A coal mine intelligent inspection robot and inspection method

Abstract

The present invention discloses an intelligent coal mine inspection robot and an inspection method, an intelligent coal mine inspection robot, the intelligent inspection robot is slidably connected to a slide rail, and the intelligent inspection robot includes a control host, an image acquisition system, a gas emergency rescue system and a tracking robot. The control host is provided with a drive system, and the drive system is slidably connected to the slide rail; the image acquisition system is arranged on the bottom end face of the control host; the gas emergency rescue system includes a multi-stage detection system and a safety gas output system, and the multi-stage detection system is provided with a plurality of multi-stage steel wire hose assemblies, and a plurality of the multi-stage steel wire hose assemblies are connected with gas detection sensors. The present invention can detect the gas accumulated on the ground, and can simultaneously perform gas detection at different distances, thereby improving the accuracy of detection, preventing missed detection, and having a high safety factor.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to an intelligent coal mine inspection robot and an inspection method. Background Art

[0002] The fully mechanized mining face in coal mines is the first production site of coal. It has the characteristics of small working space, many mechanical equipment, poor visual environment and high temperature. It is a frequent site for safety accidents in coal mines. Many electromechanical equipment in coal mines are prone to various failures and many hidden dangers during long-term operation. Therefore, it is very important to monitor key equipment in real time and deal with them in time.

[0003] Existing coal mine inspection robots carry out inspections and data collection by carrying sensors, cameras and other equipment. They can help people monitor, detect and maintain in dangerous, high-temperature, high-pressure, toxic and other environments, but there are still some problems;

[0004] When detecting gas, the effective detection distance is limited. For gas located near the ground, the gas sensor cannot accurately monitor changes in gas concentration in the area, resulting in inaccurate detection data and missed detections. This can easily cause the spread of harmful gases and make it impossible to promptly notify staff to evacuate and take preventive measures, leading to dangerous accidents.

[0005] In mines, harmful gas leaks, such as methane leaks, are prone to occur. Harmful gas leaks can cause headaches, palpitations, vomiting, limb weakness, and fainting. In severe cases, people may suffer from convulsions, respiratory arrest, or even death. High concentrations of methane, carbon dioxide, and other gases can cause human body hypoxia and produce asphyxiating gas poisoning, which can cause people to quickly faint and suffocate to death. It is very dangerous. When a leak occurs, people cannot quickly reach a safe place, which threatens their own safety.

[0006] Safety accidents are prone to occur in mines, such as collapse accidents, which can cause people to be trapped. When people are trapped, it is impossible to understand their situation in time, which causes great difficulties for rescue.

[0007] Therefore, in response to the above technical problems, it is necessary to provide a coal mine intelligent inspection robot and inspection method.

[0008] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0009] The purpose of the present invention is to provide a coal mine intelligent inspection robot and inspection method, which can solve the above problems.

[0010] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0011] A coal mine intelligent inspection robot, the intelligent inspection robot is slidably connected to a slide rail, and the intelligent inspection robot includes a control host, an image acquisition system, a gas emergency rescue system and a tracking robot. The control host is provided with a drive system, and the drive system is slidably connected to the slide rail; the image acquisition system is arranged at the bottom end face of the control host; the gas emergency rescue system includes a multi-level detection system and a safety gas output system, the multi-level detection system is provided with a plurality of multi-level steel wire hose assemblies, and the plurality of multi-level steel wire hose assemblies are all connected with a gas detection sensor, and the lengths of the plurality of multi-level steel wire hose assemblies are all different, and the plurality of multi-level steel wire hose assemblies are all connected with a lifting device, the safety gas output system is connected with the multi-level detection system, and the safety gas output system outputs safety gas to the outside through the multi-level detection system; the tracking robot is fixedly connected to one side end face of the control host, a communication module is arranged between the tracking robot and the control host, a detection module and a positioning module are arranged in the tracking robot, and the tracking robot is landed and fixed through the lifting assembly.

[0012] In one or more embodiments of the present invention, the lifting device includes a first sealing ring, a second sealing ring and a third sealing ring, the first sealing ring, the second sealing ring and the third sealing ring are all fixedly connected to the outer end face of the roll-up gas cylinder, a pair of opposite end faces of the roll-up gas cylinder are fixedly connected to a rotating shaft, the top end face of the roll-up gas cylinder is fixedly connected to a second connecting plate, the second connecting plate is fixedly connected to the bottom end face of the control host, the outer end face of the roll-up gas cylinder is sleeved with a protective shell, one side end face of the protective shell is fixedly connected to a drive motor, and the drive motor is connected to the rotating shaft.

[0013] In one or more embodiments of the present invention, the multi-stage steel hose assembly includes a first steel hose, a second steel hose and a third steel hose. The bottom outer wall end face of the first steel hose is fixedly connected with a first gas detection sensor, the first steel hose is connected to a first sealing ring, the bottom outer wall end face of the second steel hose is fixedly connected with a second gas detection sensor, the second steel hose is connected to a second sealing ring, the bottom outer wall end face of the third steel hose is fixedly connected with a third gas detection sensor, and the third steel hose is connected to a third sealing ring; the first steel hose, the second steel hose and the third steel hose are all wound on a reel-type gas cylinder, the lengths of the first steel hose, the second steel hose and the third steel hose are all different, the first sealing ring, the second sealing ring, the third sealing ring and the first steel hose, the second steel hose, the third steel hose are all fixedly connected with a connecting pipe, a plurality of the connecting pipes are connected to a second pipeline, and a plurality of the second pipelines are respectively located inside the first sealing ring, the second sealing ring and the third sealing ring.

[0014] In one or more embodiments of the present invention, the safety gas output system includes a roll-type gas cylinder, which is filled with safety gas, and the end faces of the roll-type gas cylinder that contact the first sealing ring, the second sealing ring, and the third sealing ring are all provided with a first limiting hole, and the first sealing ring, the second sealing ring, and the third sealing ring are all provided with a second limiting hole matching the first limiting hole, and the first sealing ring, the second sealing ring, and the third sealing ring are sealed and connected to the outer end face of the roll-type gas cylinder; the first sealing ring, the second sealing ring, and the third sealing ring are all interconnected with the connecting pipe and the roll-type gas cylinder, and multiple second pipes are connected to solenoid valves, and limiting grooves are provided between the first sealing ring, the second sealing ring, and the third sealing ring and the airbag, so that the safety gas enters the first sealing ring, the second sealing ring, and the third sealing ring, and is transported outward through the limiting grooves, and the outer end face of the roll-type gas cylinder is connected to a supply socket.

[0015] In one or more embodiments of the present invention, the first sealing ring, the second sealing ring and the third sealing ring are all provided with airbags on their inner end faces, and the airbags are filled with safety gas. A puncture component is provided on one end face of the groove wall of the limiting groove, and the puncture component can puncture the airbag to release the safety gas, and the safety gas is nitrogen or compressed air.

[0016] In one or more embodiments of the present invention, the puncture assembly includes a protective tube, an automatic telescopic rod and a puncture needle. The bottom end face of the protective tube is fixedly connected to a base, and the base is fixedly connected to the inner wall end face of the first sealing ring, the second sealing ring or the third sealing ring; the bottom end face of the automatic telescopic rod is fixedly connected to the base; the bottom end face of the puncture needle is fixedly connected to a puncture needle fixing seat, and the bottom end face of the puncture needle fixing seat is fixedly connected to the top end face of the automatic telescopic rod, and the initial height of the puncture needle and the automatic telescopic rod as a whole is lower than the height of the protective tube. Wherein, the puncture needle and the automatic telescopic rod are both located on the inner end face of the protective tube.

[0017] In one or more embodiments of the present invention, the tracking robot includes a head protection plate, an image acquisition component, a control main board and a foot-type walking mechanism. A magnetic charging seat is installed on one side end face of the control main board, the control main board is plugged into the magnetic charging seat, a second iron sheet is arranged on the magnetic charging seat, and a magnet sheet is fixedly connected to the end face of the control main board contacting the magnetic charging seat, the magnet sheet is magnetically connected to the second iron sheet, the detection module includes a gas detection system and a thermal imager, and the positioning system includes an ultrasonic sensor.

[0018] In one or more embodiments of the present invention, the lifting assembly includes a reel, a first iron sheet and an electromagnet. The reel is fixedly connected to one side end face of the control host. The reel includes a steel wire rope. The bottom end face of the steel wire rope is fixedly connected to the first iron sheet. The end face of the control host that contacts the first iron sheet is provided with an electromagnet, and the electromagnet is magnetically connected to the first iron sheet.

[0019] In one or more embodiments of the present invention, a shooting system is provided on one side end surface of the control host, and the shooting system includes a launching tube, and the launching tube is filled with a rescue bullet, a second electromagnetic control valve is provided on the top end surface of the rescue bullet, an impact sensor is provided on one side end surface of the rescue bullet, and a first aid button is provided on one side end surface of the rescue bullet.

[0020] A coal mine intelligent inspection robot inspection method, comprising the following steps;

[0021] S1, inspection: the control host slides on the slide rail through the drive system to conduct normal inspection of the environment in the mine;

[0022] S2. Fixed-distance inspection: The multi-level detection system is set to start at a certain distance, and the multi-level steel hose assembly is controlled to descend to detect gas in the environment near the ground, and the gas at different heights is detected at the same time to ensure the accuracy of the detection;

[0023] S3. Emergency treatment of harmful gas leakage: When a harmful gas leak is detected during cruising, the safety gas output system is activated to discharge the safety gas and dilute the harmful gas in the surrounding environment;

[0024] S4. Rescue of trapped persons: When an accident occurs in a mine, the intelligent inspection robot can quickly reach the accident site, and lower the tracking robot to the vicinity of the accident site through the lifting assembly. The tracking robot quickly finds and determines the location of the trapped persons, and establishes communication with the control host in a timely manner, and transmits the personnel situation back to the control host, helping rescue personnel understand the situation of the trapped persons and provide timely rescue;

[0025] S5. Assist in rescue when harmful gas leaks and people are trapped; when harmful gas leaks and people are trapped, posing a threat to their safety, activate the shooting system and use shooting rescue bullets. The rescue bullets will first reach the place where the people are trapped, release safe gas, and dilute the harmful gases in the surrounding environment.

[0026] Compared with the prior art, the coal mine intelligent inspection robot and inspection method of the present invention have the following benefits:

[0027] The gas emergency rescue system is used to detect the gas accumulated on the ground, and gas detection can be performed at different distances at the same time, which improves the accuracy of detection and avoids missed detection, with high safety.

[0028] When harmful gas leakage is detected, which poses a danger to personnel safety, the safe gas is delivered in time through the safe gas output system to reduce the accumulation of harmful gases in the air, alleviate personnel poisoning, and gain time for subsequent medical treatment;

[0029] The intelligent inspection robot can patrol the ground through tracking robots, adapt to various complex terrains, find trapped people in time, and help rescue personnel to understand the situation of trapped people in time and provide them with timely rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a schematic diagram of the structure of an intelligent coal mine inspection robot in one embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of a first use state of an intelligent coal mine inspection robot in one embodiment of the present invention;

[0033] Figure 3 for Figure 2 A schematic diagram of the structure at A;

[0034] Figure 4 for Figure 3 Schematic diagram of the structure at B;

[0035] Figure 5 This is a schematic diagram of a second use state of an intelligent coal mine inspection robot in one embodiment of the present invention;

[0036] Figure 6 for Figure 5 Schematic diagram of the structure at C;

[0037] Figure 7 for Figure 5 Schematic diagram of the structure at D;

[0038] Figure 8 This is an exploded diagram of the gas emergency rescue system;

[0039] Fig. 9 for Figure 8 Schematic diagram of the structure at E;

[0040] Fig.10 It is a cross-sectional view of the gas emergency rescue system;

[0041] Fig.11 is a schematic structural diagram of a first sealing ring;

[0042] Fig.12 is a cross-sectional view of the first sealing ring;

[0043] Fig.13 is a schematic diagram of the use status of the first sealing ring;

[0044] Fig.14 This is a schematic diagram of the tracking robot structure;

[0045] Fig.15 This is a schematic diagram of the structure of the rescue bomb;

[0046] Description of main reference numerals:

[0047] 1-intelligent inspection robot, 2-slide rail, 3-control host, 4-drive system, 5-image acquisition system, 6-shooting system, 601-launch tube, 7-gas emergency rescue system, 701-protective shell, 702-rolled gas cylinder, 7021-first limit hole, 703-drive motor, 704-first connecting plate, 705-rotating shaft, 706-second connecting plate, 8-tracking robot, 801-reel, 802-magnetic charging seat, 803-control main board, 804-groove, 805-first iron sheet, 806-wire rope, 807-image acquisition component, 808-head protection plate, 809-foot walking mechanism, 810-electromagnet, 9-multi-stage detection system, 901-first sealing ring, 9011-first steel wire hose, 9012-first gas detection sensor, 9013-connecting pipe, 902-second sealing ring, 9021-second steel wire hose, 9022-second gas detection sensor, 903-third sealing ring, 9031-third steel wire hose, 9032-third gas detection sensor, 904-limiting groove, 10-puncture assembly, 1001-base, 1002-protective tube, 1003-automatic telescopic rod, 1004-puncture needle fixing seat, 1005-puncture needle, 11-airbag, 12-rescue bullet, 1201-second electromagnetic control valve, 1202-first aid button. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] like Figure 1 As shown, an intelligent inspection robot for coal mines in one embodiment of the present invention, the intelligent inspection robot 1 is slidably connected to the slide rail 2, the intelligent inspection robot 1 includes a control host 3, an image acquisition system 5, a gas emergency rescue system 7 and a tracking robot 8, the control host 3 is provided with a drive system 4, the drive system 4 is slidably connected to the slide rail 2, the image acquisition system 5 is arranged on the bottom end face of the control host 3, so that the control host 3 slides on the slide rail 2 for cruising operation and detects the concentration of dangerous substances such as gas and coal dust, and at the same time monitors the status of facilities such as tunnels, coal mining faces, coal warehouses, and transportation equipment through the image acquisition system 5 to improve the safety production level of coal mines.

[0050] like Figure 2-Figure 10As shown, the gas emergency rescue system 7 includes a multi-stage detection system 9 and a safe gas output system. The multi-stage detection system 9 is provided with a plurality of multi-stage steel wire hose assemblies, and the plurality of multi-stage steel wire hose assemblies are all connected with gas detection sensors. The lengths of the plurality of multi-stage steel wire hose assemblies are all different. The plurality of multi-stage steel wire hose assemblies are all connected with a lifting device, and the lifting device is used to control the multi-stage steel wire hose assembly to be lifted and lowered, and then the multi-stage steel wire hose assembly is controlled to descend to the bottom end face to detect the gas located at the bottom end face. At the same time, the lengths of the plurality of multi-stage steel wire hose assemblies are different, and gas detection can be performed on the end faces located at different distances at the same time, thereby improving the accuracy of detection and preventing missed detection from resulting in failure to monitor harmful gas leakage in a timely manner, causing the harmful gas to spread, thereby causing dangerous accidents.

[0051] The safety gas output system is connected to the multi-level detection system 9. The safety gas output system outputs safety gas to the outside through the multi-level detection system 9 to dilute the air, quickly eliminate the current danger, and improve the safety of the mine.

[0052] The lifting device includes a first sealing ring 901, a second sealing ring 902 and a third sealing ring 903. The first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 are all fixedly connected to the outer end face of the reel-type gas cylinder 702. The top end face of the reel-type gas cylinder 702 is fixedly connected with a second connecting plate 706. The second connecting plate 706 is fixedly connected to the bottom end face of the control host 3, so that the reel-type gas cylinder 702 is fixed to the bottom end face of the control host 3. The protective shell 701 is fixedly connected with a first connecting plate 704. The first connecting plate 704 is fixedly connected to the bottom end face of the control host 3. The protective shell 701 is located on the outer end face of the reel-type gas cylinder 702 to protect it.

[0053] A pair of opposite end faces of the roll-up gas cylinder 702 are fixedly connected with a rotating shaft 705, and a protective shell 701 is sleeved on the outer end face of the roll-up gas cylinder 702. A driving motor 703 is fixedly connected to one end face of the protective shell 701. The driving motor 703 is connected to the rotating shaft 705, so that the rotating shaft 705 is driven to rotate by the driving motor 703, thereby driving the roll-up gas cylinder 702 to rotate.

[0054] Furthermore, the multi-stage steel wire hose assembly includes a first steel wire hose 9011, a second steel wire hose 9021 and a third steel wire hose 9031. The bottom outer wall end face of the first steel wire hose 9011 is fixedly connected with a first gas detection sensor 9012, the first steel wire hose 9011 is connected to a first sealing ring 901, the bottom outer wall end face of the second steel wire hose 9021 is fixedly connected with a second gas detection sensor 9022, the second steel wire hose 9021 is connected to a second sealing ring 902, the bottom outer wall end face of the third steel wire hose 9031 is fixedly connected with a third gas detection sensor 9032, and the third steel wire hose 9031 is connected to a third sealing ring 903.

[0055] It should be noted that when the first steel wire hose 9011, the second steel wire hose 9021 and the third steel wire hose 9031 are attached to the outer wall end faces of the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903, they do not affect the inner walls of the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 from transporting safety gas outward.

[0056] The first steel hose 9011, the second steel hose 9021 and the third steel hose 9031 are all wound around the reel-type gas cylinder 702, and the lengths of the first steel hose 9011, the second steel hose 9021 and the third steel hose 9031 are all different. A connecting pipe 9013 is fixedly connected between the first sealing ring 901, the second sealing ring 902, the third sealing ring 903 and the first steel hose 9011, the second steel hose 9021 and the third steel hose 9031, that is, one side end surface of the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 is respectively connected to the connecting pipe 9013, and the other side end surface of the connecting pipe 9013 is connected to the first steel hose 9011, the second steel hose 9021 and the third steel hose 903;

[0057] The multiple connecting pipes 9013 are all connected to the second pipelines, and the multiple second pipelines are respectively located inside the first sealing ring 901 , the second sealing ring 902 , and the third sealing ring 903 .

[0058] Specifically, when the driving motor 703 is started to drive the reel-type gas cylinder 702 to rotate, the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 rotate accordingly, and at the same time, the second steel wire hose 9021, the first steel wire hose 9011 and the third steel wire hose 9031 connected to the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 rotate on the reel-type gas cylinder 702, thereby realizing the lifting and lowering of the second steel wire hose 9021, the first steel wire hose 9011 and the third steel wire hose 9031. 011. The lengths of the second steel wire hose 9021 and the third steel wire hose 9031 are different. The gas concentrations at multiple heights can be detected while being lifted or lowered. The detection efficiency is high, and the gas at different heights on the ground can be detected to prevent missed detection and timely discover gas leakage. The safety factor is high. This is different from the inspection robot in the prior art, which cannot detect the gas accumulated on the ground in a timely and effective manner during gas detection, resulting in missed detection and prone to large-scale safety gas leakage, which in turn leads to accidents and a high risk factor.

[0059] It is worth mentioning that the advantage of using steel wire hoses for the first steel wire hose 9011, the second steel wire hose 9021 and the third steel wire hose 9031 is that the steel wire hoses themselves can be used directly for power supply without laying additional cables, which facilitates power supply, has high hardness and occupies little internal space.

[0060] like Figure 8-Figure 10 As shown, the safety gas output system includes a reel-type gas cylinder 702, which is filled with safety gas, and the end surfaces of the reel-type gas cylinder 702 that contact the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all provided with first limiting holes 7021;

[0061] The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all provided with second limiting holes matching the first limiting hole 7021. The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are sealed on the outer end surface of the roll-up gas cylinder 702. The corresponding first limiting holes 7021 are sealed by the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 respectively. Under the sealing action of the first sealing ring 901, the second sealing ring 902, the third sealing ring 903 and the connecting pipe 9013, the safety gas inside the roll-up gas cylinder 702 will not leak.

[0062] Preferably, sealing gaskets are bonded to the end faces of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 that contact the roll-type gas cylinder 702, and the connecting pipe 9013 is respectively connected to the first sealing ring 901, the second sealing ring 902 or the third sealing ring 903 and can be sealed in an integrally formed manner.

[0063] The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all interconnected with the connecting pipe 9013 and the reel-type gas cylinder 702. The multiple second pipelines are all connected with solenoid valves to control the opening and closing of the second pipelines through the solenoid valves, thereby controlling the safety gas to enter the connecting pipe 9013 through the second pipelines, and then enter the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 in turn for outward transportation.

[0064] Furthermore, limiting grooves 904 are provided between the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 and the airbag 11, so that the safety gas can enter the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 and be transported outward through the limiting grooves 904. The outer end face of the roll-type gas cylinder 702 is connected to a supply socket, so that when the gas in the roll-type gas cylinder 702 is used up, it can enter the supply station for replenishment through the supply socket.

[0065] The first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 are all provided with airbags 11 on their inner end faces. The airbags 11 are filled with safety gas and are fixedly connected to the inner wall end faces of the first sealing ring 901, the second sealing ring 902 or the third sealing ring 903. The connection between the airbag 11 and the first sealing ring 901, the second sealing ring 902 or the third sealing ring 903 can be achieved by snap connection, Velcro or other movable connection methods to ensure that the airbag 11 can be taken, placed and fixed.

[0066] A puncture component 10 is provided on one end surface of the groove wall of the limiting groove 904, and the puncture component 10 can puncture the airbag 11 to release the safety gas.

[0067] Furthermore, the airbag 11 can be recycled. When the airbag 11 is punctured and the gas is released, the airbag 11 can be removed, the safety gas can be refilled into the airbag 11, and the damaged part can be repaired before it can be reused.

[0068] It should also be noted that the multi-stage steel hose assembly can be customized according to the on-site conditions. This embodiment uses the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903. Of course, multiple steel hose assemblies can also be used. During long-term use, if one of the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 is damaged, the other two can also be used to ensure the accuracy of the detection results and ensure that there will be no missed detection.

[0069] The safety gas is nitrogen or compressed air. As an inert gas, nitrogen does not support combustion and can effectively dilute the oxygen concentration underground, thereby preventing the occurrence and spread of fire. When the oxygen concentration underground drops below 15%, the risk of spontaneous combustion of most coals is significantly reduced. Nitrogen can effectively inhibit or slow down the oxidation of the coal, thereby playing a role in fire prevention and fire extinguishing, and can reduce the gas concentration in the area to less than 5%, and at the same time reduce the oxygen concentration in the area to less than 12%, thereby eliminating the risk of gas explosion. Therefore, when the above situation occurs and harmful gases are detected, nitrogen can be introduced to eliminate the danger.

[0070] Of course, safe gas can also be compressed air. Compressed air can dilute harmful gases in the air and reduce the concentration of harmful gases. At the same time, when workers inhale harmful gases and suffer from gas poisoning, supplying them with compressed air can quickly relieve symptoms and buy time for subsequent medical treatment.

[0071] Preferably, the airbag 11 is filled with nitrogen, and the roll-type gas cylinder 702 is filled with compressed air. According to the current situation of the mine, it can be selected whether to start the airbag 11 to deliver nitrogen or to choose the roll-type gas cylinder 702 to deliver compressed air. Of course, it is also possible to choose to fill only one of the airbag 11 and the roll-type gas cylinder 702 with nitrogen or compressed air.

[0072] like Figure 11-13 As shown, the puncture assembly 10 includes a protective tube 1002, an automatic telescopic rod 1003 and a puncture needle 1005. The bottom end surface of the protective tube 1002 is fixedly connected with a base 1001, the base 1001 is fixedly connected to the inner wall end surface of the first sealing ring 901, the second sealing ring 902 or the third sealing ring 903, the bottom end surface of the automatic telescopic rod 1003 is fixedly connected to the base 1001, the bottom end surface of the puncture needle 1005 is fixedly connected to the puncture needle fixing seat 1004, and the bottom end surface of the puncture needle fixing seat 1004 is fixedly connected to the top end surface of the automatic telescopic rod 1003, so as to control the lifting of the puncture needle 1005 through the automatic telescopic rod 1003, thereby controlling the puncture needle 1005 to puncture the airbag 11, and helping the airbag 11 to be discharged quickly.

[0073] Furthermore, the needle 1005 and the automatic telescopic rod 1003 are both located on the inner end surface of the protective tube 1002. The height of the needle 1005 and the automatic telescopic rod 1003 as a whole in the initial state is lower than the height of the protective tube 1002, that is, when the automatic telescopic rod 1003 is in the original height state without rising, the height formed by the automatic telescopic rod 1003 and the needle 1005 is lower than the height of the protective tube 1002, so that during daily use, the needle 1005 will not affect the airbag 11, and the needle 1005 will not puncture the airbag 11.

[0074] Specifically, when the airbag 11 is required to discharge the safety gas, the automatic telescopic rod 1003 is started to control the puncture needle 1005 to rise and puncture the airbag 11, and then the automatic telescopic rod 1003 is reset, which does not affect the retrieval and recycling of the airbag 11.

[0075] like Figure 1-Figure 6 As shown, the tracking robot 8 is fixedly connected to one side end face of the control host 3, a communication module is arranged between the tracking robot 8 and the control host 3, a detection module and a positioning module are arranged inside the tracking robot 8, and the tracking robot 8 is landed and fixed by a lifting assembly, so that the tracking robot 8 can search and rescue the trapped persons, establish contact in time, and help the rescue personnel to rescue in time.

[0076] The tracking robot 8 includes a head protection plate 808, an image acquisition component 807, a control main board 803 and a foot-type walking mechanism 809. The detection module includes a gas detection system and a thermal imager. The positioning system includes an ultrasonic sensor. The tracking robot 8 monitors the environmental gas through the gas detection system, and timely warns of adverse conditions. At the same time, it searches and rescues people through the thermal imager, and moves forward through the foot-type walking mechanism 809. The foot-type walking mechanism 809 is suitable for a variety of rugged and uneven ground. It can quickly walk to the side of people trapped by falling rocks, coal, etc., enter the area of ​​the trapped people, and help the trapped people get in touch with the outside. At the same time, it is connected to the control host 3 through the positioning system, so that the control host 3 can respond quickly and confirm the position of the trapped people.

[0077] like Figure 4-Figure 14 As shown, a magnetic charging seat 802 is installed on one side end face of the control host 3, the control main board 803 is plugged into the magnetic charging seat 802, a second iron sheet is arranged on the magnetic charging seat 802, and a magnet sheet is fixedly connected to the end face of the control main board 803 contacting the magnetic charging seat 802, and the magnet sheet is magnetically connected to the second iron sheet, so that the tracking robot 8 is fixed to one side end face of the control host 3 while being charged by connecting the magnetic charging seat 802 to the control main board 803.

[0078] The lifting assembly includes a reel 801, a first iron sheet 805 and an electromagnet 810. The reel 801 is fixedly connected to one side end surface of the control host 3, and the reel 801 includes a steel wire rope 806. A groove 804 is provided on the reel 801, and the steel wire rope 806 extends out of the groove 804;

[0079] The bottom end face of the steel wire rope 806 is fixedly connected with the first iron sheet 805, and the first iron sheet 805 is raised and lowered by the steel wire rope 806. The end face of the control main board 803 in contact with the first iron sheet 805 is provided with an electromagnet 810, and the electromagnet 810 is magnetically connected to the first iron sheet 805. After the tracking robot 8 is magnetically connected to the first iron sheet 805 through the electromagnet 810, it starts to descend from the control host 3 to the ground to perform walking rescue operations.

[0080] Specifically, when an accident occurs in the mine and rescue of trapped persons is required, the intelligent patrol robot 1 can quickly reach the vicinity of the trapped persons and control the reel 801 to start lowering the tracking robot 8 to touch the ground. At this time, the electromagnet 810 is powered off, the connection with the first iron sheet 805 is canceled, the wire rope 806 is reset, and the tracking robot 8 starts ground search and rescue operations. The lifting assembly can quickly send the tracking robot 8 to the trapped persons. This is different from the prior art, where only a crawling robot is used to reach the trapped persons, and the terrain is complex and a lot of time is required. The intelligent patrol robot 1 is used to slide on the slide rail 2 to the vicinity of the trapped persons, which can save a lot of time and save every second to gain time for the rescue personnel to be rescued quickly.

[0081] When the tracking robot 8 completes the rescue, it can move to the bottom end face of the control host 3. The reel 801 controls the wire rope 806 to descend to the first iron sheet 805 to magnetically connect to the electromagnet 810. After the fixation is completed, the electromagnet 810 rises to the magnetic charging seat 802 to magnetically connect to the control main board 803.

[0082] like Fig.15 As shown, a shooting system 6 is provided on one side end face of the control host 3, and the shooting system 6 includes a launch tube 601, and the launch tube 601 is filled with a rescue bullet 12. A second electromagnetic control valve 1201 is provided on the top end face of the rescue bullet 12, and the opening and sealing of the rescue bullet 12 are controlled by the second electromagnetic control valve 1201. An impact sensor is provided on one side end face of the rescue bullet 12, so that when the launch tube 601 launches the rescue bullet 12, the rescue bullet 12 reaches the ground or is hit, and the second electromagnetic control valve 1201 opens to control the gas inside the rescue bullet 12 to be discharged, so as to dilute the harmful gas in the surrounding environment.

[0083] Specifically, when the staff is trapped and unable to move, and the intelligent inspection robot 1 reaches the trapped area, its roll-type gas cylinder 702 and airbag 11 begin to discharge safety gas. Due to the complex terrain and other reasons, the intelligent inspection robot 1 is far away from the trapped persons, and the safety gas cannot quickly dilute the trapped area. At this time, the shooting system 6 is started, and the tracking robot 8 reaches the trapped person, and the positioning system determines the appropriate descent position of the launch tube 601, and the launch tube 601 is launched. The launch tube 601 reaches the trapped person area and discharges the safety gas, thereby quickly diluting the harmful gas and helping the trapped person to escape. If the rescue bomb 12 falls to the trapped person, the trapped person can hold it and quickly take the safety gas, relieve the symptoms, eliminate the current crisis, and have high safety.

[0084] Preferably, when the control host 3 finds that the trapped persons are endangered by harmful gases during the inspection process, and the conditions for shooting the launch tube 601 are currently met, the launch tube 601 can be fired at the trapped place first, and then the tracking robot 8 can be controlled to descend into the trapped person to search and rescue. The launch tube 601 gives priority to the arrival of the tracking robot 8, helping the trapped persons to relieve symptoms in time and gain time for subsequent medical treatment.

[0085] It should be noted that when shooting the launch tube 601, if the shooting position cannot be determined, the tracking robot 8 can be dispatched to the area of ​​the trapped persons to obtain a suitable shooting position before shooting.

[0086] An emergency button 1202 is provided on one end face of the rescue bomb 12. When the rescue bomb 12 falls to the trapped person, the trapped person can press the emergency button 1202 to send out an alarm in time, and the rescue personnel can quickly rescue according to the positioning.

[0087] A coal mine intelligent inspection robot inspection method, comprising the following steps;

[0088] S1, inspection; the control host 3 slides on the slide rail 2 through the drive system 4 to perform normal inspections on the environment in the mine.

[0089] S2, fixed distance inspection; through the multi-stage detection system 9, it is set to start at a certain distance, and the multi-stage steel hose assembly is controlled to descend to detect the gas in the environment near the ground, and the gas at different heights is detected at the same time to ensure the accuracy of the detection;

[0090] By controlling the drive motor 703 to start and drive the reel-type gas cylinder 702 to rotate, the second steel wire hose 9021, the first steel wire hose 9011 and the third steel wire hose 9031 on the first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 are driven to rotate on the reel-type gas cylinder 702, thereby realizing the lifting and lowering of the second steel wire hose 9021, the first steel wire hose 9011 and the third steel wire hose 9031, and controlling them to descend to the ground area, the gas conditions at multiple heights can be detected at the same time, the detection efficiency is high, and missed detection is prevented.

[0091] S3. Emergency treatment of harmful gas leakage: When a harmful gas leakage is detected during cruising, the safety gas output system is activated, and the airbags 11 located in the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are punctured by starting the puncture component 10 to discharge the safety gas and dilute the harmful gas in the surrounding environment.

[0092] S4. The gas delivery of the reel-type gas cylinder 702 is enhanced to reduce the harm of harmful gases. When cruising, if it is found that the concentration of harmful gases is leaking seriously and endangers the life and health of personnel, the safety gas output system is started, and the safety gas is released by puncturing the airbag 11. At the same time, the safety gas in the reel-type gas cylinder 702 is opened through the first solenoid valve, and the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 deliver the safety gas to the outside. At the same time, the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are lowered by the lifting device to a suitable distance for quickly diffusing the gas according to the distance of the personnel, and the safety gas is delivered to the outside, so as to provide timely rescue to the personnel.

[0093] It should be noted that only when the concentration of harmful gases in the current environment is detected to be high and the airbag 11 alone cannot provide timely and effective rapid diffusion and rescue, the reel-type gas cylinder 702 can be activated to discharge the gas.

[0094] S5. Rescue of trapped persons: When an accident occurs in a mine, the intelligent inspection robot 1 can quickly reach the accident point. At this time, the tracking robot 8 is lowered to the vicinity of the accident point through the lifting assembly. The tracking robot 8 quickly finds and determines the position of the trapped persons, and establishes communication with the control host 3 in time, and transmits the personnel situation back to the control host 3. The personnel can also establish contact with the outside world in time through the tracking robot 8 to help the rescue personnel understand the situation of the trapped persons and provide timely and effective rescue;

[0095] S6, assisting in the rescue of people trapped in the event of harmful gas leakage; when an accident occurs, people are trapped, and harmful gas leaks, posing a threat to the safety of the people, the shooting system 6 is activated, and the rescue bullet 12 is fired. The rescue bullet 12 reaches the place where the people are trapped, performs preliminary gas dilution, and simultaneously activates the safety gas output system, using the reel-type gas cylinder 702 and the air bag 11 to output safety gas simultaneously, so as to quickly dilute the harmful gas, alleviate the poisoning phenomenon of the people, and gain time for subsequent medical treatment;

[0096] When the ejected rescue bomb 12 falls on the trapped person, the trapped person can quickly absorb the safety gas. At the same time, the trapped person can take the rescue bomb 12 and press the emergency button 1202 to call for help.

[0097] When shooting the launch tube 601, if the shooting position cannot be determined, the tracking robot 8 can be dispatched to the trapped person area to obtain a suitable shooting position before shooting.

[0098] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0099] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A coal mine intelligent inspection robot, the intelligent inspection robot is slidably connected to a slide rail, characterized in that: The intelligent inspection robot comprises: A control host is provided with a drive system, and the drive system is slidably connected to the slide rail; An image acquisition system is arranged on the bottom end surface of the control host; A gas emergency rescue system, comprising a multi-stage detection system and a safety gas output system, wherein the multi-stage detection system is provided with a plurality of multi-stage steel wire hose assemblies, the plurality of multi-stage steel wire hose assemblies are all connected with a gas detection sensor, the lengths of the plurality of multi-stage steel wire hose assemblies are all different, the plurality of multi-stage steel wire hose assemblies are all connected with a lifting device, the safety gas output system is connected with the multi-stage detection system, and the safety gas output system outputs safety gas to the outside through the multi-stage detection system; A tracking robot is fixedly connected to one side end face of the control host, a communication module is arranged between the tracking robot and the control host, a detection module and a positioning module are arranged inside the tracking robot, the tracking robot is landed and fixed by a lifting assembly, the tracking robot includes a head protection plate, an image acquisition assembly, a control main board and a foot-type walking mechanism, a magnetic charging seat is installed on one side end face of the control host, the control main board is plugged into the magnetic charging seat, a second iron sheet is arranged on the magnetic charging seat, a magnet sheet is fixedly connected to the end face of the control main board contacting the magnetic charging seat, the magnet sheet is magnetically connected to the second iron sheet, the detection module includes a gas detection system and a thermal imager, and the positioning module includes an ultrasonic sensor; The lifting assembly comprises: A reel, fixedly connected to one end surface of the control host, the reel comprising a steel wire rope; A first iron sheet; the bottom end surface of the steel wire rope is fixedly connected with the first iron sheet; Electromagnet: An electromagnet is provided on the end surface of the control main board that contacts the first iron sheet, and the electromagnet is magnetically connected to the first iron sheet.

2. The intelligent coal mine inspection robot according to claim 1, characterized in that: The lifting device includes a first sealing ring, a second sealing ring and a third sealing ring, the first sealing ring, the second sealing ring and the third sealing ring are all fixedly connected to the outer end surface of the roll-up gas cylinder, a pair of opposite end surfaces of the roll-up gas cylinder are fixedly connected to a rotating shaft, the top end surface of the roll-up gas cylinder is fixedly connected to a second connecting plate, the second connecting plate is fixedly connected to the bottom end surface of the control host, the outer end surface of the roll-up gas cylinder is sleeved with a protective shell, one side end surface of the protective shell is fixedly connected to a driving motor, and the driving motor is connected to the rotating shaft.

3. The coal mine intelligent inspection robot according to claim 2, characterized in that: The multi-stage steel wire hose assembly comprises: A first steel hose, a first gas detection sensor is fixedly connected to the end surface of the bottom outer wall, and the first steel hose is connected to a first sealing ring; A second steel hose, a second gas detection sensor is fixedly connected to the end surface of the bottom outer wall, and the second steel hose is connected to a second sealing ring; A third steel wire hose, a third gas detection sensor is fixedly connected to the end surface of the bottom outer wall, and the third steel wire hose is connected to a third sealing ring; The first steel wire hose, the second steel wire hose and the third steel wire hose are all wound on the reel-type gas cylinder, the lengths of the first steel wire hose, the second steel wire hose and the third steel wire hose are all different, and connecting pipes are fixedly connected between the first sealing ring, the second sealing ring, the third sealing ring and the first steel wire hose, the second steel wire hose and the third steel wire hose, and multiple connecting pipes are connected to the second pipeline, and multiple second pipelines are respectively located inside the first sealing ring, the second sealing ring and the third sealing ring.

4. The coal mine intelligent inspection robot according to claim 3, characterized in that: The safety gas output system includes a reel-type gas cylinder, the reel-type gas cylinder is filled with safety gas, the end surface of the reel-type gas cylinder in contact with the first sealing ring, the second sealing ring, and the third sealing ring are all provided with a first limiting hole, the first sealing ring, the second sealing ring, and the third sealing ring are all provided with a second limiting hole matching the first limiting hole, and the first sealing ring, the second sealing ring, and the third sealing ring are sealed and connected to the outer end surface of the reel-type gas cylinder; The first sealing ring, the second sealing ring and the third sealing ring are all interconnected with the connecting pipe and the reel-type gas cylinder, and multiple second pipes are connected to solenoid valves. Limiting grooves are provided between the first sealing ring, the second sealing ring and the third sealing ring and the airbag to ensure that safe gas enters the first sealing ring, the second sealing ring and the third sealing ring and is transported outward through the limiting grooves. The external end face of the reel-type gas cylinder is connected to a supply socket.

5. The coal mine intelligent inspection robot according to claim 4, characterized in that: The first sealing ring, the second sealing ring and the third sealing ring are all provided with airbags on their inner end faces, and the airbags are filled with safety gas. A puncture component is provided on one end face of the groove wall of the limiting groove, and the puncture component can puncture the airbag to release the safety gas, and the safety gas is compressed air.

6. The intelligent coal mine inspection robot according to claim 5, characterized in that: The puncture assembly includes: A protective tube, the bottom end surface of which is fixedly connected to a base, and the base is fixedly connected to the inner wall end surface of the first sealing ring, the second sealing ring or the third sealing ring; An automatic telescopic rod, the bottom end surface of which is fixedly connected to the base; A thorn needle, the bottom end face of which is fixedly connected to a thorn needle fixing seat, the bottom end face of which is fixedly connected to the top end face of the automatic telescopic rod, and the height of the thorn needle and the automatic telescopic rod as a whole in an initial state is lower than the height of the protective tube; Wherein, the puncture needle and the automatic telescopic rod are both located on the inner end surface of the protection tube.

7. The coal mine intelligent inspection robot according to claim 1, characterized in that: A shooting system is arranged on one side end face of the control host, and the shooting system includes a launching tube, and the launching tube is filled with a rescue bullet, a second electromagnetic control valve is arranged on the top end face of the rescue bullet, an impact sensor is arranged on one side end face of the rescue bullet, and a first aid button is arranged on one side end face of the rescue bullet.

8. A coal mine intelligent inspection robot inspection method as claimed in claim 1, characterized in that: The method comprises the following steps: S1, inspection: the control host slides on the slide rail through the drive system to conduct normal inspection of the environment in the mine; S2. Fixed-distance inspection: The multi-level detection system is set to start at a certain distance, and the multi-level steel hose assembly is controlled to descend to detect gas in the environment near the ground, and the gas at different heights is detected at the same time to ensure the accuracy of the detection; S3. Emergency treatment of harmful gas leakage: When a harmful gas leak is detected during cruising, the safety gas output system is activated to discharge the safety gas and dilute the harmful gas in the surrounding environment; S4. Rescue of trapped persons: When an accident occurs in a mine, the intelligent inspection robot can quickly reach the accident site, and lower the tracking robot to the vicinity of the accident site through the lifting assembly. The tracking robot quickly finds and determines the location of the trapped persons, and establishes communication with the control host in a timely manner, and transmits the personnel situation back to the control host, helping rescue personnel understand the situation of the trapped persons and provide timely rescue; S5. Assist in rescue when harmful gas leaks and people are trapped; when harmful gas leaks and people are trapped, posing a threat to their safety, activate the shooting system and use shooting rescue bullets. The rescue bullets will first reach the place where the people are trapped, release safe gas, and dilute the harmful gases in the surrounding environment.

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