Closed coal mine gas leakage monitoring and disaster prevention and control method and system

Abstract

The present invention specifically discloses a closed coal mine gas leakage monitoring and disaster prevention and control method and system, the method includes S1 collecting methane optical telemetry images within the near-ground space above the mining area; S2 drawing the surface three-dimensional spatial position image, and fusing the surface three-dimensional spatial position image with the methane optical telemetry image; S3 identifying the methane concentration area and the corresponding geographical location information based on the fused image; S4 calculating the distance between the excessively high area where the methane concentration exceeds the first threshold and the mine or tunnel, and obtaining the mine or tunnel to which the excessively high methane concentration area belongs; S5 when the methane concentration is higher than the first threshold, ventilating and suppressing the mine or tunnel; S6 when the methane concentration does not exceed the first threshold, using a robot carrying a detection device to conduct ground inspections of the methane leakage area; when the concentration exceeds the second threshold, ventilating and suppressing the explosion; when the concentration does not exceed the second threshold, continuing the inspection. The technical solution is adopted to realize gas monitoring of mines and tunnels and improve safety.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine safety monitoring, and relates to a closed coal mine gas leakage monitoring and disaster prevention and control method and system. Background Art

[0002] Gas refers to hydrocarbon gas stored in coal seams with methane as the main component, mainly adsorbed on the surface of coal matrix particles, and partially free in coal pores or dissolved in coal seam water. It is a mineral resource associated with coal. Gas is one of the most important safety hazards in the coal mining process. The number of deaths from gas accidents such as coal and gas outbursts and gas explosions has long accounted for more than half of the total number of deaths in coal mine accidents. At the same time, the calorific value of gas is equivalent to that of natural gas, which is 2 to 5 times that of general coal. Moreover, it is very clean after combustion and produces almost no waste gas. It is a good fuel for industry, chemical industry, power generation and residents' life. Gas is directly discharged into the atmosphere, and its greenhouse effect is about 21 times that of carbon dioxide, which is extremely destructive to the ecological environment. Therefore, the development and utilization of gas stored in coal seams has multiple meanings in ensuring production safety, energy supply and environmental protection.

[0003] For mines and tunnels that have not been in production for a long time, it is doubtful whether their internal safety performance is still reliable. Direct manual monitoring may have unknown safety issues. For mines that have been strictly closed, due to the confining pressure of the overburden or the rebound pressure of the mine water level, it is also very likely that gas will accumulate. If there are ground fissures or weak channels, gas may emerge, which can easily lead to safety accidents. Therefore, although the coal mine may have been abandoned and closed, dynamic gas monitoring work still needs to be continued. Summary of the invention

[0004] The purpose of the present invention is to provide a closed coal mine gas leakage monitoring and disaster prevention and control method and system, so as to realize gas monitoring of mines and tunnels and improve safety.

[0005] In order to achieve the above object, the basic scheme of the present invention is: a method for monitoring and preventing and controlling gas leakage in a closed coal mine, comprising the following steps:

[0006] S1, collects methane optical telemetry images in the near-Earth space above the mining area;

[0007] S2, drawing a three-dimensional spatial position image of the surface, and fusing the three-dimensional spatial position image of the surface with the methane optical remote sensing image;

[0008] S3, based on the fused image, identifies the methane concentration area and the corresponding geographical location information;

[0009] S4, calculating the distance between the area where the methane concentration exceeds the first threshold and the mine or tunnel, and obtaining the mine or tunnel to which the area with high methane concentration belongs;

[0010] S5, if the methane concentration is higher than the first threshold, ventilation and explosion suppression are performed on the mine or tunnel;

[0011] S6: If the methane concentration does not exceed the first threshold, use a robot carrying detection equipment to conduct ground inspections of the methane leakage area; if the concentration exceeds the second threshold, ventilation is performed to suppress explosions; if the concentration does not exceed the second threshold, inspections are continued.

[0012] The working principle and beneficial effect of this basic solution are: using the collected methane optical telemetry images and the 3D spatial position images of the surface to mark the methane concentration area, which is convenient for viewing and subsequent inspection positioning. Using robots to inspect the corresponding areas, further verify the detection and prevent omissions. And judge the severity of the methane leak based on the threshold concentration, so as to take corresponding measures to ensure timely investigation, ventilation and explosion suppression, and avoid safety accidents caused by methane leaks.

[0013] Further, the image fusion method is:

[0014] Obtain methane optical remote sensing images and three-dimensional surface spatial position images;

[0015] Marking the positions of mines and tunnels on the three-dimensional spatial position image of the surface, and extracting image features of the methane optical telemetry image, wherein the image features include the location and concentration information of the methane leakage site;

[0016] The location and concentration information of the methane leakage site are displayed on the three-dimensional space location image of the surface.

[0017] Simple operation and easy to use.

[0018] Furthermore, the inspection method of the ground robot during inspection is:

[0019] Obtain a real-time map of methane leaks that are not exceeding the limit;

[0020] The concentration of methane leakage is classified into N levels;

[0021] Starting from the methane leakage point with the highest concentration, establish the objective function and constraints, and solve the objective function step by step to plan the path:

[0022]

[0023] Where D is the objective function, n is the number of selected methane leakage areas, i and j are leakage points; α1 and α2 are weight factors, α1>0.5, α2<0.5; ρ j测 is the methane concentration at the leak point j, ρ标 is the reference standard safety concentration; T 标 is the reference standard distance time, T ij is the time from leakage point i to leakage point j; x ij is the moving distance from leakage point i to leakage point j,

[0024] The value of moving from point i to point j is 1, and the values ​​of other points are 0;

[0025] The number of times it passes through points i and j is only once.

[0026] The inspection path of the ground robot is planned using the objective function and constraints to facilitate operation.

[0027] Furthermore, the method for solving the objective function is based on a genetic algorithm, or a particle swarm algorithm, or an ant colony algorithm, or a neural network algorithm.

[0028] Select appropriate algorithm to solve the objective function according to the needs, which is convenient for use.

[0029] Furthermore, the ant colony algorithm is used to solve the objective function. The specific steps are as follows:

[0030] The initial ant colony starts to build the path, and the ants are detection robots;

[0031] According to the probability of ant k going from the current node i to the next node j Select the next node;

[0032] Each time a feasible solution is completed, the path in the solution is tested for pheromone A. ij Updates;

[0033] Find the objective function, record the current optimal solution, and proceed to the next iteration.

[0034]

[0035]

[0036] Among them, A ij is the pheromone concentration of link i→j, B ij is the heuristic information of link i→j; if ρ j >ρ i , transfer to B ij The largest point, if ρ j < i , transfer to B ij The smallest point;

[0037] The method of local renewal of pheromones is as follows:

[0038] Update the pheromone of the selected point:

[0039]

[0040] Pheromones for unselected points:

[0041]

[0042] Among them, L 标 is the distance standard, L ij is the distance from i to j;

[0043] Until the ant colony algorithm is iterated to the maximum number of iterations.

[0044] The operation process is simple and easy to use.

[0045] Further, the 1st to nth level leakage points in the methane leakage area are inspected, where level 1 is the highest level and level n is the lowest level. After completing the higher level, the lower level is inspected, and n is a positive integer not greater than N;

[0046] Update in stages, and after the update, inspect from the highest level leakage point.

[0047] The leakage points in the methane leakage area are divided into levels to facilitate orderly inspections.

[0048] Further, the ventilation explosion suppression method is as follows:

[0049] Real-time detection of gas concentration, air pressure, temperature and oxygen content in the mine;

[0050] The gas concentration, air pressure, temperature and oxygen content in the mine are used for prevention and control. The prevention and control method adopts a combination of active extraction and passive explosion suppression. The active extraction adopts at least one of the air extraction method and the water extraction method for prevention and control. The passive explosion suppression adopts at least one of the spray explosion suppression method and the injection inertia explosion suppression method for prevention and control. The specific method is:

[0051] If the methane concentration in the mine does not exceed the limit, the temperature and oxygen content are within the safe range, and the gas pressure is above the pressure threshold, water and / or gas are pumped out;

[0052] If the methane concentration in the mine exceeds the standard and the temperature and oxygen content are within the safe range, when the gas pressure is below the pressure threshold, the gas is pumped out, and when the gas pressure is above the pressure threshold, the gas and / or water are pumped out;

[0053] If the methane concentration in the mine exceeds the standard, the temperature is below the temperature threshold, and the oxygen content is within the safe range, when the air pressure is below the pressure threshold, the gas is pumped out, and when the air pressure is above the pressure threshold, the gas and / or water are pumped out;

[0054] If the methane concentration in the mine exceeds the standard and the temperature is higher than the temperature threshold and the oxygen content is within the safe range, when the air pressure is lower than the pressure threshold, then air is pumped out and sprayed; if the air pressure is higher than the pressure threshold, then air is pumped out, water is pumped out and sprayed;

[0055] If the methane concentration in the mine exceeds the standard, the temperature is below the temperature threshold, and the oxygen content is above the safe range, when the air pressure is below the pressure threshold, the air is pumped out and inert gas is injected; when the air pressure is above the pressure threshold, the air and water are pumped out and inert gas is injected;

[0056] If the methane concentration in the mine exceeds the standard, the temperature is higher than the temperature threshold, and the oxygen content is higher than the safe range, when the air pressure is lower than the pressure threshold, air is pumped out, sprayed, and inert gas is injected; if the air pressure is higher than the pressure threshold, air is pumped out, water is pumped out, sprayed, and inert gas is injected.

[0057] Pumping gas to remove gas, expel combustibles fundamentally, and reduce the absolute amount of leakage; pumping water to control the pressure in the mine and control the speed of gas leakage from ground cracks; spray explosion suppression to cut off the ignition source to prevent the high concentration of gas from detonating; inject inert gas to isolate oxygen and prevent explosion. A combination of active extraction and passive explosion suppression is used to prevent and control gas leakage in closed mines, reduce gas leakage and explosion prevention, and improve the safety of closed mines.

[0058] Furthermore, the specific methods for prevention and control based on the gas concentration, air pressure, temperature and oxygen content in the mine are as follows:

[0059] F=(f(η)+f(p))+100f(o x )+1000f(T)

[0060] in,

[0061]

[0062]

[0063]

[0064] Among them, η is the detected gas concentration, η 标 is the gas concentration safety threshold, p is the detected gas pressure value, and p 标 is the air pressure safety threshold, o x is the oxygen content detected, o x标 is the oxygen concentration safety threshold, T is the detected temperature, T 标 is the safety temperature threshold;

[0065] When the value of F is greater than 2 and less than 10, air extraction and / or water extraction are used for prevention and control;

[0066] When the F value is greater than 10 and less than 100, use the air extraction method and / or water extraction method, as well as the injection inertia explosion suppression method;

[0067] When the F value is greater than 100, use air extraction and / or water extraction, spray explosion suppression and / or injection explosion suppression.

[0068] The disaster prevention equipment includes active extraction equipment and passive explosion suppression equipment. The active extraction equipment includes air extraction equipment and water pumping equipment. The passive explosion suppression equipment includes spray explosion suppression equipment and injection inert explosion suppression equipment. The prevention and control method provided in this application is simple to operate and easy to use.

[0069] The present invention also provides a closed coal mine gas leakage monitoring and disaster prevention and control system, including an air detection module and a ground detection module. The air detection module is used to collect methane optical telemetry images within the near-ground space above the mining area. The output end of the air detection module is connected to the input end of the ground detection module. The ground detection module executes the method described in the present invention to perform leakage monitoring.

[0070] The system monitors methane in the mining area, facilitates safety protection, and collects data using drones, facilitating rapid processing of dangerous areas.

[0071] Furthermore, the air detection module includes a drone and a methane laser telemeter, and the methane laser telemeter is installed on the drone.

[0072] The structure is simple and easy to manufacture and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a flow chart of the method for monitoring and preventing and controlling gas leakage in a closed coal mine according to the present invention;

[0074] Figure 2 It is a structural schematic diagram of the coal mine gas leakage monitoring and disaster prevention and control system of the present invention.

[0075] The figure marks in the drawings of the specification include: mine 10, plugging 11, flooding line 12, coal seam 20, surface layer 30, fissure 31, sensor group 40, air extraction equipment 50, air pump 51, air extraction pipe 52, water pumping equipment 60, water pump 61, water pumping pipe 62, spray explosion suppression equipment 70, water pipe 71, pressure pump 72, water pipe 73, atomizing nozzle 74, spray valve 75, injection explosion suppression equipment 80, gas storage tank 81, air pump 82, gas pipe 83. DETAILED DESCRIPTION

[0076] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0077] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0078] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0079] The present invention discloses a closed coal mine gas leakage monitoring and disaster prevention and control method, such as Figure 1 As shown, the following steps are included:

[0080] S1, collects methane optical telemetry images in the near-Earth space above the mining area;

[0081] S2, drawing a three-dimensional spatial position image of the surface, and fusing the three-dimensional spatial position image of the surface with the methane optical remote sensing image;

[0082] S3, based on the fused image, identifies the methane concentration area and the corresponding geographical location information;

[0083] S4, calculating the distance between the area where the methane concentration exceeds the first threshold and the mine or tunnel, and obtaining the mine or tunnel to which the area with high methane concentration belongs;

[0084] S5, if the methane concentration is higher than the first threshold, ventilation and explosion suppression are performed on the mine or tunnel;

[0085] S6: If the methane concentration does not exceed the first threshold, use a robot carrying detection equipment to conduct ground inspections of the methane leakage area; if the concentration exceeds the second threshold, ventilation is performed to suppress explosions; if the concentration does not exceed the second threshold, inspections are continued.

[0086] In a preferred embodiment of the present invention, the image fusion method is:

[0087] Obtain methane optical remote sensing images and three-dimensional surface spatial position images;

[0088] Marking the positions of mines and tunnels on the three-dimensional spatial position image of the surface, and extracting image features of the methane optical telemetry image, wherein the image features include the location and concentration information of the methane leakage site;

[0089] The location and concentration information of the methane leakage site are displayed on the three-dimensional space location image of the surface.

[0090] In a preferred embodiment of the present invention, the inspection method of the ground robot during inspection is:

[0091] Obtaining a real-time detected map of methane leakage points that are not exceeding the standard (i.e., not exceeding the first threshold);

[0092] The concentration of methane leakage is classified into N levels;

[0093] Starting from the methane leakage point with the highest concentration, establish the objective function and constraints, and solve the objective function step by step to plan the path:

[0094]

[0095] Where D is the objective function, n is the number of selected methane leakage areas, i and j are leakage points; α1 and α2 are weight factors, α1>0.5, α2<0.5; ρ j测 is the methane concentration at the leak point j, ρ 标 is the reference standard safety concentration; T 标 is the reference standard distance time, T ij is the time from leakage point i to leakage point j; x ij is the moving distance from leakage point i to leakage point j, with the following constraints:

[0096] The value of moving from point i to point j is 1, and the values ​​of other points are 0;

[0097] The number of times it passes through points i and j is only once.

[0098] In a preferred embodiment of the present invention, the method for solving the objective function is based on a genetic algorithm, a particle swarm algorithm, an ant colony algorithm or a neural network algorithm.

[0099] More preferably, the objective function is solved using an ant colony algorithm, and the specific steps are:

[0100] The initial ant colony starts to build the path, and the ants are detection robots;

[0101] According to the probability of ant k going from the current node i to the next node j Select the next node;

[0102] Each time a feasible solution is completed, the path in the solution is tested for pheromone A. ij Updates;

[0103] Find the objective function, record the current optimal solution, and proceed to the next iteration.

[0104]

[0105]

[0106] Among them, A ij is the pheromone concentration of link i→j, B ij is the heuristic information of link i→jj; if ρ j >ρ i , transfer to B ij The largest point, if ρ j < i , transfer to B ij The smallest point;

[0107] The method of local renewal of pheromones is as follows:

[0108] Update the pheromone of the selected point:

[0109]

[0110] Pheromones for unselected points:

[0111]

[0112] Among them, L 标 is the distance standard, L ij is the distance from i to j;

[0113] Until the ant colony algorithm is iterated to the maximum number of iterations.

[0114] In a preferred embodiment of the present invention, the first to nth level leakage points in the methane leakage area are inspected, with level 1 being the highest level and level n being the lowest level. After completing the higher level, the lower level is inspected, and n is a positive integer not greater than N.

[0115] Update in stages, and after the update, inspect from the highest level leakage point.

[0116] In a preferred embodiment of the present invention, the ventilation explosion suppression method is as follows:

[0117] Real-time detection of gas concentration, air pressure, temperature and oxygen content in the mine;

[0118] The gas concentration, air pressure, temperature and oxygen content in the mine are used for prevention and control. The prevention and control method adopts a combination of active extraction and passive explosion suppression. The active extraction adopts at least one of the air extraction method and the water extraction method for prevention and control. The passive explosion suppression adopts at least one of the spray explosion suppression method and the injection inertia explosion suppression method for prevention and control. The specific method is:

[0119] If the methane concentration in the mine does not exceed the standard, the temperature and oxygen content are within the safe range, and the air pressure is higher than the pressure threshold, the mine air pressure should be reduced by pumping water and / or gas to reduce the air pressure in the mine to below the safe pressure threshold, thereby reducing or even avoiding gas leakage;

[0120] If the methane concentration in the mine exceeds the standard and the temperature and oxygen content are within the safe range, when the gas pressure is lower than the pressure threshold, gas is pumped out to discharge the gas in the mine and reduce the gas concentration to below the safe threshold; when the gas pressure is higher than the pressure threshold, gas and / or water are pumped out to reduce the gas pressure in the mine to below the safe pressure threshold;

[0121] If the methane concentration in the mine exceeds the standard, the temperature is below the temperature threshold and the oxygen content is within the safe range, when the air pressure is below the pressure threshold, the gas is pumped out and inert gas can be injected to discharge the gas and isolate oxygen to prevent explosion; when the air pressure is higher than the pressure threshold, the gas and / or water are pumped out and inert gas can be injected to discharge the gas and control the pressure in the mine and isolate oxygen to prevent explosion;

[0122] If the methane concentration in the mine exceeds the standard, the temperature is higher than the temperature threshold, and the oxygen content is within the safe range, when the air pressure is lower than the pressure threshold, the gas will be pumped out and sprayed to discharge the gas and cut off the ignition source at the same time; if the air pressure is higher than the pressure threshold, the gas will be pumped out, water will be pumped out, and sprayed to discharge the gas, control the pressure in the mine, and cut off the ignition source at the same time;

[0123] If the methane concentration in the mine exceeds the standard, the temperature is lower than the temperature threshold, and the oxygen content is higher than the safe range, when the air pressure is lower than the pressure threshold, the gas is pumped out and inert gas is injected to discharge gas and isolate oxygen for explosion prevention; when the air pressure is higher than the pressure threshold, the gas and water are pumped out and inert gas is injected;

[0124] If the methane concentration in the mine exceeds the standard, the temperature is higher than the temperature threshold, and the oxygen content is higher than the safe range, when the air pressure is lower than the pressure threshold, the air is pumped out, sprayed, and inert gas is injected to expel the gas, cut off the ignition source, and isolate the oxygen to prevent explosion; if the air pressure is higher than the pressure threshold, the air is pumped out, water is pumped out, sprayed, and inert gas is injected to expel the gas, control the pressure in the mine, cut off the ignition source, and isolate the oxygen to prevent explosion.

[0125] Pumping gas to remove gas, fundamentally discharge combustibles, and reduce the absolute amount of leakage; pumping water to control the pressure in the mine and control the speed of gas leakage from ground fissures; spray explosion suppression to cut off the ignition source so as not to detonate high-concentration gas; inject inert gas to isolate oxygen and prevent explosion. A combination of active extraction and passive explosion suppression is used to prevent and control gas leakage in closed mines, reduce gas leakage and explosion prevention, and improve the safety of closed mines. In this embodiment, the gas extraction method is to extract gas from the mine, ground fissures, and coal seam fissures by setting up gas extraction equipment; the water extraction method is to extract water from the coal seam mine by setting up water pumping equipment; the spray explosion suppression method is to spray water mist to cut off the ignition source by setting up spray explosion suppression equipment; the inert gas injection explosion suppression method is to inject inert gas into the mine by setting up inert gas injection explosion suppression equipment. There are coal seams 20, surface layers 30, etc. in the mine.

[0126] In a preferred embodiment of the present invention, the specific method for preventing and controlling gas according to the gas concentration, air pressure, temperature and oxygen content in the mine is:

[0127] F=(f(η)+f(p))+100f(o x )+1000f(T)

[0128] in,

[0129]

[0130]

[0131]

[0132] Among them, η is the detected gas concentration, η 标 is the gas concentration safety threshold, p is the detected gas pressure value, and p 标 is the air pressure safety threshold, O x is the oxygen content detected, O x标 is the oxygen concentration safety threshold, T is the detected temperature, T 标 is the safety temperature threshold;

[0133] When the value of F is greater than 2 and less than 10, air extraction and / or water extraction are used for prevention and control;

[0134] When the F value is greater than 10 and less than 100, use the air extraction method and / or water extraction method, as well as the injection inertia explosion suppression method;

[0135] When the F value is greater than 100, use air extraction and / or water extraction, spray explosion suppression and / or injection explosion suppression.

[0136] Disaster prevention equipment includes active extraction equipment and passive explosion suppression equipment. Active extraction equipment includes air extraction equipment and water pumping equipment. Passive explosion suppression equipment includes spray explosion suppression equipment and inert injection explosion suppression equipment. The prevention and control method provided in this application is simple to operate and easy to use. The present invention also provides a closed coal mine gas leakage monitoring and disaster prevention and control system, including an air detection module and a ground detection module. The air detection module is used to collect methane optical telemetry images within the near-ground space above the mining area. The output end of the air detection module is connected to the input end of the ground detection module. The ground detection module executes the method described in the present invention to monitor leakage. The air detection module includes an unmanned aerial vehicle and a methane laser telemeter, and the methane laser telemeter is installed on the unmanned aerial vehicle.

[0137] Close coal mine gas leakage monitoring and disaster prevention and control, in a preferred embodiment, such as Figure 2 As shown, the prevention and control system includes a sensor group 40, a controller and disaster prevention equipment. The sensor group 40 is used to detect the gas concentration, air pressure, temperature and oxygen content in the mine 10 in real time and transmit them to the controller. The disaster prevention equipment includes active extraction equipment and passive explosion suppression equipment. The active extraction equipment includes air extraction equipment 50 and water pumping equipment 60. The passive explosion suppression equipment includes spray explosion suppression equipment 70 and injection explosion suppression equipment 80. The controller performs prevention and control according to the prevention and control method of Example 1.

[0138] In this embodiment, the sensor group 40 includes a gas concentration sensor, a temperature sensor, an air pressure sensor and an oxygen content sensor arranged in the mine 10. The sensor group 40 also includes a sensor for detecting the amount of gas overflow from ground fissures, so that the prevention and control system can select a specific prevention and control method according to the amount of gas overflow from the ground fissures.

[0139] In this embodiment, the air extraction device 50 includes an air extraction pump 51 and an air extraction pipe 52 connected to the inlet of the air extraction pump 51. The air extraction pump 51 is arranged outside the mine 10, and the air extraction pipe 52 passes through the plug 11 and is inserted into the mine 10. When the air extraction pump 51 is working, the air extraction pump 51 extracts gas in the mine 10 through the air extraction pipe 52, and gas in coal seam fissures and ground fissures connected to the mine will also be extracted.

[0140] In this embodiment, the pumping equipment 60 includes a pump 61 and a pumping pipe 62 connected to the inlet of the pump 61. The pump 61 is arranged outside the mine 10. The pumping pipe 62 passes through the plug 11 and is inserted below the water flooding line 12 in the mine 10 to pump out the water in the mine 10 to control the air pressure in the mine 10 and control the speed of gas leakage from the fissure 31.

[0141] In this embodiment, the spray explosion suppression device 70 includes a booster pump 72 connected to a water source through a water pipe 71. The water source can be a reservoir, a faucet or a water tank. The booster pump 72 is arranged outside the mine 10. The outlet of the booster pump 72 is connected to a water pipe 73. The water pipe 73 is connected to a plurality of atomizing nozzles 74 arranged at intervals along its length. There are multiple water pipes 73, which are arranged in parallel. Each water pipe 73 is provided with an atomizing nozzle 74. Each water pipe 73 is provided with a spray valve 75 for controlling a channel. The spray valve 75 is located upstream of the atomizing nozzle 74. According to actual conditions, the water pipe 73 is laid in the ground cracks and inserted into the mine 10.

[0142] It should be noted that the spray explosion suppression device 70 may also adopt other existing structures. For example, the spray explosion suppression device includes an atomizing pump connected to a water source through a water pipe, the outlet of the atomizing pump is connected to a delivery pipe, the water is atomized by the atomizing pump, and the delivery pipe discharges water mist to cut off the ignition source; for another example, the spray explosion suppression device includes a booster pump connected to a water source through a water pipe, and an ultrasonic atomizer connected to the booster pump, the outlet of the ultrasonic atomizer is connected to a delivery pipe, the water is delivered by the booster pump and atomized by the ultrasonic atomizer, and the delivery pipe discharges water mist to cut off the ignition source.

[0143] In this embodiment, the inert gas injection explosion suppression equipment 80 includes a gas storage tank 81 for storing inert gas, an air pump 82 for conveying inert gas connected to the gas storage tank 81, and a gas delivery pipe 83 connected to the air pump 82. The gas storage tank 81 and the air pump 82 are arranged outside the mine 10, and the gas delivery pipe 83 passes through the plug 11 and is inserted into the mine 10. The inert gas enters the mine 10, and enters the coal seam fissures and the ground fissures through the mine 10 to isolate oxygen.

[0144] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0145] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A closed coal mine gas leakage monitoring and disaster prevention method, characterized in that: The steps include: S1, collects methane optical telemetry images in the near-Earth space above the mining area; S2, drawing a three-dimensional spatial position image of the surface, and fusing the three-dimensional spatial position image of the surface with the methane optical remote sensing image; S3, based on the fused image, identifying the methane concentration area and the corresponding geographical location information; S4, calculating the distance between the area where the methane concentration exceeds the first threshold and the mine or tunnel, and obtaining the mine or tunnel to which the area with high methane concentration belongs; S5, if the methane concentration is higher than the first threshold, ventilation and explosion suppression are performed on the mine or tunnel; S6: If the methane concentration does not exceed the first threshold, use the robot to carry the detection equipment to conduct ground inspection of the methane leakage area; if the concentration exceeds the second threshold, ventilation is performed to suppress the explosion; if the concentration does not exceed the second threshold, continue the inspection; The inspection method of the ground robot during inspection is: Acquire a real-time detected map of methane leakage points that do not exceed a first threshold; The concentration of methane leakage is classified into N levels; Starting from the methane leakage point with the highest concentration, establish the objective function and constraints, and solve the objective function step by step to perform path planning: Where D is the objective function, n is the number of selected methane leakage areas, i and j are leakage points; α1 and α2 are weight factors, α1>0.5, α2<0.5; ρ j The methane concentration measured as the j leakage point, ρ 标 is the reference standard safety concentration; T 标 is the reference standard distance time, T ij is the time from leakage point i to leakage point j; x ij is the moving distance from leakage point i to leakage point j, The value of moving from point i to point j is 1, and the values ​​of other points are 0; The number of times it passes through points i and j is only once.

2. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 1, characterized in that: The image fusion method is: Obtain methane optical remote sensing images and three-dimensional surface spatial position images; Marking the positions of mines and tunnels on the three-dimensional spatial position image of the surface, and extracting image features of the methane optical telemetry image, wherein the image features include the position and concentration information of the methane leakage point; The location and concentration information of the methane leakage point are displayed on the three-dimensional space location image of the surface.

3. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 1, characterized in that: The method for solving the objective function is based on genetic algorithm, particle swarm algorithm, ant colony algorithm or neural network algorithm.

4. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 3, characterized in that: The ant colony algorithm is used to solve the objective function. The specific steps are as follows: The initial ant colony starts to build the path, and the ants are detection robots; According to the probability of ant k going from the current node i to the next node j Select the next node; Each time a feasible solution is completed, the path in the solution is tested for pheromone A. ij Updates; Find the objective function, record the current optimal solution, and proceed to the next iteration. Among them, A ij is the pheromone concentration of link i→j, B ij is the heuristic information of link i→j; if ρ j >ρ i , transfer to B ij The largest point, if ρ j < i , transfer to B ij The smallest point; The method of local renewal of pheromones is as follows: Update the pheromone of the selected point: Pheromones for unselected points: Among them, L 标 is the distance standard, L ij is the distance from i to j; Until the ant colony algorithm is iterated to the maximum number of iterations.

5. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 1, characterized in that: Conduct inspections on methane leakage points of level 1 to level n in the methane leakage area, where level 1 is the highest level and level n is the lowest level. After completing the higher level, conduct inspections on the lower level, where n is a positive integer not greater than N; Phased updates, after which inspections will be carried out starting from the highest level of methane leakage points.

6. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 1, characterized in that: The ventilation explosion suppression methods are as follows: Real-time detection of gas concentration, air pressure, temperature and oxygen content in the mine; The gas concentration, air pressure, temperature and oxygen content in the mine are used for prevention and control. The prevention and control method adopts a combination of active extraction and passive explosion suppression. The active extraction adopts at least one of the air extraction method and the water extraction method for prevention and control. The passive explosion suppression adopts at least one of the spray explosion suppression method and the injection inertia explosion suppression method for prevention and control. The specific method is: If the methane concentration in the mine does not exceed the limit, the temperature and oxygen content are within the safe range, and the gas pressure is above the pressure threshold, water and / or gas are pumped out; If the methane concentration in the mine exceeds the standard and the temperature and oxygen content are within the safe range, when the gas pressure is below the pressure threshold, the gas is pumped out, and when the gas pressure is above the pressure threshold, the gas and / or water are pumped out; If the methane concentration in the mine exceeds the standard, the temperature is below the temperature threshold, and the oxygen content is within the safe range, when the air pressure is below the pressure threshold, the gas is pumped out, and when the air pressure is above the pressure threshold, the gas and / or water are pumped out; If the methane concentration in the mine exceeds the standard and the temperature is higher than the temperature threshold and the oxygen content is within the safe range, when the air pressure is lower than the pressure threshold, then air is pumped out and sprayed; if the air pressure is higher than the pressure threshold, then air is pumped out, water is pumped out and sprayed; If the methane concentration in the mine exceeds the standard, the temperature is below the temperature threshold, and the oxygen content is above the safe range, when the air pressure is below the pressure threshold, the air is pumped out and inert gas is injected; when the air pressure is above the pressure threshold, the air and water are pumped out and inert gas is injected; If the methane concentration in the mine exceeds the standard, the temperature is higher than the temperature threshold, and the oxygen content is higher than the safe range, when the air pressure is lower than the pressure threshold, air is pumped out, sprayed, and inert gas is injected; if the air pressure is higher than the pressure threshold, air is pumped out, water is pumped out, sprayed, and inert gas is injected.

7. The closed coal mine gas leakage monitoring and disaster prevention method according to claim 6 is characterized in that: The specific methods for prevention and control based on the gas concentration, air pressure, temperature and oxygen content in the mine are: F=(f(η)+f(p))+100f(o x )+1000f(T) in, Wherein, η is the detected gas concentration, η is the gas concentration safety threshold, p is the detected air pressure value, p is the air pressure safety threshold, x is the oxygen content detected, O x标 is the oxygen concentration safety threshold, T is the detected temperature, T 标 is the safety temperature threshold; When the value of F is greater than 2 and less than 10, air extraction and / or water extraction are used for prevention and control; When the F value is greater than 10 and less than 100, use the air extraction method and / or water extraction method, as well as the injection inertia explosion suppression method; When the F value is greater than 100, use air extraction and / or water extraction, spray explosion suppression and / or injection explosion suppression.

8. A closed coal mine gas leakage monitoring and disaster prevention and control system, characterized in that: It includes an air detection module and a ground detection module. The air detection module is used to collect methane optical telemetry images in the near-ground space above the mining area. The output end of the air detection module is connected to the input end of the ground detection module. The ground detection module executes the method described in one of claims 1-7 to monitor leakage.

9. The closed coal mine gas leakage monitoring and disaster prevention and control system according to claim 8, characterized in that: The air detection module includes a drone and a methane laser telemeter, and the methane laser telemeter is installed on the drone.

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