An underground coal mine inspection device and method

Abstract

The application provides a coal mine underground inspection device and an inspection method. The coal mine underground inspection device comprises an inspection guide rail, a traction module and at least one inspection body. The inspection body is slidingly connected to the inspection guide rail. The inspection guide rail is suspended in the coal mine. The traction module is used to drive the inspection body to move along the extension direction of the inspection guide rail. An adjusting mechanism, a first detection mechanism and a second detection mechanism are arranged in the inspection body. The adjusting mechanism is movably connected to the first detection mechanism and the second detection mechanism. The adjusting mechanism is used to drive the first detection mechanism and the second detection mechanism to move in opposite directions. An image acquisition assembly is independently arranged on the first detection mechanism and the second detection mechanism. The application adopts the image acquisition assembly to comprehensively and movably inspect the underground conditions, improves the accuracy of the inspection results, avoids the safety hazards caused by long-term manual inspection, and has high safety and stability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine inspection, and relates to a coal mine underground inspection device and an inspection method. BACKGROUND

[0002] The underground environment of a coal mine is complex, with low visibility, darkness, dampness, easy occurrence of fire, flood and gas explosion, etc., and the internal space of the mine area is wide, and various installations are numerous, so that the risk coefficient of underground work is increased. At present, the safety inspection of the underground is mainly carried out in an artificial way, however, this artificial inspection has many disadvantages, for example, it is time-consuming and laborious, and the labor intensity of workers is high, has great safety hazards, is highly subjective, and has low detection efficiency, and due to the complex underground environment, common water accumulation greatly hinders the artificial inspection.

[0003] In order to facilitate detection, a mobile unmanned inspection device is usually used to replace workers to perform the safety inspection of the coal mine underground, can monitor the image, sound, temperature, smoke and gas data of the scene in real time, so as to reduce the labor intensity and labor risk of workers, and timely find problems for troubleshooting. However, when the unmanned inspection device moves for detection in the underground, due to the complex terrain of the mine area, the problems of slipping and collision are easily caused, resulting in inaccurate detection results. In addition, due to long-time underground inspection, the driving components are greatly burdened, and when the inspection device fails or the power is insufficient, non-normal shutdown is caused, which brings inconvenience to detection.

[0004] Therefore, in the face of the complexity of the detection environment, how to reasonably solve the disadvantages of the existing inspection device to improve the detection accuracy and safety is very important for improving the production efficiency. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a coal mine underground inspection device and an inspection method, which adopts an image acquisition assembly to comprehensively perform mobile inspection on the underground conditions, so as to quickly position and improve the accuracy of the inspection results, avoid the safety hazards caused by long-term manual inspection, and have high safety and stability.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a coal mine underground inspection device, which comprises an inspection guide rail, a traction module and at least one inspection body, the inspection body is slidingly connected to the inspection guide rail, the inspection guide rail is suspended in the coal mine underground, and the traction module is used to drive the inspection body to move along the extension direction of the inspection guide rail.

[0008] The adjusting mechanism is movably connected with the first detection mechanism and the second detection mechanism, and is used to drive the first detection mechanism and the second detection mechanism to move in opposite directions.

[0009] In the present application, the inspection body is moved along the inspection guide rail located in the coal mine, so that the image acquisition assembly can comprehensively move and inspect the underground conditions, thereby quickly positioning and improving the accuracy of the inspection results, and avoiding the safety hazards caused by long-term manual inspection.

[0010] As a preferred technical solution of the present application, the adjusting mechanism comprises a driving knob and a rotating piece, the two ends of the rotating piece are respectively slidably connected with the first detection mechanism and the second detection mechanism, and the driving knob is used to drive the rotating piece to rotate, thereby driving the first detection mechanism and the second detection mechanism to move in opposite directions.

[0011] Preferably, the driving knob is fixed to the top of the inspection body, the rotating piece is located inside the inspection body, the driving knob is drivingly connected with the rotating piece through an output shaft, and the output shaft penetrates through the top surface of the inspection body and is connected with the rotating piece.

[0012] As a preferred technical solution of the present application, the first detection mechanism and the second detection mechanism respectively comprise a first moving platform and a second moving platform, and the first moving platform and the second moving platform are respectively slidably connected with the two ends of the rotating piece.

[0013] Preferably, the surface of the rotating piece is provided with guide teeth, and the first moving platform and the second moving platform are independently provided with a rack on the surface of the side close to the rotating piece, and the rack and the guide teeth are intermeshed.

[0014] In the use process of the present application, the driving knob is rotated to drive the output shaft to rotate, thereby driving the rotating piece to rotate, so that the guide teeth on the surface of the rotating piece and the racks of the first moving platform and the second moving platform at both ends are intermeshed, thereby driving the first moving platform and the second moving platform to move in opposite directions, thereby widening the detection range.

[0015] Preferably, the first moving platform and the second moving platform are respectively and independently slidably connected with the bottom surface of the inspection body.

[0016] Preferably, the first mobile platform and the second mobile platform are respectively provided with a sliding block, and the bottom surface of the inspection body is provided with a guide rail.

[0017] Preferably, the two ends of the guide rail are respectively provided with a stopper.

[0018] In the present application, the first mobile platform and the second mobile platform are driven to move by the rotating member, so that the sliding block moves on the guide rail, and the movement is more convenient, and the stopper at the two ends of the guide rail is used for stopping, so as to avoid the sliding block from derailing and causing damage to the equipment.

[0019] As a preferred technical scheme of the present application, the image acquisition assembly is fixed to the end of the first mobile platform or the second mobile platform.

[0020] In the present application, the image acquisition assembly can extend to both sides with the movement of the first mobile platform and the second mobile platform, and can extend to the outside of the inspection body, so as to improve the width of the collection space, and the extension distance can be adjusted by the person skilled in the art according to the actual situation, and the flexibility of the inspection is improved. At the same time, the image acquisition assembly can comprehensively collect the image information of the coal mine underground, and obtain clear image data, so as to ensure the accuracy of detection.

[0021] Preferably, the first mobile platform and the second mobile platform are respectively provided with a lighting assembly independently, and the lighting assembly is used for providing brightness to the image acquisition assembly.

[0022] Preferably, the first mobile platform and the second mobile platform are respectively provided with a detection assembly independently.

[0023] Preferably, the detection assembly comprises any one or at least two of a gas detection sensor, an infrared thermal imager, a wind speed sensor, a dust sensor and a humidity sensor.

[0024] In the present application, the first mobile platform and the second mobile platform are respectively provided with a detection assembly, and the detection assembly on the first mobile platform and the second mobile platform can be the same or different, so as to realize the simultaneous detection of multiple safety parameters and ensure the accuracy of underground fault diagnosis.

[0025] As a preferred technical scheme of the present application, the bottom outer wall of the inspection body is further provided with a distance surveying assembly, and the distance surveying assembly is used for detecting the distance between the inspection body and an obstacle.

[0026] The inspection body is hung on the top of the well, the distance between the inspection body and the obstacle is detected through the distance surveying assembly, the safety hazard to the underground worker is avoided, and the collision between the inspection body and the underground obstacle during the movement is prevented.

[0027] As one preferred technical scheme of the present application, at least one sliding base is arranged on the inspection guide rail and slides on the inspection guide rail, the sliding base is connected to the top of the inspection body through at least two connecting rods.

[0028] Preferably, a sliding groove is arranged on the surface of the inspection guide rail, and the bottom of the sliding base is provided with at least two walking wheels which move in the sliding groove.

[0029] The inspection body in the present application moves on the inspection guide rail by the sliding base, the movement of the inspection body is convenient, the stability of the whole is improved, the shaking of the inspection body is avoided, and the problem that the image acquisition assembly cannot accurately acquire image information is solved.

[0030] As one preferred technical scheme of the present application, the traction module comprises a traction cable and a driving mechanism, the traction cable is movably connected to the connecting rod, and the driving mechanism is used to drive the traction cable to move, thereby driving the inspection body to move along the inspection guide rail.

[0031] In the present application, the traction cable drives the inspection body to move along the extension direction of the inspection guide rail through the connecting rod, so that the power for driving the inspection body to move comes from the traction cable, without the need for an additional electric driving device, the electric loss is reduced, the working time of the inspection body is prolonged, and the inspection body can be applied to long-distance underground work.

[0032] Preferably, a limiting groove is arranged on the connecting rod, a locking piece is further rotatably arranged above the limiting groove, the traction cable is embedded in the limiting groove, and the locking piece is used to fix the traction cable.

[0033] Preferably, one end of the locking piece is rotatably connected to the connecting rod through a rotating shaft, and the other end is provided with a fixing plate which is detachably connected to the connecting rod below the limiting groove, so that the traction cable is fixed.

[0034] Preferably, the cross section of the locking piece has a semicircular structure, the locking piece is buckled on the limiting groove, and an accommodation space for accommodating the traction cable is formed between the locking piece and the limiting groove.

[0035] It needs to be explained that in the use process of the present application, the traction cable is first clamped into the limiting groove, then the locking piece is rotated to make its fixed plate adhere to the connecting rod below the limiting groove, and fastening is carried out by using bolts to avoid the connecting rod from falling off the traction cable, and the installation, maintenance and disassembly of the inspection body are facilitated.

[0036] As a preferred technical solution of the present application, at least two fixing pieces are arranged on the top outer wall of the inspection body, and the fixing pieces are detachably connected to the connecting rod.

[0037] Preferably, the fixing piece comprises a positioning pressing plate fixed to the inspection body, a limiting boss is arranged in the middle of the positioning pressing plate, a fixing through hole is arranged in the inside of the limiting boss, and the fixing through hole penetrates the limiting boss along the width direction of the limiting boss.

[0038] The bottom of the connecting rod is provided with a connecting bracket, the connecting bracket penetrates the fixing through hole, and the connecting bracket is bolted to the top outer wall of the inspection body.

[0039] When installing the inspection body, the connecting bracket is first transversely penetrated through the fixing through hole, and then fastening is carried out by using bolts, and the person skilled in the art can further strengthen the connection between the limiting boss and the inspection body according to the actual situation by using bolts to avoid the inspection body from falling off and causing safety accidents.

[0040] As a preferred technical solution of the present application, the coal mine underground inspection device further comprises a control module, and the control module is electrically connected to the inspection body and the traction module respectively.

[0041] Preferably, the control module comprises a data processing mechanism, a task execution mechanism and an alarm mechanism.

[0042] The data processing mechanism is electrically connected to the inspection body, used for receiving and processing data information collected from the inspection body, and issuing a movement instruction.

[0043] The task execution mechanism is electrically connected to the traction module, the inspection body, the data processing mechanism and the alarm mechanism respectively, used for executing tasks according to the movement instruction.

[0044] The alarm mechanism is used for issuing an alarm.

[0045] The present application is electrically connected to the control module, the inspection body and the traction module, remotely controls the movement of the traction module and the detection of the inspection body, realizes real-time detection of underground working conditions and fault conditions, and improves the working efficiency. The control module of the present application is a terminal for operation and monitoring of the operation and maintenance personnel in the coal mine underground, can include a main control station arranged on the well, and can establish a complete communication network in the entire inspection area to realize bidirectional data interaction.

[0046] In a second aspect, the present application provides a coal mine underground inspection method, which adopts the coal mine underground inspection device of the first aspect, and comprises the following steps:

[0047] (I) suspending and fixing the inspection guide rail on the top of the underground wall;

[0048] (II) driving the inspection body to slide along the inspection guide rail by the traction module to move and acquire image information;

[0049] (III) performing fixed-point detection according to the image information.

[0050] The coal mine underground inspection device is used to repeatedly inspect the coal mine underground and continuously and dynamically collect the coal bin state, so that the underground situation can be completely covered, and the on-site situation can be collected in time when an emergency occurs, so that fixed-point detection and troubleshooting can be performed.

[0051] Compared with the prior art, the present application has the following advantages:

[0052] The coal mine underground inspection device and the inspection method can move the inspection body along the inspection guide rail located in the coal mine underground, so that the image acquisition assembly can comprehensively move to inspect the underground situation, thereby quickly positioning and improving the accuracy of the inspection result, avoiding the safety hazards caused by long-term manual inspection; the first detection mechanism and the second detection mechanism are driven to move in opposite directions by the adjusting mechanism, thereby widening the detection range and improving the flexibility of the detection device; the inspection guide rail is suspended and arranged in the coal mine underground, so that the inspection body does not interfere with the equipment, personnel or obstacles in the underground, thereby improving the safety performance; the traction module is used to drive the inspection body to move, thereby reducing the power consumption and prolonging the service life. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The structure diagram of the coal mine underground inspection device is provided for one specific embodiment of the present application;

[0054] Figure 2 The structure diagram of the adjusting mechanism, the first detection mechanism and the second detection mechanism is provided for one specific embodiment of the present application;

[0055] Figure 3 The structure diagram of the inspection body is provided for one specific embodiment of the present application;

[0056] Figure 4 The structure diagram of the locking member is provided for one specific embodiment of the present application;

[0057] Figure 5The structural schematic diagram of the fixing member is provided for one specific embodiment of the present application.

[0058] Wherein, 1-patrol guide rail; 2-patrol body; 3-towing cable; 4-image acquisition assembly; 5-driving knob; 6-rotating member; 7-first moving platform; 8-second moving platform; 9-guiding tooth; 10-rack; 11-sliding block; 12-guiding rail; 13-stop block; 14-illumination assembly; 15-detection assembly; 16-distance surveying assembly; 17-sliding base; 18-connecting rod; 19-traveling wheel; 20-limiting groove; 21-locking member; 22-fixing plate; 23-fixing member; 24-limiting boss; 25-connecting bracket. DETAILED DESCRIPTION

[0059] It should be understood that, in the description of the present application, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0060] It should be noted that, in the description of the present application, unless otherwise specified and limited, the terms "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0061] The technical solutions of the present application will be further described below in conjunction with the drawings and through specific embodiments.

[0062] In one specific embodiment, the present application provides a coal mine underground patrol device, which comprises a patrol guide rail 1, a traction module and at least one patrol body 2, such as Figure 1As shown, the inspection body 2 is slidingly connected to the inspection guide rail 1, the inspection guide rail 1 is suspended in the coal mine, and the traction module is used to drive the inspection body 2 to move along the extension direction of the inspection guide rail 1.

[0063] As shown, Figure 2 The inspection body 2 is provided with an adjusting mechanism, a first detection mechanism and a second detection mechanism, the adjusting mechanism is movably connected to the first detection mechanism and the second detection mechanism respectively, the adjusting mechanism is used to drive the first detection mechanism and the second detection mechanism to move in opposite directions, and the first detection mechanism and the second detection mechanism are independently provided with an image acquisition assembly 4.

[0064] In the present application, the inspection body 2 is moved along the inspection guide rail 1 in the coal mine, so that the image acquisition assembly 4 can comprehensively move and inspect the underground conditions, thereby quickly positioning and improving the accuracy of the inspection results, avoiding the safety hazards caused by long-term manual inspection; the adjusting mechanism drives the first detection mechanism and the second detection mechanism to move in opposite directions, thereby widening the detection range and improving the flexibility of the detection device; the inspection guide rail 1 is suspended in the coal mine, thereby avoiding interference between the inspection body 2 and the equipment, personnel or obstacles in the coal mine, improving the safety performance, driving the inspection body 2 to move by using the traction module, reducing the power consumption and prolonging the service life.

[0065] The number of the inspection body 2 can be adjusted by a person skilled in the art according to the actual situation, which can be one, two, three or the like, so as to comprehensively cover the underground.

[0066] In some embodiments, as shown in Figure 2 and Figure 3 The adjusting mechanism includes a driving knob 5 and a rotating piece 6, both ends of the rotating piece 6 are slidingly connected to the first detection mechanism and the second detection mechanism respectively, and the driving knob 5 is used to drive the rotating piece 6, thereby driving the first detection mechanism and the second detection mechanism to move in opposite directions. The first detection mechanism and the second detection mechanism respectively include a first moving platform 7 and a second moving platform 8, and the first moving platform 7 and the second moving platform 8 are slidingly connected to both ends of the rotating piece 6 respectively.

[0067] The driving knob 5 is fixed to the top of the inspection body 2, the rotating piece 6 is located in the inside of the inspection body 2, the driving knob 5 is drivingly connected to the rotating piece 6 through an output shaft, and the output shaft penetrates through the top surface of the inspection body 2 and is connected to the rotating piece 6. The surface of the rotating piece 6 is distributed with guide teeth 9, and the first moving platform 7 and the second moving platform 8 are independently provided with a rack 10 on the surface of the side close to the rotating piece 6, and the rack 10 and the guide teeth 9 are intermeshed.

[0068] During use, rotating the drive knob 5 causes the output shaft to rotate, which in turn causes the rotating component 6 to rotate. This causes the guide teeth 9 on the surface of the rotating component 6 to mesh with the racks 10 on the first moving platform 7 and the second moving platform 8 at both ends. This, in turn, causes the first moving platform 7 and the second moving platform 8 to move in opposite directions, extending them to both sides and widening the detection range.

[0069] like Figure 3 As shown, the first mobile platform 7 and the second mobile platform 8 are also independently and slidably connected to the bottom surface of the inspection body 2. The bottom of the first mobile platform 7 and the second mobile platform 8 are respectively provided with sliders 11, and the bottom surface of the inspection body 2 is provided with a guide rail 12, with the sliders 11 slidably connected to the guide rail 12. Stops 13 are also provided at both ends of the guide rail 12.

[0070] In this invention, the first moving platform 7 and the second moving platform 8 are driven to move by the rotating component 6, so that the slider 11 moves on the guide rail 12, making its movement more convenient. The blocks 13 at both ends of the guide rail 12 are used to stop it, so as to prevent the slider 11 from derailing and causing damage to the equipment.

[0071] In some embodiments, the image acquisition component 4 is fixed to the end of the first moving platform 7 or the second moving platform 8. In this invention, the image acquisition component 4 can extend to both sides as the first moving platform 7 and the second moving platform 8 move, extending beyond the inspection body 2, thus increasing the width of the acquisition space. Those skilled in the art can adjust the extension distance according to actual conditions, improving the flexibility of the inspection. Simultaneously, the image acquisition component 4 comprehensively acquires image information from underground coal mines, obtaining clear image data and ensuring the accuracy of the detection.

[0072] In some embodiments, the first mobile platform 7 and the second mobile platform 8 are independently provided with lighting components 14, which are used to provide brightness to the image acquisition component 4.

[0073] In some embodiments, the first mobile platform 7 and the second mobile platform 8 are each independently provided with a detection component 15. The detection component 15 includes any one or at least two of a gas detection sensor, an infrared thermal imager, a wind speed sensor, a dust sensor, and a humidity sensor.

[0074] The gas detection sensor can be used for real-time detection of toxic gases such as gas in the underground air; the infrared thermal imager is used for real-time detection of underground temperature; the dust sensor is used for detecting the concentration of dust in the underground air; the wind speed sensor is used for detecting the wind speed data in the underground; and the humidity sensor is used for detecting the humidity in the underground. The first moving platform 7 and the second moving platform 8 are both fixed with the detection assembly 15, and the detection assembly 15 on the first moving platform 7 and the second moving platform 8 can be the same or different, so that the simultaneous detection of multiple safety parameters can be realized, and the accuracy of the underground fault diagnosis can be ensured.

[0075] In some embodiments, as shown in Figure 1 The bottom outer wall of the inspection body 2 is also provided with a distance surveying assembly 16 for detecting the distance between the inspection body 2 and the obstacle. In the present application, the inspection body 2 is suspended at the top of the well, and the distance between the inspection body 2 and the obstacle is detected by the distance surveying assembly 16, so as to avoid safety hazards to the underground workers, and prevent the collision between the inspection body 2 and the underground obstacle during the movement of the inspection body 2, thereby avoiding the damage of the equipment.

[0076] In some embodiments, at least one sliding base 17 is slidably arranged on the inspection guide rail 1, and the sliding base 17 is connected to the top of the inspection body 2 through at least two connecting rods 18. A sliding groove is formed in the surface of the inspection guide rail 1, and at least two walking wheels 19 are arranged on the bottom of the sliding base 17 and move in the sliding groove. In the present application, the inspection body 2 moves on the inspection guide rail 1 by means of the sliding base 17, so as to ensure the convenience of the movement of the inspection body 2, and the inspection body 2 is supported by the inspection guide rail 1, thereby improving the overall stability and avoiding the shaking of the inspection body 2, which causes the image acquisition assembly 4 to fail to accurately acquire image information.

[0077] In some embodiments, as shown in Figure 1 The traction module includes a traction cable 3 and a driving mechanism, the traction cable 3 is movably connected to the connecting rod 18, and the driving mechanism is used to drive the traction cable 3 to move, thereby driving the inspection body 2 to move along the inspection guide rail 1. In the present application, the traction cable 3 provides power for the inspection body 2 through the connecting rod 18, and the inspection body 2 does not need to be driven by an additional electric driving device, thereby reducing the power consumption, prolonging the working time of the inspection body 2, and making it applicable to long-distance underground work.

[0078] The specific structure of the driving mechanism is not limited in the present application, and any driving mechanism known to those skilled in the art can be used. In order to help those skilled in the art better understand the overall technical scheme and working process of the present application, the present application exemplarily provides the following specific structure of the driving mechanism:

[0079] The driving mechanism comprises a driving motor and two rotating discs which are suspended and fixed on the top of the downhole wall body, the driving motor is in transmission connection with the rotating discs, and can be in variable frequency speed regulation to adapt to the required moving speed of the inspection body 2, and the two ends of the traction cable 3 are wound on the two rotating discs respectively, and the driving mechanism is used for driving the rotating discs to rotate, so as to drive the traction cable 3 to move between the two rotating discs.

[0080] It should be noted that the above description of the structure of the driving mechanism does not constitute a further limitation on the protection scope of the present application, that is, the driving mechanism disclosed in the prior art or not disclosed in the new technology can be used in the present application, and is not limited to the above structure, and any driving mechanism which can realize the same or similar function can be replaced, and the technical solution obtained after the replacement also falls within the protection scope and disclosure range of the present application.

[0081] In some embodiments, as shown in Figure 4 A limiting groove 20 is formed on the connecting rod 18, a locking piece 21 is rotatably arranged above the limiting groove 20, the traction cable 3 is embedded in the limiting groove 20, and the locking piece 21 is used for fixing the traction cable 3. One end of the locking piece 21 is rotatably connected to the connecting rod 18 through a rotating shaft, and the other end is provided with a fixing plate 22 which is detachably connected to the connecting rod 18 below the limiting groove 20, so that the traction cable 3 is fixed. The cross section of the locking piece 21 has a semicircular structure, the locking piece 21 is buckled on the limiting groove 20, and an accommodation space for accommodating the traction cable 3 is formed between the locking piece 21 and the limiting groove 20. In the use process of the present application, the traction cable 3 is first clamped into the limiting groove 20, and then the locking piece 21 is rotated, so that the fixing plate 22 of the locking piece 21 is attached to the connecting rod 18 below the limiting groove 20, and is fastened by bolts, so as to avoid that the connecting rod 18 falls off from the traction cable 3, and the installation, maintenance and disassembly of the inspection body 2 are facilitated.

[0082] In some embodiments, as shown in Figure 5As shown, the top outer wall of the inspection body 2 is provided with at least two fixing members 23, which are detachably connected to the connecting rod 18. The fixing member 23 comprises a positioning pressing plate fixed to the inspection body 2, and a limiting boss 24 is arranged in the middle of the positioning pressing plate. The limiting boss 24 is internally provided with a fixing through hole which penetrates the limiting boss 24 along the width direction of the limiting boss 24. The bottom of the connecting rod 18 is provided with a connecting bracket 25 which penetrates the fixing through hole and is bolted to the top outer wall of the inspection body 2. When installing the inspection body 2, the connecting bracket 25 is first transversely penetrated through the fixing through hole, and then fastened by bolts. According to the actual situation, the skilled person in the art can further strengthen the connection between the limiting boss 24 and the inspection body 2 by bolts to avoid the inspection body 2 from falling off and causing safety accidents.

[0083] In some embodiments, the coal mine underground inspection device further comprises a control module electrically connected to the inspection body 2 and the traction module. The control module comprises a data processing mechanism, a task execution mechanism and an alarm mechanism. The data processing mechanism is electrically connected to the inspection body 2 for receiving and processing data information collected by the inspection body 2 and issuing movement instructions. The task execution mechanism is electrically connected to the traction module, the inspection body 2, the data processing mechanism and the alarm mechanism for executing tasks according to the movement instructions. The alarm mechanism is used to issue an alarm.

[0084] The control module of the present application is electrically connected to the inspection body 2 and the traction module, and the movement of the traction module and the detection of the inspection body 2 are remotely controlled, so that the real-time detection of the working condition and the fault condition in the underground is realized, and the working efficiency is improved. The control module of the present application is a terminal for operation and monitoring of the operation and maintenance personnel in the coal mine underground, which can include a main control station arranged on the well, and a complete communication network is established in the entire inspection area to realize bidirectional data interaction.

[0085] In order to help the skilled person better understand the overall technical solution and working process of the present application, the present application exemplarily provides the following specific use modes of the coal mine underground inspection device:

[0086] (1) The debugging of the inspection body 2: according to the actual underground space and the detection parameters, the image acquisition assembly 4, the lighting assembly 14 and the detection assembly 15 are fixed on the first moving platform 7 and the second moving platform 8 respectively, the output shaft is rotated by rotating the driving knob 5, the rotating member 6 is driven to rotate, the guide teeth 9 on the surface of the rotating member 6 and the racks 10 on the first moving platform 7 and the second moving platform 8 at both ends are meshed with each other, thereby driving the first moving platform 7 and the second moving platform 8 to move in opposite directions, and the inspection body 2 is extended, at the same time, the distance surveying assembly 16 is fixed on the bottom outer wall of the inspection body 2, and the image acquisition assembly 4, the lighting assembly 14, the detection assembly 15 and the distance surveying assembly 16 are electrically connected to the control module;

[0087] (2) The installation of the inspection body 2: the fixing piece 23 is fixed on the top outer wall of the inspection body 2 by bolts, the connecting bracket 25 of the connecting rod 18 is transversely inserted through the fixed through hole of the fixing piece 23, the connecting bracket 25 is fastened by bolts, the limiting boss 24 is further connected to the inspection body 2 by bolts, and then the end of the connecting rod 18 away from the inspection body 2 is connected to the sliding base 17 on the inspection guide rail 1;

[0088] (3) The installation of the traction module: the traction cable 3 is inserted into the limiting groove 20 of the connecting rod 18, the locking piece 21 is rotated, the fixing plate 22 of the locking piece 21 is attached to the connecting rod 18 below the limiting groove 20, and the locking piece 21 is fastened by bolts to prevent the connecting rod 18 from falling off the traction cable 3, the driving mechanism of the traction module is electrically connected to the control module, the driving mechanism is used to drive the traction cable 3 to move, thereby driving the inspection body 2 to move along the extension direction of the inspection guide rail 1.

[0089] In another specific embodiment, the present application provides a coal mine underground inspection method, which uses the coal mine underground inspection device in one specific embodiment, and the coal mine underground inspection method comprises the following steps:

[0090] (1) The inspection guide rail 1 is suspended and fixed on the top of the underground wall;

[0091] (2) The inspection body 2 is driven to slide along the inspection guide rail 1 by the traction module to move and obtain image information;

[0092] (3) The image information is used for point detection.

[0093] The coal mine underground inspection device is used to repeatedly inspect the coal mine underground continuously, continuously and dynamically collect the state of the coal bunker, completely cover the underground situation, collect the scene in time when an emergency occurs, and perform point detection and troubleshooting.

[0094] The application adopts a control module of a coal mine underground inspection device as a terminal for operation and monitoring of operation and maintenance personnel in the coal mine underground, arranges a master control station on the well and establishes a complete communication network in the whole inspection area to realize two-way data interaction. The image acquisition component 4 comprehensively collects image information of the coal mine underground, obtains dynamic and clear image data and transmits to the master control station. The gas detection sensor, infrared thermal imager, wind speed sensor, dust sensor and humidity sensor in the inspection body 2 independently collect data such as gas concentration information of toxic gas in the underground air, underground temperature information, dust concentration information in the underground air, wind speed information and humidity information in real time and transmit to the data processing mechanism. The data processing mechanism receives and processes the data information collected from the inspection body 2 and sends a motion instruction, the task execution mechanism executes the task according to the motion instruction or triggers the alarm mechanism to send an alarm, realizes simultaneous detection of multiple safety parameters and guarantees accuracy of the underground fault diagnosis. In the inspection process, the staff determines the underground fault point according to the image information collected by the image acquisition component 4 and adopts the detection component 15 for point detection, which improves the inspection accuracy.

[0095] The applicant declares that the above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, and those skilled in the art should understand that any changes or replacements within the technical scope disclosed by the application can be easily thought of by any person skilled in the art in the technical field, which falls within the protection scope and disclosure scope of the application.

Claims

1. A coal mine underground inspection device, characterized in that, The coal mine underground inspection device comprises an inspection guide rail, a traction module and at least one inspection body, the inspection body is slidably connected to the inspection guide rail, the inspection guide rail is suspended in the coal mine, and the traction module is used to drive the inspection body to move along the extension direction of the inspection guide rail; An adjusting mechanism, a first detection mechanism and a second detection mechanism are arranged in the inspection body, the adjusting mechanism is movably connected to the first detection mechanism and the second detection mechanism respectively, the adjusting mechanism is used to drive the first detection mechanism and the second detection mechanism to move in opposite directions, and image acquisition assemblies are independently arranged on the first detection mechanism and the second detection mechanism; The adjusting mechanism comprises a driving knob and a rotating piece, the driving knob is used to drive the rotating piece to rotate, thereby driving the first detection mechanism and the second detection mechanism to move in opposite directions; The first detection mechanism and the second detection mechanism respectively comprise a first moving platform and a second moving platform, the first moving platform and the second moving platform are slidably connected to the two ends of the rotating piece respectively, the surface of the rotating piece is provided with guide teeth, the side surface of the first moving platform and the second moving platform close to the rotating piece is independently provided with a rack, and the rack and the guide teeth are in meshing connection; the first moving platform and the second moving platform are also independently slidably connected to the bottom surface of the inspection body; At least one sliding base is slidably arranged on the inspection guide rail, and the sliding base is connected to the top of the inspection body through at least two connecting rods; At least two fixing pieces are arranged on the top outer wall of the inspection body, and the fixing pieces are detachably connected to the connecting rods; the fixing piece comprises a positioning pressing plate fixed to the inspection body, a limiting boss is arranged in the middle of the positioning pressing plate, a fixing through hole is formed in the inside of the limiting boss, and the fixing through hole penetrates the limiting boss along the width direction of the limiting boss; a connecting bracket is arranged at the bottom of the connecting rod, the connecting bracket penetrates the fixing through hole, and the top outer wall of the inspection body is bolted.

2. The coal mine underground inspection device according to claim 1, characterized in that, The driving knob is fixed to the top of the inspection body, the rotating piece is located in the inside of the inspection body, the driving knob is drivingly connected to the rotating piece through an output shaft, and the output shaft penetrates the top surface of the inspection body and is connected to the rotating piece.

3. The coal mine underground inspection device according to claim 1, characterized in that, The bottom of the first moving platform and the second moving platform is respectively provided with a sliding block, the bottom surface of the inspection body is provided with a guide rail, and the sliding block is slidably connected to the guide rail; The two ends of the guide rail are also respectively provided with a stop block.

4. The coal mine underground inspection device according to claim 3, characterized in that, The image acquisition assembly is fixed to the end of the first moving platform or the second moving platform; An illuminating assembly is independently arranged on the first moving platform and the second moving platform, and the illuminating assembly is used to provide brightness for the image acquisition assembly; A detection assembly is also independently arranged on the first moving platform and the second moving platform respectively; The detection assembly comprises any one or at least two of a gas detection sensor, an infrared thermal imager, a wind speed sensor, a dust sensor and a humidity sensor.

5. The coal mine underground inspection device according to any one of claims 1-4, characterized in that, The bottom outer wall of the inspection body is further provided with a distance surveying assembly for detecting the distance between the inspection body and an obstacle.

6. The coal mine underground inspection device of claim 1, wherein, A sliding groove is formed in the surface of the inspection rail, and the bottom of the sliding base is provided with at least two walking wheels which move in the sliding groove.

7. The coal mine underground inspection device according to claim 6, characterized in that, The traction module comprises a traction cable and a driving mechanism, the traction cable is movably connected to the connecting rod, and the driving mechanism is used to drive the traction cable to move, thereby driving the inspection body to move along the inspection rail. A limiting groove is formed in the connecting rod, and a locking piece is rotatably arranged above the limiting groove, the traction cable is embedded in the limiting groove, and the locking piece is used to fix the traction cable. One end of the locking piece is rotatably connected to the connecting rod through a rotating shaft, and the other end is provided with a fixing plate which is detachably connected to the connecting rod below the limiting groove, so that the traction cable is fixed. The cross section of the locking piece has a semicircular structure, the locking piece is buckled on the limiting groove, and an accommodating space for accommodating the traction cable is formed between the locking piece and the limiting groove.

8. The coal mine underground inspection device of claim 1, wherein, The coal mine underground inspection device further comprises a control module which is electrically connected to the inspection body and the traction module; The control module comprises a data processing mechanism, a task execution mechanism and an alarm mechanism; The data processing mechanism is electrically connected to the inspection body, is used to receive and process data information collected from the inspection body, and sends a movement instruction; The task execution mechanism is electrically connected to the traction module, the inspection body, the data processing mechanism and the alarm mechanism, and is used to execute tasks according to the movement instruction; The alarm mechanism is used to send an alarm.

9. A method of inspecting a coal mine underground, characterized by, The coal mine underground inspection method adopts the coal mine underground inspection device of any one of claims 1-8, and comprises the following steps: (I) suspending and fixing the inspection rail at the top of the underground wall; (II) driving the inspection body to slide along the inspection rail by using the traction module to move and perform inspection, and acquiring image information; (III) performing fixed-point detection according to the image information.

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