Coal mine gas inspection robot method and system

Abstract

The invention relates to a coal mine gas inspection robot method and system. A wired control display terminal is arranged at a roadway intersection entrance; the drive-by-wire display terminal is provided with a UWB positioning base station, and the bottom of each roadway is also provided with a UWB positioning base station; the system further comprises a plurality of inspection robots provided with UWB positioning tags. Forming a one-dimensional positioning network in each roadway according to the UWB positioning base stations; generating a cruise command according to a corresponding processing item in the inspection request; sending a cruise command to a matched inspection robot; cruising at a corresponding target position in response to the cruising command, and performing signal detection of a processing item; when the signal detection is normal, the inspection robot stores the detection data and transmits the detection data to the drive-by-wire display terminal after the cruise is finished; when the signal detection is abnormal, the inspection robot transmits detection data to the drive-by-wire display terminal through wireless communication; accurate positioning can be realized, the complexity of an inspection route is simplified, the operation difficulty is reduced, and the operation safety is improved.

Description

Technical field [0001] The present invention relates to the field of coal mine cruise, and in particular to a method and system of coal mine gas inspection robots. Background technique [0002] Coal mine gas is also known as coal seam gas and coalbed methane. Mixed gas consisting of methane, carbon dioxide and nitrogen such as coal and surrounding rock. Gas is a harmful factor in coal mine production, which not only pollutes air, and when the gas content is 5% ~ 16%, the fire will cause an explosion, causing an accident. [0003] At present, most of the coal mine underground is inspected by manual, and some of the conditions may be equipped with inspection robots. There is a safe risk of personnel in the artificial inspection process and is less efficient, and it is difficult to find hidden dangers. Patrol the robot's flatness of the roadway requires high, if the terrain is not flat, the road is obstacted, the inspection robot will not move forward. It is necessary to clean the o...

AI Technical Summary

Problems solved by technology

[0005]In the prior art, two solutions are adopted to solve the above problems; one is to directly use the inspection robot with visual image, which is manually operated and controlled by the staff Inspection by inspection robots, this method undoubtedly does not achieve real automation and high-security inspections; the second is to use flight control drones for cruises to solve the problem of uneven roads; The air turbulence and interference are relatively large, and misjudgment of inspection points is prone to occur. At the same time, the flight control system is more likely to burst into sparks in the event of an accidental collision, which poses a greater safety hazard; The travel of some inspection robots is too long, it is difficult to construct the travel path dependence and calibration through machine learning, and the positioning in the mine is not accurate enough, resulting in inaccurate positioning signals returned by the inspection robot, and it is easy to cause unnecessary collisions ; Therefore, there is a need for a robot cruise system that can not only improve safety, but also accurately locate and inspect

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