Self-moving micro-seismic monitoring system and monitoring method based on wireless signal transmission

Abstract

The invention discloses a self-moving micro-seismic monitoring system based on wireless signal transmission and a monitoring method.The self-moving micro-seismic monitoring system based on wireless signal transmission comprises a micro-seismic monitoring component, a track, a moving robot and a wireless communication device, the micro-seismic monitoring component is arranged in a roadway, and the moving robot is arranged on the track in the advancing direction of a stope face; the micro-seismic monitoring component is located in front of a stope face and used for monitoring micro-seismic of a roadway; the track is arranged along the extending direction of the roadway; the moving robot walks and is supported on the track, and the moving robot is used for grabbing the micro-seismic monitoring component and fixing the micro-seismic monitoring component on the side wall of the roadway or removing the micro-seismic monitoring component from the side wall of the roadway; a detection signal of the micro-seismic monitoring part is transmitted to the ground server through the wireless communication equipment, and the control end performs signal transmission with the moving robot through the wireless communication equipment and controls the moving robot to act. According to the invention, the moving efficiency is improved, the moving workload is reduced, and the operation safety is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining equipment, and in particular relates to a self-moving microseismic monitoring system and a monitoring method based on wireless signal transmission. Background Art

[0002] Rock burst can cause roof accidents, damage shafts and tunnels, destroy equipment, pollute the working environment, and seriously affect coal mine production and personnel safety. Rock burst has become one of the major disasters in coal mining. With the in-depth mining of coal resources, coal-rock dynamic disasters have also become more severe. Summary of the invention

[0003] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0004] The inventors realized that microseismic monitoring sensors need to be arranged in front of the coal mine recovery working face. As the working face advances, the microseismic monitoring sensors need to be constantly moved with the position of the working face and reinstalled at the new position. Therefore, the microseismic monitoring sensors in front of the working face need to be disassembled, moved, and reinstalled by workers. During the entire process, the power and communication cables connected to the microseismic monitoring sensors need to be removed, increasing the workload underground.

[0005] The inventors also realized that the removal, relocation and installation of microseismic monitoring sensors are carried out manually, while the area in front of the working face is a high-incidence area of ​​rock burst, and the microseismic monitoring sensors are arranged in the most dangerous place, posing a great safety hazard.

[0006] The inventors also realized that the relocation of microseismic monitoring sensors requires workers to regularly go to the working face tunnels to dismantle and reinstall them, which takes a long time and increases the human capital and workload of the production enterprise.

[0007] The inventors also realized that if the microseismic monitoring sensors are not moved in time during the working face mining process, they will be destroyed by the coal mining machine, causing equipment loss, the system will be unable to continue to work normally, affecting the monitoring and early warning of impact ground pressure, and may cause irreparable losses to the coal mining enterprise.

[0008] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0009] To this end, an embodiment of the present invention proposes a self-moving microseismic monitoring system based on wireless signal transmission, which improves the movement efficiency, reduces the movement workload, and improves the safety of the operation.

[0010] The embodiment of the present invention also provides a monitoring method.

[0011] The self-moving microseismic monitoring system based on wireless signal transmission according to an embodiment of the present invention includes:

[0012] A microseismic monitoring component is arranged in the tunnel. In the advancing direction of the mining face, the microseismic monitoring component is located in front of the mining face. The microseismic monitoring component is used for microseismic monitoring of the tunnel;

[0013] A track, wherein the track is arranged along the extension direction of the lane;

[0014] A mobile robot, the mobile robot is supported by the track for walking, and the mobile robot is used to grab the microseismic monitoring component and fix the microseismic monitoring component on the side wall of the tunnel or remove it from the side wall of the tunnel;

[0015] Wireless communication equipment, the detection signal of the microseismic monitoring component is transmitted to the ground server via the wireless communication equipment, and the control end transmits signals with the mobile robot via the wireless communication equipment and controls the movement of the mobile robot.

[0016] The present invention improves the moving efficiency, reduces the moving workload, and improves the safety of the operation.

[0017] In some embodiments, the wireless communication device includes a wireless communication module and a microseismic monitoring substation. The wireless communication module is used to build a wireless communication network in the tunnel, and the microseismic monitoring substation is used to receive the signal of the microseismic monitoring component through wireless communication and transmit the signal to the ground server.

[0018] In some embodiments, the number of the microseismic monitoring substations is multiple, the multiple microseismic monitoring substations are arranged in the tunnel, and the multiple microseismic monitoring substations are connected through the PTP protocol;

[0019] And / or, the microseismic monitoring component is a microseismic monitoring sensor;

[0020] And / or, there are multiple microseismic monitoring components, which are arranged at intervals along the length extension direction of the tunnel, and the interval distance between two adjacent microseismic monitoring components is 200m to 500m;

[0021] And / or, the wireless communication module includes an Ethernet ring network switch and a wireless router, the number of the Ethernet ring network switches is one or more, and the communication mode between the microseismic monitoring component and the microseismic monitoring substation is a fifth generation mobile communication network;

[0022] And / or, the microseismic monitoring component includes a seismic measuring unit, a data acquisition and conversion unit, a wireless transmitting unit and a power supply battery, the seismic measuring unit is arranged close to the side wall of the tunnel to obtain the vibration signal of the side wall of the tunnel, the data acquisition and conversion unit is used to convert the vibration signal into an electrical signal, and the wireless transmitting unit is used to transmit the converted electrical signal to the microseismic monitoring substation via wireless communication.

[0023] In some embodiments, a fixing device is also included, which includes a base plate connected to the outer end of the anchor rod in the tunnel and abutting against the side wall of the tunnel. The base plate has a first connecting portion, and the microseismic monitoring component is connected at the first connecting portion.

[0024] In some embodiments, the first connecting portion is a countersunk hole provided on the base plate, one end of the microseismic monitoring component is provided in the countersunk hole, a first fastener is provided on the side wall of the countersunk hole, and the microseismic monitoring component is fixed in the countersunk hole through the first fastener.

[0025] In some embodiments, the first driving component is further included, and the first driving component is disposed on the bottom plate or the action end of the moving robot, and the first driving component is used to drive the first fastening member to rotate forward and reverse;

[0026] Or, one end of the microseismic monitoring sensor inserted into the countersunk hole has an automatic opening and closing device, the automatic opening and closing device expands to fix the microseismic monitoring sensor in the countersunk hole, and the automatic opening and closing device retracts to release the microseismic monitoring sensor from the countersunk hole;

[0027] Or, the fixing device further comprises a connecting head, the connecting head is connected to the outer end of the anchor rod in the tunnel, the bottom plate has a first internal thread hole, the connecting head has a first external thread section, and the bottom plate and the connecting head are detachably connected via the first internal thread hole and the first external thread section;

[0028] Alternatively, there is a positioning mark on the track, and the positioning mark and the fixing device are arranged in a one-to-one correspondence, and the moving robot obtains the position of the corresponding fixing device through the positioning mark to achieve the positioning of the moving robot.

[0029] In some embodiments, the transfer robot includes a walking part, a transfer manipulator and a control host, the walking part is supported on the track, the transfer manipulator and the control host are connected to the walking part, and the control host is used to control the movements of the transfer manipulator and the walking part.

[0030] In some embodiments, the transfer robot further comprises a visual component and a first displacement detection component, wherein the visual component is used to obtain circumferential visual information of the transfer robot to assist the movement of the transfer manipulator, and the first displacement detection component is used to detect the displacement of the walking component on the track;

[0031] And / or, the walking component is driven by a stepping motor;

[0032] And / or, the transfer robot includes a robot arm and a clamping component, a turntable and a rotating motor are provided between the robot arm and the walking component, and the rotating motor is used to drive the robot arm to rotate synchronously with the turntable relative to the walking component.

[0033] In some embodiments, the clamping component includes a support plate, a grab ring and a second driving component. The support plate is connected to the robotic arm. There are two grab rings. Both of the grab rings are arc-shaped and their openings are arranged opposite to each other. The grab ring is rotatably connected to the support plate. The second driving component is connected to the grab ring to drive the two grab rings to clamp the microseismic monitoring component or release the microseismic monitoring component.

[0034] The monitoring method of the embodiment of the present invention uses the above-mentioned self-moving microseismic monitoring system based on wireless signal transmission to perform microseismic monitoring, and specifically includes the following steps: arranging wireless communication equipment in the coal mine so that the wireless signal covers the microseismic monitoring area; arranging tracks and microseismic monitoring components in the lane in front of the mining face along the advancing direction of the mining face in the coal mine, arranging the mobile robot on the track, and the microseismic monitoring component obtains the microseismic signal at the corresponding position and transmits it to the ground server;

[0035] The invention also includes a method for self-moving a microseismic monitoring component, wherein the method comprises:

[0036] Obtain the location of the mining face and microseismic monitoring components;

[0037] Determine whether the distance between the mining working face and the microseismic monitoring component closest thereto is less than a first threshold;

[0038] If yes, the mobile robot is moved to the microseismic monitoring component closest to the mining face, and the mobile robot is remotely controlled to remove the microseismic monitoring component from the side wall of the roadway;

[0039] The transfer robot is driven to move along the track in a direction away from the mining working face until it moves to the next installation position, and the transfer robot is controlled to install the clamped microseismic monitoring component on the side wall of the tunnel;

[0040] Repeat the above steps to move the microseismic monitoring components automatically during the mining process of the working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of a self-moving microseismic monitoring system based on wireless signal transmission according to an embodiment of the present invention.

[0042] Figure 2 It is a schematic diagram of the working status of the microseismic monitoring component and the transfer robot according to an embodiment of the present invention.

[0043] Figure 3 yes Figure 2 Schematic diagram of the structure viewed from above.

[0044] Figure 4 It is a schematic diagram of the working status of a microseismic monitoring component and a transfer robot according to another embodiment of the present invention.

[0045] Figure 5 It is a schematic structural diagram of a clamping component according to an embodiment of the present invention.

[0046] Reference numerals:

[0047] 1. Microseismic monitoring components; 11. Seismic measurement unit; 12. Data acquisition and conversion unit; 13. Wireless transmission unit;

[0048] 2. Track; 21. Positioning mark;

[0049] 3. Moving robot; 31. Walking component; 311. Walking wheel; 32. Moving manipulator; 321. Mechanical arm; 322. Clamping component; 3221. Support plate; 3222. Grasping ring; 3223. Guide chain; 3224. Guide wheel; 3225. Swing arm; 33. Control host; 34. Video component; 35. First displacement monitoring component;

[0050] 4. Wireless communication equipment; 41. Ethernet ring network switch; 42. Wireless router; 43. Microseismic monitoring substation; 44. Ground server;

[0051] 5. Fixing device; 51. Bottom plate; 52. Countersunk hole; 53. First fastener; 54. First driving component; 541. First gear; 542. First motor; 55. Connector. DETAILED DESCRIPTION

[0052] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0053] The following combination Figure 1-Figure 5 The self-moving microseismic monitoring system and monitoring method based on wireless signal transmission according to the embodiment of the present invention are described in detail.

[0054] like Figure 1-Figure 5 As shown, the self-moving microseismic monitoring system based on wireless signal transmission according to an embodiment of the present invention includes a microseismic monitoring component 1, a track 2, a moving robot 3 and a wireless communication device 4.

[0055] Among them, the microseismic monitoring component 1 is arranged in the tunnel. In the advancing direction of the mining face, the microseismic monitoring component 1 is located in front of the mining face, and the microseismic monitoring component 1 is used for microseismic monitoring of the tunnel; the track 2 is arranged along the extension direction of the tunnel; the moving robot 3 walks and is supported on the track 2, and the moving robot 3 is used to grab the microseismic monitoring component 1, and fix the microseismic monitoring component 1 on the side wall of the tunnel or remove it from the side wall of the tunnel; the detection signal of the microseismic monitoring component 1 is transmitted to the ground server 44 via the wireless communication device 4, and the control end transmits signals with the moving robot 3 via the wireless communication device 4 and controls the movement of the moving robot 3.

[0056] Specifically, the embodiments of the present invention are applied in underground coal mine environments to monitor microseismic events in rock burst mines, thereby providing monitoring and early warning of rock bursts in coal mines and maintaining safe production in coal mining enterprises.

[0057] The embodiment of the present invention is based on a wireless communication device 4, a track 2 arranged in the tunnel, and a moving robot 3 arranged on the track 2. It can periodically move the microseismic monitoring component 1 to meet the characteristics of continuous advancement of the mining face underground in the coal mine. The embodiment of the present invention is arranged in front of the advancement direction of the mining face, and can more accurately respond to the situation in areas with high incidence of rock burst pressure, improve the ability of early warning, and improve the safety of underground operations in the coal mine.

[0058] The present invention does not require workers to go to the installation location of the microseismic monitoring component 1 to perform on-site operations. The microseismic monitoring component 1 is periodically moved by controlling the movement robot 3 using wireless signals. At the same time, the microseismic signals of the microseismic monitoring component 1 can be transmitted through wireless communication. There is no need to lay cables in the tunnel, which improves the movement efficiency, reduces the workload of the movement, and improves the safety of the operation. It can provide a more accurate monitoring and early warning system for rock bursts in underground coal mine recovery operations.

[0059] Optionally, the microseismic monitoring component 1 is a microseismic monitoring sensor.

[0060] There are multiple microseismic monitoring components 1, which are arranged at intervals along the length extension direction of the tunnel, and the interval distance between two adjacent microseismic monitoring components 1 is 200m to 500m.

[0061] By arranging a plurality of microseismic monitoring components 1 at intervals, it is possible to implement multi-point monitoring, integrate a plurality of monitoring data, improve the monitoring accuracy of rock burst, and increase reliability.

[0062] According to factors such as the intensity and hazard range of the rock burst, the spacing between two adjacent microseismic monitoring sensors is constrained in the embodiment of the present invention. The spacing between two adjacent microseismic monitoring components 1 is 200m, 235m, 321m, 400m, 460m or 500m. When the spacing between two adjacent microseismic monitoring components 1 is less than 200m, the frequency of periodic movement of the microseismic monitoring components 1 will be too high. When the spacing between two adjacent microseismic monitoring components 1 is greater than 500m, the spacing between the two microseismic monitoring components 1 will be too large, the microseismic signals will have poor correlation, and it will be difficult to determine parameters such as the intensity and range of the rock burst through analysis and processing of the microseismic signals, which will affect the accuracy and timeliness of the early warning.

[0063] In some embodiments, the wireless communication device 4 includes a wireless communication module and a microseismic monitoring substation 43. The wireless communication module is used to build a wireless communication network in the tunnel. The microseismic monitoring substation 43 is used to receive the signal of the microseismic monitoring component 1 through wireless communication and transmit the signal to the ground server 44.

[0064] In the embodiment of the present invention, a wireless communication network is constructed in the underground tunnel of the coal mine so that the wireless signal can at least cover the microseismic monitoring area. When arranging the microseismic monitoring component 1, it is not restricted by the cable arrangement, and the installation position of the microseismic monitoring component 1 can be optimized, thereby improving the reliability and effectiveness of the monitoring data and avoiding the inability to transmit signals or signal distortion due to problems such as cable swinging and cable breakage.

[0065] The microseismic monitoring substation 43 of the embodiment of the present invention can receive the signal of the microseismic monitoring component 1, and one or more substations can be deployed according to the needs of the microseismic monitoring scene.

[0066] When there are multiple microseismic monitoring substations 43, the multiple microseismic monitoring substations 43 are arranged in the tunnel, and the multiple microseismic monitoring substations 43 are connected through the PTP protocol and time synchronization is performed to make the microseismic positioning accuracy higher.

[0067] Furthermore, the wireless communication module includes an Ethernet ring switch 41 and a wireless router 42. The number of Ethernet ring switches 41 is one or more, and the number of wireless routers 42 is also one or more. According to the coverage range of a single wireless router 42, the full coverage of the monitoring area is achieved by arranging the wireless router 42. The wireless router 42 can realize the relay and routing of wireless communication. The communication mode between the microseismic monitoring component 1 and the microseismic monitoring substation 43 is the fifth generation mobile communication network. The 5G communication network of the embodiment of the present invention realizes high-speed and low-latency data transmission with better reliability.

[0068] Furthermore, the microseismic monitoring component 1 includes a seismic measuring unit 11, a data acquisition and conversion unit 12, a wireless transmitting unit 13 and a power supply battery. The seismic measuring unit is arranged close to the side wall of the tunnel to obtain the vibration signal of the side wall of the tunnel. The data acquisition and conversion unit 12 is used to convert the vibration signal into an electrical signal. The wireless transmitting unit 13 is used to transmit the converted electrical signal to the microseismic monitoring substation 43 through wireless communication.

[0069] In some embodiments, the self-moving microseismic monitoring system based on wireless signal transmission further includes a fixing device 5, which includes a bottom plate 51, which is connected to the outer end of the anchor rod in the tunnel and abuts against the side wall of the tunnel, and the bottom plate 51 has a first connection portion, and the microseismic monitoring component 1 is connected to the first connection portion. On the one hand, the fixing device 5 can ensure the effective abutment between the microseismic monitoring component 1 and the tunnel wall surface, thereby improving the effect of microseismic monitoring, and on the other hand, it can facilitate the disassembly and assembly of the microseismic monitoring component 1 and facilitate the operation of the moving robot 3.

[0070] Furthermore, the first connecting portion is a countersunk hole 52 provided on the base plate 51 , one end of the microseismic monitoring component 1 is provided in the countersunk hole 52 , a first fastener 53 is provided on the side wall of the countersunk hole 52 , and the microseismic monitoring component 1 is fixed in the countersunk hole 52 through the first fastener 53 .

[0071] It should be understood that when fixing the microseismic monitoring sensor, one end of the seismic measuring unit 11 of the microseismic monitoring sensor needs to be inserted into the countersunk hole 52 and abutted against the bottom of the countersunk hole 52, and then the fixation is completed by tightening the first fastener 53.

[0072] Optionally, the first fastening member is a bolt.

[0073] Optionally, the self-moving microseismic monitoring system based on wireless signal transmission also includes a first driving component 54, which is arranged on the base plate 51 or the action end of the moving robot 3, and is used to drive the first fastener 53 to rotate forward and reverse.

[0074] That is, the first driving component 54 is connected to the bottom plate 51, and includes a first motor 542, a first gear 541 provided at the output end of the first motor 542, and a second gear provided at one end of the first fastening member 53. The first gear 541 and the second gear are meshed together. When fastening is required, the first motor 542 drives the first gear 541 to rotate, and then the second gear drives the first fastening member 53 to rotate. When loosening is required, the first motor 542 rotates in the opposite direction, and the first motor 542 is a servo motor.

[0075] Alternatively, the first driving component 54 is connected to the moving robot 3, and the first driving component 54 is set at the action end of the moving robot 3. The first driving component 54 is a second motor and a cross screwdriver head arranged at the output end of the second motor. A cross groove is set at the end of the first fastener 53. When fastening, the moving robot 3 controls the cross screwdriver head to correspond to the cross groove at the end of the first fastener 53, and then the second motor moves forward and reverse to realize the fastening and loosening of the microseismic monitoring component 1 by the first fastener 53. The second motor is a servo motor.

[0076] In some embodiments, one end of the microseismic monitoring sensor inserted into the countersunk hole 52 has an automatic opening and closing device, which expands to fix the microseismic monitoring sensor in the countersunk hole 52, and retracts to release the microseismic monitoring sensor from the countersunk hole 52;

[0077] Specifically, one end of the microseismic monitoring sensor embedded in the countersunk hole 52 has an automatic opening and closing device. When a partial section of the microseismic monitoring sensor is placed in the countersunk hole 52, the automatic opening and closing device expands and fixes the microseismic monitoring sensor in the countersunk hole 52. When the microseismic monitoring sensor needs to be removed, the automatic opening and closing device closes, and the microseismic monitoring sensor can be smoothly taken out of the countersunk hole 52.

[0078] Optionally, the automatic opening and closing device includes a screw and a driver, the screw is transmission-connected in the microseismic monitoring sensor, and the driver is used to drive the screw to rotate, while making the screw extend out of the outer wall of the microseismic monitoring sensor or retract into the outer wall of the microseismic monitoring sensor.

[0079] Alternatively, the automatic opening and closing device is an electric push rod, the end of which extends out of the outer wall of the microseismic monitoring sensor and can be in contact with the inner wall of the countersunk hole 52 to fix the microseismic monitoring sensor, and the end of the electric push rod retracts into the outer wall of the microseismic monitoring sensor to release the microseismic monitoring sensor.

[0080] In some embodiments, the fixing device 5 further includes a connector 55, which is connected to the outer end of the anchor rod in the tunnel, the bottom plate 51 has a first internal thread hole, the connector 55 has a first external thread section, and the bottom plate 51 and the connector 55 are detachably connected through the first internal thread hole and the first external thread section;

[0081] That is to say, the connecting head 55 is fixed to the outer end of the anchor rod, and the base plate 51 can be fixed to the anchor rod through the connecting head 55, which facilitates the installation and recovery of the base plate 51. When the first driving component 54 is fixed to the base plate 51, the first driving component 54 can be recovered synchronously, reducing the layout cost.

[0082] The material of the connector 55 is copper. The end of the anchor rod has a second external thread section. The connector 55 has a second internal thread hole. The connector 55 and the anchor rod can also be directly connected by threads.

[0083] In some embodiments, there is a positioning mark 21 on the track 2 , and the positioning mark 21 and the fixing device 5 are arranged in a one-to-one correspondence. The moving robot 3 obtains the position of the corresponding fixing device 5 through the positioning mark 21 to achieve the positioning of the moving robot 3 .

[0084] The transfer robot 3 can use the positioning mark 21 to position on the track 2, so as to align with the corresponding fixing device 5, which facilitates the operation of the transfer robot 3, improves the operation efficiency, and avoids the difficulty of positioning the transfer robot 3 when disassembling and assembling the microseismic monitoring component 1.

[0085] Optionally, the positioning mark 21 can be a magnetic strip, a plurality of magnetic strips are arranged on the track 2, a magnetic sensor is provided on the moving robot 3, and the magnetic sensor is used to detect the magnetic strip to determine the position of the moving robot 3.

[0086] In some embodiments, the moving robot 3 includes a walking part 31, a moving manipulator 32 and a control host 33. The walking part 31 is supported on the track 2. The moving manipulator 32 and the control host 33 are connected to the walking part 31. The control host 33 is used to control the movements of the moving manipulator 32 and the walking part 31.

[0087] The walking component 31 walks on the track 2 to ensure the stability of its structure, prevent the mobile robot 3 from swinging or deflecting, and prevent the mobile manipulator 32 from being unable to accurately position during operation. The control host 33 can be remotely controlled through wireless communication, and the microseismic monitoring component 1 can be disassembled and assembled using the mobile manipulator 32, and the walking component 31 can also be controlled to walk and stop on the track 2.

[0088] In some embodiments, the transfer robot is retractable and can rotate relative to the walking part 31. A clamping part is provided at the end of the transfer robot for clamping the microseismic monitoring part. Through the rotation and retracting action of the transfer robot, the microseismic monitoring part and the countersunk hole 52 are adjusted to achieve installation.

[0089] In some embodiments, the transfer robot 3 also includes a video component 34 and a first displacement detection component. The video component 34 is used to obtain circumferential video information of the transfer robot 3 to assist the movement of the transfer manipulator 32 . The first displacement detection component is used to detect the displacement of the walking component 31 on the track 2 .

[0090] The video component 34 can obtain video information of multiple directions around the mobile robot 3 to assist the movement of the mobile manipulator 32, facilitate the acquisition of on-site conditions, and improve the efficiency of the operation. The first displacement monitoring component 35 can obtain the position of the walking component 31 to facilitate the positioning of the mobile robot 3.

[0091] Optionally, the moving part 31 is driven by a stepper motor; the stepper motor can achieve precise control and positioning.

[0092] The walking component 31 is provided with a walking wheel 311 and a rechargeable battery. The rechargeable battery supplies power to the stepping motor and the moving manipulator 32 , and the stepping motor drives the walking wheel 311 to rotate.

[0093] In some embodiments, the transfer robot 32 includes a robot arm 321 and a clamping component 322 . A turntable and a rotating motor are provided between the robot arm 321 and the traveling component 31 . The rotating motor is used to drive the robot arm 321 to rotate synchronously with the turntable relative to the traveling component 31 .

[0094] The mechanical arm 321 can rotate circumferentially relative to the walking component 31 , so as to facilitate the azimuth adjustment of the mechanical arm 321 and the fixing device 5 , and facilitate the subsequent disassembly and assembly of the microseismic monitoring component 1 .

[0095] Furthermore, the robotic arm 321 can adopt a three-axis, four-axis or five-axis robotic arm 321. According to the disassembly and assembly actions of the microseismic monitoring component 1, the robotic arm 321 can be flexibly selected, so that the robotic arm can have a multi-degree-of-freedom adjustment function, which is more flexible and can meet more complex action requirements.

[0096] In some embodiments, the clamping component 322 includes a support plate 3221, a grab ring 3222 and a second driving component. The support plate 3221 is connected to the mechanical arm 321. There are two grab rings 3222. The two grab rings 3222 are both arc-shaped and have openings arranged opposite to each other. The grab ring 3222 is rotatably connected to the support plate 3221. The second driving component is connected to the grab ring 3222 to drive the two grab rings 3222 to clamp the microseismic monitoring component 1 or release the microseismic monitoring component 1.

[0097] In some embodiments, the second driving component may be an electric push rod or a motor, which drives the grab ring 3222 to rotate relative to the support plate 3221 , thereby realizing the opening and closing of the two grab rings 3222 .

[0098] In some embodiments, the second driving component includes a guide chain 3223, a guide wheel 3224 and a screw. A swing arm 3225 is provided on the grab ring 3222. The guide chain 3223 is connected to the swing arm 3225 of the grab ring 3222. The guide wheel 3224 is used to change the direction of the guide chain 3223. The screw is arranged on the support plate 3221 or the mechanical arm 321. When the motor drives the screw to extend and retract, the screw can pull the guide chain 3223 to move, thereby driving the two grab rings 3222 to open.

[0099] Furthermore, the second driving component also includes a torsion spring, and a torsion spring is arranged between the grabbing ring 3222 and the support plate 3221, and the torsion spring can provide a restoring force for the grabbing ring 3222, so that the two grabbing rings 3222 are close to each other. When the two grabbing rings 3222 need to be opened, the second driving component drives the grabbing ring 3222 to rotate after overcoming the force of the torsion spring.

[0100] The monitoring method of the embodiment of the present invention uses the above-mentioned self-mobile microseismic monitoring system based on wireless signal transmission to perform microseismic monitoring, and specifically includes the following steps: arranging wireless communication equipment underground in the coal mine so that the wireless signal covers the microseismic monitoring area; arranging tracks and microseismic monitoring components in the tunnel in front of the mining face along the advancement direction of the mining face underground in the coal mine, arranging the mobile robot on the track, and the microseismic monitoring component obtains the microseismic signal at the corresponding position and transmits it to the ground server.

[0101] The monitoring method also includes a microseismic monitoring component self-moving method, and the microseismic monitoring component self-moving method includes:

[0102] S101. Obtain the positions of the mining face and microseismic monitoring components. The microseismic monitoring components are arranged in front of the mining face. There are one or more microseismic monitoring components, for example, 2, 4 or 5 microseismic monitoring components, and the distance between two adjacent microseismic monitoring components is 200m, 300m, 350m or 500m.

[0103] S102, determine whether the distance between the mining face and the microseismic monitoring component closest to it is less than a first threshold. In other words, the distance between the microseismic monitoring component closest to the mining face and the current mining face will gradually decrease as the mining face continues to advance. When the distance is less than the first threshold, the microseismic monitoring component needs to be moved in time. Optionally, the first threshold can be 50m to 200m.

[0104] S103, if yes, move the transfer robot to the microseismic monitoring component closest to the mining face, and remotely control the transfer robot to remove the microseismic monitoring component from the side wall of the tunnel. When the distance is less than the first threshold, remotely control the transfer robot to remove the microseismic monitoring component closest to the mining face and move it to the next station.

[0105] S104, driving the transfer robot to move along the track in a direction away from the mining working face until it moves to the next installation position, and controlling the transfer robot to install the clamped microseismic monitoring component on the side wall of the tunnel.

[0106] During the movement process, if there is only one microseismic monitoring component in the tunnel, the movement distance of the microseismic monitoring component is 200m to 500m. When multiple microseismic monitoring components are arranged in the tunnel, the microseismic monitoring component is moved to the microseismic monitoring component farthest from the mining working face, and then moved 200m to 500m away from the mining working face. In other words, only one microseismic monitoring component needs to be moved, and there is no need to move all the microseismic monitoring components.

[0107] S105. Repeat the above steps to self-move the microseismic monitoring components during the mining process of the working face.

[0108] As the working face is mined, the microseismic monitoring components need to be moved periodically to maintain monitoring and early warning.

[0109] The embodiment of the present invention can utilize a ground computer server to remotely control and obtain information from microseismic monitoring sensors and movement robots through wireless communication equipment, and realize rapid data acquisition through 5G wireless communication. It is not restricted by the installation location and is more suitable for continuous advancement of operations at the mining face underground in coal mines, thus realizing the periodic movement of microseismic monitoring sensors.

[0110] The microseismic monitoring sensor in the embodiment of the present invention is powered by a rechargeable battery. As the working surface moves, the position of the microseismic monitoring sensor is automatically moved, and there is no need for personnel to be on-site for operation, thereby reducing the workload of personnel and improving the working efficiency of the system.

[0111] In the embodiment of the present invention, long-distance position tags, servo motors and precision stepper motors are used for travel positioning, which overcomes the characteristics of dusty and poor visibility at mining engineering sites, overcomes the confusion and difficulty in sorting out the cable recovery process through wireless communication, and solves the drawbacks of the microseismic monitoring system in related technologies.

[0112] The embodiments of the present invention can improve the safety of personnel during the maintenance of the microseismic monitoring system, promote the application of the microseismic monitoring system in intelligent mines, and ensure the safe production of coal mines.

[0113] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0114] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0115] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0116] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0117] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A self-moving microseismic monitoring system based on wireless signal transmission, characterized in that: include: A microseismic monitoring component is arranged in the tunnel. In the advancing direction of the mining face, the microseismic monitoring component is located in front of the mining face. The microseismic monitoring component is used for microseismic monitoring of the tunnel; A track, wherein the track is arranged along the extension direction of the lane; A mobile robot, the mobile robot is supported by the track for walking, and the mobile robot is used to grab the microseismic monitoring component and fix the microseismic monitoring component on the side wall of the tunnel or remove it from the side wall of the tunnel; Wireless communication equipment, the detection signal of the microseismic monitoring component is transmitted to the ground server via the wireless communication equipment, and the control end transmits signals with the mobile robot via the wireless communication equipment and controls the movement of the mobile robot.

2. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 1 is characterized in that: The wireless communication equipment includes a wireless communication module and a microseismic monitoring substation. The wireless communication module is used to build a wireless communication network in the tunnel. The microseismic monitoring substation is used to receive the signal of the microseismic monitoring component through wireless communication and transmit the signal to the ground server.

3. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 2 is characterized in that: There are multiple microseismic monitoring substations, and the multiple microseismic monitoring substations are arranged in the tunnel, and the multiple microseismic monitoring substations are connected through the PTP protocol; And / or, the microseismic monitoring component is a microseismic monitoring sensor; And / or, there are multiple microseismic monitoring components, which are arranged at intervals along the length extension direction of the tunnel, and the interval distance between two adjacent microseismic monitoring components is 200m to 500m; And / or, the wireless communication module includes an Ethernet ring network switch and a wireless router, the number of the Ethernet ring network switches is one or more, and the communication mode between the microseismic monitoring component and the microseismic monitoring substation is a fifth generation mobile communication network; And / or, the microseismic monitoring component includes a seismic measuring unit, a data acquisition and conversion unit, a wireless transmitting unit and a power supply battery, the seismic measuring unit is arranged close to the side wall of the tunnel to obtain the vibration signal of the side wall of the tunnel, the data acquisition and conversion unit is used to convert the vibration signal into an electrical signal, and the wireless transmitting unit is used to transmit the converted electrical signal to the microseismic monitoring substation via wireless communication.

4. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 1 is characterized in that: It also includes a fixing device, which includes a bottom plate, which is connected to the outer end of the anchor rod in the tunnel and abuts against the side wall of the tunnel. The bottom plate has a first connecting portion, and the microseismic monitoring component is connected to the first connecting portion.

5. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 4 is characterized in that: The first connection portion is a countersunk hole provided on the bottom plate, one end of the microseismic monitoring component is provided in the countersunk hole, a first fastener is provided on the side wall of the countersunk hole, and the microseismic monitoring component is fixed in the countersunk hole through the first fastener.

6. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 5 is characterized in that: It also includes a first driving component, which is disposed on the bottom plate or the action end of the moving robot, and is used to drive the first fastening member to rotate forward and reverse; Or, one end of the microseismic monitoring sensor inserted into the countersunk hole has an automatic opening and closing device, the automatic opening and closing device expands to fix the microseismic monitoring sensor in the countersunk hole, and the automatic opening and closing device retracts to release the microseismic monitoring sensor from the countersunk hole; Or, the fixing device further comprises a connecting head, the connecting head is connected to the outer end of the anchor rod in the tunnel, the bottom plate has a first internal thread hole, the connecting head has a first external thread section, and the bottom plate and the connecting head are detachably connected via the first internal thread hole and the first external thread section; Alternatively, there is a positioning mark on the track, and the positioning mark and the fixing device are arranged in a one-to-one correspondence, and the moving robot obtains the position of the corresponding fixing device through the positioning mark to achieve the positioning of the moving robot.

7. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 1 is characterized in that: The transfer robot comprises a walking component, a transfer manipulator and a control host. The walking component is supported on the track. The transfer manipulator and the control host are connected to the walking component. The control host is used to control the movements of the transfer manipulator and the walking component.

8. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 7 is characterized in that: The transfer robot further includes a video component and a first displacement detection component, wherein the video component is used to obtain circumferential video information of the transfer robot to assist the movement of the transfer manipulator, and the first displacement detection component is used to detect the displacement of the walking component on the track; And / or, the walking component is driven by a stepping motor; And / or, the transfer robot includes a robot arm and a clamping component, a turntable and a rotating motor are provided between the robot arm and the walking component, and the rotating motor is used to drive the robot arm to rotate synchronously with the turntable relative to the walking component.

9. The self-moving microseismic monitoring system based on wireless signal transmission according to claim 8, characterized in that: The clamping component includes a support plate, a grab ring and a second driving component. The support plate is connected to the robotic arm. There are two grab rings. Both of the two grab rings are arc-shaped and their openings are arranged opposite to each other. The grab ring is rotatably connected to the support plate. The second driving component is connected to the grab ring to drive the two grab rings to clamp the microseismic monitoring component or release the microseismic monitoring component.

10. A monitoring method, characterized in that: Microseismic monitoring is performed using the self-moving microseismic monitoring system based on wireless signal transmission as described in any one of claims 1 to 9, specifically comprising the following steps: wireless communication equipment is arranged underground in a coal mine so that the wireless signal covers the microseismic monitoring area; along the advancing direction of the mining face underground in the coal mine, tracks and microseismic monitoring components are arranged in the lane in front of the mining face, the mobile robot is arranged on the track, and the microseismic monitoring component obtains the microseismic signal at the corresponding position and transmits it to the ground server; The invention also includes a method for self-moving a microseismic monitoring component, wherein the method comprises: Obtain the location of the mining face and microseismic monitoring components; Determine whether the distance between the mining working face and the microseismic monitoring component closest thereto is less than a first threshold; If yes, the mobile robot is moved to the microseismic monitoring component closest to the mining face, and the mobile robot is remotely controlled to remove the microseismic monitoring component from the side wall of the roadway; The mobile robot is driven to move along the track in a direction away from the mining working face until it moves to the next installation position, and the mobile robot is controlled to install the clamped microseismic monitoring component on the side wall of the tunnel; Repeat the above steps to move the microseismic monitoring components automatically during the mining process of the working face.

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