A coal mine tunnel ventilation monitoring robot system

Abstract

A coal mine tunnel ventilation monitoring robot system is particularly suitable for use underground in coal mines. It includes an equipment niche arranged at the top of the tunnel, a base cylinder is arranged above the equipment niche, and a gas supply system pipeline connected to the gas source is extended from the base cylinder. The base cylinder, the equipment niche and the gas supply system pipeline are all arranged in a slot on the center line of the tunnel top. The tunnel tops on both sides of the equipment niche are provided with niche sealing doors that can close the equipment niche after closing. The equipment niche is provided with a foldable and retractable wind measuring mechanical arm body structure. The measured wind speed data is corrected by using the correction coefficient of the wind measuring mechanical arm on the wind speed in the tunnel to obtain the real wind speed in the tunnel, and the result is calculated with the tunnel cross-sectional area data to obtain the tunnel air volume data, and the control boxes at each wind measuring station are connected to the ground dispatching room through a server. It has a simple structure, good measurement effect, and is safe and reliable.

Description

Technical Field

[0001] The invention relates to a coal mine tunnel ventilation monitoring robot system, which is particularly suitable for use underground in coal mines and belongs to the field of robots. Background Art

[0002] Mine ventilation is the prerequisite for the implementation of safe mining operations in coal mines. Through the effective air supply to the entire mine tunnel, fresh air can be supplied to the workers in underground excavation, coal mining, transportation, auxiliary and other industrial places. At the same time, it can effectively reduce the content of harmful gases such as gas and carbon monoxide in coal mines, and ensure the safety of personnel and electromechanical equipment in coal mines. The ventilation system of modern large mines is a complex engineering system composed of tunnel ventilation network, ventilation power equipment and ventilation control facilities, which has a decisive impact on the production safety of the entire mine. Coal mine safety regulations stipulate that mines must have a complete and reasonable ventilation system. However, the underground operation location often changes dynamically during coal mining, and the tunnel layout and ventilation layout are also adjusted in real time with the changes in the underground mining working face. In order to ensure the safe production of coal mines, it is necessary to timely understand whether the air volume conditions of various air-using locations underground meet the requirements. Therefore, accurate detection of wind speed and air volume in underground mine tunnels is essential.

[0003] At present, the measurement of wind volume in underground coal mine tunnels is still mainly based on manual measurement, and the measurement process mainly includes the measurement of the average wind speed in the tunnel and the measurement of the cross-sectional area of ​​the tunnel. In order to measure the average wind speed in the tunnel, the wind measurement personnel need to hold the wind meter and the stopwatch at the same time and stand in the fixed wind measurement station in the tunnel, start the wind meter and the stopwatch at the same time, move the wind meter according to the predetermined route, and obtain the wind speed information of each point on the tunnel cross section. When manually moving the measuring equipment, it should be ensured that the direction of the wind meter blade is always perpendicular to the wind speed, and the wind meter should be turned off at the end of the measurement. In this kind of manual wind measurement process, the wind measurement personnel always stand in the middle of the tunnel, because the operator's own body volume cannot be ignored: for example, when using the head-on wind measurement method, it blocks the advancement of part of the wind flow in the tunnel, reducing the tunnel wind speed measured by the wind meter; if the sideways wind measurement method is used, the wind measurement personnel stand in the tunnel to reduce the ventilation section, thereby artificially increasing the wind speed, so the measurement results are inaccurate. In the measurement process, it is necessary to ensure that the two meters are turned on and off at the same time, and to pay attention to the readings of the two meters and whether the blades are perpendicular to the wind flow when the wind meter is moved correctly, making it difficult for the surveyors to take both into account at the same time. At the same time, when measuring the cross-sectional area of ​​the tunnel, the wind surveyors need to use a rigid tape measure to measure the tunnel dimensions at the necessary positions. When facing relatively high tunnels, the dimension measurement is very time-consuming and laborious. In addition, since the shapes of tunnels at different positions are not completely regular, the tunnel cross-sectional area calculated according to the estimated area formula is often inaccurate. Therefore, the accuracy and efficiency of traditional manual wind measurement are inadequate when facing the ventilation monitoring and real-time safety assessment of large modern mines. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned technologies, a coal mine tunnel online wind measurement network system is provided to realize efficient and accurate monitoring of the underground ventilation system of coal mines. The automatic wind measurement system can accurately measure the cross-sectional area, wind speed and air volume of coal mine tunnels, and obtain reliable tunnel ventilation state parameters through real-time collection and analysis of measurement data, so as to dynamically guide the adjustment of the mine tunnel air supply network, timely prevent insufficient fresh air supply in the tunnel, reduce the concentration of coal dust or gas in the mine, and avoid casualties and coal mine gas, coal dust explosion and other production safety accidents.

[0005] To achieve the above technical objectives, a coal mine tunnel ventilation monitoring robot system of the present invention includes an equipment niche arranged at the top of the tunnel, a base cylinder is provided above the equipment niche, an air supply system pipeline connected to the air source is extended from the base cylinder, the base cylinder, the equipment niche and the air supply system pipeline are all arranged in a groove on the center line of the tunnel top, niche sealing doors that can close the equipment niche after closing are provided on the top of the tunnel on both sides of the equipment niche, and a foldable and retractable wind measuring mechanical arm body structure is provided in the equipment niche.

[0006] A sliding rail is provided between the niche closed door and the equipment niche, two niche door cylinders are respectively provided on both sides of the equipment niche, and two niche door cylinders are provided on the outer side of a niche closed door. The niche closed door is controlled by the niche door cylinder to move and open in the sliding rails provided on both sides of the equipment niche. The sliding rails are fixed to the tunnel wall by expansion bolts, and the niche closed door is opened and closed by rollers installed in the grooves of the sliding rails, and the relative movement of the niche closed door and the sliding rails is pure rolling.

[0007] The size of the niche closed door is set according to needs, and the required niche door cylinder specifications match the weight and size of the niche closed door.

[0008] The wind measuring mechanical arm main body structure is connected to the equipment niche by expansion screws, a base is provided at one end of the wind measuring mechanical arm main body structure, the wind measuring mechanical arm main body structure is connected to the equipment niche through the base, a base cylinder is fixed to the base by bolts, the base cylinder is arranged in the equipment niche at the top of the tunnel, and a terminal is provided at the other end of the wind measuring mechanical arm main body structure.

[0009] The main structure of the wind measuring robotic arm is a lightweight six-degree-of-freedom serial multi-joint robotic arm, including a forearm, a wrist, a terminal, a base and an upper arm, wherein one end of the upper arm is connected to the base, and the other end is connected to one end of the forearm through a joint, and the other end of the forearm is connected to the terminal through the wrist.

[0010] An air volume sensor is arranged at the end of the main body structure of the wind measuring mechanical arm, a laser radar is arranged on the base, and the joints are driven and controlled by joint servo motors.

[0011] The model of the laser radar is RPLIDAR-A2M8-R4, which uses the principle of triangulation to measure distance and uses a motor-driven encoder to achieve angular rotation; the model of the mining wind volume sensor is CFJD25, which has a set of three-blade or four-blade propeller blades as the measuring part.

[0012] A control and display system is installed on the side wall of the tunnel. The control and display system consists of two parts: a control panel and a parameter display screen. The control panel can simply control the movement of the robotic arm, and the display screen can display a series of wind measurement data and test results. The tunnel side wall control and display system is installed in a niche on the side of the wind measurement station.

[0013] A control system is provided in the control box. The control system includes a processor. The processor is connected to a communication module, a storage module, a power module, a logic control module, a mechanical arm control module, an input button and a data exchange interface respectively. The processor is also connected to a display screen and an air volume sensor and a laser radar arranged in the lane. The mechanical arm control module is connected to the mechanical arm and controls the activity. The logic control module is connected to the base cylinder and the niche door cylinder respectively. The communication module is connected to the server through a network. The control system of the system adopts a two-layer structure of a host computer and a slave computer. The host computer adopts Advantech EPC-S201 industrial computer. The central processor is Intel Celeron N3350 Dual Core SoC, with a main frequency of 2.4G and a memory of 8G. The slave computer includes: a mechanical arm control module and a logic control module. The mechanical arm control module uses DSP TMS320LF2407 as a control unit, and is driven by a Panasonic MSMA012A1G AC servo motor. The matching servo driver uses MSDA013A1A. RS-485 bus is used between the host computer and the slave computer to realize the distributed control of the mechanical arm.

[0014] The data obtained from the wind measurement operation will be transmitted to the control box, and the correction coefficient of the wind measuring mechanical arm on the wind speed in the tunnel will be used to correct the measured wind speed data to obtain the actual wind speed in the tunnel. The result will be calculated with the tunnel cross-sectional area data to obtain the tunnel wind volume data, and the control boxes at each wind measuring station will be connected to the ground dispatch room through the server to transmit data.

[0015] Beneficial effects:

[0016] Manual handheld instrument measurement is no longer required in the tunnel wind measurement station, which can effectively reduce manpower and reduce the safety risks caused by frequent wind measurement operations in dangerous areas underground; a light robotic arm is used to carry the wind measuring instrument for measurement. Since the windward area of ​​the robotic arm is smaller than that of manual measurement and the surface contour of the robotic arm is smoother, the obstruction effect on the tunnel ventilation will be smaller, making the measured data more accurate; during the manual wind measurement process, the operator must ensure that the two meters are switched on and off at the same time, and pay attention to the readings of the two meters and whether the blades are perpendicular to the wind flow when the wind meter is moved correctly, which is difficult to take into account at the same time. Using a robotic arm to measure wind instead of manual wind measurement reduces the difficulty of operation and improves the detection efficiency; at the same time, since the system uses a laser scanning sensor to automatically scan and obtain the cross-sectional area of ​​the tunnel, the measurement efficiency is high, especially when the cross-sectional shape of the tunnel is irregular or the tunnel height is too high, the measurement result is more accurate; the sensor connected to the end of the robotic arm moves along a predetermined route under program control, and the measurement coverage is larger than that of manual handheld instrument measurement, and the measurement frequency and positioning accuracy are higher.

[0017] In addition, according to the different cross-sectional shapes and cross-sectional sizes of the tunnels at each wind measuring station underground in the coal mine, the route planning of the wind measuring robotic arm can be reset through programming, making this wind measurement system more adaptable to a wider range of tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a path posture diagram of the wind measurement mechanical arm of the present invention when working in an arched tunnel.

[0019] Figure 2 This is a path posture diagram of the wind measurement mechanical arm of the present invention when working in a trapezoidal tunnel.

[0020] Figure 3 This is a posture diagram of the wind measurement mechanical arm of the present invention in a non-working state.

[0021] Figure 4 This is the control display system of the present invention.

[0022] Figure 5 It is a working principle diagram of the present invention.

[0023] Figure 6 It is the layout diagram of the present invention in the lane.

[0024] In the figure: 1-body structure of wind measuring mechanical arm, 2-laser radar, 3-base cylinder, 4-equipment niche, 5-enclosed door of niche, 6-air supply system pipeline, 7-control box, 8-control display system, 9-air volume sensor, 10-mechanical arm detection moving path, 11-niche door cylinder, 12-joint, 13-forearm, 14-wrist, 15-end, 16-base, 17-big arm, 18-slide rail, DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] like Figure 1 and Figure 2 As shown, a coal mine tunnel ventilation monitoring robot system of the present invention comprises an equipment niche 4 arranged at the top of the tunnel, a base cylinder 3 is arranged above the equipment niche 4, and a gas supply system pipeline 6 connected to the gas source is extended from the base cylinder 3, the base cylinder 3, the equipment niche 4 and the gas supply system pipeline 6 are all arranged in a slot on the center line of the top of the tunnel, and a niche sealed door 5 that can close the equipment niche 4 after closing is arranged on the top of the tunnel on both sides of the equipment niche 4, and a foldable and retractable wind measurement mechanical arm body structure 1 is arranged in the equipment niche 4. The size of the niche sealed door 5 is set according to needs, and the required specifications of the niche door cylinder 11 match the weight and size of the niche sealed door 5.

[0027] like Figure 3 As shown, a slide rail 18 is provided between the niche closed door 5 and the equipment niche 4, two niche door cylinders 11 are provided on both sides of the equipment niche 4, and two niche door cylinders 11 are provided on the outside of a niche closed door 5. The niche closed door 5 is controlled by the niche door cylinder 11 to move and open in the slide rails 18 provided on both sides of the equipment niche 4. The slide rails 18 are fixed to the tunnel wall by expansion bolts. The niche closed door 5 is opened and closed by rollers placed in the grooves of the slide rails 18. The relative movement between the niche closed door 5 and the slide rails 18 is pure rolling. The wind measuring mechanical arm body structure 1 is connected to the equipment niche 4 by expansion screws, and a base 16 is provided at one end of the wind measuring mechanical arm body structure 1. The wind measuring mechanical arm body structure 1 is connected to the equipment niche 4 through the base 16. The base cylinder 3 is fixed to the base 16 by bolts. The base cylinder 3 is arranged in the equipment niche 4 at the top of the tunnel, and the other end of the wind measuring mechanical arm body structure 1 is provided with a terminal 15.

[0028] The wind measuring mechanical arm body structure 1 is a lightweight six-degree-of-freedom serial multi-joint mechanical arm, including a small arm 13, a wrist 14, a terminal 15, a base 16 and a large arm 17, wherein one end of the large arm 17 is connected to the base 16, and the other end is connected to one end of the small arm 13 through a joint 12, and the other end of the small arm 13 is connected to the terminal 15 through the wrist 14. An air volume sensor 9 is provided on the terminal 15 of the wind measuring mechanical arm body structure 1, a laser radar 2 is provided on the base 16, and the joints 12 are driven and controlled by the joint servo motors provided; the model of the laser radar 2 is RPLIDAR-A2M8-R4, which uses the triangulation principle to measure the distance, and uses the motor-driven encoder disk to realize the angle rotation; the model of the mining wind volume sensor 9 is CFJD25, which is provided with a set of three-leaf or four-leaf propeller blades as the measuring part.

[0029] A control and display system 8 is provided on the side wall of the tunnel. The control and display system 8 includes two parts: a control panel and a parameter display screen. The control panel can simply control the movement of the robotic arm, and the display screen can display a series of wind measurement data and test results. The tunnel side wall control and display system 8 is installed in a niche on the side of the wind measurement station. A control system is provided in the control box 7. The control system includes a processor. The processor is connected to the communication module, storage module, power module, logic control module, mechanical arm control module, input button and data exchange interface respectively. The processor is also connected to the display screen and the air volume sensor and laser radar arranged in the lane. The mechanical arm control module is connected to the mechanical arm and controls the activity. The logic control module is connected to the base cylinder 3 and the niche door cylinder 11 respectively. The communication module is connected to the server through the network. The control system adopts a two-layer structure of upper computer and lower computer. The upper computer adopts Advantech EPC-S201 industrial computer. The central processor is Intel CeleronN3350 Dual Core SoC, with a main frequency of 2.4G and a memory of 8G; the lower computer includes: a mechanical arm control module and a logic control module. The mechanical arm control module uses DSP TMS320LF2407 is used as the control unit, and Panasonic MSMA012A1G AC servo motor is used as the drive. The supporting servo driver is MSDA013A1A. RS-485 bus is used between the upper computer and the lower computer to realize the distributed control of the manipulator. The data obtained from the wind measurement operation will be transmitted to the control box 7. The correction coefficient of the wind measurement manipulator on the wind speed in the tunnel is used to correct the measured wind speed data to obtain the real wind speed in the tunnel. The result is calculated with the tunnel cross-sectional area data to obtain the tunnel air volume data. The control boxes 7 at each wind measurement station are connected to the ground dispatching room through the server to transmit data. Laser radar uses the principle of triangulation to measure the distance of the tunnel wall at each angle, and then uses a motor-driven encoder disk to achieve multi-angle rotation scanning measurement to obtain measurement point cloud data at each angle. The accurate cross-sectional area of ​​the tunnel can be obtained by processing the data; usually the wind speed is low around the tunnel wall and high near the tunnel axis. In addition, due to the different sections and support forms of the shafts and tunnels, the wind speed distribution in the tunnel is uneven. Therefore, when measuring the average wind speed in the tunnel, it is necessary to measure multiple points of data for wind speed synthesis. The wind volume sensor at the end of the robotic arm should be measured evenly along a certain route on the cross section of the tunnel, so that its data can truly reflect the average wind speed of the tunnel; the wind volume sensor measures the wind speed at each point through a set of three-blade or four-blade propeller blades rotating around the horizontal axis. When there is wind flow, the blade system is affected by wind pressure, generating a certain torque to rotate the blade system. The speed of the blade is proportional to the wind speed. Based on this principle, the value of the wind speed and volume of the tunnel is obtained. The specific formula is:

[0030] V 真 =b×V 测 +a

[0031] V 均 =V 真 ×(S-0.25) / S

[0032] QV 均 ×S×60

[0033] Where: V 真 ——The actual wind speed after the wind volume sensor is measured and calibrated (m / s)

[0034] b——air volume sensor coefficient

[0035] V 测 ——Air volume sensor measures speed (m / s)

[0036] a——Starting air volume sensor coefficient

[0037] V 均 ——Average wind speed in the tunnel (m / s)

[0038] S——Tunnel cross-sectional area (m 2 )

[0039] (S-0.25) / S——Correction coefficient of the effect of wind measuring mechanical arm on the wind speed in the tunnel

[0040] Q——tunnel air volume (m 3 / min)

[0041] When arranging this wind measurement system, it is necessary to design an equipment niche on the top of the wind measurement station for installing and storing the mechanical arm. The mechanical arm is folded and placed in the niche when not in operation. A closed door switch system is also provided at the niche opening at the top of the tunnel. The main body of this system consists of a telescopic cylinder and a slide rail. The telescopic cylinder fixed to the closed door provides power for the movement of the closed door, and the slide rail set in the width direction ensures the accuracy of the movement direction. Each closed door is provided with an independent telescopic cylinder, so each closed door can be opened and closed independently without being affected by the status of other closed doors. The closed door cylinder of the niche and the cylinder of the mechanical arm base are controlled by the preset sequential logic program in the control box of the wind measurement system. When working, the closed door of the niche is linked to the mechanical arm to open, and it is automatically closed when not working, thereby reducing the influence of the wind measurement mechanical arm on the environment such as dust and water mist in the tunnel. There are 4 closed doors in total, with specifications of two large and two small. After the wind measuring mechanical arm extends out of the equipment niche, the two larger closed doors will be closed in time, forming a plane together with the descending mechanical arm base, completely covering the top equipment niche. In this way, during the wind measurement operation, the equipment niche at the top of the tunnel will not affect the wind speed measurement, and the measured wind speed data can be guaranteed to be as close to the actual as possible.

[0042] When the wind measurement system is working, the sealed door of the equipment niche is opened, and the base cylinder in the niche drives the wind measurement robot body to descend to the appropriate position. First, turn on the laser radar fixed on the base to scan the tunnel contour and obtain the tunnel ventilation area. After obtaining the command of the control system, the robot arm realizes the deployment of the robot arm through the action of each joint drive motor, and the joint rotation encoder captures the spatial position of the robot arm, and calculates the spatial position and posture of the end effector of the robot arm. Finally, the robot arm stretches out until it is fully opened, and changes from the non-working state posture to the working state posture, that is, reaches the program zero position of the robot arm. The specific measurement zero point position can be preset by programming according to the specific shape and size of the tunnel. According to the robot arm detection movement path 10 predetermined by the program, the robot arm moves from the program zero point position to the starting point of the wind measurement route. Adjust the posture of the end of the robot arm so that the air volume sensor is perpendicular to the wind speed direction. According to the procedure, turn on the wind volume sensor, and then start moving according to the predetermined route. During the movement, keep the posture of the end of the robot arm unchanged until it reaches the end point of the moving route, and turn off the wind volume sensor at the same time. The measurement data is automatically collected and stored in the control system through the data line for analysis.

[0043] There are two ways to determine the moving path of the wind measuring manipulator: one is to operate through the control panel, and the operator roughly plans the wind measurement path according to the shape of the roadway. Click the teach button, then drag the end of the manipulator to make it move in a serpentine manner from the beginning to the end along the required path, end the teaching and save this path, and the subsequent measurement can call this path; the second is to program on the host computer, firstly, geometrically model the roadway section according to the measurement data of the laser radar, and plan the serpentine wind measurement path of the manipulator according to the requirements of the wind measurement regulations, set the position coordinates of the starting point, the end point and several path points in the middle, so that the manipulator moves in the order of these coordinates. Then transfer and save the program to the storage of the manipulator control box, and call this program to complete the task every time the wind measurement is performed. Both methods have their own advantages and disadvantages. The former can easily complete this task for people who have no programming foundation, especially when there is a need to change the wind measurement path but there is no professional who can program, the teaching function can be used temporarily. The advantage of the latter is that the accuracy of its moving path is much higher than that of the first method. If conditions permit, the latter is preferred.

[0044] In addition to the wind measuring mechanical arm structure, each wind measuring station also has a wind measuring system control panel and wind volume and wind speed parameter display screen installed on the side of the tunnel, namely the control display system. Figure 4As shown. The display screen of the control and display system will display the data such as the wind measurement station number, real-time wind speed, real-time wind volume, ventilation status, last wind measurement time and next wind measurement time of this wind measurement station; the control panel of the control system can perform the above-mentioned teaching function and realize basic control of the wind measurement system. This control and display system as well as the mechanical arm body, laser radar, and wind volume sensor are connected to the wind measurement system control box through the data network. After each wind measurement operation, the tunnel cross-sectional area and wind volume and wind speed data measured by the laser radar and wind volume sensor will be transmitted to the wind measurement system control box through the data network. The wind measurement data obtained by the processor in the control box: one copy will be automatically uploaded to the server through the communication network and displayed centrally in the ground dispatch room; one copy will be transmitted to the parameter display screen of this wind measurement station through the data network for real-time display.

[0045] The working principle of the present invention is as follows Figure 5 As shown in the figure: the ventilation monitoring robot system includes a server and several wind measuring stations, and the communication module is used to transmit data between the server and the wind measuring station. The processor in the wind measuring system control box is the data processing core of the wind measuring system at each wind measuring station. It can analyze the data measured by the laser radar and the wind volume sensor, and store the data after calculation and correction in the storage module or transmit it. Through the manipulator control module, the processor can control the manipulator to perform wind measurement operations according to the planned path; through the logic control module, the processor can control the sequence of the niche closed door and the manipulator body. In addition, the power module can provide power for the processor, transmission module, manipulator drive module, etc., and meet the explosion-proof requirements. In addition, since the coal mining operation site is in dynamic change, the ventilation layout will also be adjusted accordingly, so the increase or decrease of wind measuring stations will be inevitable. The working principle of using the communication module to build a structure between the server and the wind measuring station will greatly facilitate the access of the data of the newly added wind measuring station.

[0046] The layout of underground tunnel wind measuring stations should be based on the basic principle of ensuring the safety of underground personnel, so as to timely understand the wind volume conditions of various wind-using locations underground, and ensure the safety of personnel and safe production of coal mines. With the changes in mining locations and tunnels, new wind measuring stations should be set up in a timely manner. See the underground layout location diagram of wind measuring stations for details. Figure 6 .

Claims

1. A coal mine tunnel ventilation monitoring robot system, characterized in that: It comprises an equipment niche (4) arranged at the top of the tunnel, a base cylinder (3) is arranged above the equipment niche (4), an air supply system pipeline (6) connected to an air source is extended from the base cylinder (3), the base cylinder (3), and the air supply system pipeline (6) are all arranged in a slot on the center line of the top of the tunnel, niche sealing doors (5) are arranged on the top of the tunnel on both sides of the equipment niche (4) for closing the equipment niche (4), and a foldable and retractable wind measuring mechanical arm body structure (1) is arranged in the equipment niche (4); The wind measuring mechanical arm body structure (1) is connected to the equipment niche (4) via expansion screws; one end of the wind measuring mechanical arm body structure (1) is provided with a base (16); the wind measuring mechanical arm body structure (1) is connected to the equipment niche (4) via the base (16); a base cylinder (3) is fixedly connected to the base (16) via bolts; the base cylinder (3) is arranged in the equipment niche (4) at the top of the tunnel; the other end of the wind measuring mechanical arm body structure (1) is provided with a terminal (15); the wind measuring mechanical arm body structure (1) is a lightweight six-degree-of-freedom serial multi-joint mechanical arm , comprising a forearm (13), a wrist (14), a terminal (15), a base (16) and a large arm (17), wherein one end of the large arm (17) is connected to the base (16), and the other end is connected to one end of the forearm (13) via a joint (12), and the other end of the forearm (13) is connected to the terminal (15) via the wrist (14); a wind volume sensor (9) is provided on the terminal (15) of the wind measuring mechanical arm body structure (1), a laser radar (2) is provided on the base (16), and the joints (12) are driven and controlled by joint servo motors; A control display system (8) is provided on the side wall of the tunnel, and the control display system (8) includes a control panel and a parameter display screen; According to the measurement data of the laser radar (2), the tunnel cross section is geometrically modeled, and according to the requirements of the wind measurement regulations, the serpentine wind measurement path of the wind measurement mechanical arm main body structure (1) is planned, and the position coordinates of the starting point, the end point and several intermediate path points are set, so that the wind measurement mechanical arm main body structure (1) moves according to these coordinate sequences.

2. The coal mine tunnel ventilation monitoring robot system according to claim 1, characterized in that: A slide rail (18) is provided between the niche closed door (5) and the equipment niche (4), two niche door cylinders (11) are provided on both sides of the equipment niche (4), and two niche door cylinders (11) are provided on the outer side of a niche closed door (5). The niche door cylinders (11) control the niche closed door (5) to move and open in the slide rails (18) provided on both sides of the equipment niche (4). The slide rails (18) are fixed to the tunnel wall by expansion bolts. The niche closed door (5) is opened and closed by rollers arranged in grooves of the slide rails (18), and the relative movement between the niche closed door (5) and the slide rails (18) is pure rolling.

3. The coal mine tunnel ventilation monitoring robot system according to claim 2 is characterized in that: The size of the niche closed door (5) is set as required, and the required specifications of the niche door cylinder (11) match the weight and size of the niche closed door (5).

4. The coal mine tunnel ventilation monitoring robot system according to claim 1, characterized in that: The laser radar (2) uses the principle of triangulation to measure the distance from the tunnel wall in each angular direction, and then uses the encoder disk driven by the motor to realize multi-angle rotation scanning measurement to obtain the measurement point cloud data in each angular direction. The accurate cross-sectional area of ​​the tunnel is obtained by processing the measurement point cloud data. The wind speed is low around the tunnel wall and high near the tunnel axis. In addition, due to the different sections and support forms of the shaft and tunnel, the wind speed distribution in the tunnel is uneven. Therefore, when measuring the average wind speed of the tunnel, it is necessary to measure multiple points of data for wind speed synthesis. The wind volume sensor (9) at the end of the wind measuring mechanical arm body structure (1) should be measured uniformly along a certain route on the cross section of the tunnel, so that its data can truly reflect the average wind speed of the tunnel. The wind volume sensor (9) measures the wind speed at each point by rotating a set of propeller blades around a horizontal axis. When there is wind flow passing through, the blade system is affected by wind pressure, generating a certain torque to rotate the blade system. The rotation speed of the blade is proportional to the wind speed. Based on this principle, the value of the wind speed and volume of the tunnel is obtained. The specific formula is: ， ， ， in: Indicates the actual wind speed after the wind volume sensor is measured and calibrated. represents the air volume sensor coefficient, Indicates the speed measured by the air volume sensor. Indicates the start-up air volume sensor coefficient, represents the average wind speed in the tunnel, represents the cross-sectional area of ​​the roadway, The correction coefficient that indicates the effect of the wind measuring mechanical arm on the wind speed in the tunnel, Indicates the air volume in the tunnel.

5. The coal mine tunnel ventilation monitoring robot system according to claim 1, characterized in that: The model of the laser radar (2) is RPLIDAR-A2M8-R4, which uses the triangulation principle to measure the distance and uses a motor-driven encoder to achieve angle rotation; the model of the mining wind volume sensor (9) is CFJD25, which is provided with a set of three-blade or four-blade propeller blades as a measuring part.

6. The coal mine tunnel ventilation monitoring robot system according to claim 1, characterized in that: The control and display system (8) includes a processor, which is respectively connected to a communication module, a storage module, a power module, a logic control module, a mechanical arm control module, an input key and a data exchange interface. The processor is also connected to a display screen and an air volume sensor and a laser radar arranged in the lane. The mechanical arm control module is connected to the mechanical arm and controls the movement. The logic control module is respectively connected to the base cylinder (3) and the niche door cylinder (11). The communication module is connected to the server via a network. The control system of the system adopts a two-layer structure of a host computer and a slave computer. The host computer adopts Advantech EPC-S201 industrial computer. The central processor is Intel CeleronN3350 Dual Core SoC, with a main frequency of 2.4G and a memory of 8G. The slave computer includes: a mechanical arm control module and a logic control module. The mechanical arm control module uses DSP TMS320LF2407 is used as the control unit, Panasonic MSMA012A1G AC servo motor is used as the driver, and the matching servo driver is MSDA013A1A. RS-485 bus is used between the upper computer and the lower computer to realize the distributed control of the robot arm.

7. The coal mine tunnel ventilation monitoring robot system according to claim 1, characterized in that: The data obtained from the wind measurement operation will be transmitted to the control box (7). The measured wind speed data will be corrected using the correction coefficient of the wind measurement mechanical arm on the wind speed in the tunnel to obtain the actual wind speed in the tunnel. The result will be calculated with the tunnel cross-sectional area data to obtain the tunnel wind volume data. The control boxes (7) at each wind measurement station are connected to the ground dispatching room through the server to transmit data.

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