A smart inspection device and system for underground coal mines

Abstract

This invention relates to the field of coal mine gas management technology and discloses an intelligent underground inspection device for coal mines, comprising a mobile platform, a mobile platform traction pipe, a multi-functional detector, a slide rail, a first intrinsically safe line, a mobile platform drive mechanism, and a signal acquisition and power supply device; or multiple mobile platforms, mobile platform traction pipes, multi-functional detectors, slide rails, first intrinsically safe lines, mobile platform drive mechanisms, and signal acquisition and power supply devices connected in sequence. This invention also discloses an intelligent underground inspection system for coal mines. The mobile platform of this invention does not need to carry heavy explosion-proof power supplies, drive systems, or wireless communication equipment. The mobile platform and slide rail are small in size, lightweight, and low in cost, and have the characteristics of high driving force, strong adaptability to trajectory changes, timely and continuous communication and power supply, and high reliability, making it suitable for widespread application in narrow underground roadways and complex working environments in coal mines.

Description

Technical Field

[0001] This invention relates to the field of coal mine gas management technology, and in particular to an intelligent inspection device and system for underground coal mines. Background Technology

[0002] During coal mine production, methane gas is constantly emitted. Effective methane management is a crucial aspect of coal mine ventilation, gas control, and dust prevention, and is fundamental to ensuring safe production. As the front line of coal mine safety, the intelligent and smart management of methane gas is an inevitable result of technological advancements in coal mining.

[0003] To prevent gas exceedance accidents and strengthen gas management, mines currently require a large number of gas inspectors (generally more than 20 per mine) to regularly check indicators such as methane, carbon dioxide, temperature, and humidity in areas such as mining faces, roadways, drilling sites, and electromechanical chambers (generally twice per shift). The inspection data is recorded on signs for on-site personnel to analyze, and the data is recorded, reported upon returning to the surface, and summarized and analyzed to compile daily gas inspection reports, shift reports, and graphs. However, manual inspection suffers from missed inspections during shifts, a problem that persists despite repeated prohibitions. Gas inspectors work alone, inevitably leading to missed inspections and safety hazards; the signs are unclear and lack intelligence; wooden signs and chalk writing are primitive and outdated, extremely incompatible with intelligent mines; and the large number of personnel required results in high costs, significant risks, and a high risk of accidents. Recent gas explosions, causing numerous casualties, are directly related to manual gas inspections. Meanwhile, manual detection suffers from problems such as low collection frequency, low detection accuracy (due to the high height of the roadway, the manual detection position is low), and inability to detect.

[0004] To address the aforementioned problems, there is an urgent need for intelligent inspection equipment in coal mines that can automate inspections under complex underground conditions. Existing technologies, such as patent applications CN202120200337.2 (invention title: Inspection Robot System for Coal Mine Gas Drainage Pump Stations), CN202120200337.2 (invention title: Intelligent Robot for Mine Safety Inspection), CN201820193214.9 (invention title: Intelligent Inspection System for Underground Mines), and CN201810072035.4 (invention title: Intelligent Robot Inspection System for Mines), all employ self-driven robots. These require large, explosion-proof power supplies, resulting in large overall dimensions and heavy weight. They are poorly adapted to the confined spaces and complex, ever-changing terrain of underground coal mines. Furthermore, the timeliness and real-time nature of charging and communication for these self-driven robots in underground coal mines remains a difficult problem to solve, and the high cost hinders their widespread application. Patent application number CN202021466508.8 discloses a composite track wire rope traction coal mine inspection robot. This device uses a three-phase asynchronous motor to drive the drive wheel to rotate. The drive wheel drives the driven wheel, which is engaged with the wire rope, to rotate. This, in turn, moves the inspection device attached to the wire rope, thus driving the robot. Although this device reduces the amount of drive system and its explosion-proof power supply carried, it still carries the explosion-proof power supply for the inspection instruments or is equipped with a wireless charging device (using exposed contact power supply, which does not comply with coal mine safety regulations). Communication is mostly done wirelessly, requiring the deployment of a large number of base stations (the distance of a single base station wireless communication is generally less than 180m under interference-free conditions), which increases the system cost. Moreover, the timeliness and stability of power supply and communication are poor, limiting its widespread application.

[0005] Coal mine underground roadways are generally small in cross-section and have limited space. Currently, robots equipped with wireless charging or wireless communication devices are often large in size, which can easily obstruct their movement and affect drilling and other construction operations in the roadways. Underground roadways are long, winding, and undulating, with many large pieces of equipment and other obstructions, making it difficult to guarantee the timeliness and real-time performance of wireless communication and power supply. In addition, the deployment of a large number of wireless base stations is costly. Although existing wireless track robots are relatively advanced in technology and have certain applicability to the spacious and relatively good working environment of coal mine main roadways or chambers, they are difficult to apply to the conditions and working environment of most narrow roadways in coal mines. Summary of the Invention

[0006] In order to solve the above-mentioned technical problems, the purpose of this invention is to provide an intelligent inspection device and system for underground coal mines.

[0007] The above-mentioned objective of the present invention is achieved through the following technical solution:

[0008] The first technical solution: An intelligent inspection device for underground coal mines, comprising a mobile platform, a mobile platform traction pipe, a multi-functional detector, a slide rail, a first intrinsically safe wire, a mobile platform drive mechanism, and a signal acquisition and power supply device. The mobile platform is equipped with a multi-functional detector. The mobile platform is slidably placed on the slide rail via multiple traveling pulleys, which are non-electrically driven pulleys. The mobile platform traction pipe is connected to the end of the mobile platform. The mobile platform drive mechanism is connected to the mobile platform traction pipe and the front end of the mobile platform. The mobile platform drive mechanism controls the reciprocating movement of the mobile platform on the slide rail. The mobile platform traction pipe is equipped with a first intrinsically safe wire. One end of the first intrinsically safe wire is connected to the multi-functional detector on the mobile platform, and the other end is connected to the signal acquisition and power supply device, enabling the signal acquisition and power supply device to communicate with and supply power to the multi-functional detector.

[0009] The system comprises, in sequence, multiple mobile platforms, a mobile platform traction pipe, a multi-functional detector, a slide rail, a first intrinsically safe wire, a mobile platform drive mechanism, and a signal acquisition and power supply device. Each mobile platform is equipped with a multi-functional detector. The mobile platforms are slidably placed on the slide rail via multiple non-electrically driven pulleys. The mobile platform traction pipe is connected to the last mobile platform. The mobile platform drive mechanism is connected to the mobile platform traction pipe and the first mobile platform. The mobile platform drive mechanism controls the reciprocating movement of multiple mobile platforms on the slide rail. The multi-functional detectors are connected sequentially. The mobile platform traction pipe contains a first intrinsically safe wire. One end of the first intrinsically safe wire is connected to the multi-functional detector on the last mobile platform, and the other end is connected to the signal acquisition and power supply device, enabling the signal acquisition and power supply device to communicate with and supply power to each multi-functional detector.

[0010] Furthermore, the mobile platform driving mechanism includes a first winch, a wire rope, a second winch, a first fixed pulley, and a second fixed pulley. The wire rope is wound on the first winch drum of the first winch. After the wire rope is slidably connected to the first fixed pulley, it is fixed to the front end of the mobile platform. The rear end of the mobile platform traction pipe is slidably connected to the second fixed pulley and wound on the second winch drum of the second winch. When the mobile platform driving mechanism is in the first state, the first winch is in the rope winding state, the second winch is in the pipe unwinding state, and the mobile platform moves along the slide rail towards the first winch. When the mobile platform driving mechanism is in the second state, the second winch is in the pipe winding state, the first winch is in the rope unwinding state, and the mobile platform moves along the slide rail towards the second winch.

[0011] The second technical solution: An intelligent inspection device for underground coal mines, comprising a mobile platform, a mobile platform traction pipe, a multi-functional detector, a slide rail, a first intrinsically safe wire, a mobile platform auxiliary drive mechanism, and a signal acquisition and power supply device. The mobile platform is equipped with a multi-functional detector. The mobile platform is slidably placed on the slide rail via multiple walking pulleys. The walking pulleys are electrically driven pulleys, which drive the mobile platform to move along the slide rail. The mobile platform traction pipe is connected to the mobile platform, and the mobile platform auxiliary drive mechanism is connected to the mobile platform traction pipe. The mobile platform drive mechanism controls the extension and retraction state of the mobile platform traction pipe, thereby enabling the auxiliary drive of the mobile platform to reciprocate on the slide rail. The mobile platform traction pipe is equipped with a first intrinsically safe wire. One end of the first intrinsically safe wire is connected to the multi-functional detector and the walking pulleys, and the other end is connected to the signal acquisition and power supply device, enabling the signal acquisition and power supply device to communicate with and supply power to the multi-functional detector.

[0012] The system comprises, in sequence, multiple mobile platforms, a mobile platform traction pipe, a multi-functional detector, a slide rail, a first intrinsically safe wire, a mobile platform auxiliary drive mechanism, and a signal acquisition and power supply device. Each mobile platform is equipped with a multi-functional detector. The mobile platform is slidably placed on the slide rail via multiple walking pulleys, which are electrically driven pulleys that drive the mobile platform to move along the slide rail. The mobile platform traction pipe is connected to the last mobile platform, and the mobile platform auxiliary drive mechanism is connected to the mobile platform traction pipe. The auxiliary drive mechanism controls the extension and retraction of the mobile platform traction pipe, enabling the auxiliary drive mobile platform to reciprocate on the slide rail. The multi-functional detectors on each mobile platform and the electric drive pulleys are sequentially connected. The mobile platform traction pipe contains a first intrinsically safe wire, one end of which is connected to the multi-functional detector and the walking pulley on the last mobile platform, and the other end is connected to the signal acquisition and power supply device, enabling the signal acquisition and power supply device to communicate with and supply power to the multi-functional detector and the electric drive pulley.

[0013] Furthermore, the mobile platform auxiliary drive mechanism includes a third winch and a third fixed pulley. The mobile platform traction pipe is slidably connected to the third fixed pulley and wound around the third winch drum on the third winch. When the traveling pulley drives the mobile platform to move towards the third winch, the mobile platform auxiliary drive mechanism is in the first state, and the third winch is in the pipe-retracting state, providing assistance for the movement of the mobile platform by pulling the mobile platform traction pipe. When the traveling pulley drives the mobile platform to move away from the third winch, the mobile platform auxiliary drive mechanism is in the second state, and the third winch is in the pipe-releasing state.

[0014] Furthermore, a transfer platform is provided at the middle of the bottom of the mobile platform, and a transfer ring is provided at the bottom of the transfer platform; multiple mobile platforms are connected to each other through mobile platform connecting pipes, and a second intrinsically safe wire is provided in the mobile platform connecting pipe; both ends of the mobile platform connecting pipe are fixed to the transfer ring, and the front end of the mobile platform traction pipe is fixed to the transfer ring;

[0015] The slide rail includes an external platform rail and a cable rail, with the cable rail fixed above the external platform rail along its length. The cable rail includes a housing with an internal cavity. The bottom of the two side plates of the housing are fixed to the external platform rail, and an opening is provided on the upper surface of the housing along its length. The bottom of the moving platform is provided with two traveling pulleys on both sides, which are located outside the cable rail and are slidably connected to the external platform rail. The transfer platform is located inside the opening, and the transfer ring is located inside the cavity of the housing.

[0016] Furthermore, a dust-blocking sponge elastomer is provided at the opening, and a slit is provided on the dust-blocking sponge along its length. The transfer platform is placed in the slit. When the moving platform moves along the external platform track, the transfer platform can open the slit. After the transfer platform is moved away, the slit returns to its original state.

[0017] Furthermore, multiple spaced auxiliary pulleys for the cable track are provided at the bottom of the cavity and on the left and right sides of the cable track along the length of the cable track.

[0018] Multiple auxiliary limiting pulleys are provided on both sides of the bottom of the mobile platform, and the multiple auxiliary limiting pulleys slide in contact with the outer wall surface of the cable track housing.

[0019] The third technical solution: A coal mine underground intelligent inspection system, including the coal mine underground intelligent inspection device, underground control cabinet, underground network switch, ring network, surface network switch, and host computer described in the first technical solution;

[0020] The downhole control cabinet is electrically connected to the signal acquisition and power supply device and the mobile platform drive mechanism. The downhole control cabinet controls the movement of the mobile platform drive mechanism, thereby controlling one or more mobile platforms to move forward and backward along the slide rail, and determines the position of the multi-functional detector on the mobile platform and uploads the detection data of the multi-functional detector to the host computer. The downhole control cabinet is also connected to the downhole network switch, which is connected to the surface network switch through a ring network. The surface network switch is connected to the host computer.

[0021] The fourth technical solution: A coal mine underground intelligent inspection system, including the coal mine underground intelligent inspection device, underground control cabinet, underground network switch, ring network, surface network switch, and host computer described in the second technical solution;

[0022] The downhole control cabinet is electrically connected to the signal acquisition and power supply device, the auxiliary drive mechanism of the mobile platform, and the walking pulleys on the mobile platform. The downhole control cabinet controls the start and stop of the walking pulleys and the movement of the auxiliary drive mechanism of the mobile platform, thereby controlling one or more mobile platforms to move back and forth along the slide rail, judging the position of the multi-functional detector on the mobile platform, and uploading the detection data of the multi-functional detector to the host computer.

[0023] The underground control cabinet is also connected to the underground network switch, which is connected to the surface network switch via a ring network. The surface network switch is connected to the host computer.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention employs a long-distance conduit slide rail traction, communication, and power supply method. Since methane has a lower density than air and tends to accumulate near the roof, a small upper mobile platform carries a multi-functional detector. Compared to many existing robotic inspection devices, the mobile platform of this invention does not need to carry heavy explosion-proof power supplies, drive systems, or wireless communication equipment. The mobile platform and slide rail are small in size, lightweight, and low in cost, and feature high driving force, strong adaptability to trajectory changes, timely and continuous communication and power supply, and high reliability. It is suitable for widespread application in narrow underground roadways and complex working environments in coal mines. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the intelligent underground inspection device for coal mines according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a schematic diagram of the installation structure between the mobile platform and the slide rail;

[0028] Figure 3 This is a schematic diagram of the installation side structure between the mobile platform and the slide rail in Embodiment 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the intelligent underground inspection device for coal mines according to Embodiment 2 of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the intelligent underground inspection device for coal mines according to Embodiment 3 of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the intelligent underground inspection device for coal mines according to Embodiment 4 of the present invention;

[0032] Figure 7 This is a schematic diagram of the installation structure between multiple mobile platforms and slide rails in Embodiment 3 of the present invention;

[0033] Figure 8This is a schematic diagram of the installation structure between multiple mobile platforms and slide rails in Embodiment 4 of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the intelligent underground inspection system for coal mines according to Embodiment 5 of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of the intelligent underground inspection system for coal mines according to Embodiment 6 of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of the intelligent underground inspection system for coal mines according to Embodiment 7 of the present invention;

[0037] Figure 12 This is a schematic diagram of the structure of the intelligent underground inspection system for coal mines according to Embodiment 8 of the present invention;

[0038] In the diagram: 1-Mobile platform; 2-Mobile platform traction pipe; 3-Wire rope; 4-Slide rail; 41-External platform track; 42-Cable track; 421-Housing; 422-Opening; 5-Multifunctional detector; 61-First intrinsically safe wire; 62-Second intrinsically safe wire; 7-Signal acquisition and power supply device; 8-Traveling pulley; 9-Adapter; 10-Adapter ring; 11-Heading proximity switch; 12-Tailing proximity switch; 13-Cable track auxiliary pulley; 14-Dust-blocking sponge. 15-Mobile platform connecting pipe; 16-First winch; 161-First winch drum; 17-First fixed pulley; 18-Second winch; 181-Second winch drum; 19-Second fixed pulley; 20-Third winch; 201-Third winch drum; 21-Third fixed pulley; 22-Auxiliary limit pulley; 1001-Downhole control cabinet; 1002-Downhole network switch; 1003-Ring network; 1004-Surface network switch; 1005-Host computer. Detailed Implementation

[0039] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the detailed content and specific implementation of the present invention.

[0040] Example 1

[0041] This embodiment is an inspection device driven by a single mobile platform 1 through a mobile platform drive mechanism.

[0042] Reference Figures 1-3An intelligent inspection device for underground coal mines includes a mobile platform 1, a mobile platform traction pipe 2, a multi-functional detector 5, a slide rail 4, a first intrinsically safe line 61, a mobile platform drive mechanism, and a signal acquisition and power supply device 7. The mobile platform 1 is equipped with the multi-functional detector 5. The mobile platform 1 is slidably placed on the slide rail 4 by multiple walking pulleys 8. The walking pulleys 8 are non-electrically driven pulleys. The mobile platform traction pipe 2 is connected to the end of the mobile platform 1. The mobile platform drive mechanism is connected to the mobile platform traction pipe 2 and the front end of the mobile platform 1. The mobile platform drive mechanism controls the reciprocating movement of the mobile platform 1 on the slide rail 4. The mobile platform traction pipe 2 is equipped with a first intrinsically safe line 61. One end of the first intrinsically safe line 61 is connected to the multi-functional detector 5 on the mobile platform 1, and the other end is connected to the signal acquisition and power supply device 7, so that the signal acquisition and power supply device 7 can communicate with and supply power to the multi-functional detector 5.

[0043] The mobile platform drive mechanism includes a first winch 16, a wire rope 3, a second winch 18, a first fixed pulley 17, and a second fixed pulley 19. The first winch drum 161 of the first winch 16 is wound with the wire rope 3. After the wire rope 3 is slidably connected to the first fixed pulley 17, it is fixed to the front end of the mobile platform 1. In this embodiment, the wire rope 3 is fixed to the front end of the adapter ring of the mobile platform 1. The rear end of the mobile platform traction pipe 2 is slidably connected to the second fixed pulley 19 and wound on the second winch drum of the second winch 18. When the mobile platform drive mechanism is in the first state, the first winch 16 is in the rope winding state, the second winch 18 is in the pipe unwinding state, and the mobile platform 1 moves along the slide rail 4 towards the first winch 16. When the mobile platform drive mechanism is in the second state, the second winch 18 is in the pipe winding state, the first winch 16 is in the rope unwinding state, and the mobile platform 1 moves along the slide rail 4 towards the second winch 18.

[0044] Example 2

[0045] This embodiment is an inspection device driven by multiple mobile platforms 1 through a mobile platform drive mechanism.

[0046] An intelligent inspection device for underground coal mines includes multiple mobile platforms 1, a mobile platform traction pipe 2, a multi-functional detector 5, a slide rail 4, a first intrinsically safe line 61, a mobile platform drive mechanism, and a signal acquisition and power supply device 7 connected in sequence. Each mobile platform 1 is equipped with a multi-functional detector 5. The mobile platform 1 is slidably placed on the slide rail 4 via multiple traveling pulleys 8, which are non-electrically driven pulleys. The mobile platform traction pipe 2 is connected to the last mobile platform 1. The mobile platform drive mechanism is connected to the mobile platform traction pipe 2 and the first mobile platform 1, and controls the multiple mobile platforms 1 to move back and forth on the slide rail 4. The multi-functional detectors 5 are connected in sequence. The mobile platform traction pipe 2 is equipped with a first intrinsically safe line 61. One end of the first intrinsically safe line 61 is connected to the multi-functional detector 5 on the last mobile platform 1, and the other end is connected to the signal acquisition and power supply device 7, so that the signal acquisition and power supply device 7 can communicate with and supply power to each multi-functional detector 5.

[0047] The various multi-functional detectors 5 are connected sequentially via a second intrinsically safe wire 62, thus enabling the cascading connection of the multi-functional detectors 5 across the various mobile platforms 1.

[0048] The mobile platform drive mechanism includes a first winch 16, a wire rope 3, a second winch 18, a first fixed pulley 17, and a second fixed pulley 19. The first winch drum 161 of the first winch 16 is wound with the wire rope 3. After the wire rope 3 is slidably connected to the first fixed pulley 17, it is fixed to the front end of the mobile platform 1. In this embodiment, the wire rope 3 is fixed to the front end of the adapter ring of the first mobile platform 1. The rear end of the mobile platform traction pipe 2 is slidably connected to the second fixed pulley 19 and wound on the second winch drum 181 of the second winch 18. When the mobile platform drive mechanism is in the first state, the first winch 16 is in the rope winding state, the second winch 18 is in the pipe unwinding state, and the mobile platform 1 moves along the slide rail 4 towards the first winch 16. When the mobile platform drive mechanism is in the second state, the second winch 18 is in the pipe winding state, the first winch 16 is in the rope unwinding state, and the mobile platform 1 moves along the slide rail 4 towards the second winch 18.

[0049] Example 3

[0050] Reference Figure 4 This embodiment is an inspection device driven by a single mobile platform 1 through a mobile platform auxiliary drive mechanism.

[0051] An intelligent inspection device for underground coal mines includes a mobile platform 1, a mobile platform traction pipe 2, a multi-functional detector 5, a slide rail 4, a first intrinsically safe line 61, a mobile platform auxiliary drive mechanism, and a signal acquisition and power supply device 7. The mobile platform 1 is equipped with the multi-functional detector 5. The mobile platform 1 is slidably placed on the slide rail 4 by multiple walking pulleys 8. The walking pulleys 8 are electrically driven pulleys, which drive the mobile platform 1 to move along the slide rail 4. The mobile platform traction pipe 2 is connected to the mobile platform 1. The mobile platform auxiliary drive mechanism is connected to the mobile platform traction pipe 2. The mobile platform drive mechanism controls the extension and retraction state of the mobile platform traction pipe 2 to achieve the auxiliary drive of the mobile platform 1 to move back and forth on the slide rail 4. The mobile platform traction pipe 2 is equipped with a first intrinsically safe line 61. One end of the first intrinsically safe line 61 is connected to the multi-functional detector 5 and the walking pulleys 8, and the other end is connected to the signal acquisition and power supply device 7, so that the signal acquisition and power supply device 7 can communicate with and supply power to the multi-functional detector 5.

[0052] The auxiliary drive mechanism of the mobile platform includes a third winch 20 and a third fixed pulley 21. The mobile platform traction pipe 2 is slidably connected to the third fixed pulley 21 and wound around the third winch drum on the third winch 20. When the traveling pulley 8 drives the mobile platform 1 to move towards the third winch 20, the auxiliary drive mechanism of the mobile platform is in the first state, and the third winch 20 is in the pipe-retracting state, providing assistance for the movement of the mobile platform 1 by pulling the mobile platform traction pipe 2. When the traveling pulley 8 drives the mobile platform 1 to move away from the third winch 20, the auxiliary drive mechanism of the mobile platform is in the second state, and the third winch 20 is in the pipe-releasing state.

[0053] In this embodiment, the mobile platform 1 is driven by an electric pulley to move back and forth on the slide rail 4. While carrying the multi-functional detector 5, the mobile platform 1 is self-driven by the electric pulley. The auxiliary drive mechanism of the mobile platform plays an assisting role.

[0054] Example 4

[0055] This embodiment is an inspection device that uses multiple mobile platforms 1 driven by a mobile platform auxiliary drive mechanism.

[0056] Reference Figure 5 and Figure 7A coal mine underground intelligent inspection device includes multiple mobile platforms 1, mobile platform traction pipes 2, multi-functional detectors 5, slide rails 4, a first intrinsically safe line 61, a mobile platform auxiliary drive mechanism, and a signal acquisition and power supply device 7 connected in sequence. Each mobile platform 1 is equipped with a multi-functional detector 5. The mobile platform 1 is slidably placed on the slide rail 4 by multiple traveling pulleys 8. The traveling pulleys 8 are electrically driven pulleys, which drive the mobile platform 1 to move along the slide rail 4. The mobile platform traction pipe 2 is connected to the last mobile platform 1. The mobile platform auxiliary drive mechanism is connected to the mobile platform. The traction pipe 2 is connected to the mobile platform. The extension and retraction state of the traction pipe 2 is controlled by the auxiliary drive mechanism of the mobile platform, so as to realize the auxiliary drive of the mobile platform 1 to move back and forth on the slide rail 4. The multi-functional detectors 5 on each mobile platform 1 are connected in sequence to each other and the electric drive pulleys. The traction pipe 2 of the mobile platform is equipped with a first intrinsically safe wire 61. One end of the first intrinsically safe wire 61 is connected to the multi-functional detector 5 and the walking pulley 8 on the last mobile platform 1, and the other end is connected to the signal acquisition and power supply device 7, so as to realize the communication and power supply device 7 with all the multi-functional detectors 5 and the electric drive pulleys.

[0057] The multi-functional detectors 5 on each mobile platform 1 are connected sequentially to each other and to each electrically driven pulley via a second intrinsically safe wire 62. This achieves series connection between the traveling pulleys 8 of each mobile platform 1 and each multi-functional detector 5.

[0058] The mobile platform auxiliary drive mechanism includes a third winch 20 and a third fixed pulley 21. The mobile platform traction pipe 2 is slidably connected to the third fixed pulley 21 and wound around the third winch drum 201 on the third winch 20. When the traveling pulley 8 drives the mobile platform 1 to move towards the third winch 20, the mobile platform auxiliary drive mechanism is in the first state, and the third winch 20 is in the pipe-retracting state, providing assistance for the movement of the mobile platform 1 by pulling the mobile platform traction pipe 2. When the traveling pulley 8 drives the mobile platform 1 to move away from the third winch 20, the mobile platform auxiliary drive mechanism is in the second state, and the third winch 20 is in the pipe-releasing state.

[0059] In embodiments 1-4, a transfer platform 9 is provided at the middle position of the bottom of the mobile platform 1, and a transfer ring 10 is provided at the bottom of the transfer platform 9; multiple mobile platforms 1 are connected to each other through mobile platform connecting pipes 15, and a second intrinsically safe wire 62 is provided in the mobile platform connecting pipe 15; both ends of the mobile platform connecting pipe 15 are fixed to the transfer ring 10, and the front end of the mobile platform traction pipe 2 is fixed to the transfer ring 10;

[0060] The slide rail 4 includes an external platform rail 41 and a cable rail 42. The cable rail 42 is fixed above the external platform rail 41 along its length. The cable rail 42 includes a housing with an internal cavity. The bottom of the two side plates of the housing are fixed to the external platform rail 41. An opening is provided on the upper surface of the housing along its length. The bottom of the moving platform 1 is provided with two walking pulleys 8 on its two sides. The walking pulleys 8 are placed outside the cable rail 42 and are slidably connected to the external platform rail 41. The adapter 9 is placed inside the opening, and the adapter ring 10 is placed inside the cavity of the housing.

[0061] A dust-blocking sponge elastomer is provided at the opening, and a slit is provided on the dust-blocking sponge along its length. The transfer platform 9 is placed in the slit. When the moving platform 1 moves along the external platform track 41, the transfer platform 9 can open the slit. After the transfer platform 9 is moved away, the slit returns to its original state and closes the opening 422.

[0062] Reference Figure 2 Multiple auxiliary pulleys 13 are provided at intervals along the length of the cable track 42 on the bottom and left and right sides of the cavity inside the housing of the cable track 42. The auxiliary pulleys 13 are installed as follows: roller support frames are fixed on the bottom and left and right sides of the cable track 42, and the auxiliary pulleys 13 are connected to the roller support frames through rollers. The auxiliary pulleys 13 can rotate along the rollers. The moving platform traction pipe 2, wire rope 3 and adapter ring 1010 slide in contact with the auxiliary pulleys 13 during the movement to protect the moving platform traction pipe 2, prevent wear and deviation under long distance conditions, and reduce the sliding resistance of the moving platform traction pipe 2. Multiple auxiliary limiting pulleys 22 are provided on the inner sides of both sides of the bottom of the moving platform 1. The multiple auxiliary limiting pulleys 22 slide in contact with the outer wall of the housing 421 of the cable track 42.

[0063] Multiple auxiliary limiting pulleys 22 are provided on both sides of the bottom of the mobile platform 1, and the multiple auxiliary limiting pulleys 22 slide in contact with the outer wall surface of the housing of the cable track 42.

[0064] In Examples 1-4, all the mobile platform traction pipes 2 are glued to the first intrinsically safe wire 61 placed inside the mobile platform traction pipe 2. After glued bonding, the length of the first intrinsically safe wire 61 placed inside the mobile platform traction pipe 2 is not less than the length of the mobile platform traction pipe 2. The tensile strength of the mobile platform traction pipe 2 is greater than the maximum overload protection value of the first winch 16 and the second winch 18, and the tensile strength of the mobile platform traction pipe 2 is greater than the tensile strength of the first intrinsically safe wire 61, while its elongation is less than that of the first intrinsically safe wire 61. The mobile platform traction pipe 2 serves to protect the first intrinsically safe wire 61, preventing it from being damaged due to excessive force.

[0065] In Examples 3 and 4, each of the mobile platform connecting tubes 15 is glued to the second intrinsically safe wire 62 placed therein. After fixing, the length of the second intrinsically safe wire 62 placed in the mobile platform connecting tube 15 is not less than the length of the mobile platform connecting tube 15. The tensile strength of the mobile platform connecting tube 15 is greater than the tensile strength of the second intrinsically safe wire 62, and the elongation is less than the elongation of the second intrinsically safe wire 62. The mobile platform connecting tube 15 serves to protect the second intrinsically safe wire 62, preventing it from being damaged due to excessive force.

[0066] In Examples 1-4, the front and rear ends of the external platform track 41 are provided with a front proximity switch 11 and a rear proximity switch 12 for identifying the mobile platform 1.

[0067] Example 5

[0068] Reference Figure 9 A coal mine underground intelligent inspection system includes the coal mine underground intelligent inspection device described in Example 1, an underground control cabinet 1001, an underground network switch 1002, a ring network 1003, an above-ground network switch 1004, and a host computer 1005.

[0069] The underground control cabinet 1001 is electrically connected to the signal acquisition and power supply device 7 and the mobile platform drive mechanism. The underground control cabinet 1001 controls the movement of the mobile platform drive mechanism, thereby controlling the mobile platform 1 to move forward and backward along the slide rail 4, and determining the position of the multi-functional detector 5 on the mobile platform 1. (The underground control cabinet 1001 controls the start / stop, working state switching, speed, and overload protection of the mobile platform 1, the first winch 16, and the second winch 18, and records the number of rotations of the first winch 16 and the second winch 18 to estimate the rotation speed of the first winch 16 and the second winch 18.) The distance between the lead-in and lead-out lines is calculated, and the current position of the multi-functional detector 5 is estimated based on the shape of the slide rail 4 to achieve the position judgment of the multi-functional detector 5 (or the position is estimated by carrying the positioning identification card of the underground personnel positioning system on the mobile platform 1). The detection data of the multi-functional detector 5 is then uploaded to the host computer 1005. The underground control cabinet 1001 is also connected to the underground network switch 1002. The underground network switch 1002 is connected to the surface network switch 1004 through the ring network 1003. The surface network switch 1004 is connected to the host computer 1005.

[0070] Example 6

[0071] Reference Figure 10 The difference from Example 5 is that the intelligent inspection device for underground coal mines is the same as the intelligent inspection device for underground coal mines in Example 3.

[0072] The downhole control cabinet 1001 controls the drive mechanisms of multiple mobile platforms, thereby controlling the multiple mobile platforms 1 to move forward and backward along the slide rail 4, and determining the position of the multi-functional detectors 5 on the multiple mobile platforms 1. The detection data of each multi-functional detector 5 is uploaded to the host computer 1005.

[0073] Working process of the intelligent underground inspection system in coal mines in Examples 5 and 6:

[0074] The downhole control cabinet 1001 controls the position of the mobile platform 1 on the slide rail 4 by controlling the rope winding and unwinding states of the first winch 16 and the pipe winding and unwinding states of the second winch 18. When the first winch 16 winds up the rope, the second winch 18 is in the pipe winding state, pulling the wire rope 3 to move the mobile platform 1 towards the first winch 16; when the second winch 18 winds up the pipe, the first winch 16 is in the rope winding state, pulling the mobile platform traction pipe 2 to move the mobile platform 1 towards the second winch 18, thereby driving the mobile platform 1 to move along the slide rail 4; when the mobile platform 1 moves to the first-end proximity switch 11 or the last-end proximity switch 12, the first-end proximity switch 11 or the last-end proximity switch 12 transmits an electrical signal to the downhole control cabinet 1001, and the downhole control cabinet 1001 controls the first winch 16 and the second winch 18 to stop; and switches the working states of the first winch 16 and the second winch 18, thereby realizing the reciprocating movement of the mobile platform 1 along the slide rail 4. The downhole control cabinet 1001 transmits the data from the multi-functional detector 5 measured by the signal acquisition and power supply device 7 to the host computer 1005 for storage and processing.

[0075] Example 7

[0076] Reference Figure 11An intelligent inspection system for underground coal mines includes an intelligent underground inspection device as described in Embodiment 2, an underground control cabinet 1001, an underground network switch 1002, a ring network 1003, an above-ground network switch 1004, and a host computer 1005. The underground control cabinet 1001 is electrically connected to a signal acquisition and power supply device 7, a mobile platform auxiliary drive mechanism, and walking pulleys 8 on the mobile platform 1. The underground control cabinet 1001 controls the start and stop of the walking pulleys 8 and the movement of the mobile platform auxiliary drive mechanism, thereby controlling the movement of a mobile platform 1 along a slide rail 4 and determining the position of the multi-functional detector 5 on the mobile platform 1 (the underground control cabinet 1001 controls the movement of the mobile platform 1, the...). The system controls the start and stop of the third winch 20, the switching of its working state, its speed, and overload protection. It also records the number of rotations of the third winch 20, estimates the wire winding and unwinding distance, and estimates the current position of the multi-functional detector 5 based on the shape of the slide rail 4. This enables the multi-functional detector 5 to determine its position (or to estimate its position by using a positioning tag card from the underground personnel positioning system carried by the mobile platform 1). The detection data from the multi-functional detector 5 is then uploaded to the host computer 1005. The underground control cabinet 1001 is also connected to the underground network switch 1002. The underground network switch 1002 is connected to the surface network switch 1004 via a ring network 1003. The surface network switch 1004 is connected to the host computer 1005.

[0077] Example 8

[0078] Reference Figure 12 The difference from Example 7 is that the intelligent inspection device for underground coal mines is the same as the intelligent inspection device for underground coal mines in Example 4.

[0079] The downhole control cabinet 1001 controls the movement of multiple mobile platforms 1 and their auxiliary drive mechanisms, thereby controlling the multiple mobile platforms 1 to move forward and backward along the slide rail 4, and determining the position of the multi-functional detectors 5 on the multiple mobile platforms 1. The detection data from each multi-functional detector 5 is then uploaded to the host computer 1005.

[0080] The working process of the intelligent underground inspection system in Examples 7 and 8 is as follows: When the underground control cabinet 1001 controls each mobile platform 1 to move towards the third winch 20, the third winch 20 is in the pipe-retracting state, and provides assistance for the movement of each mobile platform 1 by pulling the traction pipe 2 of the mobile platform; when the mobile platform 1 moves away from the third winch 20, the third winch 20 is in the pipe-releasing state.

[0081] When the mobile platform 1 moves to the first proximity switch 11 or the last proximity switch 12, the first proximity switch 11 or the last proximity switch 12 transmits an electrical signal to the underground control cabinet 1001. The underground control cabinet 1001 controls the mobile platform 1 and the third winch 20 to stop; and switches the working states of the mobile platform 1 and the third winch 20, thereby realizing the reciprocating movement of the mobile platform 1 along the slide rail 4. The underground control cabinet 1001 transmits the data of various multi-functional detectors 5 measured by the signal acquisition and power supply device 7 to the host computer 1005 for storage and processing.

[0082] The external platform track 41 in this invention can be a single slide rail or a combination of multiple straight or circular slide rails connected end to end.

[0083] The multifunctional detector 5 in this invention is a portable multifunctional detector for mining, capable of detecting methane, carbon dioxide, temperature, and humidity, and featuring real-time display, alarm, and audio broadcasting functions. Furthermore, by adding a camera, it can acquire video monitoring and infrared sensing capabilities, enabling remote inspection of safety hazards such as roof collapse, water leaks, and electromechanical equipment, as well as personnel status. Alternatively, by adding components such as a wind speed sensor, its measurement and inspection functions can be expanded.

[0084] Coal mine tunnels, except for the main roadway at the bottom, generally have small cross-sections, especially the mining tunnels, which are typically less than 3m × 2.5m in size. These tunnels often contain tunnel drilling rigs, belt conveyors, material transport vehicles, construction tools, and pedestrians. The space for construction and pedestrians is limited, and the track space that can be occupied for long distances and for extended periods is generally less than 0.3m × 0.3m. To consider factors such as battery life, charging, communication, and explosion protection, current inspection robots carry large explosion-proof power supplies, wireless communication equipment, or wireless charging devices, resulting in larger size and weight. This necessitates larger drive units and matching heavy-duty tracks, which are generally larger than 0.5m × 0.5m in size. These tracks are easily obstructed during the patrol and movement process, affecting drilling and other construction operations in the tunnels.

[0085] In addition, underground mine roadways are numerous, long, winding, and undulating, with many obstructions such as large operating equipment, making it difficult to guarantee the timeliness and real-time performance of wireless communication or power supply. Furthermore, deploying a large number of wireless base stations is costly and space-consuming. While existing wireless track robots are technologically advanced and suitable for spacious and relatively good working environments such as main roadways or chambers at the bottom of coal mines, they are difficult to apply to the narrow roadways and working environments of underground coal mine mining tunnels. The intelligent underground inspection device of this invention does not require large equipment such as explosion-proof power supplies, wireless communication devices, and wireless charging devices. The drive system and track are small in size, with an overall cross-sectional dimension of less than 0.2m × 0.2m.

[0086] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent inspection device for underground coal mines, characterized in that, The utility model provides a kind of mobile platform, mobile platform traction pipe, multifunctional detector, slide rail, first intrinsic safety wire, mobile platform auxiliary driving mechanism and signal acquisition and power supply device, multifunctional detector is equipped on the mobile platform, and mobile platform is slidably placed on slide rail by multiple walking pulleys, walking pulley is electric drive pulley, and mobile platform is driven along slide rail by electric drive pulley, mobile platform traction pipe is connected with mobile platform, and mobile platform auxiliary driving mechanism is connected with mobile platform traction pipe, and the state of retraction of mobile platform traction pipe is controlled by mobile platform driving mechanism, and the reciprocating movement of auxiliary drive mobile platform on slide rail is realized, first intrinsic safety wire is equipped in mobile platform traction pipe, one end of first intrinsic safety wire is connected with multifunctional detector and walking pulley, and the other end is connected with signal acquisition and power supply device, and signal acquisition and power supply device and multifunctional detector are communicated and powered by first intrinsic safety wire; Or multiple sequentially connected mobile platform, mobile platform traction pipe, multifunctional detector, slide rail, first intrinsic safety wire, mobile platform auxiliary driving mechanism and signal acquisition and power supply device, multifunctional detector is equipped on each mobile platform, and mobile platform is slidably placed on slide rail by multiple walking pulleys, walking pulley is electric drive pulley, and mobile platform is driven along slide rail by electric drive pulley, mobile platform traction pipe is connected with last mobile platform, and mobile platform auxiliary driving mechanism is connected with mobile platform traction pipe, and the state of retraction of mobile platform traction pipe is controlled by mobile platform auxiliary driving mechanism, and the reciprocating movement of auxiliary drive mobile platform on slide rail is realized, multifunctional detector between each mobile platform and electric drive pulley is sequentially connected, first intrinsic safety wire is equipped in mobile platform traction pipe, one end of first intrinsic safety wire is connected with multifunctional detector and walking pulley on last mobile platform, and the other end is connected with signal acquisition and power supply device, and signal acquisition and power supply device and multifunctional detector are communicated and powered by first intrinsic safety wire; The mobile platform auxiliary driving mechanism includes a third winch and a third fixed pulley, the mobile platform traction pipe is slidably connected with the third fixed pulley and wound on the third winch drum of the third winch; when the walking pulley drives the mobile platform to move towards the third winch, the mobile platform auxiliary driving mechanism is in a first state, the third winch is in a pipe-retraction state, and the mobile platform is assisted to move by pulling the mobile platform traction pipe; when the walking pulley drives the mobile platform to move away from the third winch, the mobile platform auxiliary driving mechanism is in a second state, and the third winch is in a pipe-releasing state.

2. The intelligent inspection device for underground coal mine of any one of claim 1, characterized in that, The middle position of the bottom of the mobile platform is provided with an adapter table, and the bottom of the adapter table is provided with an adapter ring; the plurality of mobile platforms are connected by mobile platform connecting pipes respectively, and a second intrinsic safety wire is arranged in the mobile platform connecting pipe; the two ends of the mobile platform connecting pipe are fixed with the adapter ring respectively, and the front end of the mobile platform traction pipe is fixed with the adapter ring. The sliding rail comprises an outer platform rail and a cable rail fixed above the outer platform rail along the length direction; the cable rail comprises a shell with a hollow inside, the bottom of the two side plates of the shell is fixed on the outer platform rail, and the upper surface of the shell is provided with an opening along the length direction; the bottom of the moving platform is provided with walking pulleys on the two sides respectively, the walking pulleys are placed outside the cable rail, the walking pulleys are in sliding connection with the outer platform rail, the adapter table is placed in the opening, and the adapter ring is placed in the hollow inside the shell.

3. The intelligent inspection device for underground coal mine of claim 2, wherein, A dustproof sponge elastic body is arranged at the opening, the dustproof sponge body is provided with a gap along the length direction, the adapter table is placed in the gap, when the moving platform moves along the outer platform rail, the adapter table can expand the gap, and after the adapter table moves away, the gap returns to the original state.

4. The intelligent inspection device for underground coal mine of claim 2, wherein, A plurality of auxiliary pulleys of the cable rail are arranged in the cavity of the shell of the cable rail along the length direction of the cable rail; A plurality of auxiliary limiting pulleys are arranged on the bottom of the moving platform on the two sides respectively, and the auxiliary limiting pulleys are in sliding contact with the outer wall surface of the shell of the cable rail.

5. An intelligent inspection system for coal mine underground, characterized in that, The coal mine underground intelligent inspection device comprises a coal mine underground intelligent inspection device, an underground control cabinet, an underground network switch, a ring network, an underground network switch, and an upper computer. The underground control cabinet is in electrical connection with the signal acquisition and power supply device, the moving platform auxiliary driving mechanism, and the walking pulleys on the moving platform, the walking pulleys and the moving platform auxiliary driving mechanism are controlled by the underground control cabinet to start and stop, the moving platform is moved forward and backward along the sliding rail, the position of the multifunctional detector on the moving platform is judged, and the detection data of the multifunctional detector is uploaded to the upper computer. The underground control cabinet is in communication connection with the underground network switch, the underground network switch is connected with the underground network switch through the ring network, and the underground network switch is in communication connection with the upper computer.

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