Intelligent coal mine gas inspection robot and control system

Abstract

The invention discloses an intelligent coal mine gas inspection robot and a control system, and relates to the technical field of coal mine gas inspection early warning. The two lifting assemblies are located on the two sides of the bottom of a vehicle body correspondingly, each lifting assembly comprises an upper fixing block and a lower fixing block, the upper fixing blocks are located over the lower fixing blocks, second movable parts are installed on the two opposite sides of the upper fixing blocks and the two opposite sides of the lower fixing blocks correspondingly, and each second movable part is movably connected with one end of a connecting arm; the other end of each connecting arm is provided with a first movable part, and the first movable parts located on the front side and the rear side of the upper fixing block are fixedly connected with the front driving element and the rear driving element correspondingly. The upper fixing block and the lower fixing block are fixedly connected through a telescopic rod and a connecting block, and the telescopic rod is sleeved with a spring. According to the invention, the gas concentration at different heights can be measured through the three gas concentration sensors, and whether the position is safe or not is judged according to the height of the gas concentration, so that the detection accuracy is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine gas inspection and early warning technology, and in particular relates to a smart coal mine gas inspection robot and a control system. Background Art

[0002] Coal mine gas disasters are one of the main natural disasters in underground coal mining and production. The prevention and monitoring of mine gas is the top priority of coal mine safety production. In recent years, with the rapid development of automation technology, computer network technology and communication technology, most coal mines are equipped with mine gas inspection systems. Coal mine gas prevention and control work has made new progress and made outstanding contributions to mine safety production. On the one hand, with the annual expansion of coal production capacity in mines and the increase in mining depth, the situation faced by mine gas prevention and control work is still severe. On the other hand, since the installation positions of various sensors in the mine gas safety monitoring system are relatively fixed and their number is limited, the key role of manual detection and identification of major gas hazards in mining and production is still irreplaceable by the monitoring system. Therefore, the role of gas inspectors in tracking and detecting gas operations has always been extremely important. In recent years, gas inspection robots have gradually been used to replace manual detection of mine gas.

[0003] At present, most intelligent gas inspection robots are divided into three categories: track-type inspection robots, flying mobile robots and traditional mobile robots. Due to the complex actual working environment of coal mines, the movement mode and movement space of inspection robots are limited. When encountering some obstacles on the ground, the robot chassis is easy to scratch the ground and cause damage to the robot chassis. In addition, if the obstacles are too high, the robot cannot climb over them smoothly, which affects the subsequent mine gas inspection. At the same time, due to the uneven distribution of gas in the mine passage, gas inspection needs to find the maximum position point. According to the comparison between the density of gas and the density of air, heavy gas (gas with a density greater than air, such as , ) sinks to the bottom of the ground, with a high concentration near the bottom plate. Therefore, technically speaking, the gas concentration in the wind flow near 30 cm above the floor is relatively high. Generally, gas inspection robots use this height as the gas detection point and install the gas concentration sensor on the surface of the robot 30 cm above the ground for gas detection. However, this monitoring method can only detect the gas concentration under normal circumstances. Once an emergency occurs, the position more than 30 cm above the ground also contains a higher concentration of gas, which can easily cause certain dangers.

[0004] The existing intelligent gas inspection robot cannot smoothly cross obstacles when encountering them, which can easily cause damage to the chassis of the inspection robot. In addition, the gas concentration detection of the inspection robot is highly consistent, and it cannot detect gas concentrations at different heights, resulting in the gas concentration detection being not rigorous. For this reason, we propose a smart coal mine gas inspection robot and control system. Summary of the invention

[0005] The purpose of the present invention is to provide a smart coal mine gas inspection robot and control system to solve the problem that the existing smart gas inspection robot cannot smoothly cross obstacles when encountering them, which easily causes damage to the chassis of the inspection robot, and the gas concentration detection of the inspection robot is highly consistent, and the gas concentration at different heights cannot be detected, resulting in the problem that the gas concentration detection is not rigorous.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is a smart coal mine gas inspection robot, comprising a vehicle body, the bottom of which is connected to the rear drive element by a connecting frame and is slidably connected up and down, and a lifting component is movably installed between the rear drive element and the front drive element; The lifting assembly has two groups, which are respectively located at two sides of the bottom of the vehicle body. The lifting assembly includes an upper fixed block and a lower fixed block. The upper fixed block is located directly above the lower fixed block, and second movable parts are installed on opposite sides of the upper fixed block and opposite sides of the lower fixed block. Each of the second movable parts is movably connected to one end of the connecting arm, and a first movable part is installed on the other end of each connecting arm. The first movable parts located at the front and rear sides of the upper fixed block are respectively fixedly connected to the front driving element and the rear driving element; the upper fixed block and the lower fixed block are fixedly connected to the connecting block through a telescopic rod, and a spring is sleeved on the outside of the telescopic rod; The connecting blocks in the two groups of lifting components are fixedly connected by a connecting rod, and a first gas concentration sensor is fixedly installed at the bottom of the connecting rod. The first gas concentration sensor is located 30 cm above the ground level. In one group of lifting components, a second gas concentration sensor is fixedly connected to the outer wall of one side of the upper fixed block, and a third gas concentration sensor is fixedly connected to the outer wall of one side of the lower fixed block.

[0007] Preferably, a visual module is fixedly installed on the top of the vehicle body; an output end on one side of the rear drive element under the vehicle body is fixedly connected to the rear wheel, and an output end on one side of the front drive element is fixedly connected to the front wheel; the front drive element and the front wheel are located at a lower front position of the vehicle body and are arranged parallel to the rear drive element and the rear wheel.

[0008] Preferably, a mounting groove is opened at the center position of the bottom of the vehicle body, one end of the inner wall of the mounting groove is movably connected to one end of the screw rod, the other end of the screw rod is fixedly connected to the output end of the motor, and the motor is fixedly installed on the inner wall of the other end of the mounting groove; a movable bearing is slidably connected to the peripheral side of the screw rod, the bottom of the movable bearing is fixedly connected to the top of the lifting rod, and the bottom of the lifting rod is fixedly connected to the center position of the top of the connecting rod.

[0009] Preferably, slide grooves are respectively provided on two opposite sides of the bottom of the vehicle body, a slider is slidably arranged inside each slide groove, and the bottom of the slider is fixedly connected to the top of the upper fixed block; a support plate is fixedly installed on the bottom of the lower fixed block; the second gas concentration sensor is located directly above the third gas concentration sensor.

[0010] A control system based on a smart coal mine gas inspection robot, comprising a central control unit and a drive module, a collection module, a statistical analysis module and a decision module respectively connected to the central control unit for communication; Central control unit: used to provide a centralized interface for the system administrator of the control system to configure and maintain the various functions of the system. It is also used to manage the operation of each module of the control system and summarize the gas inspection information obtained by each module and display it on the centralized interface; Driving module: The inspection route of the gas inspection robot is preset according to the mine map, and an inspection route map is formed. The gas inspection points in various areas inside the mine are marked on the surface of the inspection route map, so as to drive the gas inspection robot to travel inside the mine according to the inspection route map and complete the gas concentration detection of each gas inspection point; Collection module: used to detect the gas concentration at the gas inspection point through three gas concentration sensors installed on the gas inspection robot; and output the collected gas concentration data to the statistical analysis module; Statistical analysis module: used to determine whether the first gas concentration data detected by the first gas concentration sensor output by the acquisition module to the statistical analysis module is within the preset gas concentration range. If the first gas concentration data detected by the first gas concentration sensor of the gas inspection robot is not within the preset gas concentration range, the remaining two gas concentration sensors are started to perform gas concentration detection, and the gas concentration detection data of the three gas concentration sensors are statistically sent to the decision module; Decision-making module: used to determine whether the gas concentration at the gas inspection point exceeds the standard according to the gas concentration detected by the three gas concentration sensors at different detection heights sent by the statistical analysis module, so as to issue an early warning decision to the central control unit; Among them, when the gas inspection robot drives to the gas inspection point, it detects the first gas concentration data located at a height of 30 cm from the ground through the first gas concentration sensor, and uploads the first gas concentration data to the statistical analysis module, which analyzes whether the first gas concentration data exceeds the gas concentration range. If it is higher than the gas concentration range, the second gas concentration sensor is started to detect the second gas concentration data located above 30 cm from the ground. The statistical analysis module analyzes whether the second gas concentration data is higher than the gas concentration range. If it is within the gas concentration range, the height of the second gas concentration data from the ground is output to the decision module, which determines whether the gas concentration height of the second gas concentration data triggers an early warning. If the second gas concentration data is still higher than the gas concentration range, the driving module drives the gas inspection robot to raise the detection height of the second gas concentration sensor until the detected second gas concentration data reaches the detection height. If the third gas concentration data is within the gas concentration range, the detection height is sent to the decision module, and the decision module determines whether the gas concentration height of the second gas concentration data triggers an early warning; if the first gas concentration data detected by the first gas concentration sensor is lower than the gas concentration range, the third gas concentration sensor is started to detect the third gas concentration data below the ground height of 30 cm, and the statistical analysis module analyzes whether the third gas concentration data is within the gas concentration range. If it is within the range, the detection height of the third gas concentration sensor is sent to the decision module, and the decision module decides whether to replace the gas inspection point. If the third gas concentration is still lower than the gas concentration range, the driving module drives the gas inspection robot to lower the detection height of the third gas concentration sensor until the detected third gas concentration data is within the gas concentration range, and the detection height is sent to the decision module, and the decision module decides whether to replace the gas inspection point.

[0011] Preferably, the control system also includes a real-time monitoring module: different color numbers are used for the gas inspection robots in the mine, and the location of each gas inspection robot, the mining working face it is located in, the mobile operation trajectory record, and the dynamic distribution and number of underground gas inspection robots and other information are displayed in real time on the mine map to dynamically monitor the current safety work of any gas inspection robot.

[0012] Preferably, in the central control unit, the actual working condition of the gas inspection robot can be supervised by querying the arrival and departure time and working time of the gas inspection robot at a specific location. By searching the current actual position of any one or more gas inspection robots, the position and situation at a specified time, the target can be quickly located and its relevant detailed operation information can be displayed.

[0013] Preferably, in the statistical analysis module, GIS-based vector diagram technology is used to perform statistical analysis on the first gas detection data and subsequent gas detection data of gas detection according to different time periods and detection areas, and automatically generate gas information bar charts, line charts and proportional charts.

[0014] The present invention has the following beneficial effects: 1. The present invention sets a lifting component. When the gas inspection robot encounters an obstacle during driving, the motor starts the rotation of the screw rod, thereby driving the movable bearing to slide on the screw rod. When the movable bearing slides toward the motor, the two sets of lifting components connected by the connecting rod at the bottom start to move, and the "diamond" structure surrounded by four connecting arms starts to change shape. The upper fixed block is continuously raised, while the lower fixed block is continuously lowered, causing the slider fixed by the top of the upper fixed block to continuously push the vehicle body upward, and at the same time, the slider moves toward the position of the rear drive element inside the slide groove, so that the height of the vehicle body is continuously increased until the front of the vehicle can pass over the obstacle. Therefore, no matter what height the vehicle body is located, the connecting rod always maintains the original height, and the first gas concentration sensor fixed at the bottom of the connecting rod can always measure the gas concentration at a height of 30 cm from the ground, and the connecting rod is close to the rear wheel. Therefore, the connecting rod does not affect the vehicle body from climbing over the obstacle. As long as the head of the vehicle body is raised to pass over the obstacle, the obstacle can be passed as a whole, thereby avoiding the front of the vehicle hitting the obstacle and causing damage to the vehicle body.

[0015] 2. The present invention sets three groups of gas concentration sensors at different heights. First, a first gas concentration sensor located at a height of 30 cm from the ground measures the first gas concentration data. According to the first gas concentration data at the height, it is determined whether the gas concentration at the height meets the preset gas concentration range. If it meets, it means that the gas concentration at the height is safe. If it does not meet, the first gas concentration data is higher than the gas concentration range, which means that the gas concentration at a height above 30 cm may also exceed the standard, and the position is not safe. The second gas concentration data at a height above 30 cm is measured by a second gas concentration sensor located above the first gas concentration sensor until the second gas concentration data is within the gas concentration range. The second gas concentration data detection height that meets the gas concentration range is sent to the decision module, and the decision module determines whether the height is safe. Whether the gas concentration is safe, and thus whether to issue a safety warning decision; when the first gas concentration data is lower than the gas concentration range, it means that the gas detection point at this location is not accurate, and the third gas concentration sensor located below the first gas concentration sensor detects the third gas concentration data at a height below 30 cm, until the third gas concentration data is within the gas concentration range, the third gas concentration data detection height that meets the gas concentration range is sent to the decision module, and the decision module decides whether to change the gas detection point. If the third gas concentration data at the ground position is also not within the gas concentration range, the decision module directly decides to change the gas detection point; therefore, the three gas concentration sensors can measure gas concentrations at different heights, and judge whether the location is safe based on the height of the gas concentration, which greatly improves the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the overall structure of the intelligent coal mine gas inspection robot provided by the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 A schematic diagram of the bottom structure of the intelligent coal mine gas inspection robot provided by the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point B in the middle; Figure 5 A schematic diagram of the structure of the lifting assembly based on the smart coal mine gas inspection robot provided by the present invention.

[0018] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Vehicle body; 2. Visual module; 3. Connecting frame; 4. Rear drive element; 5. Front wheel; 6. Rear wheel; 7. First movable part; 8. Second movable part; 9. Upper fixed block; 10. Sliding block; 11. Lower fixed block; 12. Spring; 13. Telescopic rod; 14. Support plate; 15. Connecting block; 16. Connecting rod; 17. Lifting rod; 18. Movable bearing; 19. Screw; 20. Motor; 21. First gas concentration sensor; 22. Second gas concentration sensor; 23. Third gas concentration sensor; 24. Front drive element; 25. Connecting arm. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0020] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] See also Figure 1-5The present invention is a coal mine gas inspection robot based on intelligence, comprising a vehicle body 1, the bottom of the vehicle body 1 is connected to the rear drive element 4 by sliding up and down through a connecting frame 3, a lifting assembly is movably installed between the rear drive element 4 and the front drive element 24, the vehicle body 1 is used as the main part of the gas inspection robot, the connecting frame 3 is used to slide up and down inside the rear drive element 4, so as to cooperate with the lifting of the vehicle body 1, when the vehicle body 1 is lifted upward by the lifting assembly, the connecting frame 3 is connected to the bottom of the vehicle body 1, so it is also lifted upward, the connecting frame 3 ensures that the vehicle body 1 is always connected to the rear drive element 4, the rear drive element 4 and the front drive element 24 are respectively used as the driving parts of the rear wheel 6 and the front wheel 5, providing power for the wheels to drive forward; There are two groups of lifting components, which are respectively located on both sides of the bottom of the vehicle body 1. The lifting components include an upper fixed block 9 and a lower fixed block 11. The upper fixed block 9 is located directly above the lower fixed block 11, and second movable members 8 are installed on opposite sides of the upper fixed block 9 and opposite sides of the lower fixed block 11. Each second movable member 8 is movably connected to one end of the connecting arm 25, and the other end of each connected arm 25 is installed with a first movable member 7. The first movable members 7 located on the front and rear sides of the upper fixed block 9 are respectively fixedly connected to the front drive element 24 and the rear drive element 4; the upper fixed block 9 and the lower fixed block 11 are connected to each other. The telescopic rod 13 is fixedly connected with the connecting block 15, and the spring 12 is sleeved on the outside of the telescopic rod 13. The upper fixed block 9 and the lower fixed block 11 are used to connect the connecting arms 25 on both sides. The larger the upper and lower angles of the diamond structure surrounded by the four connecting arms 25 are, the lower the height of the vehicle body 1 is, and vice versa, the smaller the upper and lower angles are, the higher the height of the vehicle body 1 is. The first movable member 7 and the second movable member 8 are both used to fix the connecting arm 25 and cooperate with the connecting arm 25 to move. The telescopic rod 13 is used to connect the upper fixed block 9, the lower fixed block 11 and the connecting block 15, and the spring 12 plays a reset role; The connecting blocks 15 in the two sets of lifting components are fixedly connected by a connecting rod 16, and a first gas concentration sensor 21 is fixedly installed at the bottom of the connecting rod 16. The first gas concentration sensor 21 is located 30 cm above the ground level. In one set of lifting components, a second gas concentration sensor 22 is fixedly connected to the outer wall of one side of the upper fixed block 9, and a third gas concentration sensor 23 is fixedly connected to the outer wall of one side of the lower fixed block 11.

[0023] Among them, a visual module 2 is fixedly installed on the top of the vehicle body 1; the output end of one side of the rear drive element 4 under the vehicle body 1 is fixedly connected to the rear wheel 6, and the output end of one side of the front drive element 24 is fixedly connected to the front wheel 5. The front drive element 24 and the front wheel 5 are located in the lower front position of the vehicle body 1 and are arranged parallel to the rear drive element 4 and the rear wheel 6.

[0024] Among them, a mounting groove is opened at the center position of the bottom of the vehicle body 1, one end of the inner wall of the mounting groove is movably connected to one end of the screw rod 19, the other end of the screw rod 19 is fixedly connected to the output end of the motor 20, and the motor 20 is fixedly installed on the inner wall of the other end of the mounting groove; a movable bearing 18 is slidably connected to the side surface of the screw rod 19, the bottom of the movable bearing 18 is fixedly connected to the top of the lifting rod 17, and the bottom of the lifting rod 17 is fixedly connected to the center position of the top of the connecting rod 16.

[0025] Among them, slide grooves are respectively opened on the opposite sides of the bottom of the vehicle body 1, and a slider 10 is slidably arranged inside each slide groove, and the bottom of the slider 10 is fixedly connected to the top of the upper fixed block 9; a support plate 14 is fixedly installed on the bottom of the lower fixed block 11; the second gas concentration sensor 22 is located directly above the third gas concentration sensor 23.

[0026] A control system based on a smart coal mine gas inspection robot, comprising a central control unit and a drive module, a collection module, a statistical analysis module and a decision module respectively connected to the central control unit for communication; Central control unit: used to provide a centralized interface for the system administrator of the control system to configure and maintain the various functions of the system. It is also used to manage the operation of each module of the control system and summarize the gas inspection information obtained by each module and display it on the centralized interface; Driving module: The inspection route of the gas inspection robot is preset according to the mine map, and an inspection route map is formed. The gas inspection points in various areas inside the mine are marked on the surface of the inspection route map, so as to drive the gas inspection robot to travel inside the mine according to the inspection route map and complete the gas concentration detection of each gas inspection point; Collection module: used to detect the gas concentration at the gas inspection point through three gas concentration sensors installed on the gas inspection robot; and output the collected gas concentration data to the statistical analysis module; Statistical analysis module: used to determine whether the first gas concentration data detected by the first gas concentration sensor output by the acquisition module to the statistical analysis module is within the preset gas concentration range. If the first gas concentration data detected by the first gas concentration sensor of the gas inspection robot is not within the preset gas concentration range, the remaining two gas concentration sensors are started to perform gas concentration detection, and the gas concentration detection data of the three gas concentration sensors are statistically sent to the decision module; Decision-making module: used to determine whether the gas concentration at the gas inspection point exceeds the standard according to the gas concentration detected by the three gas concentration sensors at different detection heights sent by the statistical analysis module, so as to issue an early warning decision to the central control unit; Among them, when the gas inspection robot drives to the gas inspection point, it detects the first gas concentration data located at a height of 30 cm from the ground through the first gas concentration sensor 21, and uploads the first gas concentration data to the statistical analysis module, which analyzes whether the first gas concentration data exceeds the gas concentration range. If it is higher than the gas concentration range, the second gas concentration sensor 22 is started to detect the second gas concentration data located above 30 cm from the ground. The statistical analysis module analyzes whether the second gas concentration data is higher than the gas concentration range. If it is within the gas concentration range, the height of the second gas concentration data from the ground is output to the decision module, which determines whether the gas concentration height of the second gas concentration data triggers an early warning. If the second gas concentration data is still higher than the gas concentration range, the driving module drives the gas inspection robot to raise the detection height of the second gas concentration sensor 22 until the second gas concentration data is detected. If the gas concentration data is within the gas concentration range, the detection height is sent to the decision module, and the decision module determines whether the gas concentration height of the second gas concentration data triggers an early warning; if the first gas concentration data detected by the first gas concentration sensor 21 is lower than the gas concentration range, the third gas concentration sensor 23 is started to detect the third gas concentration data below the ground height of 30 cm, and the statistical analysis module analyzes whether the third gas concentration data is within the gas concentration range. If it is within the range, the detection height of the third gas concentration sensor is sent to the decision module, and the decision module decides whether to replace the gas inspection point. If the third gas concentration is still lower than the gas concentration range, the driving module drives the gas inspection robot to lower the detection height of the third gas concentration sensor 23 until the detected third gas concentration data is within the gas concentration range, and the detection height is sent to the decision module, and the decision module decides whether to replace the gas inspection point.

[0027] Among them, the control system also includes a real-time monitoring module: different color numbers are used for the gas inspection robots in the mine, and the location of each gas inspection robot, the mining working face it is located in, the mobile operation trajectory record, and the dynamic distribution and number of underground gas inspection robots are displayed in real time on the mine map, so as to dynamically monitor the current safety work of any gas inspection robot.

[0028] Among them, in the central control unit, the actual working situation of the gas inspection robot is supervised by querying the arrival and departure time and working time of the gas inspection robot at a specific location. By searching the current actual position of any one or more gas inspection robots, the position and situation at a specified time, the target can be quickly located and its relevant detailed operation information can be displayed.

[0029] Among them, in the statistical analysis module, GIS-based vector map technology is used to perform statistical analysis on the first gas detection data and subsequent gas detection data of gas detection according to different time periods and detection areas, and automatically generate gas information bar charts, line charts and proportional charts; When the gas inspection robot is in use, when it encounters an obstacle during driving, the motor 20 starts the screw rod 19 to rotate, thereby driving the movable bearing 18 to slide on the screw rod 19. When the movable bearing 18 slides toward the motor 20, the two sets of lifting components connected by the connecting rod 16 at the bottom begin to move, and the "diamond" structure surrounded by four connecting arms 25 begins to change shape. The upper fixed block 9 is continuously raised, while the lower fixed block 11 is continuously lowered, causing the slider 10 fixed by the top of the upper fixed block 9 to continuously push the vehicle body 1 upward, and the slider 10 is sliding. The inside of the groove moves toward the position of the rear drive element 4, so that the height of the vehicle body 1 continues to rise until the front of the vehicle can pass over the obstacle. Therefore, no matter what height the vehicle body 1 is located, the connecting rod 16 always maintains the original height, and the first gas concentration sensor 21 fixed at the bottom of the connecting rod 16 can always measure the gas concentration at a height of 30 cm from the ground. The position of the connecting rod 16 is close to the rear wheel 6, so the connecting rod 16 will not affect the vehicle body 1 from crossing over the obstacle. As long as the head of the vehicle body 1 is raised to pass over the obstacle, the vehicle body 1 can pass over it as a whole, thus avoiding the front of the vehicle hitting the obstacle and causing damage to the vehicle body 1.

[0030] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A smart coal mine gas inspection robot, comprising a vehicle body (1), characterized in that: The bottom of the vehicle body (1) is connected to the interior of the rear drive element (4) by sliding up and down via a connecting frame (3), and a lifting component is movably installed between the rear drive element (4) and the front drive element (24); The lifting assembly has two groups, which are respectively located on both sides of the bottom of the vehicle body (1). The lifting assembly comprises an upper fixed block (9) and a lower fixed block (11). The upper fixed block (9) is located directly above the lower fixed block (11), and second movable parts (8) are installed on opposite sides of the upper fixed block (9) and opposite sides of the lower fixed block (11). Each of the second movable parts (8) is movably connected to one end of a connecting arm (25). The other end of each connecting arm (25) is installed with a first movable part (7). The first movable parts (7) located on the front and rear sides of the upper fixed block (9) are respectively fixedly connected to the front drive element (24) and the rear drive element (4). The upper fixed block (9) and the lower fixed block (11) are fixedly connected to the connecting block (15) via a telescopic rod (13), and a spring (12) is sleeved on the outside of the telescopic rod (13). The connecting blocks (15) in the two sets of lifting assemblies are fixedly connected via a connecting rod (16), a first gas concentration sensor (21) being fixedly mounted on the bottom of the connecting rod (16), the first gas concentration sensor (21) being located 30 cm above the ground level; a second gas concentration sensor (22) is fixedly connected to an outer wall of one side of the upper fixed block (9) in one set of lifting assemblies, and a third gas concentration sensor (23) is fixedly connected to an outer wall of one side of the lower fixed block (11).

2. The intelligent coal mine gas inspection robot according to claim 1 is characterized in that: A visual module (2) is fixedly mounted on the top of the vehicle body (1); an output end on one side of a rear drive element (4) below the vehicle body (1) is fixedly connected to a rear wheel (6); an output end on one side of a front drive element (24) is fixedly connected to a front wheel (5); a first movable member (7) located on the front side of the upper fixed block (9) is fixedly connected to one side of the front drive element (24); and the front drive element (24) and the front wheel (5) are located at a lower front position of the vehicle body (1) and are arranged parallel to the rear drive element (4) and the rear wheel (6).

3. The intelligent coal mine gas inspection robot according to claim 2 is characterized in that: A mounting groove is provided at the center of the bottom of the vehicle body (1); one end of the inner wall of the mounting groove is movably connected to one end of a screw rod (19); the other end of the screw rod (19) is fixedly connected to the output end of the motor (20); and the motor (20) is fixedly installed on the inner wall of the other end of the mounting groove; a movable bearing (18) is slidably connected to the side surface of the screw rod (19); the bottom of the movable bearing (18) is fixedly connected to the top of the lifting rod (17); and the bottom of the lifting rod (17) is fixedly connected to the center of the top of the connecting rod (16).

4. The intelligent coal mine gas inspection robot according to claim 3 is characterized in that: The bottom of the vehicle body (1) is provided with slide grooves on opposite sides, each of which has a sliding block (10) slidably arranged therein, the bottom of the sliding block (10) being fixedly connected to the top of the upper fixed block (9); the bottom of the lower fixed block (11) is fixedly mounted with a support plate (14); the second gas concentration sensor (22) is located directly above the third gas concentration sensor (23).

5. A control system based on a smart coal mine gas inspection robot, applied to the smart coal mine gas inspection robot according to claim 4, characterized in that: It includes a central control unit and a driving module, a collection module, a statistical analysis module and a decision module which are respectively connected to the central control unit for communication; Central control unit: used to provide a centralized interface for the system administrator of the control system to configure and maintain the various functions of the system. It is also used to manage the operation of each module of the control system and summarize the gas inspection information obtained by each module and display it on the centralized interface; Driving module: The inspection route of the gas inspection robot is preset according to the mine map, and an inspection route map is formed. The gas inspection points in various areas inside the mine are marked on the surface of the inspection route map, so as to drive the gas inspection robot to travel inside the mine according to the inspection route map and complete the gas concentration detection of each gas inspection point; Collection module: used to detect the gas concentration at the gas inspection point through three gas concentration sensors installed on the gas inspection robot; and output the collected gas concentration data to the statistical analysis module; Statistical analysis module: used to determine whether the first gas concentration data detected by the first gas concentration sensor output by the acquisition module to the statistical analysis module is within the preset gas concentration range. If the first gas concentration data detected by the first gas concentration sensor of the gas inspection robot is not within the preset gas concentration range, the remaining two gas concentration sensors are started to perform gas concentration detection, and the gas concentration detection data of the three gas concentration sensors are statistically sent to the decision module; Decision-making module: used to determine whether the gas concentration at the gas inspection point exceeds the standard according to the gas concentration detected by the three gas concentration sensors at different detection heights sent by the statistical analysis module, so as to issue an early warning decision to the central control unit; When the gas inspection robot travels to the gas inspection point, the first gas concentration data located at a height of 30 cm from the ground is detected by the first gas concentration sensor (21), and the first gas concentration data is uploaded to the statistical analysis module. The statistical analysis module analyzes whether the first gas concentration data exceeds the gas concentration range. If it is higher than the gas concentration range, the second gas concentration sensor (22) is activated to detect the second gas concentration data located above the ground at a height of 30 cm. The statistical analysis module analyzes whether the second gas concentration data is higher than the gas concentration range. If it is within the gas concentration range, the height of the second gas concentration data from the ground is output to the decision module. The decision module determines whether the gas concentration height of the second gas concentration data triggers an early warning. If the second gas concentration data is still higher than the gas concentration range, the driving module drives the gas inspection robot to raise the detection height of the second gas concentration sensor (22) until the second gas concentration data is detected. If the first gas concentration data detected by the first gas concentration sensor (21) is lower than the gas concentration range, the third gas concentration sensor (23) is started to detect the third gas concentration data below the ground height of 30 cm, and the statistical analysis module is used to analyze whether the third gas concentration data is within the gas concentration range. If it is within the range, the detection height of the third gas concentration sensor is sent to the decision module, and the decision module decides whether to replace the gas inspection point. If the third gas concentration is still lower than the gas concentration range, the driving module drives the gas inspection robot to lower the detection height of the third gas concentration sensor (23) until the detected third gas concentration data is within the gas concentration range, and the detection height is sent to the decision module, and the decision module decides whether to replace the gas inspection point.

6. A control system based on a smart coal mine gas inspection robot according to claim 5, characterized in that: The control system also includes a real-time monitoring module: different color numbers are used for the gas inspection robots in the mine, and the location, mining working face, mobile operation trajectory records, and dynamic distribution and number of each gas inspection robot in the mine are displayed in real time on the mine map, so as to dynamically monitor the current safety work of any gas inspection robot.

7. A control system based on a smart coal mine gas inspection robot according to claim 6, characterized in that: In the central control unit, the actual working status of the gas inspection robot is supervised by querying the arrival and departure time and working time of the gas inspection robot at a specific location. By searching the current actual position of any one or more gas inspection robots, the position and situation at a specified time, the target can be quickly located and its relevant detailed operation information can be displayed.

8. The control system based on the intelligent coal mine gas inspection robot according to claim 7 is characterized in that: In the statistical analysis module, GIS-based vector diagram technology is used to perform statistical analysis on the first gas detection data and subsequent gas detection data of gas detection according to different time periods and detection areas, and automatically generate gas information bar charts, line charts and proportional charts.

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