Robot and method for intelligently monitoring and evaluating dangerous gas source in unsealing closed roadway of coal mine

Abstract

The invention provides a robot and a method for intelligently monitoring and evaluating a dangerous gas source in unsealing a closed roadway of a coal mine, and relates to the technical field of intelligent monitoring equipment of mines. The robot comprises a control system, a crawler-type driving system, a dangerous gas source monitoring system, a danger early-warning and intelligent evaluating system, a running data storing system and a navigation system, wherein the control system is used for receiving and processing wireless transmission signals; the a crawler-type driving system and the navigation system are used for controlling a walking route; the dangerous gas source monitoring system comprises a gas detection manipulator for monitoring the concentrations of gases such as O2, CH 4,NH 3 and the like with different heights; the dangerous gas source monitoring system is used for establishing an air field three-dimensional cloud picture of the closed roadway according to monitoring data; the danger early-warning and intelligent evaluation system is used for determining the roadway danger and finishing early warning; the running data storing system is used for storing the monitoring and evaluation results, and the detection data are used for comprehensively evaluating the danger of the seal opening of the closed roadway. The method solves the problem of comprehensively andaccurately evaluating the suffocation danger of the unsealed closed roadway.

Description

technical field [0001] The invention relates to the technical field of mine intelligent monitoring equipment, in particular to an intelligent monitoring and evaluation robot for unsealed dangerous gas sources in a coal mine closed roadway, and a method for using the robot to detect and evaluate the danger of the closed roadway. Background technique [0002] At present, my country's coal mines have shifted from shallow mining to deep mining, and the roadway layout system in deep mines is more complicated. According to the purposes of production, ventilation, fire prevention, and waterproofing, it is necessary to set up closed roadways; unsealed. The closed roadway is closed for a long time and is not maintained, so the internal environment is extremely complex, and the light is insufficient, and the distribution and content of hazardous gases are not clear. Affected by mining, roof and floor may have ribs and bottom drums. At the unsealing site of a closed roadway, when judgi...

AI Technical Summary

Problems solved by technology

Because the airtight roadway is closed for a long time and is not maintained, the internal environment is extremely complex, and the light is insufficient, and the distribution and content of hazardous gases are not clear. Affected by mining, roof and floor may have ribs, bottom drums, etc.

At the unsealing site of a closed roadway, when judging the condition of the roof and floor in the closed roadway, it is often speculated based on the integrity of the external roof of the closed wall, the solidity coefficient f value of the coal body, and the development of joints and fissures; The good conditions of facilities such as cylinders and fire prevention pipelines cannot be grasped; the multi-source gas field in the closed roadway is often monitored through the observation holes on the closed wall, only the concentration of the gas at the observation hole is monitored, and the entire closed roadway The gas composition, concentration distribution, pressure status, temperature, humidity, etc. cannot be restored by three-dimensional dynamic cloud image

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