Intelligent practical training sand table for coal mining industry

Abstract

The invention relates to the technical field of coal mine fully-mechanized coal mining equipment training, and discloses an intelligent coal mine industry practical training sand table, which comprises a practical training platform, and an excavation module, a transportation module, a screening module and a control module which are fixed on the practical training platform, the conveying module comprises a vibrating screen, a first conveying belt and a third conveying belt, the first conveying belt and the third conveying belt are obliquely arranged, the vibrating screen is located below the tail end of the first conveying belt, and the head end of the third conveying belt is located below a discharging port of the vibrating screen. The excavated coal mine stays on the vibrating screen and waits for the screening module to screen coal mine stones; the screening module comprises a first clamping arm and a first camera, the first clamping arm is fixed to one side of the vibrating screen, a clamping head of the first clamping arm is connected with the first camera, and the first camera faces the interior of the vibrating screen, shoots and recognizes coal ore of the vibrating screen and transmits a recognition result to the control module; the control module controls the first clamping arm to grab the conveyed coal gangue according to the recognition result of the first camera.

Description

Technical Field

[0001] This invention relates to the field of coal mine fully mechanized mining equipment training technology, and in particular to a smart coal mine industrial training sand table. Background Technology

[0002] As a core sector of the national energy system, the coal mining industry is characterized by its vast scale, complex processes, and stringent safety requirements in its mining, production, and transportation stages. In the field of teaching and practical training, traditional coal mine training often relies on site visits, explanations of two-dimensional drawings, or static model displays. However, due to the high risks of underground operations, expensive equipment, and the abstract and difficult-to-understand scenarios, the training effectiveness is often unsatisfactory. With the advancement of smart mine construction, the industry's demand for training tools with "virtual-real integration, dynamic interaction, and intelligent feedback" capabilities is becoming increasingly urgent.

[0003] Existing training tools lack complete scenario reproduction: static models and virtual systems often focus on a single link, making it difficult to integrate the entire collaborative scenario of "mining-transportation-screening-control". Screening simulations are mostly manual sorting or simple mechanical grasping, which cannot reflect the collaborative operation of transportation, screening and control, and trainees cannot understand the interrelationship of the links. Summary of the Invention

[0004] To address the aforementioned technical issues, this invention provides a smart coal mine industrial training sandbox that can uniformly coordinate and simulate various processes such as excavation, dust suppression, conveying, and sorting.

[0005] This invention provides a smart coal mine industrial training sandbox, including: a training platform and a digging module, a transportation module, a screening module and a control module fixed thereon; The control module controls the excavation module to perform simulated coal mine excavation operations and transports the excavated coal to the transportation module. The transport module includes a vibrating screen, a first conveyor belt, and a third conveyor belt. Both the first and third conveyor belts are arranged at an angle. The vibrating screen is located below the end of the first conveyor belt, and the beginning of the third conveyor belt is located below the discharge port of the vibrating screen. The excavated coal ore stays on the vibrating screen, waiting for the screening module to screen the coal ore. The screening module includes a first clamping arm and a first camera. The first clamping arm is fixed to one side of the vibrating screen. The first camera is connected to the clamping head of the first clamping arm. The first camera faces into the vibrating screen and takes pictures of the coal ore in the vibrating screen for identification. The identification result is transmitted to the control module. The control module controls the first clamping arm to grab the coal gangue in the vibrating screen according to the identification result of the first camera and place it outside the transport module. The remaining coal ore in the vibrating screen continues to be transported along the transport module.

[0006] Optionally, a first color mark sensor is fixed inside the vibrating screen. The first color mark sensor identifies whether there is coal gangue on the inner surface of the vibrating screen. If not, the control module controls the vibrating screen to vibrate.

[0007] Optionally, the screening module also includes a coal gangue storage position and a second clamping arm. Both the coal gangue storage position and the second clamping arm are located on one side of the vibrating screen. The first clamping arm places the screened coal gangue in the coal gangue storage position, and the second clamping arm clamps the coal gangue in the coal gangue storage position and places it on the bearing surface of the first conveyor belt for continued transportation.

[0008] Optionally, a second color mark sensor is also provided in the coal gangue storage position. The second color mark sensor detects whether there is coal gangue in the coal gangue storage position. When the second color mark sensor detects that there is coal gangue in the coal gangue storage position, the control module controls the second clamping arm to clamp the coal gangue in the coal gangue storage position.

[0009] Optionally, the control module includes: an image processor and a first controller; the image processor receives image data captured by the first camera and sends the data results to the first controller, and the first controller controls the start and stop of the vibrating screen and the gripping of the first clamping arm and the second clamping arm according to the data results.

[0010] Optionally, the transport module also includes a second conveyor belt, which is inclined and located between the first and third conveyor belts; the first end of the second conveyor belt is located below the end of the first conveyor belt, and the end of the second conveyor belt is located above the first end of the third conveyor belt; a second camera is provided on the side of the second conveyor belt, facing the second conveyor belt, for monitoring whether simulated personnel are riding the second conveyor belt in violation of regulations.

[0011] Optionally, the transportation module also includes: a transportation track, a coal-carrying AGV intelligent vehicle, a weighing funnel, and an unloading return funnel. The transportation track has a circular structure, partially horizontal and partially inclined, on the training platform. The coal-carrying AGV intelligent vehicle runs along the transportation track to receive and transfer coal. The transportation track passes through the beginning of the first conveyor belt and the end of the third conveyor belt. The unloading return funnel is located at the beginning of the first conveyor belt and is used to return the coal in the coal-carrying AGV intelligent vehicle to the first conveyor belt. The weighing funnel is located below the end of the third conveyor belt and is used to simulate weighing and loading the coal-carrying AGV intelligent vehicle.

[0012] Optionally, it also includes an environmental monitoring module, which transmits the monitored data to the control module; the environmental monitoring module includes: a dust sensor, a combustible gas sensor, a temperature and humidity sensor, and a wind speed sensor; Dust sensors monitor the concentration of suspended particulate matter in a simulated environment; Combustible gas sensors detect the concentration of combustible gases in a simulated environment; Temperature and humidity sensors collect temperature and air humidity data in a simulated environment; The wind speed sensor monitors the airflow speed in the simulated environment.

[0013] Optionally, a dust suppression module is also included, which includes a water tank, a water pump, multiple atomizing nozzles, and a water collection tank. The water tank is placed under the training platform, the water pump is placed inside the water tank and pumps water to the multiple atomizing nozzles, the multiple atomizing nozzles are placed at the excavation module, the control module controls the start and stop of the water pump according to the data monitored by the environmental monitoring module, and the water collection tank is opened on the training platform and connected to the water tank through a pipe to collect the water sprayed by the atomizing nozzles.

[0014] The technical solution provided by this invention has the following advantages compared with the prior art: During system operation, the excavation module simulates mining operations, and the produced materials enter the transportation module. When the materials are transported to the vibrating screen, the first camera captures real-time images of the materials on the vibrating screen and performs intelligent recognition; based on the recognition results, the control module precisely controls the first clamping arm to perform gripping actions, thereby achieving automatic and precise sorting of coal gangue. As the core of the system, the control module receives status signals from each module, coordinates the start-up, shutdown, linkage, and safety interlocking of the entire "mining, transportation, and screening" process, and ultimately achieves a closed-loop, automated, and intelligent simulation operation.

[0015] The training platform serves as the integrated foundation, ensuring the stable operation of each module. The excavation module realistically simulates the actions of an underground fully mechanized mining face, while the first and third conveyor belts continuously transport the extracted materials. The screening module, through the intelligent combination of visual recognition and robotic arm grasping, achieves precise and automated sorting of coal gangue. All modules are uniformly coordinated by the control module, realizing the start-up, shutdown, linkage, and safety interlocking of the entire "mining, transportation, and screening" process. Thus, through highly integrated modular design and unified control, it not only realistically reproduces the complex underground operation process of a coal mine, solving problems such as abstract scenarios, fragmented links, poor safety, and high costs in traditional training, but also, with its intelligent sorting core, enables the system to help trainees intuitively understand the collaborative working principles of coal mine production systems, providing an efficient and reliable training platform for cultivating technical talents with comprehensive operation and management capabilities in the mining field. Attached Figure Description

[0016] Figure 1 A schematic diagram of a smart coal mine industrial training sandbox provided in an embodiment of the present invention; Figure 2 A schematic diagram of a smart coal mine industrial training sand table provided in an embodiment of the present invention; Figure 3 A physical image of a smart coal mine industrial training sand table provided for an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Training platform; 2. First power supply box; 3. Second controller; 4. Dust suppression module; 5. Excavation module; 6. First conveyor belt; 7. Feed hopper; 8. Second conveyor belt; 9. Vibrating screen; 10. Second camera; 11. First clamping arm; 12. Third conveyor belt; 13. Fourth conveyor belt; 14. Weighing hopper; 15. Second clamping arm; 16. First controller; 17. Second power supply box; 18. Transport track. Detailed Implementation

[0018] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] The present invention will be described below through several specific embodiments. To keep the following description of the embodiments clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present invention appears in more than one drawing, the component may be represented by the same reference numerals in each drawing.

[0021] Figure 1 This is a schematic diagram of a smart coal mine industrial training sandbox provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of a smart coal mine industrial training sand table provided in an embodiment of the present invention. Figure 3 A physical image of a smart coal mine industrial training sand table provided for an embodiment of the present invention.

[0022] like Figure 1As shown, this embodiment of the invention provides a smart coal mine industrial training sandbox, including: a training platform 1 and a digging module 5, a transportation module, a screening module, and a control module fixed thereon; the control module controls the digging module 5 to perform simulated coal ore digging operations and transports the excavated coal ore to the transportation module; the transportation module includes a vibrating screen 9, a first conveyor belt 6, and a third conveyor belt 12, both of which are arranged at an angle, with the vibrating screen 9 located below the end of the first conveyor belt 6 and the beginning of the third conveyor belt 12 located below the discharge port of the vibrating screen 9; the excavated coal... The ore remains on the vibrating screen 9, waiting for the screening module to screen the coal ore. The screening module includes a first clamping arm 11 and a first camera. The first clamping arm 11 is fixed to one side of the vibrating screen 9. The first camera is connected to the clamping head of the first clamping arm 11. The first camera faces into the vibrating screen 9 and takes pictures of the coal ore in the vibrating screen 9 for identification. The identification result is transmitted to the control module. The control module controls the first clamping arm 11 to grab the coal gangue in the vibrating screen 9 according to the identification result of the first camera and place it outside the transport module. The remaining coal ore in the vibrating screen 9 continues to be transported along the transport module.

[0023] Specifically, training platform 1 is equipped with two power sources to provide energy for the simulated operation of training platform 1. The first power supply box 2 is the power source for the second controller 3, dust suppression module 4, and excavation module 5.

[0024] The second power supply box 17 is the power source for components such as the first conveyor belt 6, the second conveyor belt 8, the second camera 10, the first clamping arm 11, the third conveyor belt 12, the fourth conveyor belt 13, the second clamping arm 15, and the first controller 16.

[0025] Specifically, the excavation module 5 includes an excavating robotic arm, whose structure mainly consists of four parts: a rotating base, a boom, a stick, and a bucket. These components are connected in series via high-strength pins, forming a multi-degree-of-freedom simulated operating arm system. For drive, a high-torque servo motor, coupled with a precision reducer, is directly connected to each motion joint, providing precise and stable power output to the robotic arm. This excavating robotic arm can receive operating commands from the control module and run the built-in motion control algorithm to coordinate complex actions such as rotation, lifting, digging, and unloading. This allows for highly realistic simulation of a series of functions, including excavation, overload protection, and dynamic adjustment of the working posture, ultimately achieving a high degree of realism in replicating the excavation process of fully mechanized mining equipment in a real coal mine.

[0026] Furthermore, a second conveyor belt 8 connects the first conveyor belt 6 and the third conveyor belt 12. The excavated coal is received by a feed hopper 7, whose outlet is connected to the transport module, located between the first conveyor belt 6 and the second conveyor belt 8. The core of the transport module is a conveyor line composed of four conveyor belts connected in sequence, simulating coal mine transport operations. In the transport module, a screening module is integrated onto the conveyor line to simulate the screening of raw coal.

[0027] Furthermore, the development board that comes with the first camera has a pre-installed coal gangue recognition program for detecting and identifying coal gangue.

[0028] Furthermore, the first camera first captures real-time images of the material on the vibrating screen 9. After preprocessing such as size normalization and noise filtering, the images are input into a pre-trained deep learning target detection model for identification. The model automatically locates and classifies targets in the image by comparing the differences in texture, shape, and color between coal and gangue. Once coal and gangue with a confidence level higher than the threshold are identified, the program sends their location information to the control module via a communication protocol, driving the first gripping arm 11 to perform precise gripping and sorting operations, thereby realizing the automatic identification and intelligent sorting of coal and gangue.

[0029] Furthermore, the category label and confidence score of the coal gangue in the image will also be output, along with the coordinates of its bounding box in the image pixel coordinate system. This coordinate information reflects the specific location of the coal gangue in the two-dimensional image. In order to drive the first gripping arm 11 to perform precise grasping, the two-dimensional pixel coordinates need to be converted into three-dimensional spatial coordinates in the gripping arm's mechanical coordinate system. The processor has pre-established a precise mathematical transformation relationship between the camera coordinate system and the robotic arm base coordinate system through a calibration algorithm. Therefore, when the model provides the pixel coordinates of the coal gangue, the control system can use this calibration relationship to calculate the true three-dimensional position coordinates of the coal gangue within the robotic arm's workspace.

[0030] In a specific implementation of this invention, the system establishes a precise mapping relationship between image coordinates and the robotic arm's motion space through a hand-eye calibration algorithm. First, the first camera captures an image of a standard calibration plate fixed to the end of the robotic arm. Then, the camera's focal length and principal point coordinates are calculated, and combined with multiple known poses of the robotic arm, a transformation matrix between the camera coordinate system and the robotic arm coordinate system is obtained. Through this calibration process, the system can convert the pixel coordinates of the coal gangue identified by the first camera into world coordinates executable by the first gripping arm 11 in real time, thereby driving the robotic arm to complete precise grasping and sorting actions.

[0031] Ultimately, the three-dimensional position coordinates are sent to the controller of the first gripping arm 11 via a communication protocol. The controller then plans the motion trajectory based on these coordinates, driving the end effector of the gripping arm to move directly above the target, thereby completing the precise grasping. In short, the position information originates from the output of the image recognition model and is converted into physical spatial commands that the robotic arm can execute via the hand-eye calibration system.

[0032] Optional, see reference Figure 1 A first color mark sensor is fixed inside the vibrating screen 9. The first color mark sensor identifies whether there is coal gangue on the inner surface of the vibrating screen 9. If not, the control module controls the vibrating screen 9 to vibrate.

[0033] Specifically, the first color mark sensor identifies coal and gangue by detecting the physical differences in their surface optical reflectance characteristics. The sensor emits infrared light onto the material surface. Coal has a high absorption rate and low reflectance due to its dark color and rough surface, while gangue has a high reflectance due to its light color and relatively smooth surface. When the intensity of the reflected light exceeds a preset threshold, the sensor determines it to be gangue and outputs a switch signal. When the intensity of the reflected light from the coal on the inner surface of the vibrating screen 9 is lower than the threshold, the control module controls the vibrating screen 9 to vibrate. The vibration causes the coal in the vibrating screen 9 to redistribute vertically. At this time, the first color mark sensor continues to detect. If there is no reflection, the vibrating screen 9 is restarted. If there is no reflection after three times, the discharge port of the vibrating screen 9 is opened, allowing the coal to continue to be transported. If there is reflection, the first clamping arm 11 is controlled to perform sorting.

[0034] Optional, see reference Figure 1 The screening module also includes a coal gangue storage position and a second clamping arm 15. Both the coal gangue storage position and the second clamping arm 15 are located on one side of the vibrating screen 9. The first clamping arm 11 places the screened coal gangue in the coal gangue storage position, and the second clamping arm 15 clamps the coal gangue in the coal gangue storage position and places it on the bearing surface of the first conveyor belt 6 to continue the simulation.

[0035] Optional, see reference Figure 1 The coal gangue storage location is also equipped with a second color mark sensor, which detects whether there is coal gangue in the coal gangue storage location; when the second color mark sensor detects that there is coal gangue in the coal gangue storage location, the control module controls the second clamping arm 15 to clamp the coal gangue in the coal gangue storage location.

[0036] Specifically, the first clamping arm 11 places the sorted coal gangue in the coal gangue storage position, and then the second clamping arm 15 places it back onto the bearing surface of the first conveyor belt 6 to complete the material return and continue the simulation.

[0037] A second color mark sensor is installed at the coal gangue storage location. This sensor detects the presence of coal gangue at the location. When coal gangue is detected, the control module controls the second gripping arm 15 to move to a preset gripping position, perform the gripping action, and then transfer and release the coal gangue onto the bearing surface of the first conveyor belt 6. In this way, the sorted gangue is reintroduced into the transportation system, providing material for the next sorting simulation cycle. This completes the closed-loop teaching simulation demonstration of coal gangue sorting, reflecting the actual situation of using multiple detection technologies in industry and enriching the diversity and comprehensiveness of practical training operations.

[0038] Optional, see reference Figure 1 The control module includes an image processor and a first controller 16. The image processor receives image data captured by the first camera and sends the data results to the first controller 16. The first controller 16 controls the start and stop of the vibrating screen 9 and the gripping of the first clamping arm 11 and the second clamping arm 15 according to the data results.

[0039] The image processor specializes in complex visual computing tasks: it continuously receives image data of the vibrating screen 9 area captured by the first camera, analyzes the images in real time using an embedded target detection algorithm, accurately identifies coal gangue, and calculates its location information. Subsequently, the image processor sends high-level data results such as "coal gangue detected" or "target coordinates" to the first controller 16. The first controller 16, acting as the field control hub, does not directly process the raw images but executes precise logic control based on the received result signals: for example, it coordinates the start-stop rhythm of the vibrating screen 9 according to the identification results and issues gripping and placement commands to the first gripping arm 11 and the second gripping arm 15 at appropriate times. This design of "separating visual processing from logic control" leverages the advantages of the image processor in complex algorithms while ensuring the reliability of the first controller 16 in real-time equipment operation, together forming an efficient and intelligent sorting control closed loop.

[0040] The control module also includes a second controller 3; the second controller 3 controls the excavation module 5 and the dust suppression module 4.

[0041] Furthermore, the system employs a multi-brand programmable logic controller architecture to enhance the realism of teaching and the diversity of technologies. The second controller 3 is a Huichuan brand model, which is mainly responsible for controlling the servo drives of each joint of the multi-degree-of-freedom robotic arm in the excavation module 5, coordinating the completion of composite actions such as simulated excavation, rotation, lifting, and unloading; at the same time, this controller also manages the operation of the dust suppression module 4 in real time, controlling the frequency conversion start and stop of the water pump, and the opening and closing of the electric actuator or solenoid valve according to the excavation operation status or the feedback signal of the dust sensor, so as to realize the automatic triggering and constant pressure regulation of spray dust suppression.

[0042] The first controller 16 uses a Siemens brand model and is independently responsible for controlling the timing and linkage of the transportation module and the screening module: its output points control the start, stop, and speed regulation of the three-phase asynchronous motor of the first conveyor belt 6, the stepper motor of the second conveyor belt 8, and the servo motors of the third conveyor belt 12 and the fourth conveyor belt 13 through relays or drivers; at the same time, this controller also controls the start and stop of the vibrator of the vibrating screen 9 and receives the weighing sensor signal of the weighing funnel 14, and controls the opening and closing actions of the discharge gate according to the preset logic judgment result.

[0043] The dual-PLC system communicates through industrial Ethernet or fieldbus to achieve data exchange and linkage control, which not only simulates the common scenarios of integrating multi-brand control modules in the industrial field, but also provides a comprehensive training platform for students on cross-platform PLC programming, network communication, and collaborative control technologies.

[0044] Optionally, referring to Figure 1 , the transportation module further includes a second conveyor belt 8. The second conveyor belt 8 is inclined and is located between the first conveyor belt 6 and the third conveyor belt 12. The head end of the second conveyor belt 8 is located below the tail end of the first conveyor belt 6, and the tail end of the second conveyor belt 8 is located above the head end of the third conveyor belt 12; a second camera 10 is provided on the side of the second conveyor belt 8. The second camera 10 faces the second conveyor belt 8 and is used to monitor whether there are simulated personnel illegally riding on the second conveyor belt 8.

[0045] Specifically, Lego minifigure models are used in the system to simulate various activities of real operators in the coal mine scenario, such as patrol inspection, approaching equipment, or illegally riding on the conveyor belt, etc., providing visual recognition targets for the safety monitoring and early warning functions.

[0046] Specifically, the alarm reminder is realized through an audible and visual alarm. When the second camera 10 detects, based on the image recognition algorithm, that there is a Lego minifigure model illegally placed on the second conveyor belt 8 simulating the behavior of personnel riding, the system immediately triggers a linkage response: the indicator light of the audible and visual alarm switches from green indicating the normal operation state to red indicating the emergency alarm state, and a pre-recorded voice prompt is played synchronously, such as "Please evacuate the conveyor belt as soon as possible"; at the same time, the control module sends an emergency stop instruction to the first controller 16, and the first controller 16 then controls the second conveyor belt 8 and the entire conveyor belt group linked to it to stop running until the image recognition system confirms that the illegally riding Lego minifigure has been removed, and the alarm state can be解除, and the system automatically resumes the normal operation of the conveyor belt group. This function fully simulates the whole process of automatic recognition of personnel's illegal behaviors, real-time alarm, and equipment interlock protection in the industrial field.

[0047] Furthermore, the second camera 10 continuously collects real-time video streams of the area of ​​the second conveyor belt 8 and transmits the image data to the built-in or connected image processing unit. The image processing unit runs a pre-trained deep learning target detection model to analyze the targets in the image frame by frame and identify whether there are Lego miniature models simulating human bodies located in the dangerous area of ​​the conveyor belt. Once a violation target is identified and it persists for more than a preset time, it is determined to be a violation of riding behavior, and an alarm signal is immediately sent to the control module. After receiving the signal, the control module immediately triggers the audible and visual alarm to issue an audio-visual alarm and simultaneously sends a stop command to the PLC controller to control the conveyor belt group to stop running.

[0048] Optional, see reference Figure 1 The transportation module also includes: a transportation track 18, a coal-carrying AGV intelligent vehicle, a weighing funnel 14, and an unloading return funnel. The transportation track 18 has a ring structure, with part of it arranged horizontally and part of it arranged at an incline on the training platform 1. The coal-carrying AGV intelligent vehicle runs along the transportation track 18 to receive and transfer coal. The transportation track 18 passes through the beginning of the first conveyor belt 6 and the end of the third conveyor belt 12. The unloading return funnel is located at the beginning of the first conveyor belt 6 and is used to send the coal in the coal-carrying AGV intelligent vehicle back to the first conveyor belt 6. The weighing funnel 14 is located below the end of the third conveyor belt 12 and is used to simulate weighing and loading the coal-carrying AGV intelligent vehicle.

[0049] Specifically, multiple strain gauge load cells are installed on the outside of the weighing hopper 14 to detect the total weight of the material inside the hopper in real time. The discharge port at the bottom of the weighing hopper 14 is equipped with a discharge gate controlled by an electric push rod or a solenoid valve. During system operation, when the load cells detect that the material weight reaches the preset loading weight value in the first controller 16, the first controller 16 issues a command to first pause the operation of the fourth conveyor belt 13 and related upstream conveyor belts; then, it controls the discharge gate to open, unloading all the coal from the weighing hopper 14 into the cargo bin of the coal-carrying AGV intelligent vehicle parked directly below; after unloading, the discharge gate closes, and the first controller 16 restarts the conveyor belt group to continue material transport.

[0050] Specifically, the unloading return funnel is typically a cylindrical or trough-shaped structure that tapers from top to bottom. Its upper part is an open feed hopper to receive coal chunks unloaded by the AGV intelligent vehicle from its side-tipping mechanism, while the lower part is a guide chute or straight cylinder that precisely guides the material onto the bearing surface of the first conveyor belt 6. When the coal-carrying AGV intelligent vehicle reaches the unloading station and performs the side-tipping action, the coal chunks are thrown into the feed hopper of the unloading return funnel under gravity, slide down its inner wall, and finally evenly spill onto the first conveyor belt 6 through the discharge port, thus re-entering the conveying system and achieving automatic material recovery and circulation simulation. This structural design ensures a smooth, spill-free unloading process and eliminates the need for a power unit, relying solely on gravity to complete the return function.

[0051] Specifically, the transport track 18 is a ring, with half of it set horizontally on the training platform 1 and the other half set at an angle on the training platform 1, simulating the operation path of the coal transport AGV intelligent vehicle with elevation changes.

[0052] Furthermore, the coal-carrying AGV intelligent vehicle has a load capacity of 100g, a running speed of 0.5m / s, and a positioning accuracy of ±5mm. It operates along the transport track 18 via laser navigation and receives control signals from the first controller 16 to start and stop. When it reaches directly below the weighing funnel 14, the AGV intelligent vehicle automatically and precisely positions itself and stops, waiting for loading. When it reaches the unloading station on the lower side of the first conveyor belt 6, the hopper automatically performs a side-tipping action, dumping the loaded coal and mineral materials into the unloading return funnel, thus achieving automatic unloading and recycling of materials. After unloading, the hopper automatically returns to its original position, and the AGV intelligent vehicle continues to run along the circular track, returning to the loading station to wait for the next operation, forming a continuous closed-loop simulation of material loading, unloading, and transportation.

[0053] Furthermore, the AGV (Automated Guided Vehicle) intelligent vehicle comes with its own development board, and the gateway sends MQTT (Message Queuing Telemetry Transport) messages. The message controls the AGV (Automated Guided Vehicle), informing it of the loading and unloading locations. Simultaneously, the AGV executes the tipping operation of the cargo bin via preset program commands. Flipping the switch on the AGV base triggers a buzzer, indicating the system is powered on. The vehicle can be placed anywhere on the track, and the AGV will begin automatic tracking. The entire transportation process requires no manual intervention, realistically simulating the intelligent scheduling and execution of unmanned material handling in modern coal mines.

[0054] Optional, see reference Figure 1 It also includes an environmental monitoring module, which transmits the monitored data to the control module. The environmental monitoring module includes a dust sensor, a combustible gas sensor, a temperature and humidity sensor, and a wind speed sensor. The dust sensor monitors the concentration of suspended particulate matter in the simulated environment; the combustible gas sensor detects the concentration of combustible gases in the simulated environment; the temperature and humidity sensor collects temperature and air humidity data in the simulated environment; and the wind speed sensor monitors the airflow speed in the simulated environment.

[0055] Specifically, the environmental monitoring and control module collects real-time environmental parameters of the sand table through multiple types of sensors: dust sensors continuously monitor the concentration of suspended particulate matter such as PM2.5, PM10, and coal mine dust in the air, which is not only used to assess air quality but also to provide data for judging the risk of dust explosion; combustible gas sensors are specifically used to detect methane (gas) concentration and can issue an early warning before it reaches the lower explosive limit to prevent combustion and explosion accidents; temperature and humidity sensors simultaneously measure ambient temperature and relative humidity, and the data is used to ensure the safe operation of electrical equipment and assess the comfort of simulated personnel; wind speed sensors are installed in simulated ventilation ducts or tunnels to accurately monitor airflow speed to verify the effectiveness of the ventilation system.

[0056] All sensor data is transmitted to the control module in real time via analog signals or fieldbus. The control module drives the fan for intelligent airflow adjustment according to the following strategies: if the dust concentration or combustible gas concentration exceeds the standard, the control module will increase the fan speed, increase the airflow to quickly dilute and discharge harmful substances, and activate the dust suppression module to reduce dust; if the temperature and humidity sensors show that the ambient temperature is too high or the humidity is too high, the system will also activate the fan to enhance air circulation, achieving cooling and dehumidification; conversely, if all parameters are within the safe threshold, the control module can reduce the fan speed or maintain low-speed operation to simulate energy-saving operation. Through real-time perception-decision-execution closed-loop control, this module realistically simulates the intelligent ventilation and environmental control process based on multi-source perception in coal mines, reflecting the refined management of production safety and environmental optimization in modern mines.

[0057] Data is collected through sensors, including temperature, humidity, dust, water pressure, water flow, light, combustible gas, voltage, and current. Video data of the mining area is collected through cameras, and other data such as coal mine production statistics are monitored through the software system monitoring platform. All of the above data is transmitted to the server through a gateway, and the software system deployed on the server displays the data effects.

[0058] Optional, see reference Figure 1 It also includes a dust suppression module 4, which includes a water tank, a water pump, multiple atomizing nozzles, and a water collection tank. The water tank is placed below the training platform 1, the water pump is placed inside the water tank and pumps water to the multiple atomizing nozzles, the multiple atomizing nozzles are placed at the excavation module 5, the control module controls the start and stop of the water pump according to the data monitored by the environmental monitoring module, and the water collection tank is opened on the training platform 1 and connected to the water tank through a pipe to collect the water sprayed by the atomizing nozzles.

[0059] Furthermore, the dust suppression module 4 includes a water tank, a water pump, a flow meter, a pressure transmitter, a level sensor, an electric actuator, a differential pressure transmitter, and an angle valve. The tank serves as a water source container, and its outlet is connected to the water pump and the main pipeline via a pipeline. The level sensor is installed inside the water tank to monitor the water level and trigger a low-level alarm. The water, pressurized by the pump, flows through the main pipeline. The pressure transmitter monitors the system pressure in real time and feeds the signal back to the PLC controller, thereby adjusting the pump speed or starting / stopping it to achieve constant pressure control. Atomizing nozzles controlled by electric actuators or solenoid valves are installed on branch pipelines near the dust source; their opening and closing are controlled by commands from the PLC. The differential pressure transmitter monitors the pressure difference across the filter, the angle valve regulates the flow rate in the area, and the flow meter is installed on the main outlet pipe to measure the total water consumption. Water in the tank, pressurized by the pump, is transported through the main pipeline. The system pressure is monitored in real time by the pressure transmitter and fed back to the PLC, thereby achieving variable frequency constant pressure control or starting / stopping of the pump. The atomizing nozzles arranged in the excavation area are controlled to open and close by electric actuators or solenoid valves. The automated operation of the system relies on two main signals: the corresponding spray is automatically activated when the tunneling machine starts, or dust concentration data is monitored in real time by a dust concentration sensor, which automatically triggers dust suppression operations once the concentration exceeds the standard. This ensures the continuous, stable, and efficient operation of the entire system.

[0060] This module uses a water pump to deliver water from a tank to atomizing nozzles for dust suppression. Wastewater from the spraying process is collected in a collection tank, filtered, and then automatically returned to the tank for reuse. This not only achieves water resource recycling but also effectively simulates the real process of underground spray dust suppression and water recovery, embodying green and sustainable engineering concepts. Training platform 1 serves as the integrated foundation, upon which are fixedly installed excavation module 5, dust suppression module 4, transportation module, screening module, and control module. Excavation module 5 simulates the actual excavation actions of a fully mechanized coal mine face. Dust suppression module 4 works in conjunction with excavation module 5, automatically activating during operation to implement spray dust suppression, simulating the dust-suppressing environment underground. The transportation module connects to the discharge end of excavation module 5, continuously conveying the excavated material. The screening module is integrated into the transportation module's path, used for screening and sorting materials. Each functional module is electrically connected to the control module, receiving its commands and providing status signals. The control module, as the core hub, coordinates the start / stop, linkage, and safety interlocking of each stage of excavation, dust suppression, transportation, and sorting, thereby achieving automated and intelligent simulation of the entire coal mine "mining, excavation, transportation, screening, and control" process. Through highly integrated modular design and unified control, the complex underground coal mine operation process is realistically reproduced, solving problems such as abstract scenarios, fragmented processes, poor safety, and high costs inherent in traditional training. This system not only helps trainees intuitively understand the collaborative working principle of coal mine production systems, but also has the advantages of high safety, repeatable operation and low-cost maintenance, providing an efficient and reliable training platform for cultivating technical talents with comprehensive operation and management capabilities in the field of smart mines.

[0061] Furthermore, the first conveyor belt 6 is controlled by a three-phase asynchronous motor and a frequency converter, the second conveyor belt 8 is controlled by a stepper motor and a stepper driver, and the third conveyor belt 12 and the fourth conveyor belt 13 are controlled by servo motors and servo drivers.

[0062] In terms of drive and control methods, the four conveyor belts employ different types of motors and drivers to meet diverse teaching demonstration simulations and practical functional requirements: the first conveyor belt 6 has a relatively simple function, only needing to achieve basic conveying, so a three-phase asynchronous motor with a frequency converter is used for speed control; the second conveyor belt 8 needs to adapt to possible sorting and start / stop requirements, so a stepper motor and stepper driver are selected to achieve high-precision position and speed control; the third conveyor belt 12 and the fourth conveyor belt 13 have their discharge ends directly connected to the weighing and loading stations, requiring the highest requirements for stopping accuracy and dynamic response, so servo motors and servo drivers are used for precision control. This differentiated design not only realistically reflects the engineering practice of selecting different drive schemes according to different process requirements in industrial settings, but also provides students with an intuitive platform to compare and learn the control characteristics and applications of three-phase asynchronous motors, stepper motors, and servo motors.

[0063] To achieve intelligent management and data interconnection of the coal mine industrial training sandbox, an Internet of Things (IoT) network based on industrial standard communication protocols was constructed. This network establishes a reliable local area network through routers and industrial switches, ensuring stable communication between various controllers and devices.

[0064] Two heterogeneous gateways are used as middleware between the PLC controller and the upper-level industrial internet platform to achieve unified access and data fusion for controllers from multiple brands. The specific communication interaction process is as follows:

[0065] The Huichuan PLC control system is responsible for controlling the IoT (Internet of Things) gateway of the excavation and dust suppression module 4 to communicate with the Huichuan PLC controller through the ModbusTCP (ModbusTCP: a Modbus communication protocol based on TCP / IP; Modbus: a serial communication protocol; TCP: Transmission Control Protocol, a connection-oriented, reliable, byte-stream-based transport layer communication protocol) protocol, and to obtain the status of equipment such as robotic arms and water pumps in real time. Subsequently, the gateway encapsulates the data into MQTT (Message Queuing Telemetry Transport) messages and publishes them to the industrial internet platform.

[0066] Siemens PLC control system: The Android smart gateway responsible for controlling the transportation and sorting modules communicates with the Siemens PLC controller (via a serial server) through the Modbus TCP protocol to collect data from the conveyor belt, vibrating screen 9, and sensors; similarly, the gateway uploads data to the platform via the MQTT protocol and can receive MQTT commands from the platform to remotely control the equipment.

[0067] The aforementioned dual-gateway architecture effectively solves the protocol compatibility problem in scenarios where multiple PLC systems coexist, enabling comprehensive data collection and centralized monitoring of equipment data across multiple stages, including underground mining, dust suppression, transportation, and sorting. All data ultimately converges to a self-developed industrial internet platform, providing equipment management, order control, and a large-screen visualization function. This allows for real-time perception, remote control, and visualization of the sand table's operational status, fully simulating the three-layer integrated architecture of "equipment-network-platform" in modern smart mines.

[0068] The simulation steps of this invention are as follows: First, turn on the main power supply of the training room, and then turn on the main power supply of the sand table. If it is the first time using it, ensure that both the first power supply box 2 and the second power supply box 17 are turned on. In subsequent use, both power supply boxes will always be turned on. Next, start the second controller 3 and the first controller 16 respectively, and start and stop the corresponding equipment in manual or automatic mode according to the training requirements: the second controller 3 is responsible for controlling the spraying equipment in the excavation module 5 and the dust suppression module 4, while the first controller 16 controls the transportation and screening modules, including multiple conveyor belts and the vibrating screen 9.

[0069] The server is then started, and the simulated coal mine and coal gangue materials are placed at the feed end of the first conveyor belt 6 to activate the multi-stage coal conveying function. At the same time, the AGV intelligent vehicle is placed at the loading station below the weighing funnel 14 to put it into standby mode.

[0070] Coal gangue sorting scenario: Place coal gangue in a designated location and observe whether the second gripping arm 15 can move it to the conveyor belt, and whether the first gripping arm 11 can accurately grab the gangue on the sorting vibrating screen 9 based on visual recognition. Safety monitoring scenario: Place LEGO minifigures on the second conveyor belt 8 to simulate violations, adjust the angle of the second camera 10, and verify whether it can recognize the behavior and trigger the sound and light alarm and equipment interlock shutdown. Data monitoring scenario: Real-time viewing of various sensor data (such as temperature, humidity, dust, gas, and flow sensors), camera video streams, and production statistics on the software platform's large data dashboard confirms the completeness of the visualization monitoring and recording functions for the sand table's operational status. If any link is abnormal, troubleshooting should be conducted based on system feedback regarding equipment power supply, PLC control mode, and network connectivity issues.

[0071] After the training is completed, shut down the browser, virtual machine and server in sequence. Then stop all equipment in the PLC controllers at both ends, cut off the main power of the sand table, clean the table and organize the materials and parts, and finally turn off the main power of the training room.

[0072] This process system integrates multiple technical elements such as electrical control, mechanical transmission, intelligent sensing, and software management, and fully simulates the entire process of modern coal mine operation and maintenance, from equipment startup, production simulation, safety monitoring to data management. It is suitable for practical teaching and skills training in related fields such as industrial internet, automation, and intelligent mining.

[0073] This invention provides trainees with a comprehensive practical platform covering the Industrial Internet of Things (IIoT) technology stack. Through this system, trainees can intuitively observe and deeply understand the operational principles of the entire coal mine process, including excavation, mining, transportation, screening, and control. Building upon this foundation, the platform supports multi-level, cross-technology training content: trainees can learn sensor access, data acquisition and communication, mastering basic IIoT applications; understand cloud computing architecture and service deployment processes through locally deployed servers and software systems; develop industrial data management and presentation capabilities by writing big data acquisition, storage, and visualization programs; develop and verify algorithm programs to achieve AI applications such as camera-based coal gangue identification, personnel behavior monitoring, and intelligent robotic arm sorting; and at the automation and control level, trainees can write and debug PLC control programs to achieve equipment linkage and process control, and develop AGV (Automated Guided Vehicle) control programs to complete path planning and automatic loading and unloading control functions. This platform integrates knowledge from multiple disciplines, including mechanical engineering, automation technology, IoT communication, artificial intelligence, and software development, aiming to cultivate trainees' comprehensive practical and innovative abilities to solve complex engineering problems in the context of smart mines.

[0074] The above inventions are merely a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A smart coal mine industrial training sandbox, characterized in that, include: The training platform (1) and the excavation module (5), transportation module, screening module and control module fixed on it; The control module controls the excavation module (5) to perform simulated coal mine excavation operations and transports the excavated coal mine to the transportation module. The transport module includes a vibrating screen (9), a first conveyor belt (6) and a third conveyor belt (12). The first conveyor belt (6) and the third conveyor belt (12) are both arranged at an inclination. The vibrating screen (9) is located below the end of the first conveyor belt (6), and the beginning of the third conveyor belt (12) is located below the discharge port of the vibrating screen (9). The excavated coal ore remains on the vibrating screen (9) and waits for the screening module to screen the coal ore; The screening module includes a first clamping arm (11) and a first camera. The first clamping arm (11) is fixed to one side of the vibrating screen (9). The first camera is connected to the clamping head of the first clamping arm (11). The first camera faces into the vibrating screen (9) and takes pictures of the coal ore in the vibrating screen (9). The identification result is transmitted to the control module. The control module controls the first clamping arm (11) to grab the coal gangue in the vibrating screen (9) according to the identification result of the first camera and place it outside the transport module. The remaining coal ore in the vibrating screen (9) continues to be transported along the transport module.

2. The intelligent coal mine industrial training sandbox as described in claim 1, characterized in that, The vibrating screen (9) is equipped with a first color mark sensor. The first color mark sensor identifies whether there is coal gangue on the inner surface of the vibrating screen (9). If not, the control module controls the vibrating screen (9) to vibrate.

3. The intelligent coal mine industrial training sandbox as described in claim 2, characterized in that, The screening module also includes a coal gangue storage position and a second clamping arm (15). The coal gangue storage position and the second clamping arm (15) are both located on one side of the vibrating screen (9). The first clamping arm (11) places the screened coal gangue in the coal gangue storage position. The second clamping arm (15) clamps the coal gangue in the coal gangue storage position and places it on the bearing surface of the first conveyor belt (6) for continued transportation.

4. The intelligent coal mine industrial training sandbox as described in claim 3, characterized in that, The coal gangue storage location is also equipped with a second color mark sensor, which detects whether there is coal gangue in the coal gangue storage location; when the second color mark sensor detects that there is coal gangue in the coal gangue storage location, the control module controls the second clamping arm (15) to clamp the coal gangue in the gangue storage location.

5. The intelligent coal mine industrial training sandbox as described in claim 3, characterized in that, The control module includes an image processor and a first controller (16); the image processor receives image data captured by the first camera and sends the data results to the first controller (16), and the first controller (16) controls the start and stop of the vibrating screen (9) and the gripping of the first clamping arm (11) and the second clamping arm (15) according to the data results.

6. The intelligent coal mine industrial training sandbox as described in claim 3, characterized in that, The transport module also includes a second conveyor belt (8), which is inclined and located between the first conveyor belt (6) and the third conveyor belt (12). The first end of the second conveyor belt (8) is located below the end of the first conveyor belt (6), and the end of the second conveyor belt (8) is located above the first end of the third conveyor belt (12). A second camera (10) is provided on the side of the second conveyor belt (8), which faces the second conveyor belt (8) and is used to monitor whether there are simulated personnel riding the second conveyor belt (8) in violation of regulations.

7. The intelligent coal mine industrial training sandbox as described in claim 6, characterized in that, The transportation module also includes: a transportation track (18), a coal-carrying AGV intelligent vehicle, a weighing funnel (14), and an unloading return funnel. The transportation track (18) is a ring structure, partially horizontal and partially inclined on the training platform (1). The coal-carrying AGV intelligent vehicle runs along the transportation track (18) and is used to receive and transfer coal. The transportation track (18) passes through the beginning of the first conveyor belt (6) and the end of the third conveyor belt (12). The unloading return funnel is located at the beginning of the first conveyor belt (6) and is used to send the coal in the coal-carrying AGV intelligent vehicle back to the first conveyor belt (6). The weighing funnel (14) is located below the end of the third conveyor belt (12) and is used to simulate weighing and loading the coal into the coal-carrying AGV intelligent vehicle.

8. The intelligent coal mine industrial training sandbox as described in claim 1, characterized in that, It also includes an environmental monitoring module, which transmits the monitored data to the control module; the environmental monitoring module includes: a dust sensor, a combustible gas sensor, a temperature and humidity sensor, and a wind speed sensor; The dust sensor monitors the concentration of suspended particulate matter in the simulated environment; The combustible gas sensor detects the concentration of combustible gas in the simulated environment; The temperature and humidity sensor collects temperature and air humidity data in the simulated environment; The wind speed sensor monitors the airflow speed in the simulated environment.

9. The intelligent coal mine industrial training sandbox as described in claim 8, characterized in that, It also includes a dust suppression module (4), which includes a water tank, a water pump, multiple atomizing nozzles and a water collection tank; the water tank is placed below the training platform (1), the water pump is placed in the water tank and pumps water to multiple atomizing nozzles, the multiple atomizing nozzles are placed at the excavation module (5), the control module controls the start and stop of the water pump according to the data monitored by the environmental monitoring module, and the water collection tank is opened on the training platform (1) and connected to the water tank through a pipe to collect the water sprayed by the atomizing nozzles.

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