Single-track crane mechanical gangue unloading method, system, equipment and medium for underground coal mine

Abstract

This invention provides a method, system, equipment, and medium for unloading coal waste using a monorail crane in underground coal mines, belonging to the field of underground coal mining and transportation. The method includes: after loading the waste waste, locking the chassis interlocking device to keep the car body and chassis relatively fixed; controlling the monorail crane's hook to connect to the lifting ring to lift the side-unloading car to a predetermined unloading position on one side of the scraper conveyor; releasing the chassis interlocking device and controlling the monorail crane's hook to switch to the chain link; starting the monorail crane to lift one side of the car body at an initial speed, collecting the car body's tilt angle, and dynamically adjusting the monorail crane's lifting speed according to a preset tilt-speed mapping algorithm to control the waste waste unloading flow rate; when the car body's tilt angle reaches a preset safety angle and the angle change rate output by the attitude sensor within a preset time window is lower than a preset threshold, it is determined that the waste waste unloading is complete. This avoids unloading jams or instantaneous impacts caused by insufficient or excessive tilt angles, improving operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of underground coal mining and transportation technology, specifically to a method, system, equipment, and medium for unloading coal using a monorail crane in underground coal mines. Background Technology

[0002] During the tunneling and mining processes in underground coal mines, a large amount of gangue is generated, which needs to be efficiently and safely transferred from the mining face to scraper conveyors or other transportation systems. Due to the narrow space and complex environment of the mining area roadways, the loading, unloading, and transportation of gangue has always been a key factor restricting production efficiency and safety levels.

[0003] Currently, coal mining areas generally use a combination of ordinary box-type mine cars and monorail cranes for gangue transfer. In practice, the box-type mine cars are first loaded with gangue and then hoisted to the side of the scraper conveyor by the monorail crane. Then, with manual assistance, the cars are positioned so that the unloading port is aligned with the scraper conveyor. If the gangue cannot be unloaded smoothly, workers need to use tools to reach into the car to tamp it down and make it slide out.

[0004] Throughout the unloading process, the tilt angle of the mine car during unloading depends entirely on the lifting height of the hoisting equipment and manual pushing. The tilt angle is either insufficient, preventing the gangue from sliding out, or too large, causing the gangue to spill out instantly, making it difficult to achieve stable control of the unloading speed. Furthermore, because the rate of change of the tilt angle cannot be controlled, the gangue unloading flow is a sudden, impactful event, causing severe impact on the scraper conveyor, leading to equipment damage, material blockage, and the generation of large amounts of dust. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, equipment, and medium for unloading coal in underground coal mines using a monorail crane, which avoids unloading jams or instantaneous impacts caused by insufficient or excessive tilt angles, reduces mechanical damage to scraper conveyors, material blockages, and dust pollution, and thereby improves the operational efficiency of the unloading process.

[0006] To achieve the above objectives, embodiments of the present invention provide a method for mechanical unloading of coal in underground coal mines using a monorail crane. The method employs a side-unloading vehicle in conjunction with the monorail crane. The side-unloading vehicle includes a car body, a chassis, a chassis locking device, lifting rings symmetrically arranged at both ends of the car body, a chain link arranged on one side of the car body, and an attitude sensor mounted on the car body. The method includes: After the gangue loading is completed, the chassis locking device is locked to keep the vehicle body and chassis relatively fixed; and the hook of the monorail crane is connected to the lifting ring to lift the side unloading vehicle as a whole to the predetermined unloading position on the side of the scraper conveyor. Release the chassis locking device, control the monorail crane hook to switch to the chain link; and start the monorail crane to lift one side of the car body at the initial speed, while collecting the car body tilt angle output by the attitude sensor; Based on the vehicle body tilt angle, the lifting speed of the monorail is dynamically adjusted according to a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, thereby controlling the unloading flow rate of gangue. When the vehicle body tilt angle is detected to reach the preset safe angle and the angle change rate output by the attitude sensor within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

[0007] Optionally, the step of dynamically adjusting the lifting speed of the monorail crane according to the vehicle body tilt angle and a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, to control the waste rock unloading flow rate, includes: The system acquires the current vehicle tilt angle and the rate of change of that angle in real time, while simultaneously reading pre-stored parameters such as the angle of repose of the gangue, the width of the vehicle unloading port, and the gangue bulk density; and estimates the current instantaneous unloading flow rate using a flow factor function. The deviation between the instantaneous unloading flow rate and the desired unloading flow rate selected according to the requirements of operational safety and efficiency is calculated, and the adjustment amount of the lifting speed is calculated according to the proportional-integral-derivative control law, and a new speed command is obtained by combining the current lifting speed. By adding a feedforward compensation term to the new speed command, the target speed command is obtained. According to the target speed command, the lifting speed is dynamically adjusted in real time, so that the tilt angle of the vehicle body changes non-linearly with time according to the desired flow curve, thereby controlling the unloading flow of gangue.

[0008] Optionally, the instantaneous discharge flow rate can be calculated using the following formula:

[0009]

[0010] In the formula, This represents the current tilt angle of the vehicle body. Let be the gain function that varies with angle. The critical tilt angle at which the gangue begins to slide out continuously. This is the maximum safe tilt angle allowed during the unloading process. For when Gain value at time, This is a factor used to adjust the degree of nonlinearity of the gain function as a function of angle.

[0011] Optionally, the adjustment amount for the lifting speed can be calculated according to the following formula:

[0012] In the formula, , , These are the proportional, integral, and differential coefficients, respectively. The desired discharge flow rate.

[0013] Optionally, the process for determining the safety angle is as follows: Obtain the current loading weight of the side-unloading vehicle, the angle of repose parameter corresponding to the type of gangue, and the inlet height of the scraper conveyor; Based on the vehicle's geometric dimensions and the location of the lifting fulcrum, a kinematic model is established between the vehicle's tilt angle and the vertical distance between the lower edge of the unloading port and the scraper conveyor's receiving port. The target tilt angle is obtained by solving the condition that the gangue slides out smoothly under gravity without being thrown to the outside of the scraper conveyor. A safety margin is added to the target tilt angle, and the impact of the load weight on the vehicle stability is corrected to output the safe angle under the current working conditions, which serves as the upper limit of the tilt angle for this unloading process.

[0014] Optionally, the formula corresponding to the kinematic model is as follows:

[0015] The constraints are:

[0016] In the formula, The vertical height of the lower edge of the unloading port from the plane of the fulcrum when the vehicle body is horizontal. For vehicle body width, The tilt angle, The tilt angle is The height of the lower edge of the discharge port, The vertical height of the upper edge of the scraper conveyor's inlet from the plane of the fulcrum. For safety clearance.

[0017] Optionally, the monorail mechanical unloading method for underground coal mines further includes: The second derivative of the vehicle tilt angle with respect to time is calculated in real time. When the second derivative changes abruptly and exceeds a preset threshold, it is determined that the gangue is stuck. Simultaneously, the shaking unloading subroutine is executed to control the monorail crane to quickly lift and lower by a preset small angle stroke in order to release the jam. The small angle stroke refers to the reciprocating motion of the car body rapidly lifting and lowering by a preset amplitude based on the existing tilt angle.

[0018] Secondly, the present invention also provides a monorail mechanical unloading system for underground coal mines, comprising: Side-unloading vehicle, monorail crane, attitude sensors, and controllers; The side-unloading vehicle includes a vehicle body, a chassis, a chassis locking device, lifting rings symmetrically arranged at both ends of the vehicle body, and chain links arranged on one side of the vehicle body. The attitude sensor is mounted on the vehicle body and is used to collect the vehicle body tilt angle in real time and transmit it to the controller. The controller is electrically connected to the control terminal of the monorail and is configured to perform the following operations: After the gangue loading is completed, the chassis locking device is locked to keep the car body and chassis relatively fixed; the hook of the monorail is connected to the lifting ring to lift the side unloading car as a whole to the predetermined unloading position on the side of the scraper conveyor. Control the release of the chassis locking device, control the hook of the monorail to switch to the chain link; and control the monorail to lift one side of the car body at an initial speed, while receiving the car body tilt angle collected by the attitude sensor; Based on the vehicle body tilt angle, the lifting speed of the monorail is dynamically adjusted according to a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, thereby controlling the unloading flow rate of gangue. When the vehicle body tilt angle is detected to reach the preset safe angle and the angle change rate output by the attitude sensor within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

[0019] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described monorail mechanical unloading method for underground coal mines.

[0020] Fourthly, the present invention also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described monorail mechanical unloading method for underground coal mines.

[0021] Through the above technical solution, by optimizing the mechanical structure of the chassis locking device, lifting ring and chain links, and combining real-time feedback from attitude sensors with tilt-speed mapping algorithm to automatically adjust the lifting speed, the tilt angle of the vehicle body changes smoothly according to the desired nonlinear curve. This achieves continuous and stable control of the unloading flow of gangue, avoids unloading jams or instantaneous impacts caused by insufficient or excessive tilt angle, reduces mechanical damage to the scraper conveyor, material blockage and dust pollution, and thus improves the operational efficiency of the gangue unloading process. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a monorail crane mechanical unloading method for underground coal mines provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a monorail crane mechanical unloading system for underground coal mines provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures 1. Side-dumping vehicle; 10. Vehicle body; 11. Chassis; 12. Lifting ring; 13. Chassis locking device; 14. Chain link; 2. Monorail crane; 20. Hook; 3. Attitude sensor; 4. Controller. Detailed Implementation

[0024] Various embodiments of this disclosure will be described more fully in the following detailed description. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0025] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions or operations and do not limit the addition of one or more functions or operations. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, or combinations of the foregoing.

[0026] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0027] 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, and 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.

[0028] See Figure 1 The diagram shows a flowchart of a monorail mechanical unloading method for underground coal mines in a specific embodiment. It employs a side-unloading vehicle in conjunction with a monorail crane. The side-unloading vehicle includes a car body, chassis, chassis locking device, lifting rings symmetrically arranged at both ends of the car body, a chain link located on one side of the car body, and an attitude sensor mounted on the car body. The specific execution steps include: Step 100: After the gangue loading is completed, lock the chassis locking device to keep the vehicle body and chassis relatively fixed; and control the hook of the monorail crane to connect to the lifting ring to lift the side unloading vehicle as a whole to the predetermined unloading position on the side of the scraper conveyor.

[0029] Specifically, the locking operation is as follows: Place the side-dump truck body on the chassis, adjust the vehicle body position so that the pin hole at the bottom of the vehicle body is perpendicularly aligned with the fixed pin hole on the chassis, ensuring that the center axes of the two holes coincide. Then push the movable pin into the pin hole until the front end of the pin completely passes through the overlapping section of the vehicle body and chassis, with 20-30mm protruding. After the pin is in place, turn the handle at the end of the pin or move the anti-loosening spring to make the pin enter the self-locking groove. After confirming that there is no looseness, confirm that the chassis locking device is locked. At this time, the vehicle body and chassis are rigidly connected as one unit and can withstand loads in all directions during the lifting process.

[0030] Step 101: Release the chassis locking device, control the monorail crane hook to switch to the chain link; and start the monorail crane to lift one side of the car body at the initial speed, while collecting the car body tilt angle output by the attitude sensor.

[0031] For example, by pulling out the mechanical pin through the actuator, the rigid lock between the car body and the chassis is released, preparing for the subsequent tilting movement of the car body relative to the chassis. The monorail is slowly lowered to completely release the tension between the hook and the lifting ring, allowing the hook to hang naturally and be in loose contact with the lifting ring. The monorail is then slightly moved laterally or rotated to allow the hook to slide out of the lifting ring's opening. The monorail is then moved along the tunnel direction to align the hook with the 40T standard chain link on the side of the car body. The hook is slowly lowered through the chain link's hole. Once fully inserted, the hook's anti-detachment tongue or lock is closed to ensure connection between the hook and the chain link. The hook is gently lifted to create a preload of approximately 100-200 kg between it and the chain link. The corresponding side of the car body is observed to be slightly lifted but not yet removed from the chassis, confirming a secure connection with no risk of disengagement. After confirming a correct connection, one side of the car body is lifted at the initial speed. At the same time, the attitude sensor begins to collect the vehicle's tilt angle in real time, and the controller enters closed-loop control.

[0032] Step 102: Based on the vehicle body tilt angle, dynamically adjust the lifting speed of the monorail crane according to the preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, in order to control the unloading flow of gangue.

[0033] Specifically, when executing step 102, the following steps can be performed: S1020: Real-time acquisition of the current vehicle body tilt angle and the rate of change of that angle, while reading pre-stored parameters such as the angle of repose of the gangue, the width of the vehicle body unloading port, and the gangue bulk density; and estimation of the current instantaneous unloading flow rate through the flow factor function.

[0034] Specifically, the instantaneous discharge flow rate is calculated using the following formula:

[0035]

[0036] In the formula, This represents the current tilt angle of the vehicle body. The gain function varies with angle. The critical tilt angle at which the gangue begins to slide out continuously. This is the maximum safe tilt angle allowed during the unloading process. For when Gain value at time, This is a factor used to adjust the degree of nonlinearity of the gain function as a function of angle.

[0037] S1021: Calculate the deviation between the instantaneous unloading flow rate and the desired unloading flow rate selected according to the requirements of operational safety and efficiency, calculate the adjustment amount of the lifting speed according to the proportional-integral-derivative control law, and obtain a new speed command in combination with the current lifting speed.

[0038] Specifically, the adjustment amount for the lifting speed is calculated according to the following formula:

[0039] In the formula, , , These are the proportional, integral, and differential coefficients, respectively. The desired discharge flow rate.

[0040] Let the current lifting speed be The new speed command is: .

[0041] S1022: Add a feedforward compensation term to the new speed command to obtain the target speed command.

[0042] Specifically, when the vehicle body tilts at an angle Approaching the maximum safe angle At that time, the maximum allowable lifting speed limit is automatically reduced, i.e., the feedforward compensation term is as follows: .

[0043] The target speed is obtained by using a limiting method: .

[0044] S1023: According to the target speed command, the lifting speed is dynamically adjusted in real time, so that the tilt angle of the vehicle body changes non-linearly with time according to the desired flow curve, thereby controlling the unloading flow of gangue.

[0045] Specifically, the controller sends the calculated target speed command to the monorail's drive system in real time. The drive system responds by adjusting the speed and output torque of the lifting motor, thereby changing the speed of the lifting chain's extension and retraction. Changes in lifting speed directly affect one side of the vehicle body, causing it to generate a corresponding angular velocity around the fulcrum, resulting in a continuous change in the vehicle's tilt angle. Attitude sensors detect the vehicle's current tilt angle and its rate of change in real time and feed this information back to the controller, forming a closed-loop control circuit. Based on the preset angle-time target trajectory of the desired unloading flow rate curve, the controller compares the actual angle with the target trajectory and dynamically corrects the next target speed command, ensuring that the actual tilt angle always closely approximates the desired nonlinear curve. In the initial unloading stage, the controller slowly increases the lifting speed from zero, causing the vehicle to tilt at a small angular velocity, corresponding to the small flow segment of the desired curve, preventing the instantaneous outflow of gangue from causing impact and splashing. Entering the intermediate unloading stage, the controller increases the lifting speed according to the large flow segment requirement of the desired curve, causing the vehicle to tilt rapidly at a larger angular velocity, ensuring a stable and continuous large flow of gangue, thus improving unloading efficiency. During the final unloading stage, the controller gradually reduces the lifting speed according to the low flow rate requirement in the desired curve, allowing the vehicle body to slowly approach the maximum safe angle with a small angular velocity, preventing gangue from being thrown outside the scraper conveyor. When the actual angle reaches the maximum safe angle and the rate of angle change is lower than the threshold, the controller outputs a stop signal, the lifting speed drops to zero, the vehicle body stops tilting, and the unloading process ends.

[0046] Through the above process, the actual tilt angle of the vehicle body accurately tracks the preset nonlinear expected flow curve under closed-loop control, realizing active and stable control of the unloading flow of gangue.

[0047] Step 103: When the vehicle body tilt angle reaches the preset safety angle and the angle change rate output by the attitude sensor within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

[0048] Specifically, in step 103, before the vehicle tilt angle reaches a preset safe angle and the rate of change of the angle output by the attitude sensor within a preset time window is lower than a preset threshold, a sub-step for determining the safe angle is also executed: S1030: Obtain the current loading weight of the side-unloading vehicle, the angle of repose parameter corresponding to the gangue type, and the material inlet height of the scraper conveyor.

[0049] S1031: Based on the geometric dimensions of the vehicle body and the position of the lifting fulcrum, establish a kinematic model between the vehicle body tilt angle and the vertical distance between the lower edge of the unloading port and the scraper conveyor receiving port; and use the constraint that the gangue slides out smoothly by gravity without being thrown to the outside of the scraper conveyor to obtain the target tilt angle.

[0050] Specifically, the formula corresponding to the kinematic model is as follows:

[0051] The constraints are:

[0052] The target tilt angle is:

[0053] In the formula, The vertical height of the lower edge of the unloading port from the plane of the fulcrum when the vehicle body is horizontal. For vehicle body width, The tilt angle, The tilt angle is The height of the lower edge of the discharge port, The vertical height of the upper edge of the scraper conveyor's inlet from the plane of the fulcrum. For safety clearance.

[0054] S1032: Add a safety margin to the target tilt angle, and make corrections based on the impact of the load weight on the vehicle stability, output the safety angle under the current working conditions, and use it as the upper limit of the tilt angle for this unloading process.

[0055] Specifically, the correction should be made according to the following formula:

[0056] In the formula, This is the current loaded weight. To calibrate the weight, For safety margin, This is a correction factor for the load weight.

[0057] In one specific embodiment, the monorail mechanical unloading method for underground coal mines further includes: The second derivative of the vehicle tilt angle with respect to time is calculated in real time. When the second derivative changes abruptly and exceeds a preset threshold, it is determined that the gangue is stuck. Simultaneously, the shaking unloading subroutine is executed to control the monorail crane to quickly lift and lower by a preset small angle stroke in order to release the jam. The small angle stroke refers to the reciprocating motion of the car body rapidly lifting and lowering by a preset amplitude based on the existing tilt angle.

[0058] In this embodiment, by optimizing the mechanical structure of the chassis locking device, lifting ring, and chain links, and combining real-time feedback from the attitude sensor with the tilt-speed mapping algorithm to automatically adjust the lifting speed, the tilt angle of the vehicle body changes smoothly according to the desired nonlinear curve. This achieves continuous and stable control of the unloading flow of gangue, avoiding unloading jams or instantaneous impacts caused by insufficient or excessive tilt angles. It also reduces mechanical damage to the scraper conveyor, material blockage, and dust pollution, thereby improving the operational efficiency of the gangue unloading process.

[0059] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0060] like Figure 2 As shown, the following are embodiments of the monorail mechanical unloading system for underground coal mines provided in this disclosure. These embodiments belong to the same inventive concept as the monorail mechanical unloading methods for underground coal mines described above. For details not described in detail in the embodiments of the monorail mechanical unloading system for underground coal mines, please refer to the embodiments of the monorail mechanical unloading methods for underground coal mines described above.

[0061] A monorail mechanical unloading system for underground coal mines, comprising: Side-unloading vehicle 1, monorail crane 2, attitude sensor 3, and controller 4; The side-unloading vehicle 1 includes a vehicle body 10, a chassis 11, lifting rings 12 symmetrically arranged at both ends of the vehicle body, a chassis locking device 13, and a chain link 14 arranged on one side of the vehicle body. The attitude sensor 3 is installed on the vehicle body 10 and is used to collect the vehicle body tilt angle in real time and transmit it to the controller 4. The controller 4 is electrically connected to the control terminal of the monorail 2 and is configured to perform the following operations: After the gangue loading is completed, the chassis locking device 13 is locked to keep the vehicle body 10 and chassis 11 relatively fixed; the hook 20 of the monorail crane 2 is connected to the lifting ring 12 to lift the side unloading vehicle as a whole to the predetermined unloading position on the side of the scraper conveyor. Control the release of the chassis locking device 13, control the hook 20 of the monorail crane 2 to switch to the chain link 14; and control the monorail crane to lift one side of the car body at the initial speed, while receiving the car body tilt angle collected by the attitude sensor 3; Based on the vehicle body tilt angle, the lifting speed of the monorail crane 2 is dynamically adjusted according to the preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, thereby controlling the flow rate of gangue unloading. When the vehicle body tilt angle is detected to reach the preset safety angle and the angle change rate output by the attitude sensor 3 within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

[0062] Figure 3 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention.

[0063] The monorail mechanical unloading method for underground coal mines provided in this application embodiment can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiments of this invention does not constitute a limitation on the electronic device. An electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In the embodiments of this invention, the electronic device includes, but is not limited to, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0064] Electronic devices may include processors, external memory interfaces, internal memory, universal serial bus (USB) interfaces, charging management modules, power management modules, batteries, wireless communication modules, audio modules, speakers, microphones, sensor modules, buttons, cameras, displays, and SIM card interfaces, etc.

[0065] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0066] A processor may include one or more processing units, such as: a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0067] The processor can serve as the nerve center and command center of an electronic device. The controller can generate operation control signals based on the instruction opcode and timing signals to control the fetching and execution of instructions.

[0068] The processor may also include memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0069] An external storage interface (ESI) can be used to connect external memory cards, such as microSD cards, to expand the storage capacity of electronic devices. The external memory card communicates with the processor through the ESI to perform data storage functions, such as saving music and video files on the external memory card.

[0070] Internal memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of electronic devices by running the instructions stored in internal memory. Internal memory can include a program storage area and a data storage area. Internal memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0071] Wireless communication functionality in electronic devices can be achieved through antennas, wireless communication modules, modem processors, and baseband processors.

[0072] Wireless communication modules can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies.

[0073] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0074] Electronic devices can achieve shooting functions through ISPs, cameras, video codecs, GPUs, displays, and application processors.

[0075] Electronic devices can achieve display functions through GPUs, displays, and application processors.

[0076] A GPU is a microprocessor for image processing, connected to the display screen and application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0077] A display screen is used to display images, videos, etc. A display screen includes a display panel.

[0078] The storage medium provided in this application stores a program product capable of implementing a monorail crane mechanical unloading method for underground coal mines.

[0079] The monorail crane mechanical unloading method in underground coal mines includes: after loading the gangue, locking the chassis locking device to keep the car body and chassis relatively fixed; controlling the monorail crane hook to connect to the lifting ring to lift the side unloading car as a whole to the predetermined unloading position on the side of the scraper conveyor; releasing the chassis locking device and controlling the monorail crane hook to switch to the chain link; starting the monorail crane to lift one side of the car body at an initial speed, while simultaneously collecting the car body tilt angle output by the attitude sensor; dynamically adjusting the lifting speed of the monorail crane according to the car body tilt angle and a preset tilt-speed mapping algorithm, so that the car body tilt angle changes non-linearly with time to control the gangue unloading flow rate; when the car body tilt angle is detected to reach a preset safety angle and the angle change rate output by the attitude sensor within a preset time window is lower than a preset threshold, it is determined that the gangue has been unloaded, and a stop lifting signal is issued; and the car body is reset under gravity or manual assistance to complete the unloading operation.

[0080] In some possible implementations, the subject matter of this disclosure, namely, "Method and System for Mechanical Unloading of Rock in Underground Coal Mines Using a Monorail Crane," can be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0081] The storage medium disclosed herein may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0082] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for mechanically unloading coal waste using a monorail crane in underground coal mines, characterized in that, The method employs a side-unloading vehicle in conjunction with a monorail crane. The side-unloading vehicle includes a car body, chassis, chassis locking device, lifting rings symmetrically arranged at both ends of the car body, a chain link located on one side of the car body, and an attitude sensor mounted on the car body. The method includes: After the gangue loading is completed, the chassis locking device is locked to keep the vehicle body and chassis relatively fixed; and the hook of the monorail crane is connected to the lifting ring to lift the side unloading vehicle as a whole to the predetermined unloading position on the side of the scraper conveyor. Release the chassis locking device, control the monorail crane hook to switch to the chain link; and start the monorail crane to lift one side of the car body at the initial speed, while collecting the car body tilt angle output by the attitude sensor; Based on the vehicle body tilt angle, the lifting speed of the monorail is dynamically adjusted according to a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, thereby controlling the unloading flow rate of gangue. When the vehicle body tilt angle is detected to reach the preset safe angle and the angle change rate output by the attitude sensor within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

2. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 1, characterized in that, The step of dynamically adjusting the lifting speed of the monorail crane according to the vehicle body tilt angle and a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, in order to control the waste rock unloading flow rate, includes: The system acquires the current vehicle tilt angle and the rate of change of that angle in real time, while simultaneously reading pre-stored parameters such as the angle of repose of the gangue, the width of the vehicle unloading port, and the gangue bulk density; and estimates the current instantaneous unloading flow rate using a flow factor function. The deviation between the instantaneous unloading flow rate and the desired unloading flow rate selected according to the requirements of operational safety and efficiency is calculated, and the adjustment amount of the lifting speed is calculated according to the proportional-integral-derivative control law, and a new speed command is obtained by combining the current lifting speed. By adding a feedforward compensation term to the new speed command, the target speed command is obtained. According to the target speed command, the lifting speed is dynamically adjusted in real time, so that the tilt angle of the vehicle body changes non-linearly with time according to the desired flow curve, thereby controlling the unloading flow of gangue.

3. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 2, characterized in that, Calculate the instantaneous discharge flow rate using the following formula: In the formula, This represents the current tilt angle of the vehicle body. The gain function varies with angle. The critical tilt angle at which the gangue begins to slide out continuously. This is the maximum safe tilt angle allowed during the unloading process. For when Gain value at time, This is a factor used to adjust the degree of nonlinearity of the gain function as a function of angle.

4. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 3, characterized in that, The adjustment amount for the lifting speed is calculated using the following formula: In the formula, , , These are the proportional, integral, and differential coefficients, respectively. The desired discharge flow rate.

5. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 1, characterized in that, The process for determining the safety angle is as follows: Obtain the current loading weight of the side-unloading vehicle, the angle of repose parameter corresponding to the type of gangue, and the inlet height of the scraper conveyor; Based on the vehicle's geometric dimensions and the location of the lifting fulcrum, a kinematic model is established between the vehicle's tilt angle and the vertical distance between the lower edge of the unloading port and the scraper conveyor's receiving port. The target tilt angle is obtained by solving the condition that the gangue slides out smoothly under gravity without being thrown to the outside of the scraper conveyor. A safety margin is added to the target tilt angle, and the impact of the load weight on the vehicle stability is corrected to output the safe angle under the current working conditions, which serves as the upper limit of the tilt angle for this unloading process.

6. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 5, characterized in that, The formula corresponding to the kinematic model is as follows: The constraints are: In the formula, The vertical height of the lower edge of the unloading port from the plane of the fulcrum when the vehicle body is horizontal. For vehicle body width, The tilt angle, The tilt angle is The height of the lower edge of the discharge port, The vertical height of the upper edge of the scraper conveyor's inlet from the plane of the fulcrum. For safety clearance.

7. The method for mechanically unloading coal waste using a monorail crane in underground coal mines according to claim 1, characterized in that, The monorail mechanical unloading method for underground coal mines also includes: The second derivative of the vehicle tilt angle with respect to time is calculated in real time. When the second derivative changes abruptly and exceeds a preset threshold, it is determined that the gangue is stuck. Simultaneously, the shaking unloading subroutine is executed to control the monorail crane to quickly lift and lower by a preset small angle stroke in order to release the jam. The small angle stroke refers to the reciprocating motion of the car body rapidly lifting and lowering by a preset amplitude based on the existing tilt angle.

8. A monorail crane mechanical unloading system for underground coal mines, characterized in that, include: Side-unloading vehicle, monorail crane, attitude sensors, and controllers; The side-unloading vehicle includes a vehicle body, a chassis, a chassis locking device, lifting rings symmetrically arranged at both ends of the vehicle body, and chain links arranged on one side of the vehicle body. The attitude sensor is mounted on the vehicle body and is used to collect the vehicle body tilt angle in real time and transmit it to the controller. The controller is electrically connected to the control terminal of the monorail and is configured to perform the following operations: After the gangue loading is completed, the chassis locking device is locked to keep the car body and chassis relatively fixed; the hook of the monorail is connected to the lifting ring to lift the side unloading car as a whole to the predetermined unloading position on the side of the scraper conveyor. Control the release of the chassis locking device, control the hook of the monorail to switch to the chain link; and control the monorail to lift one side of the car body at an initial speed, while receiving the car body tilt angle collected by the attitude sensor; Based on the vehicle body tilt angle, the lifting speed of the monorail is dynamically adjusted according to a preset tilt-speed mapping algorithm, so that the vehicle body tilt angle changes non-linearly with time, thereby controlling the unloading flow rate of gangue. When the vehicle body tilt angle is detected to reach the preset safe angle and the angle change rate output by the attitude sensor within the preset time window is lower than the preset threshold, it is determined that the gangue has been unloaded and a stop hoisting signal is issued; and the vehicle is reset under gravity or manual assistance to complete the gangue unloading operation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the monorail mechanical unloading method for underground coal mines as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the monorail mechanical unloading method for underground coal mines as described in any one of claims 1 to 7.

Images