[0066] Contraction below Figure 1-3 Further detailed description of the present application.
[0067] The present application example discloses a full tunnel gas component monitoring method, such as figure 1 As shown, the specific steps are as follows:
[0068] like figure 1 As shown, the rail is built: the rail steel cable 1 is built along the tunnel along the tunnel.
[0069] like figure 1 As shown, mounting robot: The gas selection device is mounted on the steel cable rail robot 2 as needed, and the steel cable rail robot 2 is set to be plural, and all mounted on the track cable 1. Import cable track plan. The steel cable rail robot 2 is aligned on the steel cable track, obtain the orbital length between adjacent steel cable rail robots 2, and record the standard orbital length.
[0070] like figure 1 As shown, the detection start: After receiving the input start signal, control the cable rail robot 2 moves along the steel cable track while activating the gas detecting device 21. The UWB transmitting device 22 and the UWB receiving apparatus 23 are mounted at each steel cable rail robot 2, each UWB transmitting device 22 emits a non-sinusoidal narrow pulse, and the UWB receiving device 23 of each cable rail robot 2 receives the nearest UWB emission. The non-sinusoidal narrow pulse emitted by the device 22 calculates the straight line distance between adjacent steel rail rail robots 2 according to the received UWB signal, calculates the position of the steel cable rail robot 2 in the plan view of the steel cable rail according to the linear distance. Intercepting the steel cable track between adjacent steel cable rail robots and calculates the length of the steel cable rail to compare the length of the cable rail to the standard orbital length. If the cable rail length is different from the standard orbital length, the movement speed of the steel cable rail robot 2 at both ends of the steel cable rail is adjusted until the cable rail length is equal to the standard orbital length. If the tunnel is large, you can set multiple cable rail robots 2 for monitoring, and the spacing between the steel cable rail robot 2 is automatically controlled, and it will not be affected by the shape of the tunnel. The straight line distance between the steel cable rail robot 2 can be accurately calculated by the UWB transmitting device 22 and the UWB receiving device 23, and then the specific position of the steel cable rail robot 2 can be calculated by the steel cable rail plan view.
[0071] like figure 1 As shown, data records: The position information of the steel cable rail robot 2 and the gas detecting device 21 detects each gas density value.
[0072] like figure 1 As shown, data finishing: generates a gaseous concentration graph of each gas concentration dot matrix according to the received position information and each gas concentration value. Data finishing is set as single curve map generation and graph integration. Single curve map Generate: The gas concentration dot matrix of each gas is generated according to the gas concentration value of each gas, and the gas concentration dot matrix is obtained to obtain a gas concentration graph. Curve integration: Stacked all gas concentration curves to a graph to form each gas concentration graph.
[0073] like figure 1 As shown, data shows: showing each gas concentration graph.
[0074] like figure 1 As shown, the automatic warning: detects the curvature of each of the curves within each gas concentration graph, and if the curvature of a certain curve exceeds the preset value, the end curve is labeled. Can automatically detect curves that may have problems, helping users quickly find problems.
[0075] The implementation principle of a total tunnel gas component monitoring method is that the full tunnel gas component can be detected by the steel cable rail robot 2, and the steel cable rail robot 2 automatically moves in the tunnel, no manual operation, the sensor only needs to be in steel The cable track robot 2 is set to save a lot of manpower. It is also possible to automatically generate various gas concentration graphs for user observation.
[0076] The present application discloses a full tunnel gas component monitoring system, such as figure 2 As shown, including a rail steel cable 1 mounted in a tunnel, a steel cable rail robot 2 mounted on a steel cable track, a detection system 3 mounted on a steel cable rail robot 2 and a control system 4 mounted on the host 4. The steel cable track robot 2 is set to multiple, and all mounted on the track cable 1.
[0077] like figure 2 with image 3 As shown, the detection system 3 includes a gas detecting module 31, a position detecting module 32, a mobile control module 33, a robot wireless module 34, and a standard acquisition module 35. The control system 4 includes a host wireless module 41, a storage module 43, a startup module 42, a dot matrix generating module 45, a graph generation module 46, a data display module 48, a spacing control module 44, and an automatic warning module 47.
[0078] like figure 2 with image 3 As shown, the gas detecting module 31 includes a plurality of gas detecting means 21 mounted on the cable rail robot 2, the gas detecting device 21 detects the corresponding gas concentration value, the gas detecting module 31 transmits all gas concentration values to the robot wireless module 34 . The gas detecting device 21 includes a CO2 sensor, a NO sensor, a CO sensor, a NO2 sensor, an H2S sensor, a SO2 sensor, an O2 sensor, an NH3 sensor, an O3 sensor, a pH 3 sensor, and an EX sensor.
[0079] like figure 2 with image 3 As shown, the position detecting module 32 includes a UWB transmitting device 22 and a UWB transmitting device 23 mounted in the steel cable rail robot 2, each of which is non-sinusoidal narrow pulse, and the UWB reception of each cable rail robot 2. The device 23 receives the non-sinusoidal narrow pulse emitted by the nearest UWB transmitting device 22, and the position detecting module 32 calculates the linear distance between adjacent steel rail rails 2 according to the received UWB signal, and the position detecting module 32 converts the linear distance into position. information. The position detection module 32 transmits the position information to the robot wireless module 34. Spacing control module 44 calculates the position of the steel cable rail robot 2 in the plan view of the steel cable track according to the linear distance and steel cable track. The UWB transmitting device 22 can emit a nanosecondal non-sinusoidal narrow pulse, and then receives the exact calculation of the two distances by the UWB receiving device 23.
[0080] like image 3 As shown, the standard acquisition module 35 receives the input standard rail length and transmits the standard rail length to the robot wireless module 34.
[0081] like image 3 As shown, the mobile control module 33 receives the start signal to control the cable rail robot 2 to circulate along the steel cable rail. The robot wireless module 34 transmits the received gas concentration value, the position information, and the standard rail length to the control system 4, and the robot wireless module 34 transmits the received start signal to the movement control module 33.
[0082] like image 3 As shown, the host wireless module 41 receives the gas concentration value, the position information, and the standard track length transmitted by the robot wireless module 34 and transmits the gas concentration value and the position information to the storage module 43, and the host wireless module 41 transmits the received start signal to the robot. Wireless module 34. The startup module 42 receives the input instruction to transmit the start signal to the host wireless module 41.
[0083] like image 3 As shown, the storage module 43 receives the input information and stores. The storage module 43 stores a plan view of a steel cable rail.
[0084] like image 3 As shown, the spacing control module 44 calls the storage module 43 stored position information and the standard rail length, and the spacing control module 44 calculates the position of the steel cable rail robot 2 in the plan view of the steel cable rail according to the linear distance and the steel cable rail plan view, intercepting adjacent steel The cable track between the cable track robot 2 and calculates the length of the steel cable track, and the length of the cable rail is compared to the standard orbital length. If the cable rail length is different from the standard orbital length, the movement speed of the steel cable rail robot 2 at both ends of the steel cable rail is adjusted until the cable rail length is equal to the standard orbital length. If the tunnel is large, you can set multiple cable rail robots 2 for monitoring, and the spacing between the steel cable rail robot 2 is automatically controlled, and it will not be affected by the shape of the tunnel. The position detecting module 32 can accurately calculate the straight line distance between the steel cable rail robot 2 via the UWB transmitting device 22 and the UWB receiving device 23, and then the specific position of the steel cable rail robot 2 can be calculated by the steel cable rail plan.
[0085] like image 3As shown, the dot matrix generating module 45 calls the gas concentration value and position information stored in the storage module 43, and the dot matrix generating module 45 generates a gas concentration dot matrix of each gas according to the gas concentration value and position information of different gases. Tunnel Each gas concentration dot matrix, dot matrix map generation module 45 transmits the tunnel each gas concentration dot matrix and the gas concentration dot matrix map to the graph generation module 46. The graph generation module 46 adds the gas concentration dot matrix to the gas concentration graph, and the gas concentration curve is superimposed to obtain each gas concentration graph. The graph generation module 46 can also obtain the received tunnel each gas concentration dot matrix to obtain each gas concentration graph, and the graph generation module 46 transmits each gas concentration curve map to the data display module 48.
[0086] like image 3 As shown, the data display module 48 shows the gas concentration graph of each gas and the concentration graph of each gas. The automatic warning module 47 invokes the gaseous concentration graph of the graph generation module 46, detects the curvature of each of the curves in each of the gaseous concentration graphs, and if the curvature of a certain curve exceeds the preset value, the end curve is labeled. The curvature of each of the curves in each gas concentration graph is detected. If the curvature of a certain curve exceeds the preset value, the end curve is labeled, and the automatic warning module 47 transmits the respective gas concentration graph after the label to the data display module 48. Make display.
[0087] The implementation principle of a full tunnel gas component monitoring system is that the detection system 3 and the control system 4 can detect the full tunnel gas component through the steel cable rail robot 2, and the steel cable rail robot 2 automatically moves in the tunnel without manual operation. The sensor only needs to be set on the steel cable rail robot 2, which can save a lot of manpower. It is also possible to automatically generate various gas concentration graphs for user observation.
[0088] Embodiments of the present invention are preferred embodiments of the present invention, and it is not intended to limit the scope of the invention, so it should be included in the structure, shape, principle of the invention, should be covered The invention is within the scope of the invention.
