Full-automatic detecting and dredging integrated system device for lower opening of coal bunker and coal bunker dredging method

Abstract

The invention discloses a coal bunker lower opening full-automatic detecting and dredging integrated system device and a coal bunker dredging method. The coal bunker lower opening full-automatic detecting and dredging integrated system device comprises an integrated assembly integrating a camera, a hydraulic breaking pickaxe and a high-pressure water spray head, and the integrated assembly is driven by a motion executing mechanism to move and rotate in a bunker; the switching between the working position and the parking position of the assembly is realized through the in-bin and out-bin switching module; and the control system automatically selects high-pressure water washing or mechanical crushing to perform targeted dredging based on a visual identification result, and controls parts to reset. The problems that in the prior art, the detection means is single, the blockage clearing mode is split, equipment is prone to being damaged, and automatic closed-loop operation cannot be achieved are solved, whole-process unmanned operation is achieved, and safety is improved; the dredging efficiency is improved through the integrated design; components have telescopic and switching protection mechanisms, and the service life of equipment is effectively prolonged.

Description

Technical Field

[0001] This invention relates to the technical field of automated detection and unblocking of coal bunkers, and in particular to an integrated system and method for fully automated detection and unblocking of the lower entrance of a coal bunker. Background Technology

[0002] As the core hub for underground coal transfer, coal bunkers have long been hampered by blockages, hindering safe mine production. The types of blockages exhibit significant differences: "soft blockages" formed by coal slime adhesion in high-humidity environments, and "hard blockages" caused by large pieces of coal gangue. This places higher demands on the targeted nature of detection and unblocking technologies. Currently, the existing technological system has the following three significant shortcomings: 1. Limited detection scope: Traditional solutions mainly rely on manual observation or single-point sensors, which cannot accurately identify the type and location of blockages and also expose workers to high safety risks.

[0003] 2. Fragmented Clearing Methods: High-pressure water jets, air cannons, and mechanical agitation often operate independently, making it difficult to create a coordinated clearing capability for complex situations where "soft blockages require flushing, while hard blockages require breaking up." Traditional methods (such as air cannons and vibrators) cannot distinguish between "soft blockages" and "hard blockages," often leading to repetitive operations and low efficiency due to mismatched clearing parameters.

[0004] 3. Lack of equipment protection: Existing detection components (such as cameras) are mostly installed exposed inside the bin, making them susceptible to damage from coal and gangue impacts; the unblocking device occupies bin opening space when not in operation, interfering with normal coal discharge and also prone to failure due to impacts. Furthermore, traditional unblocking systems generally lack "detection..." implement The "reset" linkage mechanism means that failure to reset promptly after clearing the blockage can easily lead to secondary blockage.

[0005] The lack of visual detection and component protection structures has become a major bottleneck in achieving unmanned coal bunker dredging. Summary of the Invention

[0006] The technical problem this invention aims to solve is: to overcome the shortcomings of existing technologies, to provide a fully automatic integrated detection and unblocking system and method for coal bunker lower openings, so as to achieve unmanned, precise, and efficient handling of coal bunker blockages, specifically including eliminating the safety risks caused by manual intervention; achieving automatic identification and location of "soft blockages" and "hard blockages"; providing detection and unblocking components with protective functions to extend equipment life; and establishing a "detection..." decision making implement The "reset" closed-loop operation system improves the reliability and efficiency of dredging.

[0007] The technical solution adopted by this invention to solve its technical problem is: a fully automatic integrated detection and unblocking system for the lower opening of a coal bunker, comprising a mobile detection and unblocking integrated component, a motion actuator, a bunker-inside / outside switching module, an unblocking opening door assembly, and a control system; the mobile detection and unblocking integrated component integrates a hydraulic crusher for mechanical crushing, a high-pressure water jet for hydraulic flushing, and a mining intrinsically safe camera assembly for visual detection; the motion actuator is used to drive and guide the mobile detection and unblocking integrated component to move, rotate, and extend / retract inside the coal bunker to adjust its working position and attitude; the bunker-inside / outside switching module is used to drive the mobile detection... The integrated detection and unblocking component switches between an unblocking working position inside the coal bunker and a parking and maintenance position outside the coal bunker. The unblocking port door panel component is installed on the coal bunker chute to close the unblocking port in the non-operational state and open it during operation to allow the mobile detection and unblocking integrated component to enter and exit. The control system is connected to the hydraulic breaker, high-pressure water nozzle, intrinsically safe mining camera component, motion actuator, bunker inside / outside switching module, and unblocking port door panel component to receive image information collected by the intrinsically safe mining camera component to identify the type and location of the blockage, and control the corresponding actuators to perform targeted unblocking operations based on the identification results.

[0008] Furthermore, the motion actuator includes a rotary guide assembly and a hydraulic cylinder hinge moving module; the rotary guide assembly is used to support the integrated mobile detection and unblocking assembly and guide it to perform rotational and telescopic movements; the hydraulic cylinder hinge moving module is used to drive the integrated mobile detection and unblocking assembly to translate in the horizontal direction.

[0009] Furthermore, the mobile detection and unblocking integrated component includes an unblocking cylinder, and a connecting seat is provided at the end of the cylinder barrel of the unblocking cylinder. The hydraulic breaker and the high-pressure water nozzle are installed at the end of the cylinder barrel of the unblocking cylinder through the connecting seat. The intrinsically safe mining camera component is telescopically disposed in the cavity formed by the high-pressure water nozzle and the connecting seat.

[0010] Furthermore, the extension and retraction of the intrinsically safe mining camera assembly is controlled by a hydraulic drive and a spring reset mechanism; the end of the high-pressure water nozzle is provided with a movable camera baffle, which closes the opening of the cavity under the action of gravity or elastic force when the intrinsically safe mining camera assembly retracts.

[0011] Furthermore, the high-pressure water nozzle has a ring structure with an internal ring water channel. The ring water channel is connected to a water inlet and multiple spray holes arranged at a dispersed angle. The high-pressure water nozzle is sleeved on the outside of the hydraulic breaker.

[0012] Furthermore, the control system executes the following automatic operation process: In response to a blockage signal, it controls the opening of the unblocking gate assembly to open and switches the mobile detection unblocking integrated assembly to the working position inside the chamber via the chamber-inside-outside switching module; it controls the intrinsically safe mining camera assembly to extend and acquire images, and analyzes the image information based on an image recognition algorithm to determine the physical characteristics of the blockage; based on the determination result of the physical characteristics of the blockage, it selectively controls the high-pressure water nozzle to start flushing, or controls the hydraulic breaker to start crushing; after unblocking, it controls the mobile detection unblocking integrated assembly to reset and switches it to the outside of the chamber via the chamber-inside-outside switching module, and finally controls the unblocking gate assembly to close.

[0013] Furthermore, the drain opening door panel assembly includes a flange mounting plate, a door panel, and a door panel cylinder for driving the door panel to move; the flange mounting plate is provided with a boss for providing additional support for the rotary guide assembly.

[0014] Furthermore, the rotary guide assembly includes a rotary guide body and a circumferential guide slider and a side guide slider disposed therein, and the outer wall of the cylinder of the unblocking cylinder cooperates with the slider to achieve guidance.

[0015] Furthermore, at least one of the hydraulic cylinder hinge moving module and the chamber inward / outward switching module includes a ball screw mechanism; the ball screw mechanism is driven by a hydraulic motor or handwheel and is equipped with a limit switch.

[0016] The present invention also provides a method for unblocking a coal bunker based on the aforementioned device, comprising the following steps: S1. Automatic detection steps: After detecting a blockage signal in the coal bunker, the detection and unblocking component with an integrated camera will be automatically moved into the coal bunker, and the camera will be extended to collect and identify images of the blocked area to determine the type and location of the blockage. S2. Targeted dredging steps: Based on the identification results, the corresponding dredging actuator is automatically selected and activated; if it is a soft blockage formed by coal slurry, the high-pressure water nozzle is controlled to perform directional flushing; if it is a hard blockage formed by large pieces of coal gangue, the hydraulic crusher is controlled to crush it, and the high-pressure water nozzle can be activated simultaneously for auxiliary flushing and slag removal. S3. Automatic reset step: After the unblocking is completed and the coal flow is confirmed to be restored, the detection and unblocking component is controlled to retract and move out of the coal bunker to the parking position, the unblocking port is closed, and the fully automatic operation closed loop is completed.

[0017] The beneficial effects of this invention are: 1. Achieve fully automated operation and significantly improve operational safety: This device achieves "switching to the warehouse" by "intelligent detection replacing manual observation, automatic unblocking replacing manual operation, and switching between inside and outside the warehouse to avoid damage and facilitate maintenance." Detection dredge The fully automated operation of "switching back to outside the warehouse" completely eliminates the risk of personnel entering dangerous areas and meets the safety requirements of the State Administration of Mine Safety regarding "unmanned operation".

[0018] 2. Integrated design significantly improves dredging efficiency: This device adopts an integrated design of "hydraulic movement + visual recognition + hydraulic crushing + high-pressure water jet", which can simultaneously complete the identification of blockage type, blockage location and targeted dredging operation; compared with a single dredging method, the dredging efficiency of this device is significantly improved and it can be adapted to most types of blockage.

[0019] 3. Comprehensive component protection effectively extends equipment life: The intelligent vision detection component adopts a "telescopic protection" design, with the camera retracting into the steel structure cavity when not in operation to avoid coal gangue impact and coal dust pollution; the detection and unblocking component is moved outside the silo when not in operation through an inside-outside switching mechanism, which does not interfere with the normal coal discharge process and avoids corrosion from the harsh environment inside the silo; all hydraulic and water pipelines are integrated inside the cylinder barrel, with no exposed parts, further improving the reliability and service life of the overall device.

[0020] 4. Precise and reliable control with high system stability: The control system integrates multiple sensors such as pressure and limit sensors, and combines them with image recognition algorithms to achieve "automatic judgment of blockage type, automatic adjustment of blockage clearing parameters, and precise control of execution actions", effectively avoiding misoperation; all hydraulic components adopt explosion-proof design to meet the explosion-proof requirements of underground coal mines, and the system operates reliably and with high stability. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the fully automatic detection and unblocking integrated system for the lower part of a coal bunker. Figure 2 This is a schematic diagram of the maximum working angle of the fully automatic detection and unblocking integrated system device at the bottom of the coal bunker; Figure 3 This is a schematic diagram of the minimum working angle of the fully automatic detection and unblocking integrated system for the lower part of a coal bunker. Figure 4 This is a schematic diagram of the structure of the mobile detection and unblocking integrated component; Figure 5This is a schematic diagram showing the extended state of the intrinsically safe camera assembly for mining applications; Figure 6 yes Figure 5 Side view; Figure 7 yes Figure 5 Enlarged view of point A in the middle; Figure 8 This is a schematic diagram of the retracted state of the intrinsically safe camera assembly for mining; Figure 9 yes Figure 8 Enlarged view at point B in the middle; Figure 10 This is a schematic diagram of the high-pressure water nozzle. Figure 11 yes Figure 10 The front view; Figure 12 yes Figure 11 Sectional view at CC; Figure 13 This is a schematic diagram of the connector structure. Figure 1 ; Figure 14 This is a schematic diagram of the connector structure. Figure 2 ; Figure 15 This is a schematic diagram of the rotary guide assembly; Figure 16 This is a schematic diagram of the door panel in the closed state of the unclog chute assembly; Figure 17 This is a schematic diagram of the door panel in the unblocking door panel assembly in the open state; Figure 18 This is a structural diagram of the flange mounting plate in the dredging port panel assembly. Figure 1 ; Figure 19 This is a structural diagram of the flange mounting plate in the dredging port panel assembly. Figure 2 ; Figure 20 This is a schematic diagram of the hydraulic cylinder hinge moving module; Figure 21 This is a control system block diagram of the fully automatic detection and unblocking integrated system for the lower part of the coal bunker.

[0023] The labels in the diagram are: a. Coal bunker; b. Coal discharge gate; c. Chute; d. Coal feeder; e. Support platform No. 1; f. Support platform No. 2; 1. Mobile detection and unblocking integrated component; 11. Unblocking cylinder; 12. Hydraulic breaker; 13. High-pressure water nozzle; 131. Central large hole; 132. Water inlet; 133. Annular water channel; 134. Water spray hole; 135. First channel; 136. Sinking platform; 137. First mounting hole; 14. Connecting seat; 141. Central blind hole; 142. Countersunk hole; 143. Second channel; 144. Annular channel; 145. Oil passage; 146. Cable passage; 147. Second mounting hole; 15. Intrinsically safe mining camera assembly; 151. Camera body; 152. Camera piston rod; 153. Camera piston; 154. Compression spring; 16. Camera baffle; 17. Guide guard; 2. Rotary guide assembly; 21. Assembly base plate; 22. Rotary guide body; 23. Hinge support; 24. Circumferential guide slider; 25. Side guide slider; 26. Slider baffle; 3. Hydraulic cylinder hinge moving module; 31. Slide table; 32. Guide rail; 33. Ball screw mechanism; 34. Worm gear reducer; 35. Hydraulic motor; 36. Handwheel; 37. Limit switch; 4. Warehouse / inside / outside switching module; 5. Drainage outlet door panel assembly; 51. Flange mounting plate; 511. Sunken platform; 512. Channel-shaped connecting plate; 513. Boss; 52. Door panel; 53. Door panel hydraulic cylinder; 6. Hydraulic power unit; 7. High-pressure water pipe; 8. Camera telescopic oil pipe; 9. Breaker return oil pipe; 10. Breaker inlet oil pipe; 11. Cable assembly. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To address the limitations of existing coal bunker unblocking technologies and the requirements of the National Mine Safety Administration for unmanned operations, this invention proposes a fully automated integrated detection and unblocking system for the lower opening of a coal bunker. This device employs an integrated approach combining hydraulic movement, visual recognition, hydraulic crushing, and high-pressure water jetting, aiming to achieve "moving, rotating, and positioning." Visual detection and positioning Targeted traffic congestion clearing The entire process of "switching between inside and outside the coal bunker" is fully automated. This device only requires modification to section c of the chute on the coal feeder d, and features minimal construction work and strong adaptability. It can help coal mining enterprises achieve unmanned operation of coal bunker a in an efficient manner, and significantly improve the safety and production efficiency of coal bunker a operation.

[0026] See Figure 1 , Figure 2 and Figure 3 The fully automatic detection and unblocking integrated system for the lower part of a coal bunker comprises six main parts: a mobile detection and unblocking integrated component 1, a rotary guide component 2, a hydraulic cylinder hinge lug moving module 3, a bunker inside / outside switching module 4, an unblocking port door panel component 5, and a hydraulic station 6. The connections between the components are as follows: the hydraulic cylinder hinge lug moving module 3 is fixed on support platform e; the hydraulic cylinder hinge lug in the mobile detection and unblocking integrated component 1 is connected to the hydraulic cylinder hinge lug moving module 3 via a pin, allowing the mobile detection and unblocking integrated component 1 to move horizontally. The hydraulic cylinder barrel in the mobile detection and unblocking integrated component 1 is inserted into the rotary guide component 2, and the two can slide relative to each other. Thus, one end of the entire mobile detection and unblocking integrated component 1 is supported by the hydraulic cylinder hinge lug moving module 3, and the other end is supported by the rotary guide component 2, thereby achieving free extension and retraction and angle change. Its maximum working angle is as follows: Figure 2 As shown, the minimum working angle is as follows Figure 3 As shown. The rotary guide assembly 2 is connected to the inside-outside switching module 4 via an adapter plate, and can move horizontally, thereby driving the mobile detection and unblocking integrated assembly 1 to switch between inside and outside the coal bunker. The inside-outside switching module 4 is fixed to the side wall of the chute c of the coal bunker a by bolts. The unblocking port door panel assembly 5 is fixed to the rear inclined surface of the chute c of the coal bunker a. The hydraulic station 6 is placed on the second support platform f, which is equipped with a control valve group and a control box for controlling the operation of various parts of the entire device.

[0027] like Figure 4As shown, the integrated mobile detection and unblocking component 1 comprises seven parts: an unblocking cylinder 11, a hydraulic breaker 12, a high-pressure water nozzle 13, a connecting seat 14, a mining intrinsically safe camera assembly 15, a camera baffle 16, and a guide guard 17. The high-pressure water nozzle 13 is fitted onto the tail of the hydraulic breaker 12. The hydraulic breaker 12 is inserted into the connecting seat 14 and fixed thereto with bolts; the high-pressure water nozzle 13 and the connecting seat 14 are then fixed together to the cylinder end seat of the unblocking cylinder 11 with bolts. The mining intrinsically safe camera assembly 15 is located within the cavity formed by the high-pressure water nozzle 13 and the connecting seat 14, allowing for telescopic movement. The camera baffle 16 is mounted on the end of the high-pressure water nozzle 13 via a spring pin. When the camera is retracted, the camera baffle 16 adheres tightly to the high-pressure water nozzle 13 under gravity, sealing the opening of the cavity where the camera is located and preventing foreign objects and dust from entering. The guide guard 17 is welded to the outer wall of the cylinder barrel of the unblocking cylinder 11 to guide the movement of the cylinder and protect the oil pipe and water pipe.

[0028] like Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the piping arrangement of the integrated mobile detection and unblocking component 1 includes the inlet and return oil pipes of the hydraulic breaker 12, the high-pressure water pipe of the high-pressure water nozzle 13, and the telescopic oil pipe of the intrinsically safe mining camera component 15. The intrinsically safe mining camera component 15 comprises four parts: the camera body 151, the camera piston rod 152, the camera piston 153, and the compression spring 154. The camera piston rod 152 is connected to the tail of the camera body 151. The interior of the camera piston rod 152 is hollow and is used to house the camera's power supply and data transmission lines (collectively referred to as cable assembly 11). The camera piston rod 152 and the internal cavity of the connecting seat 14 achieve a sliding seal through a sealing ring. The camera piston 153 is fixed to the camera piston rod 152 and cooperates with the inner wall of the internal cavity of the connecting seat 14, also achieving a sliding seal, thus forming a sealed rod-shaped cavity for the camera. The compression spring 154 is fitted onto the piston rod 152 of the camera, with one end abutting against the piston 153 of the camera and the other end abutting against the step inside the cavity of the connecting seat 14.

[0029] like Figure 5 , Figure 6 and Figure 7 As shown, the intrinsically safe camera assembly 15 for mining applications is in the extended state: hydraulic oil enters the sealed rod chamber, pushing the camera forward. At this time, the compression spring 154 is compressed, and when it is compressed to its limit, it achieves mechanical limitation of the camera. When the camera is extended, it pushes open the camera baffle 16, allowing for unobstructed shooting after it is fully exposed.

[0030] like Figure 8 and Figure 9 As shown, the intrinsically safe camera assembly 15 for mining applications is in the retracted state: After the oil pressure is released, the compression spring 154 rebounds, pushing the camera piston 153 to move and expelling hydraulic oil from the sealed rod chamber, causing the camera to retract into the cavity of the high-pressure water nozzle 13. At this time, the camera baffle 16 falls back under the action of gravity, sealing the cavity opening and protecting the camera.

[0031] like Figure 10 , Figure 11 and Figure 12 As shown, the high-pressure water nozzle 13 is generally annular. The high-pressure water nozzle 13 includes a central large hole 131, a water inlet 132, an annular water channel 133, spray holes 134, a first channel 135, a lowered platform 136, and a first mounting hole 137. The central large hole 131 is used to mount the hydraulic breaker 12. The bottom of the annular body has a water inlet 132, which connects to a high-pressure water pipe and communicates with the annular water channel 133. The top of the annular body has multiple spray holes 134 distributed at multiple angles, all communicating with the annular water channel 133. The first channel 135 is located between the central large hole 131 and the annular water channel 133, and is used to accommodate a camera. The lowered platform 136 is located at the end of the first channel 135, and is used to accommodate a camera baffle 16. The first mounting holes 137 are distributed around the central large hole 131, and are used to fix the high-pressure water nozzle 13 with bolts.

[0032] like Figure 13 and Figure 14 As shown, the connecting seat 14 is annular in shape. The connecting seat 14 includes a central blind hole 141, a countersunk hole 142, a second channel 143, an annular channel 144, an oil passage 145, a cable passage 146, and a second mounting hole 147. The central blind hole 141 is used to fit onto the hydraulic breaker 12. The countersunk hole 142 is used to connect the hydraulic breaker 12 via bolts. The second channel 143 is aligned with the first channel 135 of the high-pressure water nozzle 13, and the camera piston 153 moves within this channel. A shaft seal is placed within the annular channel 144, cooperating with the camera piston rod 152. The oil passage 145 communicates with the second channel 143 and is used to supply oil to the sealed rod chamber. The cable passage 146 is used to accommodate the camera's power cord and data transmission line. The second mounting hole 147 is aligned with the first mounting hole 137 of the high-pressure water nozzle 13, and the high-pressure water nozzle and the connecting seat 14 are fixed together to the cylinder end seat of the unblocking cylinder 11 via bolts.

[0033] like Figure 15As shown, the rotary guide assembly 2 comprises six parts: a base plate 21, a rotary guide body 22, a hinge support 23, a circumferential guide slider 24, a side guide slider 25, and a slider baffle 26. The base plate 21 is connected to the adapter plate on the internal / external switching module 4. The rotary guide body 22 is fixed to the base plate 21 via the hinge support 23 and can rotate around the hinge within the square opening of the base plate 21. The circumferential guide slider 24 and the side guide slider 25 are installed inside the rotary guide body 22. The slider baffle 26 is bolted to the end of the rotary guide body 22 to prevent the internal slider from sliding out. The outer diameter of the cylinder barrel of the unblocking cylinder 11 mates with the circumferential guide slider 24 and the side guide slider 25, allowing it to move freely within the rotary guide assembly 2.

[0034] like Figure 16 and Figure 17 As shown, the dredging port door panel assembly 5 comprises three parts: a flange mounting plate 51, a door panel 52, and a door panel cylinder 53. The flange mounting plate 51 is welded to the rear inclined surface of the chute c of the coal bunker a. The door panel 52 is inserted between the chute c of the coal bunker a and the flange mounting plate 51, and the door panel 52 is driven by the door panel cylinder 53 to perform opening and closing actions. The cylinder lug of the door panel cylinder 53 is fixed to the support of the chute c of the coal bunker a by a pin, and its piston rod lug is connected to the door panel 52.

[0035] like Figure 18 and Figure 19 As shown, the flange mounting plate 51 includes a recessed platform 511, a channel-shaped connecting plate 512, and a boss 513. The recessed platform 511 is used to accommodate and support the door panel 52. The channel-shaped connecting plate 512 is used to enhance the strength and rigidity of the door panel 52, while avoiding the piston rod hinge support on the door panel 52. The boss 513 is used to provide additional support for the rotary guide assembly 2.

[0036] like Figure 20 As shown, the hydraulic cylinder hinge moving module 3 comprises seven parts: a slide 31, a guide rail 32, a ball screw 33, a worm gear reducer 34, a hydraulic motor 35, a handwheel 36, and a limit switch 37. The slide 31 is driven by the ball screw 33. The ball screw 33 is driven by the hydraulic motor 35 or the handwheel 36 via the worm gear reducer 34. The movement range of the slide 31 is limited by the limit switch 37. The structure of the compartment inward / outward switching module 4 is similar to that of the hydraulic cylinder hinge moving module 3.

[0037] like Figure 21As shown, the block diagram of the control system includes a mining controller and a mining intrinsically safe universal interface module. The mining controller and the mining intrinsically safe universal interface module communicate and exchange data via a CAN bus. The mining controller and the mining intrinsically safe camera assembly 15 communicate and exchange data via the RTSP protocol, receiving video footage in real time and displaying it on the controller screen. The control methods for each actuator are as follows: ① The door cylinder is controlled by an explosion-proof solenoid directional valve, whose control signal is connected to the mining intrinsically safe universal interface module via DO. ② The unblocking cylinder is controlled by an explosion-proof solenoid directional valve, which is connected to the mining intrinsically safe universal interface module via DO. A pressure sensor monitors the pressure in the rodless chamber, and the pressure sensor is connected to the mining intrinsically safe universal interface module via AI. The extension and retraction of the mining intrinsically safe camera assembly 15 is controlled by an explosion-proof solenoid switching valve, which is connected to the mining intrinsically safe universal interface module via DO. ③ The high-pressure water nozzle 13 is controlled by an electric ball valve, which is connected to the mining intrinsically safe universal interface module via DO. ④ The hydraulic breaker 12 is controlled by an explosion-proof solenoid valve, which is connected to the intrinsically safe universal interface module for mining via DO. ⑤ The hydraulic motor 35 in the cylinder hinge moving module 3 is controlled by an explosion-proof solenoid directional valve, which is connected to the intrinsically safe universal interface module for mining via DO. The positioning of the cylinder hinge moving module 3 is determined by a limit switch, which is connected to the intrinsically safe universal interface module for mining via DI. ⑥ The hydraulic motor in the bin inside / outside switching module 4 is controlled by an explosion-proof solenoid directional valve, which is connected to the intrinsically safe universal interface module for mining via DO.

[0038] The fully automatic detection and unblocking integrated system for the lower opening of a coal bunker of this invention switches to the bunker interior. Detection dredge The closed-loop process of "switching back to outside the warehouse" achieves fully automated operation. The specific steps are as follows: Step 1: Blockage Trigger and Switch to Inside the Coal Bunker: When a blockage signal is triggered due to no coal at the coal feeder d outlet (or a sudden drop in coal flow), the mine controller initiates the operation process: First, the coal discharge gate b is closed, and the unblocking port gate 52 is opened; then, the rotary guide assembly 2 moves through the inside / outside-the-bunker switching module 4, connects to the unblocking port, and locks. At this time, the detection and unblocking part of the integrated mobile detection and unblocking assembly 1 has switched to the inside of coal bunker a. Finally, the coal discharge gate b is opened to prepare for detection and unblocking.

[0039] Step 2: Intelligent Detection and Blockage Judgment: The unblocking cylinder 11 extends, driving the intrinsically safe mining camera assembly 15 into the coal bunker a. The electromagnetic switch valve is opened, supplying pressurized oil to the camera's telescopic oil pipe, causing the camera to extend from the first channel 135 of the high-pressure water nozzle 13. The angle of the unblocking cylinder 11 is adjusted via the cylinder hinge moving module 3, thereby adjusting the camera's shooting angle. The camera transmits image signals to the mining controller, which automatically determines the type of blockage (e.g., "puffy eye" indicating coal slime adhesion, or "blocked eye" indicating large coal / gangue obstruction) and the location of the blockage using an image recognition algorithm, and feeds the results back to the control system. After detection, the electromagnetic switch valve is closed, releasing the oil pressure. The camera retracts under the action of the compression spring 154, and the camera baffle 16 seals the first channel 135, protecting the camera.

[0040] Step 3: Targeted Unblocking Operation: The control system selects the corresponding unblocking mode based on the detection results. Mode 1: "Pengyan" (coal sludge) dredging: Adjust the high-pressure water nozzle 13 to the appropriate position and angle by moving the module 3 and the dredging cylinder 11 via the hydraulic cylinder hinge. Open the electric ball valve, and the high-pressure water nozzle 13 sprays high-pressure water to flush the coal sludge. When coal flow is detected at the coal feeder outlet d, close the electric ball valve, and the high-pressure water nozzle 13 stops spraying.

[0041] Mode 2: "Blocked" (Large Piece) Unblocking: Adjust the hydraulic breaker 12 to a suitable angle using the hydraulic cylinder hinge module 3. Control the unblocking cylinder 11 to slowly extend via the solenoid directional valve. When the hydraulic breaker 12 contacts the coal or gangue, the pressure sensor reading will slowly rise. Once the thrust reaches the set threshold, activate the hydraulic breaker 12 via the solenoid switch valve to begin the crushing operation. Simultaneously, activate the high-pressure water nozzle 13 to spray high-pressure water to assist in crushing and flushing the debris. If the blockage is not cleared after the set crushing time, control the unblocking cylinder 11 to continue extending, repeating the above process. When coal flow is detected at the coal feeder outlet d, stop the breaker operation and high-pressure water spraying.

[0042] Step 4: Component Reset and Switching Outside the Bin: After unblocking, the unblocking cylinder 11 retracts completely, and the slide 31 of the cylinder hinge moving module 3 moves to the minimum angle limit position of the cylinder. Close the coal discharge gate b, and then move the rotary guide assembly 2 out of the coal bin a through the bin-outside-bin switching module 4. Finally, close the unblocking port door 52 to isolate the inside of the bin from the external environment. This completes the entire unblocking process.

[0043] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully automatic integrated detection and unblocking system for the lower opening of a coal bunker, characterized in that, include: The mobile detection and dredging integrated component (1) integrates a hydraulic crusher (12) for mechanical crushing, a high-pressure water nozzle (13) for hydraulic flushing, and a mining intrinsically safe camera component (15) for visual detection. A motion actuator is used to drive and guide the mobile detection and unblocking integrated component (1) to move, rotate and extend inside the coal bunker in order to adjust its working position and posture; The inside-outside switching module (4) is used to drive the mobile detection and dredging integrated component (1) to switch between the dredging work position inside the coal bunker and the parking and maintenance position outside the coal bunker. The dredging port panel assembly (5) is installed on the coal bunker chute to close the dredging port in the non-operation state and open it during operation to allow the mobile detection dredging integrated assembly (1) to enter and exit. The control system is connected to the hydraulic breaker (12), high-pressure water nozzle (13), intrinsically safe mining camera assembly (15), motion actuator, internal and external switching module (4), and dredging port door assembly (5) for receiving image information collected by the intrinsically safe mining camera assembly (15) to identify the type and location of blockage, and control the corresponding actuators to perform targeted dredging operations based on the identification results.

2. The fully automatic detection and unblocking integrated system device for the lower entrance of a coal bunker according to claim 1, characterized in that, The motion actuator includes: A rotary guide assembly (2) is used to support the mobile detection and unblocking integrated assembly (1) and guide it to rotate and extend. The hydraulic cylinder hinge moving module (3) is used to drive the moving detection and unblocking integrated component (1) to translate in the horizontal direction.

3. The fully automatic detection and unblocking integrated system device for the lower opening of a coal bunker according to claim 1 or 2, characterized in that, The mobile detection and unblocking integrated component (1) includes an unblocking cylinder (11), and a connecting seat (14) is provided at the end of the cylinder barrel of the unblocking cylinder (11). The hydraulic breaker (12) and the high-pressure water nozzle (13) are installed at the end of the cylinder barrel of the unblocking cylinder (11) through the connecting seat (14). The intrinsically safe mining camera component (15) is set in a retractable manner in the cavity formed by the high-pressure water nozzle (13) and the connecting seat (14).

4. The fully automatic detection and unblocking integrated system device for the lower opening of a coal bunker according to claim 3, characterized in that, The extension and retraction of the intrinsically safe camera assembly (15) for mining is controlled by a hydraulic drive and a spring reset mechanism; the end of the high-pressure water nozzle (13) is provided with a movable camera baffle (16), and when the intrinsically safe camera assembly (15) for mining is retracted, the camera baffle (16) closes the opening of the cavity under the action of gravity or elastic force.

5. The fully automatic detection and unblocking integrated system device for the lower opening of a coal bunker according to claim 3, characterized in that, The high-pressure water nozzle (13) has a ring structure and an annular water channel (133) inside. The annular water channel (133) is connected to a water inlet (132) and multiple water spray holes (134) arranged at a dispersed angle. The high-pressure water nozzle (13) is sleeved on the outside of the hydraulic breaker (12).

6. The fully automatic detection and unblocking integrated system device for the lower opening of a coal bunker according to claim 1, characterized in that, The control system executes the following automated operation process: In response to the blockage signal, the unblocking port panel assembly (5) is controlled to open, and the mobile detection unblocking integrated assembly (1) is switched to the working position inside the chamber through the chamber switching module (4); The intrinsically safe camera assembly (15) for mining is controlled to extend and acquire images, and the image information is analyzed based on the image recognition algorithm to determine the physical characteristics of the blockage; Based on the physical characteristics of the blockage, the high-pressure water nozzle (13) can be selectively activated to flush the blockage, or the hydraulic breaker (12) can be activated to break it. After the unblocking is completed, the mobile detection unblocking integrated component (1) is reset and switched to the outside of the chamber through the chamber switching module (4). Finally, the unblocking port door panel component (5) is closed.

7. The fully automatic detection and unblocking integrated system device for the lower entrance of a coal bunker according to claim 1, characterized in that, The drain opening door panel assembly (5) includes a flange mounting plate (51), a door panel (52), and a door panel cylinder (53) for driving the door panel (52) to move; the flange mounting plate (51) is provided with a boss (513) for providing additional support to the rotary guide assembly (2).

8. The fully automatic detection and unblocking integrated system device for the lower entrance of a coal bunker according to claim 2, characterized in that, The rotary guide assembly (2) includes a rotary guide body (22) and a circumferential guide slider (24) and a side guide slider (25) disposed therein. The outer wall of the cylinder of the unblocking cylinder (11) cooperates with the slider to achieve guidance.

9. The fully automatic detection and unblocking integrated system device for the lower entrance of a coal bunker according to claim 2, characterized in that, At least one of the hydraulic cylinder hinge moving module (3) and the compartment inside and outside switching module (4) includes a ball screw mechanism (33); the ball screw mechanism (33) is driven by a hydraulic motor (35) or a handwheel (36) and is equipped with a limit switch (37).

10. A method for clearing a coal bunker based on the apparatus according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Automatic detection steps: After detecting the blockage signal in the coal bunker, the detection and unblocking component (1) with integrated camera (15) is automatically moved into the coal bunker, and the camera (15) is extended to collect and identify images of the blockage area to determine the type and location of the blockage. S2. Targeted Unblocking Steps: Based on the identification results, the corresponding unblocking execution mechanism is automatically selected and activated; If the blockage is a soft blockage formed by coal slime, then control the high-pressure water nozzle (13) to perform directional flushing; If the blockage is caused by large pieces of coal gangue, the hydraulic crusher (12) is controlled to crush the blockage, and the high-pressure water nozzle (13) can be started simultaneously for auxiliary flushing and slag removal. S3. Automatic reset step: After the dredging is completed and the coal flow is confirmed to be restored, control the detection and dredging component (1) to retract and move out of the coal bunker to the parking position, close the dredging port, and complete the fully automatic operation closed loop.

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