An intelligent adaptive adjustable reserve coal bunker system in a coal mine and a control method thereof

Abstract

The application provides a coal mine underground intelligent adaptive adjustable reserve coal bunker system and a control method thereof. The system comprises a main bunker body for storing materials; a bunker storage capacity dynamic adjustment unit installed on the main bunker body, wherein the bunker storage capacity dynamic adjustment unit comprises a telescopic inner bunker and a driving mechanism, and the telescopic inner bunker and the main bunker body form a nested telescopic structure; a trackless adaptive walking unit installed at the bottom of the main bunker body, wherein the trackless adaptive walking unit comprises a plurality of walking wheel sets; and a multi-dimensional intelligent control unit in communication connection with the bunker storage capacity dynamic adjustment unit and the trackless adaptive walking unit. The technical scheme provided by the application realizes dynamic adjustment of the bunker storage volume and adaptive balance control of the walking wheel sets, and improves the flexibility and stability of material storage and transportation.

Description

Technical Field

[0001] This application relates to the field of underground raw coal storage and transportation technology, and in particular to an intelligent adaptive adjustable storage coal bunker system and its control method in underground coal mines. Background Technology

[0002] Coal bunkers in underground coal mines are key hub equipment in the coal mine production system, primarily undertaking core functions such as temporary coal storage, production system buffering, and coal and gangue separation and transportation. The performance of the coal bunker directly affects the overall production efficiency and operational safety of the mine.

[0003] Currently, underground coal bunkers are mainly divided into two categories: traditional infrastructure coal bunkers and mobile mechanical coal bunkers. Traditional infrastructure coal bunkers are constructed on-site using concrete or steel structures. These bunkers have fixed storage capacity, long construction periods, and large investment costs. Once built, they cannot be moved, making it difficult to adapt to changes in coal storage demand during the advancement of the mining face. When the mining area is relocated, it is often necessary to build new coal bunkers, resulting in resource waste and difficulties in production coordination.

[0004] To address the limitations of traditional immobile coal bunkers, several mobile coal bunker solutions have emerged in the existing technology. For example, patents CN219858618U and CN219859273U disclose track-mounted mobile coal bunker structures. By installing the coal bunker on a track-walking mechanism, it enables the bunker to move along a pre-set track and allows for multi-bunker combination and allocation, thus improving the flexibility and utilization efficiency of the coal bunker to some extent. However, existing mobile coal bunker technologies still face several technical bottlenecks. In terms of storage capacity adjustment, existing mobile coal bunkers have fixed storage capacities per bunker and often employ multi-bunker splicing to meet coal storage needs in different scenarios. The volume of a single bunker cannot be intelligently and dynamically adjusted, resulting in limited adaptability under conditions of large fluctuations in coal storage capacity, leading to either idle or insufficient bunker capacity. In terms of control methods, existing control systems mainly rely on feedback based on single parameters (such as material level or gate opening), lacking comprehensive perception and coordinated control capabilities for the status of materials inside the silo, the operating status of feeding equipment, the operating status of discharging equipment, and roadway environmental parameters. This makes it difficult to achieve automated and intelligent linkage of the entire process of feeding, coal storage, and unloading. Regarding the movement mechanism, existing mobile coal silos mostly use a track-based structure, whose movement path is limited by the laid tracks, making it impossible to move freely without tracks. However, the underground roadway environment in coal mines is complex, with slopes, curves, and uneven ground. Track-based movement mechanisms are ill-suited to the flexible relocation needs under complex working conditions, and face difficulties when needing to move across areas or bypass obstacles. Furthermore, patent CN202111430625.8 discloses a coal silo feeding system for a belt conveyor, but its technical solution mainly focuses on weighing and adjustment in the feeding stage, without addressing the dynamic adjustment of the coal silo's storage capacity or its trackless automatic relocation function. Therefore, there is an urgent need to propose a coal bunker solution for underground coal mines that combines dynamic volume adjustment, intelligent control, and trackless adaptive walking capabilities. Summary of the Invention

[0005] This application provides an intelligent adaptive adjustable coal storage system and its control method for underground coal mines, which at least solves the technical problems of existing underground coal storage systems, such as the inability to dynamically adjust the storage capacity of a single storage compartment, the lack of comprehensive perception and coordination in the control method, and the poor adaptability of the roadway due to the reliance of the moving mechanism on preset guide rails.

[0006] The first aspect of this application proposes an intelligent adaptive adjustable coal storage bunker system for underground coal mines, the system comprising:

[0007] The main compartment is used for storing materials; A dynamic storage capacity adjustment unit is installed on the main storage unit. The dynamic storage capacity adjustment unit includes a telescopic inner compartment and a drive mechanism. The telescopic inner compartment and the main storage unit form a nested telescopic structure. The drive mechanism is used to drive the telescopic inner compartment to extend and retract, thereby realizing the dynamic adjustment of the storage volume. A trackless adaptive walking unit is installed at the bottom of the main body. The trackless adaptive walking unit is used to carry the main body to move under trackless conditions. A multi-dimensional intelligent control unit is communicatively connected to the storage capacity dynamic adjustment unit and the trackless adaptive walking unit. The multi-dimensional intelligent control unit is used to collect material status information in the warehouse and control the drive mechanism to adjust the extension amount of the telescopic inner warehouse according to the material status information in the warehouse. The multi-dimensional intelligent control unit is also used to collect the wheel set status information of the trackless adaptive walking unit, and control the support height and steering angle of the trackless adaptive walking unit according to the wheel set status information, so that the coal bunker system can achieve trackless adaptive walking underground.

[0008] Preferably, the main compartment includes: multiple support legs, a compartment body, and a wear-resistant polymer composite rubber layer lining the inner wall of the compartment body; The trackless adaptive walking unit includes: A steering mechanism, mounted on the outriggers of the main body, is used to provide steering power; The conversion box includes: a steering shaft rotatably connected to the outrigger, a gear disk drivingly connected to the steering mechanism, and a housing; The driving mechanism includes a set of walking wheels and an independent drive motor, wherein the independent drive motor is used to drive the set of walking wheels to walk, and the number of independent drive motors is the same as the number of the set of walking wheels; A hydraulic cylinder, with its two ends connected to the conversion box and the drive walking mechanism respectively, is used to adjust the support height of the walking wheel set relative to the main body; The number of trackless adaptive walking units is the same as the number of outriggers.

[0009] Furthermore, the steering mechanism includes: a power system and a sector gear disk, the sector gear disk meshing with the gear disk of the conversion box; The power system is used to drive the sector-shaped gear disk to rotate, thereby causing the gear disk and the conversion box to rotate around the steering shaft to adjust the travel direction of the walking wheel set.

[0010] Preferably, the telescopic inner compartment is fitted inside the main compartment and is used to slide up and down along the wear-resistant polymer composite rubber layer; The drive mechanism is a hydraulic drive mechanism, with its two ends connected to the main compartment and the telescopic inner compartment, respectively.

[0011] Furthermore, the telescopic inner compartment includes: an inner compartment body, a plurality of buffer plates disposed inside the inner compartment body, and a connecting lug for connection with the drive mechanism.

[0012] Preferably, the system further includes: a gate dynamic adjustment unit; The gate dynamic adjustment unit is installed at the bottom of the main compartment, and the gate dynamic adjustment unit includes: a gate driven by a servo motor; The multi-dimensional intelligent control unit is communicatively connected to the gate dynamic adjustment unit and is used to control the opening degree of the gate dynamic adjustment unit.

[0013] Preferably, the multi-dimensional intelligent control unit includes: a perception layer, a control layer, and an execution layer; The sensing layer includes a level sensor and a pressure sensor installed inside the compartment, as well as a wheel pressure sensor, a wheel height sensor, and an absolute / incremental encoder installed on the trackless adaptive walking unit. The control layer is used to generate control commands based on wheel set status information and material status information in the warehouse; The execution layer is used to drive the dynamic adjustment unit of the storage capacity and / or the trackless adaptive walking unit to move based on the control commands.

[0014] Furthermore, the control layer is also used for: The target steering angle of each walking wheel set is calculated in real time according to the preset walking direction, and the target support height of each walking wheel set is calculated collaboratively based on the load pressure value fed back by the pressure sensor of each wheel set, generating steering and height adjustment commands.

[0015] Preferably, the multi-dimensional intelligent control unit is communicatively connected to external intelligent feeding equipment and intelligent discharging equipment; The multi-dimensional intelligent control unit is also used for: The operating status of the external intelligent feeding device and the operating status of the external intelligent discharging device are controlled collaboratively.

[0016] A second aspect of this application provides a control method for an intelligent adaptive adjustable coal storage bunker system in an underground coal mine, the method comprising: When a feeding instruction is received, the material level in the silo is monitored in real time. When the storage level reaches the preset threshold of the basic storage capacity, the drive mechanism of the dynamic adjustment unit of the storage capacity is controlled to drive the telescopic inner compartment to extend upward to increase the storage volume. Upon receiving a discharge command, the system coordinates the gate opening, the operating status of the discharge equipment, and the extension amount of the telescopic inner chamber. Upon receiving a walking command and a target location, the system acquires the load-bearing pressure, current height, and walking angle of each walking wheel set in real time. Based on the target location and the walking angle, the system calculates and adjusts the steering angle of each wheel set. Simultaneously, based on the load-bearing pressure and current height of each wheel set, the system calculates the required adjustment height value for each wheel set and adjusts the support height of each walking wheel set accordingly. Then, the system drives the walking wheel sets to move until the target location is reached.

[0017] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: This application proposes an intelligent adaptive adjustable coal storage bunker system and its control method for underground coal mines. The system includes: a main bunker body for storing materials; a dynamic adjustment unit for storage capacity installed on the main bunker body, the dynamic adjustment unit including a telescopic inner chamber and a drive mechanism, the telescopic inner chamber forming a nested telescopic structure with the main bunker body, the drive mechanism driving the telescopic inner chamber to extend and retract, thereby realizing dynamic adjustment of the storage volume; and a trackless adaptive walking unit installed at the bottom of the main bunker body, the trackless adaptive walking unit for carrying the main bunker body to move under trackless conditions. The system includes a multi-dimensional intelligent control unit, which is communicatively connected to both the dynamic adjustment unit for storage capacity and the trackless adaptive walking unit. The multi-dimensional intelligent control unit collects material status information within the storage bin and controls the drive mechanism based on this information to adjust the extension of the telescopic inner bin. It also collects wheel status information from the trackless adaptive walking unit and controls its support height and steering angle based on this information, enabling the coal storage system to achieve trackless adaptive walking underground. The technical solution proposed in this application achieves dynamic adjustment of storage volume and adaptive balance control of the walking wheel set, improving the flexibility and stability of material storage and transportation.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a first structural block diagram of an intelligent adaptive adjustable coal storage system for underground coal mines according to an embodiment of this application; Figure 2 This is a schematic diagram showing the positional relationship between a coal bunker system, an intelligent feeding device, and an intelligent discharging device according to an embodiment of this application; Figure 3 This is a detailed structural diagram of an intelligent adaptive adjustable coal storage system for underground coal mines according to an embodiment of this application; Figure 4 This is a structural diagram of a telescopic inner compartment provided according to an embodiment of this application; Figure 5 This is a second structural block diagram of an intelligent adaptive adjustable coal storage system for underground coal mines, according to an embodiment of this application. Figure 6 This is a structural block diagram of a multi-dimensional intelligent control unit provided according to an embodiment of this application; Figure 7 This is a schematic diagram illustrating the connection between a multi-dimensional intelligent control unit and an external intelligent feeding device and intelligent discharging device according to an embodiment of this application; Figure Labels Intelligent feeding equipment 1, coal bunker system 2, intelligent discharging equipment 3, main bunker body 21, support legs 211, bunker body 212, wear-resistant polymer composite rubber layer 213, gate dynamic adjustment unit 22, storage capacity dynamic adjustment unit 23, telescopic inner bunker 231, drive mechanism 232, inner bunker body 2311, buffer plate 2312, connecting ear 2313, trackless adaptive walking unit 24, steering mechanism 241, conversion box 242, hydraulic cylinder 243, drive walking mechanism 244, steering shaft 2421, gear disk 2422, housing 2423, power system 2411, sector gear disk 2412, multi-dimensional intelligent control unit 25, sensing layer 251, control layer 252, execution layer 253, level sensor 2511, pressure sensor 2512, wheel pressure sensor 2513, wheel height sensor 2514, absolute / incremental encoder 2515. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] This application proposes an intelligent adaptive adjustable coal storage bunker system and its control method for underground coal mines. The system includes: a main bunker body for storing materials; a dynamic adjustment unit for storage capacity installed on the main bunker body, the dynamic adjustment unit including a telescopic inner chamber and a drive mechanism, the telescopic inner chamber forming a nested telescopic structure with the main bunker body, the drive mechanism driving the telescopic inner chamber to extend and retract, thereby achieving dynamic adjustment of the storage volume; and a trackless adaptive walking unit installed at the bottom of the main bunker body, the trackless adaptive walking unit for carrying the main bunker body to move under trackless conditions. The system includes a multi-dimensional intelligent control unit, which is communicatively connected to both the dynamic adjustment unit for storage capacity and the trackless adaptive walking unit. The multi-dimensional intelligent control unit collects material status information within the storage bin and controls the drive mechanism based on this information to adjust the extension of the telescopic inner bin. It also collects wheel status information from the trackless adaptive walking unit and controls its support height and steering angle based on this information, enabling the coal storage system to achieve trackless adaptive walking underground. The technical solution proposed in this application achieves dynamic adjustment of storage volume and adaptive balance control of the walking wheel set, improving the flexibility and stability of material storage and transportation.

[0022] The following description, with reference to the accompanying drawings, describes an embodiment of an intelligent adaptive adjustable coal storage system and its control method in a coal mine.

[0023] Example 1 Figure 1 This is a structural diagram of an intelligent adaptive adjustable coal storage bunker system for underground coal mines, provided according to an embodiment of this application. Figure 1 As shown, the system includes: Main compartment 21, used for storing materials; A dynamic storage capacity adjustment unit 23 is installed on the main storage body 21. The dynamic storage capacity adjustment unit 23 includes a telescopic inner compartment 231 and a drive mechanism 232. The telescopic inner compartment 231 and the main storage body 21 form a nested telescopic structure. The drive mechanism 232 is used to drive the telescopic inner compartment 231 to extend and retract, thereby realizing the dynamic adjustment of the storage volume. A trackless adaptive walking unit 24 is installed at the bottom of the main compartment 21. The trackless adaptive walking unit 24 is used to carry the main compartment 21 for movement under trackless conditions. A multi-dimensional intelligent control unit 25 is communicatively connected to the storage capacity dynamic adjustment unit 23 and the trackless adaptive walking unit 24. The multi-dimensional intelligent control unit 25 is used to collect the status information of the materials in the warehouse and control the drive mechanism 232 to adjust the extension amount of the telescopic inner warehouse 231 according to the status information of the materials in the warehouse. The multi-dimensional intelligent control unit 25 is also used to collect the wheel set status information of the trackless adaptive walking unit 24, and control the support height and steering angle of the trackless adaptive walking unit 24 according to the wheel set status information, so that the coal bunker system can achieve trackless adaptive walking underground.

[0024] It should be noted that, Figure 1 This is merely a schematic diagram of the structure of the intelligent adaptive adjustable coal storage system for underground coal mines in this application, and does not limit the structure of the present invention.

[0025] It should be noted that, as Figure 2 As shown, the coal storage system 2 proposed in this embodiment can be set between the intelligent feeding device 1 and the intelligent discharging device 3. The intelligent feeding device 1 unloads the material into the coal storage system 2 for storage, and the stored material can be unloaded to the lower intelligent discharging device 3 for transportation.

[0026] In the embodiments disclosed herein, such as Figure 3 As shown, the main compartment 21 includes: multiple support legs 211, a compartment body 212, and a wear-resistant polymer composite rubber layer 213 lining the inner wall of the compartment body 212; It should be noted that the wear-resistant polymer composite rubber layer 213 provides guidance for the extension and retraction of the telescopic inner chamber 231 and buffers the deformation of the chamber.

[0027] The trackless adaptive walking unit 24 includes: Steering mechanism 241, mounted on outrigger 211 of the main body 21, is used to provide steering power; The conversion box 242 includes: a steering shaft 2421 rotatably connected to the support leg 211, a gear disk 2422 drivenly connected to the steering mechanism 241, and a box body 2423; The driving walking mechanism 244 includes a walking wheel set and an independent drive motor. The independent drive motor is used to drive the walking wheel set to walk, wherein the number of independent drive motors is the same as the number of walking wheel sets. Hydraulic cylinder 243, with its two ends connected to the conversion box 242 and the drive walking mechanism 244 respectively, is used to adjust the support height of the walking wheel set relative to the main body 21; The number of trackless adaptive walking units 24 is the same as the number of legs 211.

[0028] Furthermore, such as Figure 3 As shown, the steering mechanism 241 includes: a power system 2411 and a sector gear disk 2412, the sector gear disk 2412 meshing with the gear disk 2422 of the conversion box 242; The power system 2411 is used to drive the sector-shaped gear disk 2412 to rotate, thereby driving the gear disk 2422 and the conversion box 242 to rotate around the steering shaft 2421 to adjust the travel direction of the walking wheel set.

[0029] It should be noted that each outrigger 211 is equipped with a set of trackless adaptive walking units 24 at its lower end, which are the "feet" of the whole system, including a steering mechanism 241, a conversion box 242, a hydraulic cylinder 243, and a drive walking mechanism 244.

[0030] (1) Steering mechanism 241: including power system 2411 and sector gear disk 2412. Power system 2411 is fixedly installed on outrigger 211. Sector gear disk 2412 meshes with gear disk 2422 on conversion box 242. Driven by power system 2411, it drives gear disk 2422 to rotate, thereby realizing the adjustment of wheel set direction.

[0031] (2) Transformer box 242: includes a steering shaft 2421, a gear disk 2422, and a housing 2423. The transformer box 242 is installed between the outrigger 211 and the drive mechanism 244, serving as a "bridge" connecting the two. The transformer box 242 is connected to the outrigger 211 via the steering shaft 2421 at the top, and the two can rotate flexibly around the steering shaft 2421; the gear disk 2422 is fixedly installed on the upper part of the housing 2423 and meshes with the sector-shaped gear disk 2412 of the steering mechanism 241. The housing 2423 is a hollow cuboid structure.

[0032] (3) Drive walking mechanism 244: includes omnidirectional moving wheel sets, each wheel set has an independent drive motor, and the drive walking mechanism 244 is nested inside the housing 2423 of the conversion box 242. The two are connected by a hydraulic cylinder 243. With the extension and retraction of the hydraulic cylinder 243, the height of the wheel sets can be adjusted in a coordinated manner to adapt to the uneven roadway environment.

[0033] In the embodiments disclosed herein, such as Figure 3 As shown, the telescopic inner chamber 231 is fitted inside the main chamber 21 and is used to slide up and down along the wear-resistant polymer composite rubber layer 213; The drive mechanism 232 is a hydraulic drive mechanism, with its two ends connected to the main compartment 21 and the telescopic inner compartment 231, respectively.

[0034] Furthermore, such as Figure 4As shown, the telescopic inner compartment 231 includes: an inner compartment body 2311, a plurality of buffer plates 2312 disposed inside the inner compartment body 2311, and a connecting ear 2313 for connecting with the drive mechanism 232.

[0035] It should be noted that the telescopic inner compartment 231 is installed inside the main compartment 21, and the two are connected by a hydraulic drive mechanism 232 to form a nested telescopic compartment structure. The telescopic inner compartment 231 moves up and down by extending and retracting the hydraulic drive mechanism 232, thereby realizing the dynamic adjustment of the storage capacity.

[0036] The buffer plate 2312 strengthens the silo structure and guides and buffers the coal flow during loading, reducing its impact on the silo. Pressure and level sensors are evenly distributed at regular intervals along the inner wall of the silo to monitor the material levels within.

[0037] In the embodiments disclosed herein, such as Figure 5 As shown, the system also includes: a gate dynamic adjustment unit 22; The gate dynamic adjustment unit 22 is installed at the bottom of the main chamber 21, and the gate dynamic adjustment unit 22 includes: a gate driven by a servo motor; The multi-dimensional intelligent control unit 25 is communicatively connected to the gate dynamic adjustment unit 22 and is used to control the opening degree of the gate dynamic adjustment unit 22.

[0038] It should be noted that each compartment is equipped with a pair of gate dynamic adjustment units 22, which are installed at the bottom of the main compartment body 21. The gate opening is driven by a servo motor and works in conjunction with the storage capacity dynamic adjustment unit 23 to achieve dual storage control of "volume adjustment (axial extension) + flow adjustment (gate opening)".

[0039] In the embodiments disclosed herein, such as Figure 6 As shown, the multi-dimensional intelligent control unit 25 includes: a perception layer 251, a control layer 252, and an execution layer 253; The sensing layer 251 includes a level sensor 2511 and a pressure sensor 2512 installed in the compartment, as well as a wheel pressure sensor 2513, a wheel height sensor 2514, and an absolute / incremental encoder 2515 installed on the trackless adaptive walking unit 24. The control layer 252 is used to generate control commands based on the wheel set status information and the material status information in the warehouse; The execution layer 253 is used to drive the dynamic adjustment unit 23 of storage capacity and / or the trackless adaptive walking unit 24 to move based on the control command.

[0040] Furthermore, the control layer 252 is also used for: The target steering angle of each walking wheel set is calculated in real time according to the preset walking direction, and the target support height of each walking wheel set is calculated collaboratively based on the load pressure value fed back by the pressure sensor of each wheel set, generating steering and height adjustment commands.

[0041] In the embodiments disclosed herein, such as Figure 7 As shown, the multi-dimensional intelligent control unit 25 is communicatively connected to the external intelligent feeding device 1 and intelligent discharging device 3; The multi-dimensional intelligent control unit 25 is also used for: The operating status of the external intelligent feeding device 1 and the operating status of the external intelligent discharging device 3 are controlled collaboratively.

[0042] The intelligent adaptive adjustable coal storage bunker system for underground coal mines proposed in this embodiment has the following advantages: (1) Enables trackless, adaptive, and stable movement of coal bunkers in complex underground environments. It has strong adaptability to relocation and can move flexibly in complex roadways (slopes, curves, uneven ground), with high positioning accuracy and reduced manual intervention.

[0043] (2) It enables dynamic and intelligent adjustment of coal storage capacity, making the capacity adjustment more flexible and applicable.

[0044] (3) Multi-parameter fusion perception and adaptive control realize full-process automation of feeding, coal storage, transfer and unloading, with a high degree of intelligence.

[0045] In summary, the intelligent adaptive adjustable coal storage system proposed in this embodiment realizes dynamic adjustment of storage volume and adaptive balance control of the walking wheel set, thereby improving the flexibility and stability of material storage and transportation.

[0046] Based on the intelligent adaptive adjustable coal storage bunker system proposed in this embodiment, a control method for the intelligent adaptive adjustable coal storage bunker system in coal mines is also proposed. The control method includes: When a feeding instruction is received, the material level in the silo is monitored in real time. When the storage level reaches the preset threshold of the basic storage capacity, the drive mechanism 232 of the storage capacity dynamic adjustment unit 23 is activated to drive the telescopic inner compartment 231 to extend upwards, thereby increasing the storage volume. When a discharge command is received, the gate opening degree, the operating status of the discharge equipment, and the extension amount of the telescopic inner chamber 231 are controlled in a coordinated manner. Upon receiving a walking command and a target location, the system acquires the load-bearing pressure, current height, and walking angle of each walking wheel set in real time. Based on the target location and the walking angle, the system calculates and adjusts the steering angle of each wheel set. Simultaneously, based on the load-bearing pressure and current height of each wheel set, the system calculates the required adjustment height value for each wheel set and adjusts the support height of each walking wheel set accordingly. Then, the system drives the walking wheel sets to move until the target location is reached.

[0047] Specifically, in standby mode: the compartment is in its minimum retracted volume, and the trackless adaptive walking unit locks its current position; During the coal storage stage: The multi-dimensional intelligent control unit receives feeding instructions and monitors various data in real time. When the material level in the storage bin gradually rises and reaches 80% of the basic storage capacity, it automatically adjusts the telescopic inner bin to extend upwards, increasing storage capacity to meet storage needs. When the bin's storage capacity is adjusted to the maximum and the material is close to full, the multi-dimensional intelligent control unit will issue a shutdown command to the feeding equipment.

[0048] During the coal unloading stage: The multi-dimensional intelligent control unit receives the discharge command, monitors various data in real time, and issues operating commands to the discharge equipment. The multi-dimensional intelligent control unit integrates various data and coordinates the operating status of the feeding equipment, the storage capacity, the operating status of the discharge equipment, and the gate opening degree to achieve coordinated and orderly unloading, avoiding problems such as material overflow and inefficient operation of the feeding and discharging equipment.

[0049] In summary, the control method for an intelligent adaptive adjustable coal storage system in underground coal mines proposed in this embodiment realizes dynamic adjustment of storage volume and adaptive balance control of the walking wheel set, thereby improving the flexibility and stability of material storage and transportation.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0052] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A smart, adaptive, adjustable coal storage bunker system for underground coal mines, characterized in that, The system includes: The main compartment is used for storing materials; A dynamic storage capacity adjustment unit is installed on the main storage unit. The dynamic storage capacity adjustment unit includes a telescopic inner compartment and a drive mechanism. The telescopic inner compartment and the main storage unit form a nested telescopic structure. The drive mechanism is used to drive the telescopic inner compartment to extend and retract, thereby realizing the dynamic adjustment of the storage volume. A trackless adaptive walking unit is installed at the bottom of the main body. The trackless adaptive walking unit is used to carry the main body to move under trackless conditions. A multi-dimensional intelligent control unit is communicatively connected to the storage capacity dynamic adjustment unit and the trackless adaptive walking unit. The multi-dimensional intelligent control unit is used to collect material status information in the warehouse and control the drive mechanism to adjust the extension amount of the telescopic inner warehouse according to the material status information in the warehouse. The multi-dimensional intelligent control unit is also used to collect the wheel set status information of the trackless adaptive walking unit, and control the support height and steering angle of the trackless adaptive walking unit according to the wheel set status information, so that the coal bunker system can achieve trackless adaptive walking underground.

2. The system as described in claim 1, characterized in that, The main body includes: multiple support legs, a body, and a wear-resistant polymer composite rubber layer lining the inner wall of the body; The trackless adaptive walking unit includes: A steering mechanism, mounted on the outriggers of the main compartment, is used to provide steering power; The conversion box includes: a steering shaft rotatably connected to the outrigger, a gear disk drivingly connected to the steering mechanism, and a housing; The driving mechanism includes a set of walking wheels and an independent drive motor, wherein the independent drive motor is used to drive the set of walking wheels to walk, and the number of independent drive motors is the same as the number of the set of walking wheels; A hydraulic cylinder, with its two ends connected to the conversion box and the drive walking mechanism respectively, is used to adjust the support height of the walking wheel set relative to the main body; The number of trackless adaptive walking units is the same as the number of outriggers.

3. The system as described in claim 2, characterized in that, The steering mechanism includes a power system and a sector gear disk, which meshes with the gear disk of the conversion box; The power system is used to drive the sector-shaped gear disk to rotate, thereby causing the gear disk and the conversion box to rotate around the steering shaft to adjust the travel direction of the walking wheel set.

4. The system as described in claim 1, characterized in that, The telescopic inner compartment is fitted inside the main compartment and is used to slide up and down along the wear-resistant polymer composite rubber layer. The drive mechanism is a hydraulic drive mechanism, with its two ends connected to the main compartment and the telescopic inner compartment, respectively.

5. The system as described in claim 4, characterized in that, The telescopic inner compartment includes: an inner compartment body, multiple buffer plates disposed inside the inner compartment body, and connecting ears for connecting with the drive mechanism.

6. The system as described in claim 1, characterized in that, The system also includes: a gate dynamic adjustment unit; The gate dynamic adjustment unit is installed at the bottom of the main compartment, and the gate dynamic adjustment unit includes: a gate driven by a servo motor; The multi-dimensional intelligent control unit is communicatively connected to the gate dynamic adjustment unit and is used to control the opening degree of the gate dynamic adjustment unit.

7. The system as described in claim 1, characterized in that, The multi-dimensional intelligent control unit includes: a perception layer, a control layer, and an execution layer; The sensing layer includes a level sensor and a pressure sensor installed inside the compartment, as well as a wheel pressure sensor, a wheel height sensor, and an absolute / incremental encoder installed on the trackless adaptive walking unit. The control layer is used to generate control commands based on wheel set status information and material status information in the warehouse; The execution layer is used to drive the dynamic adjustment unit of the storage capacity and / or the trackless adaptive walking unit to move based on the control commands.

8. The system as described in claim 7, characterized in that, The control layer is also used for: The target steering angle of each walking wheel set is calculated in real time according to the preset walking direction, and the target support height of each walking wheel set is calculated collaboratively based on the load pressure value fed back by the pressure sensor of each wheel set, generating steering and height adjustment commands.

9. The system as described in claim 1, characterized in that, The multi-dimensional intelligent control unit is communicatively connected to external intelligent feeding and intelligent discharging equipment. The multi-dimensional intelligent control unit is also used for: The operating status of the external intelligent feeding device and the operating status of the external intelligent discharging device are controlled collaboratively.

10. An adaptive control method for underground coal storage and transportation in coal mines based on the system described in any one of claims 1 to 9, characterized in that, The method includes: When a feeding instruction is received, the material level in the silo is monitored in real time. When the storage level reaches the preset threshold of the basic storage capacity, the drive mechanism of the dynamic adjustment unit of the storage capacity is controlled to drive the telescopic inner compartment to extend upward to increase the storage volume. Upon receiving a discharge command, the system coordinates the gate opening, the operating status of the discharge equipment, and the extension amount of the telescopic inner chamber. Upon receiving a walking command and a target location, the system acquires the load-bearing pressure, current height, and walking angle of each walking wheel set in real time. Based on the target location and the walking angle, the system calculates and adjusts the steering angle of each wheel set. Simultaneously, based on the load-bearing pressure and current height of each wheel set, the system calculates the required adjustment height value for each wheel set and adjusts the support height of each walking wheel set accordingly. Then, the system drives the walking wheel sets to move until the target location is reached.

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