Intelligent monitoring and evaluation robot and method for unsealing dangerous gas sources in coal mine closed roadway

Abstract

The invention provides an intelligent monitoring and evaluation robot and method for dangerous gas source unsealing in a coal mine airtight roadway, which relates to the technical field of mine intelligent monitoring equipment, including a control system, a crawler drive system, a dangerous gas source monitoring system, a dangerous early warning intelligent evaluation system, Operational data storage system and navigation system, control system receives and processes wireless transmission signals, crawler drive system and navigation system control walking route, dangerous gas source monitoring system includes gas detection manipulator to monitor O 2 、CH 4 and NH 3 The dangerous gas source monitoring system establishes a three-dimensional cloud map of the air field of the airtight roadway based on the monitoring data, the dangerous early warning intelligent evaluation system judges the danger of the roadway and completes the early warning, the operation data storage system stores the monitoring and evaluation results, and uses the detection A method for comprehensively evaluating the risk of unsealing of a closed roadway based on data; it solves the problem of how to comprehensively and accurately evaluate the risk of suffocation after the unsealing of a 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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