic flux leakage detection device 37 and the right magnetic flux leakage detection device 42 to obtain wire rope magnetic flux leakage signals;

[0125] c. Fix the left three-axis fiber optic inertial navigation measuring instrument 24 and the right three-axis fiber optic inertial navigation measuring instrument 25 on the upper parts of the left hoisting container 21 and the right hoisting container 22 respectively by bolts to obtain vibration electrical signals in the X, Y, and Z directions of the corresponding hoisting containers;

[0126] d. Through the wireless transmission module, transmit the rotation pulse signals of the left coding wheel 39 and the right coding wheel 39, the image information of the left hoisting wire rope 17 and the right hoisting wire rope 18, the magnetic flux leakage signals, and the electrical signals in the X, Y, and Z directions of the left hoisting container 21 and the right hoisting container 22 to the cloud / local server in real time;

[0127] e. Calculate the lowering / lifting distance of the hoisting wire rope according to the diameters and forward / reverse rotation signals of the left coding wheel 39 and the right coding wheel 39;

[0128] f. Obtain the wear depth and the number of broken wires of the cross-section of the hoisting wire rope through the surface image information of the left hoisting wire rope 17 and the right hoisting wire rope 18 and the magnetic flux leakage signals of the left hoisting wire rope 17 and the right hoisting wire rope 18, and combine with the wire rope remaining bearing strength model to obtain the remaining bearing strengths of the left hoisting wire rope 17 and the right hoisting wire rope 18 respectively;

[0129] g. Through the electrical signals in the X, Y, and Z directions of the left hoisting container 21 and the right hoisting container 22, combine with the hoisting container state analysis model to obtain the vibration displacements in the X, Y, and Z directions of the left hoisting container 21 and the right hoisting container 22 respectively;

[0130] h. Based on the remaining bearing strengths of the left hoisting wire rope 17 and the right hoisting wire rope 18 and the vibration displacements in the X, Y, and Z directions of the left hoisting container 21 and the right hoisting container 22, combine with the threshold value to judge the operating state of the hoisting system and record the loss position;

[0131] i. According to the operating state of the double-rope winding hoisting system 2, combined with the actual data in reality and the relevant standards and state determination basis of the hoisting system in the database, obtain the operation and maintenance plan.

[0132] j. Comprehensively and visually display the remaining bearing strength of the left hoisting wire rope 17 and the right hoisting wire rope 18, the vibration displacements of the left hoisting container 21 and the right hoisting container 22 in the X, Y, and Z directions, and the operation and maintenance plan of the double-rope winding hoisting system 2 in real time.

[0133] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A kilometer-long vertical shaft lifting gravity energy storage system, characterized in that: It comprises a derrick (1), a double-rope winding hoist (2), a control module (3), a permanent magnet synchronous motor (5), a machine-side converter (6), a grid-side converter (7), a transformer (8), a tank channel (10), an above-ground counterweight transport device (11), an underground counterweight transport device (13), a counterweight (14), a hydraulic tank support device (15), a roller (16), a left steel wire rope (17), a right steel wire rope (18), a left sheave (19), a right sheave (20), a left lifting container (21), a right lifting container (22), a steel wire rope bearing strength detection device (23), a left three-axis fiber optic inertial navigation measuring instrument (24), and a right three-axis fiber optic inertial navigation measuring instrument (25); The above-ground counterweight transport device (11) is installed on the ground, and the underground counterweight transport device (13) is installed in an underground tunnel; The steel wire rope bearing strength detection device (23) is installed between the drum (16) and the left sky wheel (19); The left three-axis fiber optic inertial navigation measuring instrument (24) and the right three-axis fiber optic inertial navigation measuring instrument (25) are respectively fixed to the upper sides of the left lifting container (21) and the right lifting container (22) by bolts; The derrick (1) is erected directly above the abandoned mine, the left sheave (19) and the right sheave (20) are respectively installed on the derrick (1), and the drum (16) is fixed on the ground; the left steel wire rope (17) and the right steel wire rope (18) are respectively wound on the drum (16), the left steel wire rope (17) is wound around the left sheave (19) and fixedly connected to the left lifting container (21); the right steel wire rope (18) is wound around the right sheave (20) and fixedly connected to the right lifting container (22); the left lifting container (21) and the right lifting container (22) are respectively connected to the tankway (10) through guide wheels; the tankway (10) comprises four vertical guide rails; The permanent magnet synchronous motor (5) is coaxially connected to the drum (16); one end of the machine-side converter (6) is connected to the permanent magnet synchronous motor (5), and the other end is connected to the grid-side converter (7); the grid-side converter (7) is connected to the transformer (8); and the transformer (8) is connected to the power grid (9).

2. The kilometer-long shaft hoisting gravity energy storage system according to claim 1 is characterized in that: The wire rope bearing strength detection device (23) comprises a left hydraulic lifting cylinder (34), a vertical guide rail (35), a support platform (36), a left magnetic leakage detection device (37), a left high-speed industrial camera group (38), a left encoding wheel (39), a right encoding wheel (40), a right high-speed industrial camera group (41), a right magnetic leakage detection device (42) and a right hydraulic lifting cylinder (43); the wire rope bearing strength detection device (23) is installed at the rope outlet of the drum (16), wherein the left magnetic leakage detection device (37) is sleeved on the left wire rope (17), and the right magnetic leakage detection device (42) is sleeved on the right wire rope (18); the left encoding wheel (39) and the right encoding wheel (40) are in direct contact with the lifting wire rope; the left The high-speed industrial camera group (38) is installed between the left encoding wheel (39) and the left magnetic flux leakage detection device (37); the right high-speed industrial camera group (41) is installed between the right encoding wheel (40) and the right magnetic flux leakage detection device (42); the left magnetic flux leakage detection device (37), the left high-speed industrial camera group (38), the left encoding wheel (39), the right encoding wheel (40), the right high-speed industrial camera group (41) and the right magnetic flux leakage detection device (42) are installed on a support platform (36); the support platform (36) is installed on a guide rail (35); the upper ends of the left hydraulic lifting cylinder (34) and the right hydraulic lifting cylinder (43) are fixed to the support platform (36), so that the support platform (36) moves up and down along the vertical guide rail (35).

3. The kilometer-long shaft hoisting gravity energy storage system according to claim 1 is characterized in that: The wellbore counterweight transport device (11) comprises an wellbore automatic loading and unloading mechanical arm 1 (26), an wellbore automatic loading and unloading mechanical arm 2 (27), an wellbore counterweight storage bin (28) and an wellbore conveyor belt (29); the wellbore automatic loading and unloading mechanical arm 1 (26) and the wellbore automatic loading and unloading mechanical arm 2 (27) are respectively installed at two ends of the wellbore conveyor belt (29); and the wellbore counterweight storage bin (28) is installed on the ground.

4. The kilometer-long shaft hoisting gravity energy storage system according to claim 1 is characterized in that: The underground counterweight transport device (13) comprises an underground automatic loading and unloading mechanical arm 1 (30), an underground automatic loading and unloading mechanical arm 2 (32), an underground counterweight storage bin (33) and an underground conveyor belt (31). The underground automatic loading and unloading mechanical arm 1 (30) and the underground automatic loading and unloading mechanical arm 2 (32) are respectively installed at two ends of the underground conveyor belt (31), and the underground counterweight storage bin (33) is installed in a tunnel at the bottom of the well.

5. The kilometer-long shaft hoisting gravity energy storage system according to claim 1 is characterized in that: The steel wire rope bearing strength detection device (23) is installed between the drum (16) and the right sheave (20).

6. The method for coupling detection of the running state of the steel wire rope of the kilometer-long shaft hoisting gravity energy storage system according to claim 1 is characterized in that: The following steps are involved: a. According to the actual installation position of the drum (16) and the left sheave (19) and the right sheave (20) of the double rope winding lifting system (2), determine the actual angle of the left lifting wire rope (17) and the right lifting wire rope (18) around the drum; b. Simultaneously adjust the height of the left hydraulic lifting cylinder (34) and the right hydraulic lifting cylinder (43) so that the support platform (36) moves up and down along the vertical guide rail (45), ensuring that the left encoding wheel (39) and the right encoding wheel (40) are in contact with the left lifting wire rope (17) and the right lifting wire rope (18) respectively, so as to obtain the rotation pulse signal in real time; the left high-speed industrial camera group (38) and the right high-speed industrial camera group (41) are respectively facing the surface of the left lifting wire rope (17) and the right lifting wire rope (18) to obtain their surface images; make the left lifting wire rope (17) and the right lifting wire rope (18) pass through the center of the left leakage magnetic detection device (37) and the right leakage magnetic detection device (42) respectively to obtain the wire rope leakage magnetic signal; c. The left three-axis fiber optic inertial navigation measuring instrument (24) and the right three-axis fiber optic inertial navigation measuring instrument (25) are respectively fixed by bolts on the left lifting container (21) and the right lifting container (22) to obtain the corresponding lifting container X, Y and Z direction vibration electrical signals; d. The rotation pulse signals of the left encoding wheel (39) and the right encoding wheel (40), the image information of the left lifting wire rope (17) and the right lifting wire rope (18), the magnetic leakage signals of the left lifting wire rope (17) and the right lifting wire rope (18), and the electrical signals of the X, Y and Z directions of the left lifting container (21) and the right lifting container (22) are transmitted in real time to the cloud / local server through the wireless transmission module; e. Calculate the lifting wire rope lowering or lifting distance according to the diameter of the left encoder wheel (39) and the right encoder wheel (40) and the forward and reverse signals; f. Obtain the wear depth and number of broken wires of the cross-section of the lifting wire rope by using the image surface information of the left lifting wire rope (17) and the right lifting wire rope (18) and the magnetic flux leakage signal of the left lifting wire rope (17) and the right lifting wire rope (18), and obtain the residual bearing strength of the left lifting wire rope (17) and the right lifting wire rope (18) respectively by combining the residual bearing strength model of the wire rope; g. By obtaining the electrical signals of the left lifting container (21) and the right lifting container (22) in the X, Y and Z directions, and combining the lifting container state analysis model, the vibration displacements of the left lifting container (21) and the right lifting container (22) in the X, Y and Z directions are obtained; h. Based on the remaining bearing strength of the left lifting wire rope (17) and the right lifting wire rope (18) and the vibration displacement of the left lifting container (21) and the right lifting container (22) in the X, Y and Z directions, the operating state of the lifting system is judged in combination with the threshold value, and the loss position is recorded; i. Based on the operating status of the double-rope winding lifting system (2), an operation and maintenance plan is obtained by combining the actual data with the relevant standards and status judgment basis of the lifting system in the database; j. Comprehensively visualize and display the remaining bearing strength of the left lifting wire rope (17) and the right lifting wire rope (18), the vibration displacement of the left lifting container (21) and the right lifting container (22) in the X, Y and Z directions, and the operation and maintenance plan of the double-rope winding lifting system (2) in real time.

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