Double prevention inspection method for coal mine tunnel risks

Abstract

The present invention relates to the field of coal mine early warning technology, and in particular, to a dual prevention inspection method for coal mine tunnel risks. The inspection device accesses the first sensor network on the first channel, obtains and wakes up the sensor set included in the first sensor network; the gas sensor measures the gas content of the environment in response to the wake-up operation, and the sensor is equipped with an indicating light source. The inspection device determines the state of the gas sensor based on the detection of the indicating light source; determines the sensor sequence to be inspected, and the sensor sequence to be inspected includes gas sensors in the tunnel that have not passed optical identification; the cruising path is determined according to the layout position of the sensor, and the travel speed is determined according to the interval between adjacent sensors; the inspection device receives the gas data collected by the sensor by direct transmission, and analyzes the risk of excessive gas based on the received sensor data. This solves the problems of low efficiency of underground inspection, high labor costs, and inconvenient information transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine early warning, and in particular to a double prevention inspection method for coal mine tunnel risks. Background Art

[0002] Gas is a harmful factor in coal mine production. It not only pollutes the air, but also when the gas content in the air is 5% to 16%, it will cause explosions and accidents when it encounters fire. Therefore, the monitoring of gas concentration is an indicator that needs to be monitored for coal mine safety production. Timely understanding of the gas concentration in the tunnel and issuing safety warnings based on the gas concentration are one of the keys to safe mining in underground coal mines. At present, the acquisition of gas data in the tunnel has been realized in various forms. The traditional technology is to set up a sensor alarm system underground, send the gas data collected by the sensor to the central controller for calculation, and directly issue warnings to the underground workers through external devices such as displays by the central controller. However, this technology has problems such as high maintenance cost, high false alarm rate and high energy consumption due to the complex environment underground.

[0003] In addition to traditional monitoring methods, common methods of obtaining underground gas include patrol robots. However, the patrol process of patrol robots relies on path planning and visual recognition, and their ability to handle obstacles is limited. Frequently dealing with complex terrain has a great impact on the endurance of patrol robots. They also require human assistance, low work efficiency and high maintenance costs. The use of drones to patrol and collect gas data can efficiently and accurately perform patrol tasks without too much human intervention, and can flexibly update patrol dynamics and fully cover underground risks. In addition, the gas data collected by drones is processed by big data or data platforms to obtain comprehensive analysis results of gas disaster risks, so as to hierarchically control underground risks and investigate and manage hidden dangers. Summary of the invention

[0004] At least one aspect or advantage of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned by practice of the disclosed subject matter.

[0005] In order to solve the problems of low inspection efficiency, high labor cost and inconvenient information transmission in underground mines, the present invention proposes a double prevention inspection method for coal mine tunnel risks.

[0006] According to a first aspect of the present invention, a dual prevention inspection method for coal mine tunnel risks comprises the following steps:

[0007] The inspection device accesses the first sensor network on the first channel and obtains a sensor set included in the first sensor network;

[0008] Waking up the gas sensor included in the sensor set;

[0009] The gas sensor in the sensor set measures the gas content of the environment in response to the wake-up operation, the gas sensor is equipped with an indicator light source, and the inspection device determines the state of the gas sensor based on the detection of the indicator light source;

[0010] In response to the inspection device identifying the gas sensor, determining a sensor sequence to be inspected, wherein the sensor sequence to be inspected includes the gas sensor in the lane that has not passed the optical identification;

[0011] Plan the cruising path and travel speed, wherein the cruising path is determined according to the layout position of the gas sensors, and the travel speed is determined according to the interval between adjacent gas sensors;

[0012] The inspection device cruises according to the planned cruise path and travel speed, receives the gas data collected by the gas sensor by direct transmission, and analyzes the risk of excessive gas based on the received sensor data.

[0013] According to one embodiment of the present invention, the planning process of the cruise path includes:

[0014] According to the identification of the awakened gas sensor, the spatial position of the sensor in the lane is obtained, and the projection of the gas sensor on the horizontal plane is calculated according to the spatial position. A graph network is constructed with the gas sensor as the node, and the coordinates of the gas sensor on the projection are used as the coordinates of the nodes in the network. The gas sensor closest to the inspection device is taken as the starting point, and the gas sensor farthest from the inspection device is taken as the end point. The shortest path method is used for path planning.

[0015] According to one embodiment of the present invention, the inspection device includes a visible light communication device, the indicator light source of the gas sensor is visible light, and the indicator light source of the gas sensor is configured to periodically send identification information and / or gas measurement values ​​of the gas sensor when powered on.

[0016] According to one embodiment of the present invention, the gas sensor sends the gas measurement value and sensor identification information to the inspection device through the sensor network. The inspection device determines the first type of sensor reachable by the optical path based on the information collected by the visible light communication device, and removes the first type of sensor from the sensor set.

[0017] According to an embodiment of the present invention, when the inspection device determines the first type of sensor that is reachable by the optical path based on the information collected by the visible light communication device, the indicator light source corresponding to the first type of sensor is turned off.

[0018] According to one embodiment of the present invention, the gas sensor sends the gas measurement value and the sensor identification information to the inspection device through the sensor network, and the inspection device determines the object sequence of the visible light communication based on the relative distance between the gas sensor and the inspection device in the lane;

[0019] The inspection device travels in the alley and collects gas sensor identifications based on the object sequence of visible light communication. In response to the collected sensor identification information, it determines that the corresponding gas sensor is reachable by optical path, or in response to the inability to collect sensor identification information within a specified event window, it determines that the corresponding gas sensor is unreachable by optical path.

[0020] According to one embodiment of the present invention, a gas sensor that is inaccessible by optical path is added to a sequence of sensors to be inspected.

[0021] According to an embodiment of the present invention, when the total time length during which the distance between the inspection device and the gas sensor is less than a threshold value is greater than the threshold value, the indicating light source corresponding to the gas sensor is turned off.

[0022] According to one embodiment of the present invention, when the distance between the inspection device and the gas sensor is less than a threshold, the indicator light source configured for the gas sensor is activated; in response to the total time length during which the distance between the inspection device and the gas sensor is less than the threshold being greater than the threshold, the indicator light source configured for the gas sensor is turned off.

[0023] According to one embodiment of the present invention, in response to sensor identification information collected by the inspection device, it is determined that the corresponding gas sensor is optically reachable, or in response to the inability to collect identification information of the gas sensor within a time window, it is determined that the corresponding gas sensor is optically unreachable, and the optically unreachable gas sensor is added to the sensor sequence to be inspected.

[0024] In order to solve the problems of low inspection efficiency, high labor cost and inconvenient information transmission in mines, the present invention has the following advantages:

[0025] Compared with the existing technology, the method used in the present invention can efficiently cover the monitoring of key areas such as dangerous areas, gas leaks, ventilation systems, etc. in underground coal mines, timely discover and deal with hidden dangers, and can flexibly reach areas that are difficult to reach by manpower to carry out operations, thereby improving the efficiency of coal mine safety inspections and detections, and reducing labor costs and the cost of long-term standby of ordinary detection equipment. In addition, the method can make inspections more convenient by setting a visible light collection device to identify the indicator light source, and is less subject to interference than the inspection methods in existing devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A flowchart of a dual prevention inspection method for coal mine tunnel risks is shown. DETAILED DESCRIPTION

[0027] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0028] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0029] According to one embodiment of the present invention, a dual prevention inspection method for coal mine tunnel risks includes:

[0030] The inspection device accesses the first sensor network on the first channel and obtains a sensor set included in the first sensor network;

[0031] Waking up the gas sensor included in the sensor set;

[0032] The gas sensor in the sensor set measures the gas content of the environment in response to the wake-up operation, the gas sensor is equipped with an indicator light source, and the inspection device determines the state of the gas sensor based on the detection of the indicator light source;

[0033] In response to the inspection device identifying the gas sensor, determining a sensor sequence to be inspected, wherein the sensor sequence to be inspected includes the gas sensor in the lane that has not passed the optical identification;

[0034] Plan the cruising path and travel speed, where the cruising path is determined according to the layout of the sensors, and the travel speed is determined according to the interval between adjacent sensors;

[0035] The inspection device cruises according to the planned cruise path and travel speed, receives the gas data collected by the sensor through direct transmission, and analyzes the risk of gas exceeding the standard based on the received sensor data.

[0036] In this embodiment, the sensor network includes many automatic devices distributed in space. These devices use sensors to collaboratively monitor the physical or environmental conditions at different locations, such as temperature, sound, vibration, pressure, motion or pollutants. The sensor network is set at different locations in the tunnel to monitor the gas concentration and other related parameters with high coverage. The first channel establishes a connection with the sensor network and obtains the sensor information in the network, awakening the required sensors to put them into working state, so as to realize real-time data collection and transmission. In addition, the cruising path and travel speed of the inspection device are planned according to the location information of the awakened sensors. The cruising position is determined according to the layout of the sensors in the tunnel to ensure that the inspection device can cover all areas that need to be monitored. The travel speed is determined according to the interval between adjacent sensors to balance the monitoring efficiency and energy consumption of the inspection device. The inspection device confirms whether the gas sensor is in normal working condition by responding to the indicator light source configured by the gas sensor. The process of the inspection device receiving the gas concentration data collected by the sensor is direct transmission, that is, the sensor directly sends the information to the inspection device without forwarding or routing equipment in the middle. The communication speed is fast and the delay is low. Compared with indirect transmission that requires forwarding, direct transmission can avoid the energy consumption of redundant equipment, and the data received by the inspection device is processed by big data or data processing platform to obtain the corresponding gas exceeding standard risk analysis results.

[0037] Specifically, the inspection device can be selected as a drone device, a patrol car device, etc. In some relatively simple scenes, the patrol car device is a better choice, but in some complex tunnels, the geographical environment is relatively complex, and some gas sensors may be set on relatively steep terrain or on the top wall of the tunnel. Therefore, compared with ground patrol car equipment, the inspection device is preferably a drone device. On the one hand, the drone device can easily cope with the complex environment in the tunnel, and on the other hand, the drone device is less likely to be affected by obstructions in terms of data transmission and indicator light source recognition.

[0038] Specifically, the invented inspection method makes risk classification management and hidden danger investigation and control more intelligent, and can efficiently cover the monitoring of key areas such as dangerous areas, gas leakage, ventilation systems, etc. in underground coal mines, timely discover and deal with hidden dangers, and can flexibly reach areas that are difficult to reach by manpower to carry out operations, as well as improve the efficiency of coal mine safety inspections and testing, reduce labor costs and the cost of long-term standby of ordinary detection equipment.

[0039] According to one embodiment of the present invention, the planning process of the cruise path includes:

[0040] According to the identification of the awakened gas sensor, the spatial position of the gas sensor in the tunnel is obtained, and the projection of the gas sensor on the horizontal plane is calculated according to the spatial position. A graph network is constructed with the gas sensor as the node, and the coordinates of the gas sensor on the projection are used as the coordinates of the nodes in the network. The gas sensor closest to the inspection device is taken as the starting point, and the gas sensor farthest from the inspection device is taken as the end point. The shortest path method is used for path planning.

[0041] In this embodiment, the inspection device obtains the identification of the awakened sensor to identify its spatial position in the lane and converts the three-dimensional spatial position into a projection on a two-dimensional plane. A graph network is formed according to the sensor nodes on the plane. For example, there are n sensors in the first sensor network, and the i-th sensor is marked as S i , and its corresponding spatial coordinate P is (x i ,y i , z i ), since the height of the lane has a negligible effect on the projection compared to the length of the lane, it can be approximately converted into a two-dimensional coordinate representation. A two-dimensional coordinate represents a node, and the line between each two nodes represents the cruise route of the inspection device moving from one sensor to another, thereby reducing the up and down displacement in the cruise task planned by the inspection device and reducing the risk of collision caused by the up and down displacement. The nodes closest to and farthest from the inspection device are used as the starting point and end point of the graph network, respectively, and the distance between the two nodes is used as the weight, and the shortest path method is used for path planning.

[0042] According to one embodiment of the present invention, the inspection device includes a visible light communication device, the indicator light source of the gas sensor is visible light, and the indicator light source of the gas sensor is configured to periodically send identification information and / or gas measurement values ​​of the gas sensor when powered on.

[0043] In this embodiment, a visible light communication device is configured on the inspection device. When the gas sensor is powered on, it will emit an indication light source and periodically send the identification information and / or gas measurement value of the gas sensor. The inspection device identifies the visible light indication light source emitted by the gas sensor through the visible light device.

[0044] Specifically, if the gas sensor can emit visible light when powered on, it means that it can operate normally, and if its identification information and / or gas measurement value can be received by the inspection device, it means that the gas sensor can realize its function.

[0045] According to one embodiment of the present invention, the gas sensor sends the gas measurement value and sensor identification information to the inspection device through the sensor network. The inspection device determines the first type of sensor reachable by the optical path based on the information collected by the visible light communication device, and removes the first type of sensor from the sensor set.

[0046] In this embodiment, the gas sensor sends the gas measurement value and sensor identification information to the inspection device through the sensor network. In addition, if the inspection device collects the indication light source of the gas sensor through the optical communication device, the sensor is defined as a first-class sensor and the first-class sensor is removed from the set.

[0047] Specifically, if the inspection device collects the indicating light source of the gas sensor, it is considered that the physical location of the gas sensor is reachable by optical path, that is, the lane from the starting point of the inspection device to the location of the gas sensor is unobstructed.

[0048] Specifically, after the inspection device collects the indicator light source of the gas sensor, it defines the gas sensor as a first-class sensor and removes it from the set. This is because when defining the path, the path is planned through all the gas sensors in the set. If the indicator light source of the sensor has been collected, it indicates that the gas sensor has been inspected and the information has been received regardless of whether there is a problem. Therefore, the gas sensor is removed from the set to avoid affecting the inspection of the remaining sensors.

[0049] According to an embodiment of the present invention, when the inspection device determines the first type of sensor that is reachable by the optical path based on the information collected by the visible light communication device, the indicator light source corresponding to the first type of sensor is turned off.

[0050] In this embodiment, if the inspection device has determined that the optical path of the first type of sensor is reachable through the optical communication device, it indicates that the gas sensor has been inspected. At this time, the indicator light source of the first type of sensor is turned off to save power of the sensor and avoid affecting the collection of the indicator light source of nearby sensors.

[0051] According to one embodiment of the present invention, the gas measurement value of the sensor and the identification information of the sensor are sent to the inspection device through the sensor network, and the inspection device determines the object sequence of the visible light communication based on the relative distance between the gas sensor and the inspection device in the lane;

[0052] The inspection device travels in the alley and collects gas sensor identifications based on the object sequence of visible light communication. In response to the collected sensor identification information, it determines that the corresponding gas sensor is reachable by optical path, or in response to the inability to collect sensor identification information within a specified event window, it determines that the corresponding gas sensor is unreachable by optical path.

[0053] According to one embodiment of the present invention, a gas sensor that is inaccessible by optical path is added to a sequence of sensors to be inspected.

[0054] In this embodiment, the inspection device determines the object sequence of visible light communication based on the relative distance between the sensor and the inspection device. When the inspection device is inspecting, if the identification information of the sensor is collected, it is determined that the gas sensor is reachable by optical path. If the sensor identification information cannot be collected, it is determined that the sensor is unreachable by optical path.

[0055] Specifically, the so-called optical path reachable or unreachable indicates whether the drone can reach the range of the indicator light source emitted by the sensor, thereby identifying the indicator light source and obtaining the sensor identification information.

[0056] Specifically, determining the object sequence of visible light communication according to the relative distance can make the driving path of the inspection device better.

[0057] Specifically, if the inspection device collects the identification information of the sensor, it is considered that the optical path is reachable; if the identification information of the sensor cannot be collected due to reasons such as position, obstruction or problems with the sensor itself, the optical path of the sensor is considered to be unreachable.

[0058] Specifically, if the sensor is determined to be optically unreachable, the sensor is not inspected, so the gas sensor is added to the sequence of sensors to be inspected, and the specific reason is left to be queried.

[0059] According to an embodiment of the present invention, when the distance between the inspection device and the gas sensor is less than a threshold value and the waiting time is longer than the threshold value, the indicating light source corresponding to the gas sensor is turned off.

[0060] In this embodiment, if the distance between the inspection device and the gas sensor is less than a threshold value, and the inspection device stays for a time greater than the threshold value, the indicator light source corresponding to the gas sensor is turned off.

[0061] Specifically, when the inspection device moves at a certain speed according to the determined cruising path, the estimated waiting time for the inspection device to reach each sensor node in the current sensor network will be calculated in advance, and the minimum information transmission distance between the drone and the sensor node will be pre-set. If the transmission distance is less than the threshold and the waiting time is greater than the threshold, the sensor has completed the information transmission or the sensor has not completed the information transmission. If the indicator light source recognition and sensor identification information transmission have been completed, the indicator light source corresponding to the gas sensor is turned off, and the sensor inspection is completed. The indicator light source is turned off to save the power of the sensor and avoid affecting the collection of the indicator light sources of nearby sensors; if the indicator light source recognition and sensor identification information transmission are not completed, the indicator light source corresponding to the gas sensor is still turned off, and the sensor inspection is not completed. The gas sensor is added to the sensor sequence to be inspected.

[0062] According to one embodiment of the present invention, when the distance between the inspection device and the gas sensor is less than a threshold, the indicator light source configured for the gas sensor is activated; in response to the total time length during which the distance between the inspection device and the gas sensor is less than the threshold being greater than the threshold, the indicator light source configured for the gas sensor is turned off.

[0063] In this embodiment, if the distance between the inspection device and the sensor is less than a preset threshold, the indicator light source configured for the gas sensor is activated, so that the visible light collection device of the inspection device can identify the indicator light source; if the time when the distance is less than the threshold is longer than the preset waiting time, the indicator light source configured for the gas sensor is turned off.

[0064] According to one embodiment of the present invention, in response to sensor identification information collected by the inspection device, it is determined that the corresponding gas sensor is optically reachable, or in response to the inability to collect identification information of the gas sensor within a time window, it is determined that the corresponding gas sensor is optically unreachable, and the optically unreachable gas sensor is added to the sensor sequence to be inspected.

[0065] In this embodiment, if the inspection device collects and obtains the identification information of the sensor, the sensor optical path is considered to be reachable; if the identification information of the gas sensor cannot be collected within the window period, the sensor optical path is considered to be unreachable, and the sensor is added to the sensor sequence to be inspected.

[0066] The beneficial effects of the present invention are as follows: compared with the prior art, the method used in the present invention can efficiently cover the monitoring of key areas such as dangerous areas, gas leakage, ventilation systems, etc. in underground coal mines, timely discover and deal with hidden dangers, and can flexibly reach areas that are difficult for manpower to reach to carry out operations, thereby improving the efficiency of coal mine safety inspections and detections, and reducing labor costs and the cost of long-term standby of ordinary detection equipment. In addition, the method can make inspections more convenient by setting a visible light collection device to identify the indicator light source, and is less subject to interference than the inspection means in existing devices.

[0067] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0068] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0069] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0070] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0071] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0072] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0073] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0074] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A dual prevention inspection method for coal mine tunnel risks, characterized in that: include: The inspection device accesses the first sensor network on the first channel and obtains a sensor set included in the first sensor network; Waking up the gas sensor included in the sensor set; The gas sensor in the sensor set measures the gas content of the environment in response to the wake-up operation, the gas sensor is equipped with an indicator light source, and the inspection device determines the state of the gas sensor based on the detection of the indicator light source; In response to the inspection device identifying the gas sensor, determining a sensor sequence to be inspected, wherein the sensor sequence to be inspected includes the gas sensor in the lane that has not passed the optical identification; Plan the cruising path and travel speed, wherein the cruising path is determined according to the layout position of the gas sensors, and the travel speed is determined according to the interval between adjacent gas sensors; The inspection device cruises according to the planned cruise path and travel speed, receives the gas data collected by the gas sensor through direct transmission, and analyzes the risk of gas exceeding the standard based on the received sensor data; The planning process of the cruise path includes: According to the identification of the awakened gas sensor, the spatial position of the gas sensor in the tunnel is obtained, and the projection of the gas sensor on the horizontal plane is calculated according to the spatial position. A graph network is constructed with the gas sensor as the node, and the coordinates of the gas sensor on the projection are used as the coordinates of the nodes in the network. The gas sensor closest to the inspection device is taken as the starting point, and the gas sensor farthest from the inspection device is taken as the end point. The shortest path method is used for path planning.

2. The dual prevention inspection method for coal mine tunnel risks according to claim 1, characterized in that: The inspection device includes a visible light communication device. The indicating light source of the gas sensor is visible light. The indicating light source of the gas sensor is configured to periodically send identification information and / or gas measurement values ​​of the gas sensor when powered on.

3. The dual prevention inspection method for coal mine tunnel risks according to claim 2, characterized in that: The gas sensor sends the gas measurement value and sensor identification information to the inspection device through the sensor network. The inspection device determines the first type of sensor reachable by the optical path based on the information collected by the visible light communication device, and removes the first type of sensor from the sensor set.

4. The dual prevention inspection method for coal mine tunnel risks according to claim 3, characterized in that: When the inspection device determines the first type of sensor that is reachable by the optical path based on the information collected by the visible light communication device, the indicator light source corresponding to the first type of sensor is turned off.

5. The dual prevention inspection method for coal mine tunnel risks according to claim 2, characterized in that: The gas sensor sends the gas measurement value and the sensor identification information to the inspection device through the sensor network, and the inspection device determines the object sequence of visible light communication based on the relative distance between the gas sensor and the inspection device in the lane; The inspection device travels in the alley and collects gas sensor identifications based on the object sequence of visible light communication. In response to the collected gas sensor identification information, it determines that the corresponding gas sensor is reachable by optical path, or in response to the inability to collect sensor identification information within a specified event window, it determines that the corresponding gas sensor is unreachable by optical path.

6. The dual prevention inspection method for coal mine tunnel risks according to claim 5, characterized in that: Add the gas sensors that are not accessible by optical path to the sequence of sensors to be inspected.

7. The dual prevention inspection method for coal mine tunnel risks according to claim 5, characterized in that: When the total time length during which the distance between the inspection device and the gas sensor is less than the threshold is greater than the threshold, the indicating light source corresponding to the gas sensor is turned off.

8. The dual prevention inspection method for coal mine tunnel risks according to claim 2, characterized in that: When the distance between the inspection device and the gas sensor is less than a threshold, the indicator light source configured for the gas sensor is activated; in response to the total time length during which the distance between the inspection device and the gas sensor is less than the threshold being greater than the threshold, the indicator light source configured for the gas sensor is turned off.

9. The dual prevention inspection method for coal mine tunnel risks according to claim 8, characterized in that: In response to sensor identification information collected by the inspection device, the corresponding gas sensor is determined to be optically reachable, or in response to the inability to collect identification information of the gas sensor within the time window, the corresponding gas sensor is determined to be optically unreachable, and the optically unreachable gas sensor is added to the sensor sequence to be inspected.

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