Underground coal mine safety inspection method and intelligent inspection vehicle

Abstract

The invention relates to a coal mine underground safety inspection method and an intelligent inspection vehicle, and relates to the technical field of mine inspection. The method comprises the following steps: S1, gas monitoring; s11, loading a signal; s12, optimizing the signal; s13, obtaining a result; s131, removing impurities; s132, influence is eliminated; s133, other influences are eliminated; s134, carrying out concentration calibration; and S2, algorithm processing. The device comprises a vehicle body and a detection assembly, the detection assembly comprises a storage battery, an air pump, an upper air taking part and a lower air taking part, and the storage battery is fixedly connected to the vehicle body; the air pump is fixedly connected to the vehicle body and electrically connected with the storage battery. The upper gas taking part and the lower gas taking part are arranged on the vehicle body and are respectively used for collecting gas at the top and the bottom of a mine. The method has the effect of improving the inspection accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of mine inspection, and in particular to an inspection method and an intelligent inspection vehicle for underground safety in coal mines. Background Art

[0002] Since there are flammable and explosive gases such as methane in coal mines, in order to ensure the safety of workers, underground inspections are an important part of daily safety management in coal mines. To facilitate underground inspections, remote control devices are usually used to collect, store and transmit data such as temperature and smoke on site in real time.

[0003] At present, general inspection robots cooperate with tracks pre-installed on the inspection route to drive the inspection robots to move along the tracks to realize inspection inside the mine.

[0004] However, due to the large number of gas inspection points and wide inspection range underground, manual inspection takes a long time and is prone to problems such as false inspections and missed inspections. Summary of the invention

[0005] In order to improve the accuracy of inspections, the present application provides a coal mine underground safety inspection method and an intelligent inspection vehicle.

[0006] The present application provides a coal mine underground safety inspection method, which adopts the following technical solution: A coal mine underground safety inspection method comprises the following steps: S1 gas monitoring: Gas concentration sensor 1 and gas concentration sensor 2 detect gas. In the integrated controller, the laser gas analysis method is used to perform real-time online measurement and analysis of underground gas, covering seven common underground gases: CO, CO2, O2, CH4, C2H6, C2H4, and C2H2. Wherein, in step S1, the laser gas analysis method is a mid-infrared QCL laser technology combined with TDLAS laser spectroscopy gas analysis technology; S11 loading signal: load a low-frequency scanning triangle wave signal and a high-frequency modulated sine wave signal to the laser; S12 optimizes the signal: demodulates the measured signal through phase lock to get the harmonic component, extracts the second harmonic component, and optimizes the second harmonic signal by adjusting the phase and modulation signal amplitude; S13 obtains the result: compared with the non-absorbed laser intensity signal, the influence of the light intensity is removed, and a signal related to the target gas concentration is obtained, and the gas concentration is obtained after processing; S2 algorithm processing: Based on the measured gas absorption signal, the second harmonic signal is modulated and demodulated, and the concentration data is extracted through algorithm processing and compensation.

[0007] By adopting the above technical scheme, TDLAS technology has the advantages of being free from background gas interference, long light source life, small calibration workload, high detection sensitivity and fast response time. At the same time, the mid-infrared QCL technology adopted realizes high-sensitivity monitoring of carbon monoxide, and solves the serious methane interference problem of near-infrared technology on carbon monoxide measurement. At the same time, it realizes low-concentration measurement of ethylene and ethane, comprehensively monitors the types of gases that may pose a threat to the safety of miners, and improves the comprehensiveness and effectiveness of safety inspections. At the same time, the second harmonic signal is obtained through modulation and demodulation, and after algorithm processing and compensation, high-precision concentration data can be extracted, which makes it easy to improve the accuracy of inspections.

[0008] Optionally, in step S13, a gas monitoring module is provided, and the transmitting end of the gas monitoring module emits a debugged light signal, which is absorbed by the gas characteristics of the gas chamber, received by the receiving end of the gas monitoring module and converted into an electrical signal, and the second harmonic signal absorbed by the gas is obtained through demodulation, and the concentration signal of the measured gas is obtained through algorithm calculation and temperature and pressure compensation.

[0009] By adopting the above technical solution, the optical signal has a specific wavelength and intensity, which can accurately target the characteristic absorption peaks of common gases in the well (such as CO, CO2, O2, CH4, etc.). When the signal passes through the gas chamber, it has a characteristic absorption effect with the gas therein, and is then captured by the receiving end of the gas monitoring module and converted into an electrical signal. This conversion process ensures that even small changes in gas concentration can be accurately captured. By demodulating the received electrical signal, the second harmonic signal absorbed by the gas is extracted. Further combined with advanced algorithm calculations and temperature and pressure compensation technology, the concentration of the measured gas can be accurately calculated. This process effectively eliminates the influence of environmental factors on the measurement results and improves the accuracy and reliability of the measurement.

[0010] Optionally, in step S13, the gas monitoring module includes the following algorithm steps: S131 impurity removal: a digital low-pass filter is used to filter the second harmonic signal to remove the residual high-frequency signal, and a linear fit is performed to subtract the background of the second harmonic signal; S132 Elimination of influence: Extract the light intensity information of the unabsorbed part of the direct absorption signal, simulate the initial light intensity signal through linear fitting, compare the second harmonic signal after removing the dark current with the initial light intensity signal, and obtain the second harmonic signal related only to the absorption of the gas; S133 Eliminate other influences: Eliminate the interference of pressure factors on gas concentration changes through pressure compensation method; S134 concentration calibration: Use the peak-to-valley difference of the second harmonic signal to reflect the relative gas concentration.

[0011] By adopting the above technical solution and applying a digital low-pass filter, the residual high-frequency signal in the second harmonic signal is effectively filtered out, thereby improving the purity of the signal; at the same time, with the application of linear fitting technology, the background of the second harmonic signal is further subtracted to ensure the accuracy of the signal.

[0012] On the other hand, the present application provides a full laser intelligent inspection vehicle, which adopts the following technical solutions: A full laser intelligent inspection vehicle, comprising: Vehicle body; A detection assembly, including a battery, an air pump, an upper air intake portion and a lower air intake portion; in, The battery is fixedly connected to the vehicle body; The air pump is fixedly connected to the vehicle body and electrically connected to the battery; The upper air intake part and the lower air intake part are both arranged on the vehicle body, and the upper air intake part and the lower air intake part are used to collect gas from the top and bottom of the mine respectively.

[0013] By adopting the above technical solution, during the movement of the vehicle body, the upper gas intake part and the lower gas intake part respectively collect gas from the top and bottom of the mine, and then compare the difference in gas concentration between the top and bottom of the mine. When the difference in gas concentration is greater than the set value, it indicates that gas has accumulated at the top of the mine, which is prone to danger. Through real-time monitoring, the accuracy of inspection is improved, so that potential safety hazards can be easily discovered in time, and thus it is easy to prevent the occurrence of mine accidents. In addition, by installing batteries, not only the efficiency of inspections is improved, but also the safety risks that may be caused by manual inspections are reduced.

[0014] Optionally, the upper air intake portion includes: A motor, fixedly connected to the vehicle body; A gear, coaxially connected to the output shaft of the motor; A spur rack meshing with the gear, the spur rack being slidably connected to the vehicle body, and the sliding direction is a vertical direction; A lifting rod, fixedly connected to the spur rack; An upper air intake pipe, one end of which is connected to the air pump and the other end of which is arranged on the lifting rod; Filter 1, connected in series to the upper air intake pipe; A gas concentration sensor 1 is arranged on the gas outlet end of the filter 1 and is used to output a gas concentration signal of the gas in the upper part of the mine.

[0015] By adopting the above technical solution, the output shaft of the motor drives the gear to rotate, the gear drives the spur rack to move, the spur rack drives the lifting rod to move, the lifting rod drives the upper gas pipe to move to a specified height, and the air pump generates a pressure difference, so that the upper gas pipe can extract gas from the upper part of the mine, the filter pair dries and filters the gas, the gas concentration sensor pair detects the dried gas and outputs the gas concentration signal of the gas in the upper part of the mine, so as to accurately collect gas samples at a specified height, thereby making the results of gas concentration detection more accurate and reliable.

[0016] Optionally, the lower air intake portion includes: A lower air intake pipe, one end of which is connected to the air pump and the other end of which is arranged at the bottom of the vehicle body; Filter 2, connected in series to the lower air intake pipe; A second gas concentration sensor is arranged on the gas outlet end of the second filter and is used to output a gas concentration signal of the gas at the bottom of the mine; An integrated controller, fixedly connected to the vehicle body; Among them, the gas concentration sensor 1 and the gas concentration sensor 2 are both electrically connected to the integrated controller, and the integrated controller responds to the gas concentration signals of the gas at the top and bottom of the mine output by the gas concentration sensor 1 and the gas concentration sensor 2, and is used to determine the difference in the gas concentration signals of the gas at the top and bottom of the mine.

[0017] By adopting the above technical solution, during the movement of the vehicle body, the air pump generates a pressure difference, so that the lower air intake pipe can extract gas from the bottom of the mine, filter two dries and filters the gas, gas concentration sensor two detects the dried gas, and outputs a gas concentration signal of the gas at the bottom of the mine, and the integrated controller responds to the gas concentration signals of the gas at the top and bottom of the mine output by gas concentration sensor one and gas concentration sensor two, and determines the difference in gas concentration signals of the gas at the top and bottom of the mine. When the gas concentration difference is greater than the set value, it indicates that gas is accumulated at the top of the mine, which is prone to danger. Through automation and intelligent means, comprehensive monitoring and analysis of the mine gas environment is achieved, thereby improving the efficiency and safety of inspections.

[0018] Optionally, the detection assembly further includes a gas extraction unit, and the gas extraction unit includes: An air extraction pipe, one end of which is connected to the air pump and the other end of which is hung on the vehicle body; Filter three, connected in series to the air extraction pipe; The gas concentration sensor three is arranged on the gas outlet end of the filter three and is used to output the gas concentration signal of the gas in the mine goaf. The integrated controller is electrically connected to the gas concentration sensor three and responds to the gas concentration signal of the gas in the mine goaf output by the gas concentration sensor three.

[0019] By adopting the above technical scheme, when it is necessary to detect the goaf, the air pump generates a pressure difference so that the goaf gas extraction pipe can extract the gas from the goaf of the mine, the filter three dries and filters the gas, the gas concentration sensor three detects the dried gas and outputs the gas concentration signal of the goaf gas of the mine, the integrated controller responds to the gas concentration signal of the goaf gas of the mine output by the gas concentration sensor three, and judges the gas concentration of the goaf gas. By conducting a comprehensive detection of the mine, it is easy to provide accurate gas concentration detection data, thereby easily improving the accuracy of patrol inspections.

[0020] Optionally, a monitoring component is also provided on the vehicle body, and the monitoring component includes a temperature sensor and an alarm, and the temperature sensor and the alarm are both fixedly connected to the vehicle body, and the temperature sensor and the alarm are both electrically connected to the integrated controller. The temperature sensor is used to output a temperature signal inside the mine, and the integrated controller responds to the temperature signal output by the temperature sensor and is used to control the alarm to make a sound.

[0021] By adopting the above technical solution, the temperature sensor outputs the temperature signal inside the mine, and the integrated controller responds to the temperature signal output by the temperature sensor. When the temperature inside the mine is greater than the set value, the controller controls the alarm to sound, thereby easily warning the patrol personnel to evacuate the mine in time, thereby improving the safety of the patrol personnel.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: By setting up the motor, gear, spur rack, lifting rod and upper gas pipe, the gas sample at the specified height can be accurately collected, so that the result of gas concentration detection is more accurate and reliable; By setting up the lower gas pipe, filter 2, gas concentration sensor 2 and integrated controller, the comprehensive monitoring and analysis of the gas environment at the bottom of the mine is realized, thereby improving the efficiency and safety of inspection; By setting up the mining gas extraction pipe, the filter three and the gas concentration sensor three, it is easy to provide accurate gas concentration detection data, thereby making it easy to improve the accuracy of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the structure of Example 1 of the present application; Figure 2 yes Figure 1Magnified view at A in the middle; Figure 3 It is a structural diagram of Example 2 of the present application.

[0024] Description of reference numerals: 1. Vehicle body; 11. Protection compartment; 12. Conducting pipe; 13. Dust cover; 14. Meteorological sensor; 2. Detection component; 21. Battery; 22. Air pump; 23. Upper air intake section; 231. Motor; 232. Gear; 233. Straight rack; 234. Lifting rod; 235. Upper air intake pipe; 236. Filter one; 237. Gas concentration sensor one; 24. Lower air intake section; 241. Lower air intake pipe; 242. Filter two; 243. Gas concentration sensor two; 244. Integrated controller; 25. Air extraction section; 251. Air extraction pipe; 252. Filter three; 253. Gas concentration sensor three; 3. Monitoring component; 31. Temperature sensor; 32. Alarm. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1-3 This application is described in further detail.

[0026] The embodiments of the present application disclose a coal mine underground safety inspection method and an intelligent inspection vehicle.

[0027] Reference Figure 1 A coal mine underground safety inspection method comprises the following steps: S1 gas monitoring: Gas concentration sensor 1 and gas concentration sensor 2 detect gas. In the integrated controller, the laser gas analysis method is used to perform real-time online measurement and analysis of underground gas, covering seven common underground gases: CO, CO2, O2, CH4, C2H6, C2H4, and C2H2. S11 loading signal: load a low-frequency scanning triangle wave signal and a high-frequency modulated sine wave signal to the laser; S12 optimizes the signal: demodulates the measured signal through phase lock to get the harmonic component, extracts the second harmonic component, and optimizes the second harmonic signal by adjusting the phase and modulation signal amplitude; S13 obtains the result: compared with the non-absorbed laser intensity signal, the influence of the light intensity is removed, and a signal related to the target gas concentration is obtained, and the gas concentration is obtained after processing; In step S13, a gas monitoring module is provided, and the transmitting end of the gas monitoring module emits a debugged optical signal, which is absorbed by the gas characteristics of the gas chamber and received by the receiving end of the gas monitoring module and converted into an electrical signal. The second harmonic signal absorbed by the gas is obtained through demodulation, and the concentration signal of the measured gas is obtained through algorithm calculation and temperature and pressure compensation. S131 impurity removal: a digital low-pass filter is used to filter the second harmonic signal to remove the residual high-frequency signal, and a linear fit is performed to subtract the background of the second harmonic signal; S132 Elimination of influence: Extract the light intensity information of the unabsorbed part of the direct absorption signal, simulate the initial light intensity signal through linear fitting, compare the second harmonic signal after removing the dark current with the initial light intensity signal, and obtain the second harmonic signal related only to the absorption of the gas; S133 Eliminate other influences: Eliminate the interference of pressure factors on gas concentration changes through pressure compensation method; S134 concentration calibration: use the peak-to-valley difference of the second harmonic signal to reflect the relative gas concentration; S2 algorithm processing: Based on the measured gas absorption signal, the second harmonic signal is modulated and demodulated, and the concentration data is extracted through algorithm processing and compensation.

[0028] When in use, a low-frequency scanning triangle wave signal and a high-frequency modulated sine signal are loaded into the laser. The laser wavelength scans the wavelength of the position of the selected gas absorption peak. The measured signal is then demodulated through phase locking to obtain the harmonic component, and the second harmonic component is extracted. The second harmonic signal is optimized by adjusting the phase and the amplitude of the modulation signal. Then, by comparing it with the unabsorbed laser intensity signal, the influence of the light intensity is removed, thereby obtaining a signal only related to the target gas concentration. The gas concentration is obtained after processing, which makes it easy to improve the accuracy of the detection results.

[0029] The implementation principle of a coal mine underground safety inspection method in an embodiment of the present application is as follows: by loading a low-frequency scanning triangular wave signal and a high-frequency modulated sine signal to the laser, the laser wavelength scans the position wavelength of the selected gas absorption peak, and then the measured signal is phase-locked and demodulated to obtain the harmonic component, and the second harmonic component is extracted. The second harmonic signal is optimized by adjusting the phase and the amplitude of the modulation signal, and then compared with the non-absorbed laser intensity signal to remove the influence of the light intensity, thereby obtaining a signal related only to the target gas concentration, and the gas concentration is obtained after processing, which makes it easy to improve the accuracy of the detection result.

[0030] The embodiment of the present application discloses an all-laser intelligent inspection vehicle. Example 1

[0031] Reference Figure 1 A full laser intelligent inspection vehicle includes a vehicle body 1, a detection component 2 and a monitoring component 3. A battery 21 is fixedly connected to the vehicle body 1. The detection component 2 is arranged on the vehicle body 1 and one end is electrically connected to the battery 21. The detection component 2 is used to detect the gas concentration at different positions inside the mine; the monitoring component 3 is arranged on the vehicle body 1 and is used to monitor the temperature inside the mine.

[0032] When in use, while the vehicle body 1 is moving, the detection component 2 detects the gas concentration at different positions inside the mine. By comparing the gas concentrations at different positions, when the difference in gas concentration is greater than a set value, it indicates that gas is accumulated inside the mine, which is prone to danger. In addition, the monitoring component 3 monitors the temperature in the mine, and improves the accuracy of inspection through real-time monitoring, so that it is easy to discover potential safety hazards in time, and then it is easy to prevent the occurrence of mine accidents.

[0033] Reference Figure 1 and Figure 2 The vehicle body 1 is divided into two parts, a vehicle compartment and a vehicle bucket. A protection compartment 11 is fixedly provided on the vehicle bucket, and the protection compartment 11 is in a rectangular box shape. The detection assembly 2 includes a battery 21, an air pump 22, an upper air intake portion 23, a lower air intake portion 24, and an air intake portion 25. The battery 21 is fixedly connected to the vehicle bucket and is located on a side of the protection compartment 11 close to the vehicle compartment. The air pump 22 is fixedly connected to the protection compartment 11 and is electrically connected to the battery 21.

[0034] Reference Figure 1 The protection chamber 11 is connected with a conducting pipe 12 , which is in a rectangular tube shape and is vertically arranged. A dust cover 13 is provided on the conducting pipe 12 , and the inner periphery of the dust cover 13 abuts against the outer periphery of the conducting pipe 12 .

[0035] Reference Figure 1 and Figure 2 The upper air intake portion 23 includes a motor 231, a gear 232, a spur rack 233, a lifting rod 234, an upper air intake pipe 235, a filter 236 and a gas concentration sensor 237. The motor 231 is horizontally arranged and fixedly connected to the side wall of the protection chamber 11. The gear 232 is coaxially fixedly connected to the output shaft of the motor 231, the spur rack 233 is meshed with the gear 232, and the spur rack 233 is slidably connected to the conducting pipe 12, and the sliding direction is the vertical direction.

[0036] One end of the lifting rod 234 is fixedly connected to the spur rack 233, and the other end is fixedly connected to the dust cover 13. One end of the upper air intake pipe 235 is connected to the air pump 22, and the other end is fixedly connected to the lifting rod 234. The filter 1 236 is connected in series to the upper air intake pipe 235 and fixedly connected to the side wall of the protection chamber 11.

[0037] Reference Figure 1 and Figure 2 A gas concentration sensor 237 is fixedly connected to the gas outlet end of the filter 236 and is used to output the gas concentration signal of the gas in the upper part of the mine.

[0038] Reference Figure 1 and Figure 2The lower air intake portion 24 includes a lower air intake pipe 241, a second filter 242, a second gas concentration sensor 243 and an integrated controller 244. One end of the lower air intake pipe 241 is connected to the air pump 22, and the other end is fixed to the bottom of the vehicle body 1. The second filter 242 is connected in series to the lower air intake pipe 241 and fixed to the inner wall of the protection chamber 11. The second filter 242 is located below the first filter 236.

[0039] Reference Figure 1 and Figure 2 The gas concentration sensor 243 is fixedly connected to the gas outlet of the filter 242 and is used to output the gas concentration signal of the gas at the bottom of the mine. The integrated controller 244 is fixedly connected to the protection chamber 11, and the gas concentration sensor 1 237 and the gas concentration sensor 2 243 are both electrically connected to the integrated controller 244.

[0040] Reference Figure 1 and Figure 2 The integrated controller 244 responds to the gas concentration signals of the gas at the top and bottom of the mine output by the gas concentration sensor 1 237 and the gas concentration sensor 2 243, and is used to determine the difference in the gas concentration signals of the gas at the top and bottom of the mine.

[0041] Reference Figure 2 The air extraction unit 25 includes an air extraction pipe 251, a filter 252 and a gas concentration sensor 253. One end of the air extraction pipe 251 is connected to the air pump 22, and the other end is hung on the vehicle body 1. The filter 252 is connected in series to the air extraction pipe 251, and is fixed to the side wall of the protection chamber 11, and is located above the filter 236.

[0042] Reference Figure 1 and Figure 2 The gas concentration sensor 253 is fixed on the gas outlet end of the filter 252 and is used to output the gas concentration signal of the gas in the mine goaf. The integrated controller 244 is electrically connected to the gas concentration sensor 253 and responds to the gas concentration signal of the gas in the mine goaf output by the gas concentration sensor 253.

[0043] When in use, during the movement of the vehicle body 1, the output shaft of the motor 231 drives the gear 232 to rotate, the gear 232 drives the spur rack 233 to move, the spur rack 233 drives the lifting rod 234 to move, the lifting rod 234 drives the dust cover 13 to move, and opens the passage of the conducting pipe 12, the lifting rod 234 drives the upper air intake pipe 235 to move to a specified height, the air pump 22 extracts air, the upper air intake pipe 235 extracts gas from the upper part of the mine, the filter 236 dries and filters the gas, the gas concentration sensor 237 detects the dried gas, and outputs a gas concentration signal of the gas in the upper part of the mine; At the same time, the air pump 22 extracts gas, the lower gas pipe 241 extracts gas from the bottom of the mine, the filter 242 dries and filters the gas, the gas concentration sensor 243 detects the dried gas and outputs a gas concentration signal of the gas at the bottom of the mine, the integrated controller 244 responds to the gas concentration signals of the gas at the top and bottom of the mine output by the gas concentration sensor 1 237 and the gas concentration sensor 2 243, and determines the difference between the gas concentration signals of the gas at the top and bottom of the mine. When the gas concentration difference is greater than the set value, it indicates that gas at the top of the mine is accumulated and is prone to danger. In addition, when it is necessary to inspect the goaf, the air pump 22 draws air, the goaf gas pipe 251 draws gas from the goaf of the mine, the filter three 252 dries and filters the gas, the gas concentration sensor three 253 detects the dried gas and outputs a gas concentration signal of the goaf gas of the mine, the integrated controller 244 responds to the gas concentration signal of the goaf gas of the mine output by the gas concentration sensor three 253, and determines the gas concentration of the goaf gas. By conducting a comprehensive inspection of the mine, it is easy to provide accurate gas concentration detection data, thereby easily improving the accuracy of inspections.

[0044] Reference Figure 1 The monitoring component 3 includes a temperature sensor 31 and two alarms 32. The temperature sensor 31 is fixedly connected to the center of the top of the carriage. The two alarms 32 are respectively located on both sides of the temperature sensor 31. The temperature sensor 31 and the alarm 32 are both electrically connected to the integrated controller 244. The temperature sensor 31 is used to output the temperature signal inside the mine. The integrated controller 244 responds to the temperature signal output by the temperature sensor 31 and is used to control the alarm 32 to make a sound.

[0045] When in use, the temperature sensor 31 outputs a temperature signal inside the mine, and the integrated controller 244 responds to the temperature signal output by the temperature sensor 31. When the temperature inside the mine is greater than the set value, the controller controls the alarm 32 to sound, thereby easily alerting patrol personnel to evacuate the mine in time, thereby improving the safety of patrol personnel.

[0046] The implementation principle of a full-laser intelligent inspection vehicle in the embodiment of the present application is as follows: during the movement of the vehicle body 1, the output shaft of the motor 231 drives the gear 232 to rotate, the gear 232 drives the spur rack 233 to move, the spur rack 233 drives the lifting rod 234 to move, the lifting rod 234 drives the dust cover 13 to move, opens the passage of the conducting pipe 12, the lifting rod 234 drives the upper air intake pipe 235 to move to a specified height, the air pump 22 extracts air, the upper air intake pipe 235 extracts gas from the upper part of the mine, the filter 236 dries and filters the gas, the gas concentration sensor 237 detects the dried gas, and outputs a gas concentration signal of the gas in the upper part of the mine; At the same time, the air pump 22 extracts gas, the lower gas pipe 241 extracts gas from the bottom of the mine, the filter 242 dries and filters the gas, the gas concentration sensor 243 detects the dried gas and outputs a gas concentration signal of the gas at the bottom of the mine, the integrated controller 244 responds to the gas concentration signals of the gas at the top and bottom of the mine output by the gas concentration sensor 1 237 and the gas concentration sensor 2 243, and determines the difference between the gas concentration signals of the gas at the top and bottom of the mine. When the gas concentration difference is greater than the set value, it indicates that gas at the top of the mine is accumulated and is prone to danger. In addition, when it is necessary to detect the goaf, the air pump 22 extracts gas, the goaf gas pipe 251 extracts gas from the goaf of the mine, the filter 252 dries and filters the gas, the gas concentration sensor 253 detects the dried gas and outputs a gas concentration signal of the goaf gas of the mine, the integrated controller 244 responds to the gas concentration signal of the goaf gas of the mine output by the gas concentration sensor 253, and determines the gas concentration of the goaf gas, and through comprehensive detection of the mine, it is easy to provide accurate gas concentration detection data, thereby facilitating the improvement of the accuracy of inspection; While the vehicle body 1 is moving, the temperature sensor 31 outputs a temperature signal inside the mine, and the integrated controller 244 responds to the temperature signal output by the temperature sensor 31. When the temperature inside the mine is greater than the set value, the controller controls the alarm 32 to sound, thereby easily warning the patrol personnel to evacuate the mine in time, thereby improving the safety of the patrol personnel. Example 2

[0047] Reference Figure 3 The difference between this embodiment and embodiment 1 is that a meteorological sensor 14 is fixedly connected to the top of the car body 1, the meteorological sensor 14 is located on one side of the alarm 32, and is electrically connected to the integrated controller 244. The meteorological sensor 14 is used to output the well humidity signal, air pressure signal and wind speed signal. The integrated controller 244 responds to the well humidity signal, air pressure signal and wind speed signal output by the meteorological sensor 14, and is used to transmit the above signals to the electronic signboard.

[0048] When in use, while the vehicle body 1 is moving, the meteorological sensor 14 detects the humidity, air pressure and wind speed in the well, and outputs the humidity signal, air pressure signal and wind speed signal in the well to the integrated controller 244. The integrated controller 244 responds to the humidity signal, air pressure signal and wind speed signal in the well output by the meteorological sensor 14, and transmits the above signals to the electronic signboard, so that the detection personnel can easily grasp the actual situation underground in real time, thereby facilitating the protection of the life safety of the detection personnel.

[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A coal mine underground safety inspection method, characterized in that: The following steps are involved: S1 gas monitoring: gas concentration sensor 1 (237) and gas concentration sensor 2 (243) detect gas. In the integrated controller (244), a laser gas analysis method is used to perform real-time online measurement and analysis of underground gas, covering seven common underground gases: CO, CO2, O2, CH4, C2H6, C2H4, and C2H2; Wherein, in step S1, the laser gas analysis method is a mid-infrared QCL laser technology combined with TDLAS laser spectroscopy gas analysis technology; S11 loading signal: load a low-frequency scanning triangle wave signal and a high-frequency modulated sine wave signal to the laser; S12 optimizes the signal: demodulates the measured signal through phase lock to get the harmonic component, extracts the second harmonic component, and optimizes the second harmonic signal by adjusting the phase and modulation signal amplitude; S13 obtains the result: compared with the non-absorbed laser intensity signal, the influence of the light intensity is removed, and a signal related to the target gas concentration is obtained, and the gas concentration is obtained after processing; S2 algorithm processing: Based on the measured gas absorption signal, the second harmonic signal is modulated and demodulated, and the concentration data is extracted through algorithm processing and compensation.

2. A coal mine underground safety inspection method according to claim 1, characterized in that: In step S13, a gas monitoring module is provided, and the transmitting end of the gas monitoring module emits a debugged light signal, which is absorbed by the gas characteristics of the gas chamber, received by the receiving end of the gas monitoring module and converted into an electrical signal. The second harmonic signal absorbed by the gas is obtained through demodulation, and the concentration signal of the measured gas is obtained through algorithm calculation and temperature and pressure compensation.

3. A coal mine underground safety inspection method according to claim 2, characterized in that: In step S13, the gas monitoring module includes the following algorithm steps: S131 impurity removal: a digital low-pass filter is used to filter the second harmonic signal to remove the residual high-frequency signal, and a linear fit is performed to subtract the background of the second harmonic signal; S132 Elimination of influence: Extract the light intensity information of the unabsorbed part of the direct absorption signal, simulate the initial light intensity signal through linear fitting, compare the second harmonic signal after removing the dark current with the initial light intensity signal, and obtain the second harmonic signal related only to the absorption of the gas; S133 Eliminate other influences: Eliminate the interference of pressure factors on gas concentration changes through pressure compensation method; S134 concentration calibration: Use the peak-to-valley difference of the second harmonic signal to reflect the relative gas concentration.

4. A full laser intelligent inspection vehicle, applied to a coal mine underground safety inspection method as claimed in any one of claims 1 to 3, characterized in that: include: Car body (1); A detection assembly (2) comprising a storage battery (21), an air pump (22), an upper air intake portion (23) and a lower air intake portion (24); in, The storage battery (21) is fixedly connected to the vehicle body (1); The air pump (22) is fixedly connected to the vehicle body (1) and is electrically connected to the storage battery (21); The upper gas intake portion (23) and the lower gas intake portion (24) are both arranged on the vehicle body (1), and the upper gas intake portion (23) and the lower gas intake portion (24) are used to collect gas from the top and bottom of the mine, respectively.

5. The all-laser intelligent inspection vehicle according to claim 4 is characterized in that: The upper air intake portion (23) comprises: A motor (231) fixedly connected to the vehicle body (1); A gear (232) coaxially fixedly connected to the output shaft of the motor (231); A spur rack (233) meshing with the gear (232), the spur rack (233) being slidably connected to the vehicle body (1), and the sliding direction is a vertical direction; A lifting rod (234) fixedly connected to the spur rack (233); An upper air intake pipe (235), one end of which is connected to the air pump (22) and the other end of which is disposed on the lifting rod (234); Filter 1 (236), connected in series to the upper air intake pipe (235); A gas concentration sensor (237) is disposed on the gas outlet end of the filter (236) and is used to output a gas concentration signal of the gas in the upper part of the mine.

6. The all-laser intelligent inspection vehicle according to claim 5, characterized in that: The lower air intake portion (24) comprises: A lower air intake pipe (241), one end of which is connected to the air pump (22) and the other end of which is arranged at the bottom of the vehicle body (1); Filter 2 (242), connected in series to the lower air intake pipe (241); A second gas concentration sensor (243) is disposed on the gas outlet end of the second filter (242) and is used to output a gas concentration signal of the gas at the bottom of the mine; An integrated controller (244) fixedly connected to the vehicle body (1); Wherein, the gas concentration sensor 1 (237) and the gas concentration sensor 2 (243) are both electrically connected to the integrated controller (244), and the integrated controller (244) responds to the gas concentration signals of the gas at the top and bottom of the mine output by the gas concentration sensor 1 (237) and the gas concentration sensor 2 (243), and is used to determine the difference in the gas concentration signals of the gas at the top and bottom of the mine.

7. The all-laser intelligent inspection vehicle according to claim 6, characterized in that: The detection assembly (2) further comprises a gas extraction section (25), wherein the gas extraction section (25) comprises: An air extraction pipe (251), one end of which is connected to the air pump (22) and the other end of which is hung on the vehicle body (1); Filter three (252), connected in series to the air extraction pipe (251); Gas concentration sensor three (253) is arranged on the gas outlet end of the filter three (252) and is used to output the gas concentration signal of the gas in the mine goaf. The integrated controller (244) is electrically connected to the gas concentration sensor three (253) and responds to the gas concentration signal of the gas in the mine goaf output by the gas concentration sensor three (253).

8. The all-laser intelligent inspection vehicle according to claim 7, characterized in that: The vehicle body (1) is also provided with a monitoring component (3), the monitoring component (3) comprising a temperature sensor (31) and an alarm (32), the temperature sensor (31) and the alarm (32) both being fixedly connected to the vehicle body (1), the temperature sensor (31) and the alarm (32) both being electrically connected to the integrated controller (244), the temperature sensor (31) being used to output a temperature signal inside the mine, the integrated controller (244) responding to the temperature signal output by the temperature sensor (31) and being used to control the alarm (32) to emit a sound.

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