Deep mine environment monitoring robot system and monitoring method

Abstract

The invention discloses a deep mine environment monitoring robot system and a monitoring method, and belongs to the field of coal mine intelligent monitoring. The robot system comprises an environmentmonitoring robot, an environment monitoring robot remote workstation and a mining wireless communication network. The environment monitoring robot remote workstation is composed of a mining intrinsicsafety type computer, a displayer and an operation table, and the environment monitoring robot and the environment monitoring robot remote workstation communicate through a mining wireless communication network. The environment monitoring robot is of a wheel type intelligent trolley structure and is composed of a trolley frame, a main controller, a driving mechanism, a temperature and humidity sensor, a gas detection sensor, a laser radar, a TOF depth camera, an obstacle sensor, a deformation scanning mechanism, an RFID label and a ZigBee wireless data transmission module. According to the invention, a multi-sensor information fusion technology is utilized, the functions of autonomous positioning, autonomous obstacle avoidance, remote control, deformation monitoring and environmental parameter monitoring are integrated, the robot has the characteristics of small size, complete functions, flexible walking, simple operation and high automation degree, the cognition of a complex environment of a coal mine can be improved, and a guarantee is provided for efficient and safe production of the coal mine.

Description

technical field [0001] The invention relates to the field of coal mine intelligent monitoring, in particular to a deep mine environment monitoring robot system and a monitoring method. Background technique [0002] With the rapid development of my country's mining and support technology, more and more coal mines have coal output reaching tens of millions of tons. Due to the increase in output, the corresponding electromechanical, transportation, and communication equipment in coal mines have gradually increased. , The size and number of chambers also gradually increased. In addition, with the increase of coal mining depth, affected by the three-high and one-disturbance of deep mining, the surrounding rock deformation of the roadway increases, the mine pressure shows sharply, the ground temperature rises, the operating environment deteriorates, and the amount of gas emission increases. Therefore, it is very important to independently monitor the temperature and humidity, gas ...

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Problems solved by technology

[0003]The existing monitoring device can only complete the measurement of a single parameter. If it is necessary to realize automatic measurement of all areas of the coal mine, multiple monitoring points need to be arranged, and the operation is complicated; The surrounding rock of the roadway is destructive; the monitoring device cannot be recovered, which increases the cost of manpower and material resources

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