A goaf area coal spontaneous combustion prevention and control system

Abstract

The present disclosure provides a goaf coal spontaneous combustion prevention and control system. The system includes: a collection unit, the collection unit includes a gas imaging sensor device and a breeze telemetry device, the gas imaging sensor device is used to collect the gas concentration of the goaf, the breeze telemetry device includes a fiber optic hot wire wind speed sensor and a laser radar sensor, which are used to collect the wind speed and direction of the goaf; a grouting unit, including a grouting plugging robot, which is used to spray and plug the air leakage point to block the ventilation channel; a computing unit, including a wind flow field analysis module, which is used to analyze the distribution law of the air leakage field and determine the location of the air leakage point; a control unit, which is used to receive the data information of the collection unit and the computing unit for judgment and issue a control instruction.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to a goaf area coal spontaneous combustion prevention and control system. Background Art

[0002] In the field of coal mining, it is very important to monitor the spontaneous combustion of coal in the goaf. The goaf refers to the hollow area left after the underground coal is mined. The goaf is often prone to air leakage due to complex geological conditions. Air leakage will cause fresh air to enter the goaf, accelerate the oxidation process of the coal in the goaf, and cause spontaneous combustion accidents.

[0003] Therefore, it is particularly important to control air leakage in goaf areas. At present, the more mature technology for monitoring spontaneous combustion of coal in goaf areas in coal mines is the pipe bundle monitoring system, which works by pumping gas from goaf areas to the ground through pipelines for analysis, and using CO and other gases generated by spontaneous combustion of coal to determine whether spontaneous combustion of coal has occurred. However, this method relies too much on the detection of gas samples and cannot accurately determine the specific location of spontaneous combustion, which is not conducive to subsequent prevention and control, and seriously threatens the lives of workers.

[0004] In order to solve the above problems, a goaf coal spontaneous combustion prevention and control system is proposed here. Summary of the invention

[0005] The embodiments of the present disclosure aim to solve at least one of the technical problems existing in the prior art, and provide a goaf coal spontaneous combustion prevention and control system, which scans the goaf and monitors the gas concentration by setting a gas imaging sensor, promptly detects the excessive gas concentration, and quickly guides the underground personnel to evacuate safely through information feedback and notification. Subsequently, the shotcrete plugging robot is turned on, and its breeze telemetry device is used to monitor the air leakage, analyze the distribution law of the wind flow field, and automatically go to the air leakage point for shotcrete plugging. This series of measures reduces the possibility of coal in the goaf coming into contact with oxygen, effectively isolates the external ventilation channel of the spontaneous combustion point, and thus achieves the purpose of preventing and controlling coal spontaneous combustion disasters.

[0006] In a first aspect of the present disclosure, a goaf coal spontaneous combustion prevention and control system is provided, the system comprising:

[0007] A collection unit, the collection unit includes a gas imaging sensor device and a breeze telemetry device, the gas imaging sensor device is used to collect gas concentration in the goaf, and the breeze telemetry device includes a fiber optic hot wire wind speed sensor and a laser radar sensor, which are used to collect wind speed and direction in the goaf;

[0008] The spraying unit, including a spraying plugging robot, is used to spray and plug air leaks to block ventilation channels;

[0009] The calculation unit includes a wind flow field analysis module, which is used to analyze the distribution law of the air leakage field and determine the location of the air leakage point;

[0010] The control unit is used to receive the data information from the acquisition unit and the calculation unit for determination and to issue control instructions.

[0011] Furthermore, the gas imaging sensor device includes at least one gas imaging sensor installed at a preset position in the goaf.

[0012] Furthermore, the breeze telemetry device comprises:

[0013] Fiber optic hot wire wind speed sensor, used to measure breeze speed;

[0014] LiDAR sensors to measure wind speed and direction;

[0015] The data fusion module is used to fuse the data of the optical fiber hot wire wind speed sensor and the laser radar sensor to provide wind flow field information.

[0016] Furthermore, the shotcrete plugging robot comprises:

[0017] Shotcrete assembly, used to spray and seal air leakage points;

[0018] A mobile component, used for movement and positioning of the robot in the goaf;

[0019] The control module is used to receive instructions from the control unit and control the operations of the spraying assembly and the moving assembly.

[0020] Furthermore, the wind flow field analysis module determines the location of the air leakage point including the following steps:

[0021] By using an interpolation difference algorithm, the wind flow field data is analyzed to obtain first wind flow field data;

[0022] Obtaining second wind flow field data by using a weighted least squares algorithm according to the first wind flow field data;

[0023] According to the second wind flow field data, the position of the first air leakage point is obtained by using a dynamic weighted clustering algorithm.

[0024] Furthermore, the wind flow field analysis module determines the position of the air leakage point and further includes obtaining the target air leakage point position through a fuzzy information fusion algorithm based on the first air leakage point position.

[0025] Furthermore, the control unit comprises:

[0026] A data receiving module, used for receiving data from the gas imaging sensor device and the breeze telemetry device;

[0027] Data processing module, used to process and analyze received data and determine the safety status of the goaf;

[0028] The instruction issuing module is used to send control instructions to the shotcrete plugging robot.

[0029] Furthermore, the gas imaging sensor device and the breeze telemetry device are connected to the control unit via a wireless and / or wired communication network.

[0030] Furthermore, the shotcrete plugging robot also includes a navigation module for locating the relative position of the shotcrete plugging robot and the air leakage point.

[0031] Furthermore, the system also includes an alarm unit, which issues an alarm when the control unit determines that the gas concentration exceeds a limit or finds an air leakage point.

[0032] The present invention can timely remind workers of the underground environment conditions, and promptly inform them to evacuate and deal with the situation, thus protecting the lives of personnel. By spraying and plugging the air leakage points, the external ventilation channels of the spontaneous combustion points of the coal in the goaf are blocked, the gas flow in the goaf is reduced, and the contact between the coal and oxygen in the goaf is isolated or reduced, thereby achieving the purpose of inhibiting the spontaneous combustion of coal and preventing secondary injuries. In addition, the intelligent and automated plugging method reduces the risk of manual operation and improves the overall safety management level of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a goaf area coal spontaneous combustion prevention and control system according to an embodiment of the present disclosure;

[0034] Figure 2 A schematic diagram of a flow chart for determining the location of an air leakage point according to an embodiment of the present disclosure;

[0035] Figure 3 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure.

[0037] The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a", "said" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0038] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0039] like Figure 1 Shown is a schematic diagram of a goaf coal spontaneous combustion prevention and control system according to an embodiment of the present disclosure.

[0040] A collection unit 110, which includes a gas imaging sensor device and a breeze telemetry device. The gas imaging sensor device is used to collect gas concentration in the goaf. The breeze telemetry device includes a fiber optic hot wire wind speed sensor and a laser radar sensor, which are used to collect wind speed and direction in the goaf.

[0041] The spraying unit 120 includes a spraying plugging robot, which is used to spray and plug the air leakage points to block the ventilation channel;

[0042] The calculation unit 130 includes a wind flow field analysis module, which is used to analyze the distribution law of the air leakage field and determine the location of the air leakage point;

[0043] The control unit 140 is used to receive the data information from the acquisition unit and the calculation unit for determination and to issue control instructions.

[0044] Among them, gas imaging sensors are installed at preset locations in the goaf, including the mining face, return air tunnel, main air intake tunnel and return air tunnel. The sensor spacing is set according to the actual situation of the mine to ensure comprehensive coverage of gas concentration monitoring.

[0045] Gas imaging sensors monitor gas concentration in real time using high-precision optical imaging technology. These sensors can detect trace gas components in the air and convert them into gas concentration data. The data is transmitted to the control unit 140 using the mine wireless network through the built-in wireless transmission module.

[0046] The control unit is equipped with a high-performance server and real-time gas concentration monitoring software, which can display the collected data in real time on a large screen to form a gas concentration distribution map. When the gas concentration in a certain area exceeds the preset threshold (for example, 1%), the system will automatically trigger an audible and visual alarm and notify relevant personnel for emergency treatment.

[0047] Preferably, the gas concentration warning system sets multiple levels of alarm thresholds. The first level alarm threshold is 0.5%, the second level alarm threshold is 1%, and the third level alarm threshold is 1.5%. When the gas concentration reaches the first level alarm threshold, the system will send a warning message to the underground workers, reminding them to pay attention to safety; when it reaches the second level alarm threshold, the system will activate the sound and light alarm and require personnel to evacuate; when it reaches the third level alarm threshold, the system will force the mining equipment to stop to ensure safety.

[0048] Optionally, the warning information is transmitted to the staff's handheld device (such as a mining mobile phone or a handheld terminal) through an underground wireless communication system, and the specific alarm location and gas concentration value are displayed on the monitoring screen of the control unit 140.

[0049] Furthermore, when the gas concentration reaches the second-level alarm threshold, the system automatically starts the breeze telemetry device. The breeze telemetry device includes a fiber optic hot wire wind speed sensor and a laser radar sensor, which are installed at preset positions in the goaf. These sensors can measure wind speed and wind direction in real time and transmit them to the control unit 140 via a wireless network.

[0050] The data collected by the optical fiber hot wire wind speed sensor and the laser radar sensor are wirelessly transmitted to the data fusion device of the control unit 140. The data fusion device performs fusion processing on the multi-source data to generate wind flow field information.

[0051] Furthermore, after receiving the fused data, the wind flow field analysis module of the control unit 140 uses, for example, an interpolation difference algorithm, a weighted least squares algorithm, a dynamic weighted clustering algorithm, and a fuzzy information fusion algorithm to analyze the wind flow field and determine the location of the air leakage point. The wind flow field analysis module can generate a stream function and a velocity potential diagram of the wind flow field, showing the specific location of the air leakage point and the distribution of wind speed and direction.

[0052] The analysis results are displayed on the monitoring screen of the control unit 140, and the system automatically generates the three-dimensional coordinates of the air leakage point and marks it on the mine map. The monitoring personnel can view the specific location and surrounding environment of the air leakage point through the three-dimensional mine model.

[0053] Furthermore, when the location of the air leakage point is determined, the control unit 140 sends a command to the shotcrete plugging robot. The shotcrete plugging robot is equipped with a navigation module and can move autonomously to the location of the air leakage point according to a preset path. The robot is equipped with a high-precision positioning system to ensure the accuracy of the shotcrete position.

[0054] After the spray plugging robot reaches the air leakage point, it starts the spray device to perform the plugging operation. The spray device uses high-pressure spraying technology to quickly spray the plugging material. The plugging material is a special spray material with high adhesion and high temperature resistance to ensure long-term and stable plugging effect.

[0055] During the spraying process, the sensors on the robot monitor the spraying effect in real time to ensure the integrity and effectiveness of the plugging. After the spraying is completed, the robot feeds back the plugging situation to the control unit 140, which records the plugging data and continues to monitor the gas concentration and wind speed and direction in the goaf to ensure a good plugging effect and prevent air leakage from occurring again.

[0056] In another embodiment, during the shotcrete sealing process, sensors on the robot monitor the shotcrete effect in real time. These sensors include high-resolution cameras and pressure sensors to ensure the integrity and effectiveness of the sealing. The camera monitors the coverage of the shotcrete in real time, while the pressure sensor monitors the density and adhesion of the shotcrete.

[0057] After the spraying is completed, the robot will feed back the data and images of the plugging situation to the control unit 140. The monitoring personnel of the control unit 140 will review the feedback data to ensure that the quality of the spraying meets the requirements. If it is found that the plugging effect is not ideal, the robot will perform additional spraying according to the instructions until the plugging effect reaches the expected standard.

[0058] After the plugging task is completed, the control unit 140 will continue to use the gas imaging sensor and breeze telemetry device to monitor the gas concentration and wind speed and direction in the goaf. Through continuous monitoring, it is ensured that the gas concentration and ventilation conditions in the plugged area remain within a safe range. The data will be transmitted to the control unit 140 in real time, and the monitoring personnel can adjust the monitoring frequency and range as needed.

[0059] The control unit 140 regularly analyzes the monitoring data and generates trend graphs and reports on changes in gas concentration and wind flow field. The analysis report will be submitted to the mine safety management department to provide a basis for subsequent safety management and decision-making. These data can also be used to optimize the plugging strategy and improve the efficiency and effectiveness of future plugging operations.

[0060] In another embodiment, a comprehensive sensor network is arranged in the goaf, including gas imaging sensors, fiber optic hot wire wind speed sensors, lidar sensors, temperature and humidity sensors, etc. Each sensor is installed in a suitable location according to its characteristics and monitoring requirements, for example, a gas imaging sensor is installed in an area where gas is likely to accumulate, and a wind speed sensor is installed in a ventilation main road, etc.

[0061] The data of all sensors are transmitted to the control unit 140 in real time through the mine wireless network. During the transmission process, the data is preliminarily processed and compressed to ensure the efficiency and stability of the transmission. After receiving the data, the control unit 140 performs comprehensive processing through the data fusion device to generate comprehensive environmental monitoring information.

[0062] The control unit 140 is equipped with an intelligent early warning system that can detect abnormal conditions in real time based on sensor data. The early warning system sets multiple thresholds and alarm levels, such as gas concentration, wind speed changes, and temperature and humidity abnormalities. When any indicator exceeds the preset threshold, the system automatically triggers an early warning.

[0063] The early warning system not only sends an alarm in the monitoring room through the sound and light alarm device, but also sends the early warning information to the handheld devices of underground workers through the wireless communication network. The early warning information includes the abnormal location, specific indicator values ​​and recommended emergency measures.

[0064] Furthermore, the data fusion device of the control unit 140 comprehensively processes the data of various sensors, and uses advanced algorithms such as multivariate linear regression analysis, time series analysis, and machine learning algorithms to conduct in-depth analysis to identify potential safety risks and trends. The analysis results generate an environmental monitoring report, including gas concentration, wind speed and direction, and temperature and humidity changes.

[0065] Based on the comprehensive data analysis results, the control unit 140 establishes a dynamic risk assessment model. The model takes into account a variety of factors, including the geological structure of the mine, historical data, current environmental parameters, etc., and calculates the risk level of each area. The risk assessment model can be updated in real time, providing a scientific basis for mine safety management.

[0066] Optionally, deploy automated prevention and control systems in high-risk areas, including shotcrete plugging robots, gas extraction systems, and cooling spray systems. When monitoring data and risk assessment models indicate high risk, the automated prevention and control system will automatically initiate corresponding prevention and control measures. For example, when the gas concentration is detected to be too high, the gas extraction system will automatically start to reduce the gas concentration.

[0067] When the risk assessment model determines that there is an air leakage point that may cause gas accumulation or coal spontaneous combustion, the control unit 140 sends instructions to the shotcrete plugging robot. The robot moves to the air leakage point according to the preset path and positioning data and performs the shotcrete plugging operation. After the plugging is completed, the robot feeds back the operation data and monitoring results to the control unit 140 to ensure that the plugging effect reaches the expected effect.

[0068] Optionally, after blocking and other prevention and control measures are implemented, the control unit 140 continues to use the integrated sensor network to monitor the environment. The data is updated in real time, and the monitoring personnel can view the real-time environmental parameters through the monitoring system to ensure that all indicators are within a safe range.

[0069] The monitoring data and the effectiveness of the prevention and control measures are evaluated regularly. The control unit 140 optimizes and adjusts the sensor network and the prevention and control system according to the actual situation, such as adjusting the sensor installation position, optimizing the data processing algorithm, and upgrading the prevention and control equipment. Through continuous optimization, the monitoring accuracy and prevention and control efficiency of the system are improved.

[0070] like Figure 2 FIG. 1 is a flow chart of determining the location of an air leakage point according to an embodiment of the present disclosure. The process includes the following steps:

[0071] S201: Analyzing the wind flow field data by using an interpolation difference algorithm to obtain first wind flow field data;

[0072] S202: Obtaining second wind flow field data by using a weighted least squares algorithm according to the first wind flow field data;

[0073] S203: Obtaining the first air leakage point position according to the second wind flow field data by using a dynamic weighted clustering algorithm.

[0074] Specifically, in the coal spontaneous combustion prevention and control system in goaf areas, it is first necessary to obtain and analyze wind flow field data. These data are usually composed of parameters such as wind speed and wind direction, which are used to understand the pattern and characteristics of air flow. The interpolation difference algorithm is used to process these data. The main steps include:

[0075] The collected wind flow field data is preprocessed, including removing outliers, smoothing data, etc., to ensure the accuracy and consistency of the data.

[0076] Interpolation technology is used to fill the gaps between data to obtain continuous wind flow field data. Commonly used interpolation methods include linear interpolation and spline interpolation, which can generate smooth wind flow field images based on known data points.

[0077] Finite difference methods are used to calculate the gradient and variation of wind data in space. These calculations help determine the local characteristics of the wind flow field.

[0078] Among them, the initial wind flow field data obtained by the interpolation difference algorithm may be noisy or incomplete. In order to improve the accuracy and credibility of the data, the system adopts the weighted least squares algorithm:

[0079] According to the signal-to-noise ratio and importance of the wind flow field data, different parts of the data are weighted.

[0080] Using the least squares optimization framework, the system adjusts the parameters of the wind flow data to make the data more consistent with the actual observations. Through iterative optimization, the corrected and optimized second wind flow data is obtained.

[0081] Furthermore, after the second wind flow field data is optimized by the weighted least squares algorithm, the system further applies the dynamic weighted clustering algorithm to determine the specific location of the air leakage point:

[0082] According to the dynamic characteristics and spatial distribution of wind flow field data, the weight parameters in the clustering algorithm are adjusted.

[0083] Using cluster analysis technology, density-based clustering or center-based clustering, the system groups points with similar characteristics in the wind flow field data. Through dynamic weighting strategies, it ensures that the clustering results can accurately reflect the location and distribution of air leakage points.

[0084] Optionally, the wind flow field analysis module determines the position of the air leakage point and further includes obtaining the target air leakage point position through a fuzzy information fusion algorithm based on the first air leakage point position.

[0085] Specifically, the first air leakage point location is used as the initial information, combined with other relevant data, wind speed, air flow path. Various information is converted into a form suitable for fuzzy logic operation through fuzzy processing. Fuzzy information from different information sources is fused together using fuzzy logic operations (fuzzy reasoning or fuzzy set theory) to produce a more reliable target air leakage point location estimate.

[0086] The embodiment of the present disclosure provides a goaf coal spontaneous combustion prevention and control system, which scans the goaf and monitors the gas concentration by setting a gas imaging sensor, promptly discovers the gas concentration exceeding the limit, and quickly guides the underground personnel to evacuate safely through information feedback and notification. Subsequently, the shotcrete plugging robot is turned on, and its breeze telemetry device is used to monitor the air leakage, analyze the distribution law of the wind flow field, and automatically go to the air leakage point for shotcrete plugging. This series of measures reduces the possibility of coal in the goaf coming into contact with oxygen, effectively isolates the external ventilation channel of the spontaneous combustion point, and thus achieves the purpose of preventing and controlling coal spontaneous combustion disasters.

[0087] The electronic device 300 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 300 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 3 It is only an example of the electronic device 300 and does not constitute a limitation of the electronic device 300. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0088] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0089] The memory 302 may be an internal storage unit of the electronic device 300, for example, a hard disk or memory of the electronic device 300. The memory 302 may also be an external storage device of the electronic device 300, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 300. Further, the memory 302 may also include both an internal storage unit of the electronic device 300 and an external storage device. The memory 302 is used to store the computer program 303 and other programs and data required by the electronic device. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0090] The present invention can timely remind workers of the underground environment conditions, and promptly inform them to evacuate and deal with the situation, thus protecting the lives of personnel. By spraying and plugging the air leakage points, the external ventilation channels of the spontaneous combustion points of the coal in the goaf are blocked, the gas flow in the goaf is reduced, and the contact between the burning coal and oxygen in the goaf is isolated or reduced, thereby achieving the purpose of inhibiting the spontaneous combustion of coal and preventing secondary injuries. In addition, the intelligent and automated plugging method reduces the risk of manual operation and improves the overall safety management level of the mine.

[0091] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present disclosure. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0094] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0095] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0097] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0098] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

1. A goaf area coal spontaneous combustion prevention and control system, characterized in that: The system comprises: A collection unit, the collection unit includes a gas imaging sensor device and a breeze telemetry device. The gas imaging sensor device is used to collect the gas concentration of the goaf. The system sets a multi-level alarm threshold, including a first-level alarm threshold, a second-level alarm threshold, and a third-level alarm threshold with increasing thresholds. When the gas concentration reaches the second-level alarm threshold, the system automatically starts the breeze telemetry device; The breeze telemetry device includes a fiber optic hot wire wind speed sensor and a laser radar sensor, which are used to collect wind speed and direction in the goaf. The breeze telemetry device also includes a data fusion module, which is used to fuse the data of the fiber optic hot wire wind speed sensor and the laser radar sensor to provide wind flow field information; The spraying unit, including a spraying plugging robot, is used to spray and plug air leaks to block ventilation channels; The calculation unit includes a wind flow field analysis module, which is used to analyze the distribution law of the air leakage field and determine the location of the air leakage point, including: By using the interpolation difference algorithm, the wind flow field data is analyzed to obtain the first wind flow field data. According to the first wind flow field data, a weighted least squares algorithm is used to obtain second wind flow field data. According to the second wind flow field data, the first air leakage point position is obtained by a dynamic weighted clustering algorithm. According to the first air leakage point position, a target air leakage point position is obtained by using a fuzzy information fusion algorithm; The control unit is used to receive the data information from the acquisition unit and the calculation unit for determination and to issue control instructions.

2. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The gas imaging sensor device comprises at least one gas imaging sensor installed at a preset position in the goaf.

3. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The shotcrete plugging robot comprises: Shotcrete assembly, used to spray and seal air leakage points; A mobile component, used for movement and positioning of the robot in the goaf; The control module is used to receive instructions from the control unit and control the operations of the spraying assembly and the moving assembly.

4. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The control unit comprises: A data receiving module, used for receiving data from the gas imaging sensor device and the breeze telemetry device; Data processing module, used to process and analyze received data and determine the safety status of the goaf; The instruction issuing module is used to send control instructions to the shotcrete plugging robot.

5. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The gas imaging sensor device and the breeze telemetry device are connected to the control unit via a wireless and / or wired communication network.

6. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The shotcrete plugging robot also includes a navigation module for locating the relative position of the shotcrete plugging robot and the air leakage point.

7. The goaf coal spontaneous combustion prevention and control system according to claim 1 is characterized in that: The system also includes an alarm unit, which issues an alarm when the control unit determines that the gas concentration exceeds the limit or finds an air leakage point.

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