Online Calibration System and Method for Gas Sensors Used in Coal Mine Robots

Abstract

The present invention discloses an on-line calibration system and method for gas sensors applied to coal mine robots, including: a coal mine robot, a plurality of mine sensors, a plurality of substation networks, and a host computer; a gas sensor and an environment sensor are arranged on the coal mine robot, the gas sensor is used to detect the gas concentration in the environment where it is located, and the detected data value of the gas sensor is XC1. A plurality of the mine sensors are all installed underground in the mine, and the mine sensors all include mine gas sensors and mine environment sensors; the detected data value of the mine gas sensor is YCi. A plurality of the substation networks are evenly distributed underground in the mine. The environment sensor includes a temperature sensor, a humidity sensor, and a pressure sensor, and the mine environment sensor includes a mine temperature sensor, a mine humidity sensor, and a mine pressure sensor. The present invention has the advantage of automatically calibrating the gas sensors of coal mine robots.

Description

Technical Field

[0001] The present invention belongs to the technical field of gas sensor calibration, and particularly relates to an on-line calibration system and method for a gas sensor applied to a coal mine robot. Background Art

[0002] When sensors are used for monitoring in the complex environment of coal mines, there are inevitably problems such as drift of sensing elements and influence by the external environment, resulting in deviation of detection values. At present, the artificial calibration technology is adopted for underground gas sensors. It is very inconvenient to carry standard gas underground and manually operate the remote control or buttons for calibration. Moreover, since there are many gas sensors installed in coal mine shafts, the cost of purchasing standard gas samples and the large amount of manpower consumed by underground manual calibration lead to a heavy daily maintenance burden. Therefore, an on-line calibration system and method for a gas sensor applied to a coal mine robot are proposed, mainly to solve the cumbersome method of on-line calibration of the gas sensor used by the coal mine robot. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, the present invention provides an on-line calibration system and method for a gas sensor applied to a coal mine robot, which has the advantage of automatically calibrating the gas sensor of the coal mine robot.

[0005] According to the on-line calibration system and method for a gas sensor applied to a coal mine robot according to an embodiment of the present invention, it includes: a coal mine robot, a plurality of mine sensors, a plurality of sub-stations networking, and a host computer; a gas sensor and an environment sensor are arranged on the coal mine robot, the gas sensor is used to detect the gas concentration in the surrounding environment, and the detected data value of the gas sensor is XC1. A plurality of the mine sensors are all installed underground in the mine, and each of the mine sensors includes a mine gas sensor and a mine environment sensor; the detected data value of the mine gas sensor is YCi. A plurality of the sub-stations networking are evenly distributed underground in the mine, used for data transmission and for receiving data and storing information.

[0006] According to an embodiment of the present invention, the environment sensor includes a temperature sensor, a humidity sensor, and a pressure sensor. The temperature sensor is used to detect the temperature in the surrounding environment, and the detected data value of the temperature sensor is XT1. The humidity sensor is used to detect the humidity in the surrounding environment, and the detected data value of the humidity sensor is XRH1. The pressure sensor is used to detect the pressure in the surrounding environment, and the detected data value of the pressure sensor is XF1.

[0007] According to an embodiment of the present invention, the mine environment sensor includes a mine temperature sensor, a mine humidity sensor, and a mine pressure sensor. The detected data value of the mine temperature sensor is YTi, the detected data value of the mine humidity sensor is YRHi, and the detected data value of the mine pressure sensor is YFi.

[0008] An on-line calibration method for a gas sensor applied to a coal mine robot, using the on-line calibration system for a gas sensor applied to a coal mine robot described in any one of the above, includes the following steps:

[0009] S1. Network the coal mine robot with a nearby substation through WIFI for data interaction, and upload the data detected by the gas sensor and the environment sensor on the coal mine robot to the upper computer.

[0010] S2. The coal mine robot receives the detected data of multiple nearby mine sensors that have been calibrated recently, and uploads this data to the substation network connected to it.

[0011] S3. The substation network conducts comparative analysis and processing on the data in S1 and S2, and after processing, numerically calibrates the corresponding gas sensor and environment sensor on the coal mine robot according to the difference size between the data values in S1 and S2.

[0012] According to an embodiment of the present invention, in S3, the substation network conducts data comparative analysis on the obtained YCi and the data XC1 detected by the coal mine robot itself, judges the difference value size of this group of data. When the difference value of the data is small, the data detected by the mine gas sensor closest to the coal mine robot can be used to calibrate the gas sensor on the coal mine robot.

[0013] According to an embodiment of the present invention, when the difference value between the YCi data and XC1 exceeds the corresponding basic error requirement of the coal mine robot sensor, the substation network fits parameters according to the detected data of the mine environment sensor and the detected data of the environment sensor on the coal mine robot, obtains a calibration coefficient, and uses the calibration coefficient to calibrate the coal mine robot sensor.

[0014] According to an embodiment of the present invention, the substation network will conduct environmental comparison on the data of YTi, YRHi, and YFi respectively with XT1, XRH1, and XF1. At the mine gas sensor closest to the coal mine robot, after compensating for the gas concentration through the differences in ambient temperature, humidity, and pressure between the two, determine the calibration value of the coal mine robot gas sensor.

[0015] According to an embodiment of the present invention, the fitting parameter uses the least squares method.

[0016] The beneficial effects of the present invention are as follows: The present invention adopts the data of the calibrated mine sensors underground in the mine, and conducts data analysis through substation networking, realizing the automatic calibration of the gas sensors on the coal mine robot, saving the use of standard gas during calibration, and at the same time reducing the workload of the staff.

[0017] Other features and advantages of the present invention will be described in the following specification, and partly will become obvious from the specification, or will be understood by implementing the present invention.

[0018] To make the above objects, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Brief Description of the Drawings

[0019] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0020] Figure 1 is a schematic diagram of the calibration process of the present invention; Detailed Embodiments

[0021] The embodiments of the present invention are described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The following specifically describes the on-line calibration system and method of the gas sensor applied to the coal mine robot according to the embodiments of the present invention with reference to the accompanying drawings.

[0025] As Figure 1 shown, the on-line calibration system and method of the gas sensor applied to the coal mine robot according to the embodiments of the present invention include: a coal mine robot, on which a gas sensor and an environmental sensor are provided. The gas sensor is used to detect the gas concentration in the surrounding environment, and the detected data value of the gas sensor is XC1;

[0026] Multiple mine sensors, all of which are installed underground in the mine. The mine sensors all include a mine gas sensor and a mine environmental sensor; the detected data value of the mine gas sensor is YCi;

[0027] Multiple substation networks, which are evenly distributed underground in the mine for data transmission;

[0028] A host computer, which is used to receive data and store information.

[0029] The environmental sensor includes a temperature sensor, a humidity sensor, and a pressure sensor. The temperature sensor is used to detect the temperature in the surrounding environment, and the detected data value of the temperature sensor is XT1. The humidity sensor is used to detect the humidity in the surrounding environment, and the detected data value of the humidity sensor is XRH1. The pressure sensor is used to detect the pressure in the surrounding environment, and the detected data value of the pressure sensor is XF1.

[0030] The mine environmental sensor includes a mine temperature sensor, a mine humidity sensor, and a mine pressure sensor. The detected data value of the mine temperature sensor is YTi, the detected data value of the mine humidity sensor is YRHi, and the detected data value of the mine pressure sensor is YFi.

[0031] An on-line calibration method of the gas sensor applied to the coal mine robot, using the above on-line calibration system of the gas sensor applied to the coal mine robot, includes the following steps:

[0032] S1. Network the coal mine robot with nearby substations via WIFI for data interaction, and upload the data detected by the gas sensors and environmental sensors on the coal mine robot to the host computer;

[0033] S2. The coal mine robot receives the detection data of multiple recently calibrated mine sensors nearby and uploads this data to the substation network connected to it;

[0034] S3. The substation network conducts comparative analysis and processing on the data in S1 and S2. After processing, it calibrates the corresponding gas sensors and environmental sensors on the coal mine robot according to the difference in data values between S1 and S2.

[0035] In S3, the substation network conducts data comparative analysis on the obtained YCi and the data XC1 detected by the coal mine robot itself, and judges the magnitude of the difference value of this group of data. When the difference value of the data is small, the data detected by the mine gas sensor closest to the coal mine robot can be used to calibrate the gas sensor on the coal mine robot.

[0036] When the difference value between the YCi data and XC1 exceeds the corresponding basic error requirement of the coal mine robot sensor, the substation network fits parameters based on the detection data of the mine environmental sensor and the detection data of the environmental sensor on the coal mine robot to obtain a calibration coefficient, and uses the calibration coefficient to calibrate the coal mine robot sensor.

[0037] The substation network will conduct environmental comparison of the data of YTi, YRHi, and YFi with XT1, XRH1, and XF1 respectively to find a mine environmental sensor close to the environment of the coal mine robot, so as to find the calibration value of the gas sensor of the coal mine robot. The fitting parameter adopts the least squares method.

[0038] Working principle: The coal mine robot receives the detection data of multiple nearby mine sensors that have been recently calibrated, and uploads this data to the substation network connected to it. The substation network compares and analyzes the detection data of the mine gas sensor and the gas sensor. If the difference value of this data is small and meets the corresponding basic error requirements of the coal mine robot sensor, the data detected by the mine gas sensor closest to the coal mine robot is used to calibrate the gas sensor on the coal mine robot, realizing the automatic calibration of the gas sensor on the coal mine robot using the calibrated mine gas sensor, saving the use of standard gas and reducing the workload of staff. If the difference value between the YCi data and the XC1 exceeds the corresponding basic error requirements of the coal mine robot sensor, the substation network respectively compares and analyzes the YTi and XT1, YRHi and XRH1, and YFi and XF1 data. At the mine gas sensor closest to the coal mine robot, after compensating for the gas concentration through the differences in ambient temperature, humidity, and pressure between the two, the calibration value of the coal mine robot gas sensor is determined, and the value of the mine environmental sensor is adjusted to be the same as the value of the environmental sensor on the coal mine robot. At this time, the value obtained on the mine gas sensor can be used to calibrate the gas sensor on the coal mine robot, realizing the comparative analysis based on the location of the mine gas sensor and parameters such as environment, humidity, and pressure, thereby obtaining more accurate calibration parameters and increasing the accuracy of gas sensor calibration.

[0039] The recently calibrated coal mine robot gas sensor can be moved near the mine sensor to be calibrated, and the above steps are used to perform the automatic calibration work on the mine gas sensor of the mine sensor, realizing the automatic calibration work of each sensor underground in the mine.

[0040] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0041] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An on-line calibration method for gas sensors applied to coal mine robots, characterized in that, An online calibration system for gas sensors using coal mine robots, the calibration system includes: A coal mine robot, equipped with a gas sensor and an environmental sensor, Multiple mine sensors, all installed underground in the mine, including mine gas sensors and mine environmental sensors; Multiple sub-stations are networked and evenly distributed underground in the mine for data transmission; A host computer, used to receive data and store information; The calibration steps are as follows: S1. Connect the coal mine robot to the nearby sub-station network through WIFI for data interaction, and upload the data detected by the gas sensor and the environmental sensor on the coal mine robot to the host computer; S2. The coal mine robot receives the detection data of multiple nearby mine sensors that have been calibrated recently, and uploads this data to the sub-station network connected to it; S3. The sub-station network conducts comparative analysis and processing on the data in S1 and S2, Among them, the sub-station network will compare the detection data values YTi, YRHi, and YFi of the mine temperature sensor, mine humidity sensor, and mine pressure sensor included in the mine environmental sensor with the detection data values XT1, XRH1, and XF1 of the temperature sensor, humidity sensor, and pressure sensor included in the robot environmental sensor to determine the mine gas sensor closest to the coal mine robot; The sub-station network conducts comparative analysis on the detection data of the mine gas sensor received and the detection data of the robot gas sensor. If the difference value of the data is small and meets the corresponding basic error requirements of the coal mine robot sensor, the data detected by the mine gas sensor closest to the coal mine robot is used to calibrate the gas sensor on the coal mine robot; If the difference value exceeds the corresponding basic error requirements of the coal mine robot sensor, at the mine gas sensor closest to the coal mine robot, the gas concentration is compensated by the environmental temperature, humidity, and pressure, and then the value of the mine environmental sensor is adjusted to be the same as the value of the environmental sensor on the coal mine robot. At this time, the value on the mine gas sensor obtained is used to calibrate the gas sensor on the coal mine robot.

Images