Coal mine gas inspection robot based on laser remote sensing and inspection method

Abstract

The embodiment of the invention discloses a coal mine gas inspection robot based on laser remote sensing and an inspection method. The coal mine gas inspection robot comprises a laser remote sensing device with a distance measuring function, a longitudinal rotating device for enabling the laser remote sensing device to longitudinally rotate and a central processing unit. The laser remote sensing device synchronously collects gas concentration information and longitudinal distance information of a detection area, monitors the gas concentration information, and screens out top-off distance information from the longitudinal distance information; and the central processing unit obtains relative distance information through trigonometric function relation by using the longitudinal distance information and the top-off distance information, and coordinates of the laser remote sensing device serve as a coordinate starting point, and coordinates of a collection position are obtained through coordinate conversion of a space coordinate system. According to the invention, the space coordinate information of the collection points is obtained based on the coordinates of the collection points inthe space coordinate system and three-axis displacement vectors, perfect fusion of large-range gas monitoring and space coordinate positioning is achieved, and due to the fact that gas mostly floats on the top of a roadway, the technology can be better applied.

Description

technical field [0001] The embodiment of the present invention relates to the technical field of inspection robots, in particular to a laser remote sensing-based inspection robot for coal mine gas and an inspection method. Background technique [0002] Coal is an indispensable energy source in our country, but its mining is highly risky, and the main disaster factors include gas, fire, roof fall and other accidents that plague the safety of coal mines. Among all coal mine disasters, poisonous gas pollution and fire are the two most frequent and harmful ones, and among these two hazards, gas pollution is the most important factor, so it is necessary to monitor the gas concentration in the entire coal mine in real time. [0003] Most of the existing coal mines use manual gas inspection and fixed-point inspection equipment. The manual gas inspection is to carry the gas detection equipment to the designated location for inspection, but it is prone to problems such as missed insp...

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Problems solved by technology

[0005] To this end, the embodiment of the present invention provides a coal mine gas inspection robot and inspection method based on laser remote sensing to solve the problems of inaccuracy and low efficiency in the prior art due to the precise positioning of traditional detection devices or the need for manual participation.

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