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

Abstract

The embodiment of the present invention discloses a coal mine gas inspection robot and inspection method based on laser remote sensing, including a laser remote sensing device with a ranging function, a longitudinal rotation device for controlling the longitudinal rotation of the laser remote sensing device, and a central processing unit; the laser remote sensing device synchronously collects gas concentration information and longitudinal distance information in the detection area, monitors the gas concentration information, and filters out the distance information from the top from the longitudinal distance information; the central processing unit uses the longitudinal distance information and the distance information from the top to obtain relative distance information through a trigonometric function relationship, and then uses the coordinates of the laser remote sensing device as the coordinate starting point, and obtains the acquisition position coordinates through coordinate conversion of the spatial coordinate system. The present invention obtains the spatial coordinate information of the acquisition point based on the coordinates of the acquisition point in the spatial coordinate system and the three-axis displacement vector, realizing the perfect integration of large-scale gas monitoring and spatial coordinate positioning. Since gas mostly floats on the top of the tunnel, the technology of the present invention can be better used.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of inspection robots, and in particular to a coal mine gas inspection robot and an inspection method based on laser remote sensing. Background Art

[0002] Coal is an indispensable energy source in my country, but its mining is highly risky. The main disaster factors include gas, fire, roof collapse and other accidents that plague coal mine safety. Among all coal mine disasters, toxic gas pollution and fire are the most frequent and most harmful, and gas pollution is the most important factor among these two hazards. Therefore, it is necessary to monitor the gas concentration in the entire coal mine in real time.

[0003] Existing coal mines mostly use manual gas inspections and fixed-point detection equipment. Manual gas inspections are carried out by humans carrying gas detection equipment to designated locations for inspections. However, these inspections are prone to missed inspections, false inspections, and manual tampering of data. Moreover, as the height of tunnels becomes higher and higher, about 5-6 meters high, humans need to climb to high places for accurate detection. The higher the danger, the more inevitable it is that manual gas inspections will be phased out of history.

[0004] Fixed-point detection equipment is fixed at each monitoring point to detect the situation in the surrounding area. The detection range is limited and it cannot accurately locate. It is only suitable for important locations and cannot cover all coal mines. The cost is relatively high. Summary of the invention

[0005] To this end, an 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.

[0006] In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

[0007] A coal mine gas inspection robot based on laser remote sensing is characterized in that it includes a laser remote sensing device with a ranging function, a longitudinal rotation device for controlling the longitudinal rotation of the laser remote sensing device, and a central processing unit, wherein the laser remote sensing device and the longitudinal rotation device are both electrically connected to the central processing unit; the laser remote sensing device synchronously collects gas concentration information and longitudinal distance information in a detection area, monitors the gas concentration information, and screens out distance information from the top from the longitudinal distance information; the central processing unit uses the longitudinal distance information and the distance information from the top to obtain relative distance information through a trigonometric function relationship, and then uses the coordinates of the laser remote sensing device as a coordinate starting point, combines the relative distance information, and obtains the acquisition position coordinates through coordinate conversion of a spatial coordinate system.

[0008] In another embodiment of the present invention, the laser remote sensing device includes a laser transmitter, a laser receiver and a remote sensing control processing module, and the laser transmitter and the laser receiver are electrically connected to the remote sensing control processing module; the remote sensing control processing module includes a signal processor, a spacing extraction submodule, and an A / D conversion module, and the spacing extraction submodule and the A / D conversion module are electrically connected to the signal processor.

[0009] In yet another embodiment of the present invention, the laser transmitter is provided with at least one tunable semiconductor laser, and the tunable semiconductor laser emits laser light having a wavelength corresponding to the absorption peak of the detection gas.

[0010] In still another embodiment of the present invention, the laser receiver comprises a receiving lens, a photodetector and a darkroom, wherein the receiving lens and the photodetector are respectively arranged on two sides of the darkroom, and the photodetector is arranged at a focusing point of the receiving lens.

[0011] In yet another embodiment of the present invention, the laser remote sensing device is provided with a temperature remote sensing module, and the temperature remote sensing module is electrically connected to the remote sensing control processing module.

[0012] In another embodiment of the present invention, the longitudinal rotation device includes a longitudinal servo motor, a longitudinal servo motor controller, and a first connecting member, wherein two ends of the first connecting member are respectively connected to a laser remote sensing device and a longitudinal servo motor, the longitudinal servo motor is electrically connected to the longitudinal servo motor controller, and the longitudinal servo motor controller is electrically connected to a central processing unit.

[0013] In another embodiment of the present invention, a horizontal distance measuring device and a horizontal rotation device are provided on the longitudinal rotation device, both of which are electrically connected to a central processing unit, and the rotating end of the horizontal rotation device is fixedly connected to a base located at the bottom of the longitudinal rotation device.

[0014] In yet another embodiment of the present invention, infrared thermal imaging devices are provided on both sides of the longitudinal rotating device in the rotation direction, and the infrared thermal imaging module is electrically connected to a central controller.

[0015] A coal mine gas inspection method based on laser remote sensing comprises the following steps: S1, a laser remote sensing device reciprocates within a rotation angle interval, synchronously collects gas concentration information and longitudinal distance information, analyzes the longitudinal distance information to obtain the longitudinal distance L, analyzes the gas concentration information to obtain the gas concentration and monitors it; S2, the laser remote sensing device selects the minimum longitudinal distance information as the distance from the top information, and obtains the distance from the top D; S3, a central processing unit obtains a translation distance S and a longitudinal inclination angle a from the longitudinal distance L and the distance from the top according to a trigonometric function relationship; S4, the coordinates (x, y, z) of the laser remote sensing device are combined with the translation distance S, the distance from the top D, and the longitudinal inclination angle a, and the collected position coordinates (x1, y1, z1) after the movement are obtained based on the spatial coordinate displacement conversion relationship.

[0016] In another embodiment of the present invention, before step S1, the horizontal rotation device controls the rotation of the longitudinal rotation device, and at the same time, the horizontal distance measuring device collects the horizontal distance information between the horizontal distance measuring device and the wall at a fixed frequency, and the minimum horizontal distance information is screened out, and the central processing unit controls the horizontal rotation device to rotate to the position of the minimum horizontal distance information.

[0017] According to the implementation of the present invention, the following advantages are achieved:

[0018] The coal mine gas inspection robot and inspection method based on laser remote sensing described in the embodiment of the present invention include a laser remote sensing device to collect gas concentration and collection distance at a long distance, a longitudinal rotation device to control the longitudinal reciprocating rotation of the laser remote sensing device, increase the detection range of the laser remote sensing device, obtain the displacement vector of the collection point from the collection device through the trigonometric function relationship between the collection distance and the distance from the top, and finally obtain the spatial coordinate information of the collection point based on the coordinates of the collection point in the spatial coordinate system and the three-axis displacement vector. The perfect integration of large-scale gas monitoring and spatial coordinate positioning is achieved, because gas is lighter than air and mostly floats on the top of the tunnel, so that the technology of the present invention can be better used. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0020] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0021] Figure 1 A product structure diagram of a coal mine gas inspection robot based on laser remote sensing provided by one embodiment of the present invention;

[0022] Figure 2 for Figure 1 System schematic diagram;

[0023] Figure 3 A product structure diagram of a coal mine gas inspection robot based on laser remote sensing provided by another embodiment of the present invention;

[0024] Figure 4 for Figure 3 System schematic diagram;

[0025] Figure 5 A method flow chart of a coal mine gas inspection method based on laser remote sensing provided by an embodiment of the present invention;

[0026] Figure 6 A side view working state diagram of a coal mine gas inspection method based on laser remote sensing provided by an embodiment of the present invention;

[0027] Figure 7 for Figure 6 Top view of the working status.

[0028] In the figure:

[0029] 1. Laser remote sensing device; 2. Longitudinal rotation device; 3. Central processing unit; 4. Laser transmitter; 5. Laser receiver; 6. Remote sensing control processing module; 7. Spacing extraction submodule; 8. A / D conversion module; 9. Signal processor; 10. Longitudinal servo motor; 11. Longitudinal servo motor controller; 12. First connecting piece; 13. Horizontal distance measuring device; 14. Horizontal servo motor; 15. Horizontal servo motor controller; 16. Second connecting body; 17. Base; 18. Infrared thermal imaging device. DETAILED DESCRIPTION

[0030] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The terms such as "upper", "lower", "left", "right", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.

[0032] like Figure 1 , 2 As shown, a coal mine gas inspection robot based on laser remote sensing includes a laser remote sensing device 1 with a ranging function, a longitudinal rotation device 2 for controlling the longitudinal rotation of the laser remote sensing device 1, and a central processor 3, wherein the central processor 3 can use GK7205S. The laser remote sensing device 1 and the longitudinal rotation device 2 are both electrically connected to the central processor 3. The laser remote sensing device 1 synchronously and frequency-fixedly collects the gas concentration information and the longitudinal distance information of the detection area, monitors the gas concentration information, and selects the longitudinal distance information of the minimum distance from the longitudinal distance information, that is, the minimum distance from the top of the tunnel for the laser remote sensing device 1, i.e., the distance information from the top. The central processor 3 uses the longitudinal distance information and the distance information from the top to obtain the relative distance information through the trigonometric function relationship, and then uses the coordinates of the laser remote sensing device 1 as the coordinate starting point, combines the relative distance information, and obtains the coordinates of the collection position after the movement through the coordinate displacement conversion of the spatial coordinate system.

[0033] The coordinates of the laser remote sensing device 1 can be located by a separate positioning technology in the installation device, or a positioning module electrically connected to the central processor 3 is provided, such as a UWB positioning module or other mining positioning device, which is used to locate the laser remote sensing device 1, and the coordinates (x, y, z) of the laser remote sensing device 1 can be obtained.

[0034] The structures and implementation principles of the laser remote sensing device 1, the longitudinal rotation device 2, and the central processing unit 3 are described in detail below:

[0035] 1. Laser remote sensing device 1

[0036] The laser remote sensing device 1 includes a laser transmitter 4 , a laser receiver 5 and a remote sensing control processing module 6 . The laser transmitter 4 and the laser receiver 5 are both electrically connected to the remote sensing control processing module 6 .

[0037] 1. Laser transmitter 4

[0038] The laser emitter 4 is used to emit detection lasers of different wavelengths. The laser emitter 4 is provided with at least one tunable semiconductor laser and a signal generator. Each tunable semiconductor laser emits a laser of a certain wavelength corresponding to the absorption peak of the detection gas, meeting the laser requirements for detecting the concentration of gases such as gas, CO, CO2, O2, etc. The signal generator is used to control the laser emitter 4 to emit a modulated sawtooth wave control signal for gas concentration monitoring. The laser emitter 4 is provided with a fiber combiner and a laser collimating lens. The tunable semiconductor laser is connected to the fiber combiner through an optical fiber, and lasers of different wavelengths can be combined into one beam. The laser collimating lens controls the directional emission of the laser to form a beam in space.

[0039] The laser remote sensing device 1 may be provided with a temperature remote sensing module, which is electrically connected to the remote sensing control processing module 6. An infrared thermometer may be used to perform remote temperature monitoring of the monitoring area. The monitoring direction is consistent with the detection laser direction emitted by the laser remote sensing device 1, and the returned temperature signal is converted into an electrical signal.

[0040] 2. Laser receiver 5

[0041] The laser receiver 5 is used to receive the reflected laser signal and convert the laser signal into an electrical signal. The laser receiver 5 includes a receiving lens, a photodetector and a darkroom. The receiving lens and the photodetector are respectively arranged on both sides of the darkroom. The photodetector is arranged at the focusing point of the receiving lens. The receiving lens focuses the reflected laser onto the photodetector, and the photodetector converts the laser signal into an electrical signal.

[0042] 3. Remote sensing control processing module 6

[0043] The remote sensing control processing module 6 is used to control the laser transmitter 4 to emit laser; process the electrical signal sent by the laser receiver 5, obtain gas concentration information and longitudinal distance information, monitor and warn the gas concentration, and filter out the distance from the top from the longitudinal distance information. The remote sensing control processing module 6 includes an A / D conversion module 8, a signal processor 9 and a spacing extraction submodule 7. The A / D conversion module 8 and the spacing extraction submodule 7 are both electrically connected to the signal processor 9, and the signal processor 9 is electrically connected to the central processor 3. Among them, the electrical signal is converted into a digital signal by the A / D conversion module 8. The signal processor 9 of this embodiment is a Samsung S3C2440 processor, which is used to process the digital signal to obtain the gas concentration information, and monitor the gas concentration information and the standard concentration information. If the concentration exceeds the standard, a warning signal is sent to the central controller.

[0044] The distance extraction submodule 7 can be a phase-locked loop circuit with a built-in digital phase detector, which is responsible for processing the longitudinal distance measurement signal, comparing the received signal with the transmitted signal, obtaining the phase difference between the signals, and sending the phase difference to the signal processor 9 in the form of data. The signal processor 9 obtains the longitudinal distance information, screens out the longitudinal distance information of the minimum longitudinal distance from the longitudinal distance information, and obtains the distance information from the top, that is, the minimum vertical distance of the laser remote sensing device 1 from the top.

[0045] 2. Longitudinal Rotation Device 2

[0046] The longitudinal rotation device 2 includes a longitudinal servo motor 10, a longitudinal servo motor controller 11, and a first connecting member 12. The two ends of the first connecting member 12 are respectively connected to the laser remote sensing device 1 and the longitudinal servo motor 10. The first connecting member 12 is horizontally arranged and perpendicular to the laser remote sensing device 1, driving the laser remote sensing device 1 to rotate longitudinally. The longitudinal servo motor 10 is electrically connected to the longitudinal servo motor controller 11, and the longitudinal servo motor controller 11 is electrically connected to the central processing unit 3. The central processing unit 3 controls the servo motor controller to start, and sends the rotation angle interval of the servo motor (i.e., the forward and reverse rotation angle interval of the servo motor, the angle starting point is the angle corresponding to the distance from the top information) to the servo motor controller to realize the control of the longitudinal rotation angle of the laser remote sensing controller. The longitudinal servo motor 10 can be connected to the first connecting member 12 through a mechanical linkage mechanism such as a gear transmission and a screw transmission to meet the needs of different mechanical structures.

[0047] 3. Horizontal Rotation Device

[0048] like Figure 3 , 4 As shown, the longitudinal rotating device 2 is provided with a horizontal distance measuring device 13 and a horizontal rotating device, both of which are electrically connected to the central processing unit 3 , and the rotating end of the horizontal rotating device is fixedly connected to the base 17 .

[0049] The horizontal ranging device 13 is arranged on the side wall of the laser oscillation device or the longitudinal rotation device 2, such as an ultrasonic sensor, a laser rangefinder, etc., for detecting the horizontal distance between it and the surrounding walls. The signal emission direction of the horizontal ranging device 13 is perpendicular to the longitudinal rotation plane of the laser oscillation device. The horizontal ranging device 13 is electrically connected to the central processor 3.

[0050] The horizontal rotation device includes a horizontal servo motor 14, a horizontal servo motor controller 15, a second connector 16 and a base 17. The horizontal servo motor 14 and the horizontal servo motor controller 15 are arranged at the bottom of the longitudinal rotation device 2. The two ends of the second connector 16 are respectively connected to the horizontal servo motor 14 and the base 17. The second connector 16 is vertically arranged at the bottom of the longitudinal rotation device 2. The longitudinal servo motor 10 can be connected to the first connector 12 through a mechanical linkage mechanism such as a gear transmission and a screw transmission to meet the needs of different mechanical structures.

[0051] The horizontal rotation device is used to control the synchronous horizontal rotation of the longitudinal rotation device 2 and the laser remote sensing device 1. Both are controlled by the central controller. The rotation surface of the longitudinal rotation device 2 is precisely controlled to be parallel to the wall on one side of the tunnel, so that the direction of laser translation is the extension direction of the tunnel, which is suitable for single-channel situations. The angle between the rotation surface of the laser remote sensing device 1 and the wall can also be controlled through trigonometric functions to change the direction of the selection surface, which can be used in cross-channel situations.

[0052] 3. Infrared thermal imaging device 18

[0053] The longitudinal rotating device 2 is provided with an infrared thermal imaging device 18 with a rotating pan-tilt platform, and the infrared thermal imaging device 18 is electrically connected to the central controller. When the central controller receives the warning signal, it controls the infrared thermal imaging device 18 to detect whether there are people on the front and back sides of the laser remote sensing device 1. If there are people in the abnormal position direction corresponding to the warning signal, the central controller will issue a high-level alarm; if there are no people in the abnormal position direction, the central controller will issue a low-level alarm, so as to inform the central control center that the rescue focus is there and needs to be handled first. The product model of the infrared imaging device in this embodiment is the mining intrinsically safe explosion-proof network camera KBA127.

[0054] like Figure 5 As shown, a coal mine gas inspection robot based on laser remote sensing includes the following steps:

[0055] S1, such as Figure 6 As shown, the longitudinal rotating device 2 drives the laser remote sensing device 1 to rotate back and forth within the rotation angle range starting from the initial angle. When the longitudinal rotating device 2 detects that its rotation reaches the maximum set angle, it controls the laser remote sensing device 1 to rotate in the opposite direction until it reaches the maximum set angle in the opposite direction, and then changes direction to rotate, repeating the rotation in sequence.

[0056] The laser transmitter 4 of the laser remote sensing device 1 successively emits two lasers with different functions and wavelengths, namely, a distance measuring laser and a concentration measuring laser. The order of the two lasers is not limited, but the acquisition conditions of the two lasers are the same. Alternatively, in order to detect the accuracy of gas concentration, the structure and principle of the laser remote sensing device 1 are simplified, so that the laser remote sensing device 1 only emits a laser for measuring gas concentration. A distance measuring device such as an ultrasonic distance measuring device, a laser distance measuring device, etc. can be separately set, and its distance measuring direction is consistent with the direction of the laser emitted by the laser remote sensing device 1.

[0057] The present invention can also be provided with a temperature remote sensing module to perform remote temperature monitoring of the detection area, and the monitoring direction is synchronized with the laser remote sensing device 1. The temperature remote sensing module receives the infrared temperature signal and converts it into an electrical signal. After being processed by the remote sensing control processing module 6, the temperature information is obtained, and the temperature information is compared with the standard. If the temperature exceeds the standard, the remote sensing control processing module 6 sends a warning signal. Since gas is lighter than air, it often gathers at the top. A temperature remote sensing device is used to monitor the top temperature to warn of the danger of fire in the mine. The temperature remote sensing module of this embodiment is a D-TIRC100 thermal infrared remote sensing module.

[0058] S2. The laser remote sensing device 1 selects the distance from the top from the longitudinal distance information to obtain the distance from the top D. Specifically, the laser remote sensing device 1 is provided with a laser receiver 5, which receives the reflected laser and converts the laser signal into an electrical signal. The remote sensing control processing module 6 processes the electrical signal to obtain the gas concentration information and the longitudinal distance information, and obtains the gas concentration and the longitudinal distance L respectively. Since the lasers for detecting the gas concentration and the longitudinal distance are emitted in a set order, the digital signals of the two can be distinguished according to the order, and the digital signals carry information identifiers, which are used to distinguish the gas concentration information collected by the laser remote sensing device 1 at different rotation angles and different times, such as angle information, collection time, gas type number, etc., so that the gas concentration information and the longitudinal distance information of the same detection point correspond to each other.

[0059] The remote sensing control processing module 6 receives the digital signal, obtains the longitudinal distance information, and then compares it with the distance from the top information. If the longitudinal distance information is less than the distance from the top information, the longitudinal distance information is set as the distance from the top information to obtain the distance from the top of the laser remote sensing device 1. The rotation angle of the laser remote sensing device 1 when it is in the distance from the top information state is set as the longitudinal initial angle. Based on the longitudinal initial angle, the angle range of the laser remote sensing device 1 rotating to both sides is set to obtain the rotation angle range. Since the longitudinal rotation device 2 controls the longitudinal rotation of the laser remote sensing device 1, the longitudinal angle is reflected in the data as the rotation range of the longitudinal servo motor 10.

[0060] The remote sensing control processing module 6 receives the digital signal, obtains the gas concentration information, and then compares it with the standard concentration information. If multiple gases are measured, the concentration of each gas is detected separately. If the detected gas concentration information exceeds the standard, the concentration warning module sends a warning signal to the central processor 3 to realize the abnormal gas concentration warning function.

[0061] S3, the central processor 3 uses the longitudinal distance L and the distance from the top D to obtain the translation distance S through the trigonometric function relationship. Specifically, the longitudinal distance L and the distance from the top D are first used to calculate the angle a between the two, and the calculation formula is as follows:

[0062]

[0063] Where:

[0064] L——longitudinal distance corresponding to the warning signal;

[0065] D——the distance from the top of the laser remote sensing device 1;

[0066] Angle a – the angle between the longitudinal distance and the distance from the top.

[0067] Then, according to the Pythagorean theorem, we can get the translation distance S:

[0068] S = L·sin a = D·tin a;

[0069] Where:

[0070] S——the translation distance between the end point of the laser remote sensing device 1 and the vertical point of the laser remote sensing device 1 at the top of the tunnel;

[0071] L——longitudinal distance corresponding to the warning signal;

[0072] D——the distance from the top of the laser remote sensing device 1;

[0073] Angle a – the angle between the longitudinal distance and the distance from the top.

[0074] S4. The coordinates (x, y, z) of the laser remote sensing device 1 are combined with the translation distance S, the distance from the top D, and the longitudinal inclination angle a to obtain the collection position coordinates (x1, y1, z1) after the movement based on the spatial coordinate displacement conversion relationship.

[0075] Specifically, Figure 7As shown in the figure, since the laser remote sensing device 1 rotates longitudinally, its longitudinal rotation plane is in the same direction as the extension direction of the tunnel and the mine tunnel and is perpendicular to the ground. Therefore, the longitudinal rotation plane is perpendicular to the XOY coordinate plane in the space coordinate system. When the equipment is installed, in order to ensure the maximum measurement range, the longitudinal rotation plane of the laser remote sensing device 1 is parallel to the central axis of the tunnel, so that the translation direction of the laser extends along both ends of the tunnel. Therefore, the central axis of the tunnel and the longitudinal rotation plane are projected to the surrounding Figure 7 The horizontal inclination angle b of the XOY coordinate plane is the same. If it is set in an intersecting tunnel or a large area, multiple horizontal inclination angles b can be set, and the laser remote sensing device 1 can be controlled to rotate horizontally, and then stop at multiple horizontal inclination angles b in sequence to perform laser remote sensing detection in the longitudinal range, thereby increasing the detection range to meet the monitoring needs of intersecting tunnels and large areas. The device of this embodiment monitors the concentration of multiple gases in tunnels and mines, and has a coordinate positioning function, which can accurately inform the coordinate position of the abnormal area, facilitating the prevention and elimination of dangers.

[0076] Based on the coordinate conversion formula in the spatial coordinate system, the coordinates (x, y, z) of the laser remote sensing device 1 are taken as the starting point, and the coordinate conversion is performed through the translation distance S, the horizontal inclination angle b, and the distance from the top D to obtain the acquisition position coordinates (x1, y1, z1). The specific algorithm is as follows:

[0077]

[0078]

[0079] z1=z+D

[0080] Where:

[0081] is the horizontal coordinate vector difference between the coordinates of the laser remote sensing device 1 and the acquisition position coordinates;

[0082] is the ordinate vector difference between the coordinates of the laser remote sensing device 1 and the acquisition position coordinates;

[0083] D is the distance from the top of the laser remote sensing device 1.

[0084] According to the horizontal inclination angle b, The positive and negative signs of The relationship between the positive and negative signs of and the horizontal inclination angle b changes according to the change of the quadrant position of the laser remote sensing coordinate device in the spatial coordinate system. Figure 7 As shown in Figure 2, if the horizontal inclination angle b is within the angle range of (0°, 180°), then is a positive value, and the rest are negative values; if the horizontal inclination angle b is within the angle range of (90°, 270°), then is a negative value, and the rest are positive values. According to the translation distance S and the horizontal inclination angle b, we can get the following relationship based on the trigonometric function:

[0085]

[0086]

[0087] Finally, we get:

[0088] x1=x+S·cos b

[0089] y1=y+S·sin b

[0090] z1=z+D

[0091] The acquisition position coordinates (x+S·cos b, y+S·sin b, z+D) are obtained to realize the spatial positioning of the monitoring laser movement.

[0092] In order to reduce the angle error between the rotating surface of the laser rotating device and the side wall of the tunnel caused by artificial placement, so that the rotating direction of the laser swing device is accurately the same as the extension direction of the tunnel, it is also necessary to detect whether the rotating plane of the laser swing device is parallel to the side wall of the tunnel, that is, whether it is parallel to the central axis of the tunnel before step S1. The specific method is that the horizontal servo controller receives the start signal of the central processor 3, controls the rotation of the horizontal servo motor 14, and at the same time, the horizontal distance measuring device 13 receives the start signal and detects the horizontal distance information between the horizontal distance measuring device 13 and the tunnel wall at a fixed frequency. The horizontal distance measuring device 13 selects the minimum horizontal distance information, that is, the minimum spacing information, and its screening method is the same as the distance information from the top. Then the horizontal servo controller controls the horizontal servo motor 14 to rotate to the position of the minimum spacing information, which ensures the accuracy of the parallelism between the longitudinal rotating surface of the laser remote sensing device 1 and the central axis of the tunnel, thereby ensuring the accuracy of the acquisition position coordinates.

[0093] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A coal mine gas inspection robot based on laser remote sensing, Features: It includes a laser remote sensing device with a distance measuring function, a longitudinal rotation device for controlling the longitudinal rotation of the laser remote sensing device, and a central processing unit, wherein the laser remote sensing device and the longitudinal rotation device are both electrically connected to the central processing unit; The laser remote sensing device comprises a laser transmitter, a laser receiver and a remote sensing control processing module, wherein the laser transmitter and the laser receiver are both electrically connected to the remote sensing control processing module; The remote sensing control processing module includes a signal processor, a spacing extraction submodule, and an A / D conversion module, and the spacing extraction submodule and the A / D conversion module are both electrically connected to the signal processor; The longitudinal rotation device controls the longitudinal reciprocating rotation of the laser remote sensing device, and the longitudinal rotation plane of the laser remote sensing device is in the same direction as the extension direction of the tunnel and the mine tunnel, and is perpendicular to the ground; The laser remote sensing device synchronously collects the gas concentration information and the longitudinal distance information of the detection area, monitors the gas concentration information, and selects the distance information from the top from the longitudinal distance information; The central processor uses the longitudinal distance information and the distance from the top information to obtain the relative distance information and the longitudinal inclination angle a through the trigonometric function relationship, and then uses the coordinates of the laser remote sensing device as the coordinate starting point to obtain the acquisition position coordinates based on the spatial coordinate displacement conversion; The longitudinal rotating device is provided with a horizontal distance measuring device and a horizontal rotating device; the horizontal distance measuring device is arranged on the side wall of the longitudinal rotating device, and is used to detect the horizontal distance between it and the surrounding walls; the horizontal rotating device is used to control the synchronous horizontal rotation of the longitudinal rotating device and the laser remote sensing device.

2. The coal mine gas inspection robot based on laser remote sensing according to claim 1, Features: The laser transmitter is provided with at least one tunable semiconductor laser and a signal generator. The tunable semiconductor laser emits laser light corresponding to the absorption peak wavelength of the detection gas, and the signal generator is electrically connected to the tunable semiconductor laser.

3. The coal mine gas inspection robot based on laser remote sensing according to claim 1, Features: The laser receiver comprises a receiving lens, a photoelectric detector and a darkroom. The receiving lens and the photoelectric detector are respectively arranged on two sides of the darkroom, and the photoelectric detector is arranged at the focusing point of the receiving lens.

4. The coal mine gas inspection robot based on laser remote sensing according to claim 1, Features: The laser remote sensing device is provided with a temperature remote sensing module, and the temperature remote sensing module is electrically connected to the remote sensing control processing module.

5. The coal mine gas inspection robot based on laser remote sensing according to claim 1, Features: The longitudinal rotation device includes a longitudinal servo motor, a longitudinal servo motor controller, and a first connecting member, wherein two ends of the first connecting member are respectively connected to a laser remote sensing device and a longitudinal servo motor, the longitudinal servo motor is electrically connected to the longitudinal servo motor controller, and the longitudinal servo motor controller is electrically connected to a central processing unit.

6. The coal mine gas inspection robot based on laser remote sensing according to claim 5, Features: The horizontal distance measuring device and the horizontal rotating device are both electrically connected to the central processing unit, and the rotating end of the horizontal rotating device is fixedly connected to the base located at the bottom of the longitudinal rotating device.

7. The coal mine gas inspection robot based on laser remote sensing according to claim 1, Features: Infrared thermal imaging devices are provided on both sides of the longitudinal rotating device in the rotation direction, and the infrared thermal imaging devices are electrically connected to the central controller.

8. A coal mine gas inspection method using a coal mine gas inspection robot based on laser remote sensing according to any one of claims 1 to 7, It is characterized in that The following steps are involved: S1. The laser remote sensing device reciprocates within the rotation angle range, synchronously collects gas concentration information and longitudinal distance information, analyzes the longitudinal distance information to obtain the longitudinal distance L, and analyzes the gas concentration information to obtain the gas concentration and monitors it; S2, the laser remote sensing device selects the minimum longitudinal distance information as the distance from the top, and obtains the distance from the top D; S3, the central processing unit obtains the translation distance S and the longitudinal inclination angle a by using the trigonometric function relationship between the longitudinal distance L and the distance from the top D; S4, the coordinates (x, y, z) of the laser remote sensing device are combined with the translation distance S, the distance from the top D, and the longitudinal inclination angle a, and the collection position coordinates (x1, y1, z1) after the movement are obtained based on the spatial coordinate displacement conversion relationship.

9. A coal mine gas inspection method using a coal mine gas inspection robot based on laser remote sensing according to claim 8, Features: Before step S1, the horizontal rotating device controls the rotation of the longitudinal rotating device, and the horizontal distance measuring device collects the horizontal distance information between the horizontal distance measuring device and the wall at a fixed frequency, selects the minimum horizontal distance information after at least one rotation, and rotates to the position of the minimum horizontal distance information.

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