Mine disaster early warning intelligent robot based on space monitoring and its early warning method

Abstract

The present invention discloses an intelligent mine disaster warning robot based on space monitoring and an early warning method thereof, which belongs to the technical field of disaster early warning, and comprises a supporting base, wherein two internal storage chambers are respectively provided inside the supporting base, wherein marking pigments are stored inside the internal storage chambers, a spring is fixedly connected inside a connecting frame, and a clamping block is fixedly connected to one end of the spring away from the connecting frame, so that depressions and protrusions on the inner wall of the tunnel are respectively detected over a large area, and different pigments are used to spray and mark when depressions and protrusions are detected by a fitting rolling roller, so that large-area detection and early warning are realized inside the tunnel, and timely early warning information is provided to the staff, and at the same time, when the detection area is increased, the contact area with the tunnel wall is increased, the stability is increased, and the situation of being unable to move due to tilting and falling is reduced, so as to realize continuous detection of the inner wall of the tunnel.

Description

Technical Field

[0001] The present invention relates to the technical field of disaster early warning, and in particular to a mine disaster early warning intelligent robot based on space monitoring and an early warning method thereof. Background Art

[0002] A mine is a general term for the shafts, chambers, equipment, ground buildings and structures that form an underground coal mine production system. Inclined shafts, vertical shafts, and horizontal shafts in underground mine development are sometimes also called mines. In modern mines, the tunnels used to store large mechanical pressure pumps or water pumps and other equipment serve as important transportation channels and working spaces in the mine. Their stability directly affects the normal production of the mine and the safety of workers. At present, in underground projects, the excavation operation destroys the original stress balance of the rock mass, resulting in a certain degree of displacement, deformation and destruction of the surrounding rock mass. Secondly, the stress of the surrounding rock mass has been in a dynamic change process, and the displacement, deformation and permeability characteristics of the rock mass have also changed accordingly, that is, spatial deformation will occur in the mine.

[0003] In the patent entitled "Intelligent robot and method for warning mine disasters based on spatial deformation monitoring" and the patent publication number CN115059514B, it is proposed that in order to prevent the collapse of the mine tunnel due to serious spatial deformation and reduce the danger of the tunnel, it is necessary to regularly detect the spatial deformation of the inner wall of the mine tunnel. The symmetrically arranged liquid storage tanks and the rotatable leg seats can detect the spatial deformation of the side walls of the mine tunnel and discharge the paint in the liquid storage tank, which is convenient for detecting the spatial deformation. At the same time, a rotating knocking ball is provided. , it can continuously carry out knocking detection on the top wall of the mine tunnel, and at the same time, with the arc-shaped elastic tube, it is convenient to detect the spatial deformation of the top wall of the mine tunnel, and it can also spray paint to warn the detection personnel, but the overall early warning robot is in a suspended state. During the detection of the inner wall of the tunnel in the suspended state, once the side wall of the tunnel is concave, the robot cannot continue to detect the subsequent side walls, and once it falls, it is easy to cause damage between the components. Therefore, an intelligent mine disaster early warning robot based on space monitoring and its early warning method are proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a mine disaster early warning intelligent robot based on space monitoring and an early warning method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent robot for warning mine disasters based on space monitoring, comprising a bearing base, two storage chambers are respectively provided inside the bearing base, and marking pigments are stored inside the storage chambers; one side of the bearing base is hinged with two hinged seats, a connecting seat is fixedly connected to the hinged seat, a plurality of connecting frames are fixedly connected to the outside of the connecting seat, a spring is fixedly connected to the inside of the connecting frame, a clamping block is fixedly connected to one end of the spring away from the connecting frame, a fitting rolling roller is installed on the outside of the clamping block, and a first marking pigment is connected to the inside of the connecting frame. The first mark conveying pipeline and the second mark conveying pipeline are respectively located on both sides of the clamping block, and the clamping block is respectively clamped with the discharge ports of the first mark conveying pipeline and the second mark conveying pipeline under the normal state, and the inlet ends of the first mark conveying pipeline and the second mark conveying pipeline both penetrate the outer wall of the supporting base and are respectively connected with the two internal storage chambers, an air pump is installed on the supporting base, and a diverter box is installed at the air outlet of the air pump, and the outside of the diverter box is connected to two boosting pipes through an electric control valve, and the air outlets of the two boosting pipes are respectively connected with the two internal storage chambers.

[0006] Preferably, an intermediate stabilizing seat is fixedly connected to one side of the supporting base, and the intermediate stabilizing seat is located between the two connecting seats. A plurality of elastic telescopic rods are fixedly connected to the outside of the intermediate stabilizing seat, and one end of the elastic telescopic rod away from the intermediate stabilizing seat is hinged to the outer wall of the connecting frame. A plurality of suction holes are provided on the outside of the intermediate stabilizing seat, and a negative pressure cavity is integrally formed inside the intermediate stabilizing seat, and the suction hole is connected to the negative pressure cavity. The air inlet of the air pump is connected to a suction pipe, and the end of the suction pipe away from the air pump is connected to the negative pressure cavity, and the end of the elastic telescopic rod away from the connecting frame is connected to the negative pressure cavity.

[0007] Preferably, the materials of the intermediate stabilizing seat and the connecting seat include multiple hard connecting layers and soft elastic connecting layers, and the multiple hard connecting layers and the soft elastic connecting layers are staggered and fixed together. The outside of the diverter box is also connected to two second delivery hoses through an electric control valve, and the ends of the two second delivery hoses away from the diverter box are respectively connected to the two connecting seats. The outside of the diverter box is connected to a first delivery hose through an electric control valve, and the end of the first delivery hose away from the diverter box is connected to the intermediate stabilizing seat.

[0008] Preferably, a plurality of plug-in guide strips are fixedly connected inside the soft elastic connection layer and the hard connection layer, and the plug-in guide strips located inside the hard connection layer are staggered and plug-in with the plug-in guide strips located inside the soft elastic connection layer.

[0009] Preferably, the interior of the connecting seat and the intermediate stabilizing seat are integrally formed with an upper arc-shaped expansion bladder, the second conveying hose and the first conveying hose are connected to a diverter valve at one end away from the diverter box, the outside of the diverter valve is connected to a diverter hose, and the end of the diverter hose away from the diverter valve is connected to the upper arc-shaped expansion bladder.

[0010] Preferably, an elastic strip capsule is integrally formed inside the upper arc-shaped expansion bladder, and the elastic strip capsule is filled with electrorheological fluid. The electrorheological fluid is internally connected to a power-carrying wire, and the power-carrying wire is electrically connected to an external power source.

[0011] Preferably, a placement groove is provided on the outside of the hinge seat, a rolling wheel is rotatably connected to the inside of the placement groove via a rotating shaft, a driving motor is fixedly connected to the inside of the placement groove, and the output shaft of the driving motor is fixedly connected to the rotating shaft of the rolling wheel.

[0012] Preferably, a plurality of universal balls are installed at the bottom of the articulated seat and the bottom of the bearing base.

[0013] Preferably, two pigment delivery tubes are installed on the supporting base, and the two pigment delivery tubes are respectively connected to the two internal storage chambers.

[0014] The present invention also provides an early warning method of a mine disaster early warning intelligent robot based on space monitoring, comprising the following steps:

[0015] S1. Fill different marking pigments into the two storage chambers respectively;

[0016] S2, placing the bearing base and its connecting seat on one side of the inner wall of the lane, and placing a plurality of laminating rolling rollers in contact with the inner wall of the lane;

[0017] S3, continuously moving the bearing base and the plurality of laminating rollers, so that the plurality of laminating rollers move on the inner wall of the laneway, when the laminating rollers encounter a protrusion, the clamping block connected to the laminating rollers is pushed to one side by the external force in contact with the protrusion, thereby releasing the clamping of the outlet end of the first marking conveying pipe, when the outlet end of the first marking conveying pipe is no longer clamped, the marking pigment located inside the internal storage chamber is sprayed out under the internal pressure, and the raised marking is completed;

[0018] S4. When the moving fitting rolling roller encounters the concave gap position, the elastic telescopic rod will pull the connecting frame closer to the position of the first marking delivery pipe, loosening the clamping connection to the second marking delivery pipe. When the outlet end of the second marking delivery pipe is no longer clamped, the marking pigment located inside the storage chamber will be sprayed out under the internal pressure to complete the concave mark warning.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] In the invention, multiple bonding rolling rollers cooperate with a carrying base to walk on the ground, and the multiple bonding rolling rollers always move in contact with the inner wall of the tunnel, so as to perform large-area detection of depressions and protrusions on the inner wall of the tunnel. At the same time, when the bonding rolling rollers detect depressions and protrusions, different pigments are used to spray and mark them, so as to realize large-area detection and early warning inside the tunnel, and provide timely early warning information to the staff. At the same time, when the detection area is increased, the contact area with the tunnel wall is increased, the stability is increased, and the situation of being unable to move such as tilting and falling is reduced, thereby realizing continuous detection of the inner wall of the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is one of the three-dimensional structural schematic diagrams of an embodiment of the present invention;

[0022] Figure 2 This is a second schematic diagram of a three-dimensional structure in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the normal state of an embodiment of the present invention in a lane;

[0024] Figure 4 is a schematic cross-sectional structural diagram of a connection frame in an embodiment of the present invention;

[0025] Figure 5 It is a partial cross-sectional structural schematic diagram of the middle stabilizing seat in an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the extension adjustment state in the lane according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the spraying state structure of the first marking delivery pipeline in an embodiment of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the hard connection layer, the soft elastic connection layer and the plug-in guide strip in an embodiment of the present invention;

[0029] Fig. 9 It is a schematic diagram of the structure of the upper arc-shaped expansion bladder in an embodiment of the present invention;

[0030] Fig.10 For the embodiment of the present invention Fig. 9 A schematic diagram of the enlarged structure of area A;

[0031] Fig.11 It is a schematic structural diagram of the state in which the connecting seat expands upward in an arc shape in an embodiment of the present invention.

[0032] In the figure: 100, bearing base; 101, hinged seat; 102, connecting seat; 103, middle stabilizing seat; 104, connecting frame; 105, spring; 106, clamping block; 107, fitting rolling roller; 108, suction hole; 109, first marking delivery pipeline; 110, second marking delivery pipeline; 111, air pump; 112, diverter box; 113, suction tube; 114, elastic telescopic rod; 200, first delivery hose; 201, second delivery hose; 202, hard connecting layer; 203, soft elastic connecting layer; 204, plug-in guide strip; 300, diverter valve; 301, diverter hose; 302, upper arc expansion bladder; 400, elastic strip bladder; 500, driving motor; 501, rolling wheel; 600, universal ball; 700, pigment delivery pipe. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Embodiment 1: Figure 1-Figure 7 As shown, the intelligent robot for early warning of mine disasters based on space monitoring of the present application includes a supporting base 100, and two storage chambers are respectively provided inside the supporting base 100, and marking pigments are stored inside the storage chambers. Two hinged seats 101 are hinged on one side of the supporting base 100, and a connecting seat 102 is fixedly connected to the hinged seat 101. A plurality of connecting frames 104 are fixedly connected to the outside of the connecting seat 102, and a spring 105 is fixedly connected to the inside of the connecting frame 104, and a clamping block 106 is fixedly connected to one end of the spring 105 away from the connecting frame 104, and a fitting rolling roller 107 is installed on the outside of the clamping block 106, and a first marking conveying pipeline 109 and a first marking conveying pipeline 109 are connected to the inside of the connecting frame 104. The second marking conveying pipeline 110, the first marking conveying pipeline 109 and the second marking conveying pipeline 110 are respectively located on both sides of the clamping block 106, and the clamping block 106 is normally clamped with the discharge ports of the first marking conveying pipeline 109 and the second marking conveying pipeline 110 respectively. The inlet ends of the first marking conveying pipeline 109 and the second marking conveying pipeline 110 both penetrate the outer wall of the supporting base 100 and are respectively connected to the two internal storage chambers. An air pump 111 is installed on the supporting base 100, and a diverter box 112 is installed at the air outlet of the air pump 111. The outside of the diverter box 112 is connected to two boosting pipes through an electric control valve, and the air outlets of the two boosting pipes are respectively connected to the two internal storage chambers.

[0035] Specifically, during use, the staff places the supporting base 100 and the middle stabilizing base 103 at the side wall of the tunnel. During the inspection process, the two connecting seats 102 are close to the wall surface of the side wall of the tunnel, and the fitting rolling roller 107 is fitted to the tunnel wall surface. After the fitting rolling roller 107 is fitted to the tunnel wall surface, the present application is moved laterally, so that the connecting seat 102 can roll in line with the tunnel wall surface. When multiple connecting seats 102 roll in line with the tunnel wall surface, it can be detected whether the tunnel wall surface has obvious deformation. When the fitting rolling roller 107 continues to fit and move on the tunnel wall surface, once a bulge is detected on the tunnel wall surface, the fitting rolling roller 107 will be blocked by the raised wall surface. When the fitting rolling roller 107 is blocked by the raised wall surface and the rear continues to transmit the thrust for moving forward, the clamping block 106 installed inside the connecting frame 104 through the spring 105 will drive The laminating rolling roller 107 is tilted. When a bulge appears in front of the laminating rolling roller 107, the laminating rolling roller 107 and the clamping block 106 will be pushed onto the bulge due to the resistance in the front and the continuous power transmission from the rear, so that the laminating rolling roller 107 is turned outward and tilted to one side of the bulge. When the laminating rolling roller 107 is tilted to one side of the bulge, the gap between the clamping block 106 and the first marking conveying pipe 109 is increased. When the gap between the clamping block 106 and the first marking conveying pipe 109 is increased, the clamping block 106 cannot cooperate with the connecting frame 104 to realize the clamping of the outlet end of the first marking conveying pipe 109. When the clamping block 106 cannot realize the clamping limit of the first marking conveying pipe 109, the first marking conveying pipe 109 will spray out one of the colored paints stored in the chamber of the supporting base 100, thereby realizing the prominent marking processing.

[0036] like Figure 1-Figure 2 As shown, a placement groove is provided on the outside of the articulated seat 101, and a rolling wheel 501 is rotatably connected to the inside of the placement groove via a rotating shaft. A driving motor 500 is fixedly connected to the inside of the placement groove, and the output shaft of the driving motor 500 is fixedly connected to the rotating shaft of the rolling wheel 501.

[0037] Specifically, when pushing and walking this application, the rolling wheel 501 is attached to the inner wall of the tunnel, and the driving motor 500 is started to rotate the rolling wheel 501. In the process of the driving motor 500 driving the rolling wheel 501 to rotate, the bearing base 100 and the two articulated seats 101 can be driven to move by friction, and multiple universal balls 600 are installed at the bottom of the articulated seat 101 and the bearing base 100. In the process of the driving motor 500 driving the rolling wheel 501 to fit the wall to provide thrust, the bearing base 100 and the articulated seat 101 are supported by the universal balls 600.

[0038] Furthermore, the angle formed by the two articulated seats 101 between the bearing base 100 is adjusted by bolts, and different degrees of the angle are adjusted according to different conditions of the inner wall of the tunnel.

[0039] like Figure 1-Figure 5 As shown, in order to ensure that multiple fitting rolling rollers 107 can always fit the inner wall of the tunnel during walking, an intermediate stabilizing seat 103 is fixedly connected to one side of the supporting base 100, and the intermediate stabilizing seat 103 is located between the two connecting seats 102. The outside of the intermediate stabilizing seat 103 is fixedly connected with multiple elastic telescopic rods 114, and one end of the elastic telescopic rod 114 away from the intermediate stabilizing seat 103 is hinged to the outer wall of the connecting frame 104, and a plurality of suction holes 108 are opened on the outside of the intermediate stabilizing seat 103. A negative pressure cavity is integrally formed inside the intermediate stabilizing seat 103, and the suction hole 108 is connected to the negative pressure cavity. The air inlet of the air pump 111 is connected to a suction pipe 113, and the end of the suction pipe 113 away from the air pump 111 is connected to the negative pressure cavity, and the end of the elastic telescopic rod 114 away from the connecting frame 104 is connected to the negative pressure cavity.

[0040] Specifically, during use, after the staff turns on the drive motor 500 to drive the rolling wheel 501 to rotate in contact with the tunnel wall, the air pump 111 can be started at the same time. When the air pump 111 is started, the air in the negative pressure cavity inside the intermediate stabilizing seat 103 can be extracted through the suction pipe 113. After the air in the negative pressure cavity inside the intermediate stabilizing seat 103 is extracted, the external air will enter the negative pressure cavity of the intermediate stabilizing seat 103 through the suction hole 108. At the same time, when the intermediate stabilizing seat 103 is also in contact with the inner wall of the tunnel wall, multiple suction holes 108 can be blocked through the tunnel wall. When multiple suction holes 108 are blocked, the air inside the negative pressure cavity is continuously extracted, and a negative pressure environment is formed inside the negative pressure cavity. When the negative pressure environment is formed, it can be completely adsorbed on the inner wall of the tunnel wall through the intermediate stabilizing seat 103, so that the present application can cooperate with the drive motor 500 and the rolling wheel 501 to move in contact with the tunnel wall in the process of moving forward.

[0041] Furthermore, during use, the elastic telescopic rod 114 is composed of two connecting rods, one large and one small. The smaller connecting rod slides inside the larger connecting rod, and the larger connecting rod is connected to the intermediate stable seat 103, and the end of the smaller connecting rod away from the intermediate stable seat 103 is connected to the clamping block 106. When the multiple fitting rolling rollers 107 move forward along the inner wall of the lane, when the fitting rolling rollers 107 encounter the wall at a recessed position, the fitting rolling rollers 107 lose contact with the wall, and at the same time, the elastic telescopic rod 114 is connected to the negative pressure cavity, so that the elastic telescopic rod 114 is always attracted by the negative pressure cavity, so that there is always a position toward the intermediate stable seat 1 03 direction, so that when the fitting rolling roller 107 loses the wall support, the elastic telescopic rod 114 will pull the clamping block 106 to move to the position of the middle stable seat 103, and when the clamping block 106 deviates to the position of the middle stable seat 103, a gap will occur between the clamping block 106 and the second marking delivery pipe 110 and the connecting frame 104, so that the clamping block 106 cannot cooperate with the connecting frame 104 to realize the clamping of the outlet port of the second marking delivery pipe 110. When the clamping of the outlet end of the second marking delivery pipe 110 cannot be realized, the second marking delivery pipe 110 will spray out the paint of another color stored in the chamber, thereby issuing a depression warning.

[0042] Furthermore, two paint delivery tubes 700 are installed on the supporting base 100 , and the two paint delivery tubes 700 are respectively connected to the two internal storage chambers. Through the setting of the two paint delivery tubes 700 , marking paints of different colors can be delivered to the two internal storage chambers inside the supporting base 100 .

[0043] Furthermore, in the mobile spray marking process of the present application, in order to ensure that the pigment inside the two storage chambers can be smoothly sprayed out through the first marking delivery pipe 109 and the second marking delivery pipe 110, two booster pipes are used outside the diversion box 112 to continuously deliver gas pressure to the inside of the two storage chambers, so that the inside of the two storage chambers is always in a high pressure state, and the pigment inside the storage chamber is gradually pushed into the first marking delivery pipe 109 and the second marking delivery pipe 110 by the air pressure. When the outlet ends of the first marking delivery pipe 109 and the second marking delivery pipe 110 are opened, the pigment with air pressure will be sprayed out quickly, thereby completing the marking.

[0044] The technical scheme in the above-mentioned embodiment of the present application has at least the following technical effects or advantages: relative to the prior art, in the present embodiment, a plurality of bonding rolling rollers 107 cooperate with the supporting base 100 to walk on the ground, and the plurality of bonding rolling rollers 107 are always moved in contact with the inner wall of the tunnel, so that large-area detection of depressions and protrusions on the inner wall of the tunnel is performed respectively, and at the same time, when the bonding rolling rollers 107 detect depressions and protrusions, different pigments are used to spray and mark them respectively, so as to realize large-area detection and early warning inside the tunnel, and provide timely early warning information to the staff, and at the same time, when the detection area is increased, the contact area with the tunnel wall is increased, the stability is increased, and the situation of being unable to move such as tilting and falling is reduced, thereby realizing continuous detection of the inner wall of the tunnel.

[0045] Embodiment 2: Considering that different lanes have different heights during use, deformation may occur at different locations. When facing deformation of the inner wall of lanes at different heights, the multiple laminating rolling rollers 107 may not be able to detect the spatial deformation located above due to insufficient height. In view of the above technical problems, the present application proposes the following technical solutions, specifically:

[0046] like Figure 1-Figure 9 As shown, the materials of the intermediate stabilizing seat 103 and the connecting seat 102 include multiple hard connecting layers 202 and soft elastic connecting layers 203, and the multiple hard connecting layers 202 and the soft elastic connecting layers 203 are staggered and fixed together. The outside of the diverter box 112 is also connected to two second delivery hoses 201 through an electric control valve, and the ends of the two second delivery hoses 201 away from the diverter box 112 are respectively connected to the two connecting seats 102, and the outside of the diverter box 112 is connected to the first delivery hose 200 through an electric control valve, and the end of the first delivery hose 200 away from the diverter box 112 is connected to the intermediate stabilizing seat 103.

[0047] Specifically, during use, when the inner wall of the tunnel is high during monitoring and the multiple fitting rolling rollers 107 cannot completely cover the inner wall of the tunnel, the staff can start the air pump 111 and open the electric control valve connected to the first delivery hose 200, and the gas is diverted and transported to the first delivery hose 200 through the diversion box 112. After entering the first delivery hose 200, the gas will continue to be transported to the interior of the intermediate stable seat 103. After entering the interior of the intermediate stable seat 103, the gas will cause the intermediate stable seat 103 to expand. When the gas is transported to the interior of the intermediate stable seat 103, the gas is diverted and transported to the interior of the connecting seat 102 through the two second delivery hoses 201. The materials of the connecting seat 102 and the intermediate stable seat 103 include multiple hard connecting layers 202 and soft elastic connecting layers. Layer 203, multiple hard connection layers 202 and soft elastic connection layers 203 are staggered and fixed together, the material of the soft elastic connection layer 203 is soft high-elastic rubber, when the gas continues to enter the middle stabilizing seat 103 and the connecting seat 102, the multiple soft elastic connection layers 203 will gradually extend due to the filling of the gas, and when the soft elastic connection layer 203 gradually extends, the connecting seat 102 and the middle stabilizing seat 103 can gradually expand and extend upward, thereby increasing the overall height of the connecting seat 102 and the middle stabilizing seat 103, when the overall height of the connecting seat 102 and the middle stabilizing seat 103 increases, the spacing between the multiple fitting rolling rollers 107 increases, and the connecting seat 102 and the middle stabilizing seat 103 with increased height can perform convex-concave detection processing on the inner wall of the tunnel within a larger range.

[0048] like Figure 8 As shown, a plurality of plug-in guide strips 204 are fixedly connected inside the soft elastic connection layer 203 and the hard connection layer 202 , and the plug-in guide strips 204 located inside the hard connection layer 202 are staggeredly plugged with the plug-in guide strips 204 located inside the soft elastic connection layer 203 .

[0049] Specifically, by staggeredly inserting a plurality of inserting guide strips 204, when the soft elastic connection layer 203 is extended, the inserting guide strips 204 that are staggeredly inserted with each other can be driven to slide vertically, thereby guiding the extension direction of the soft elastic connection layer 203 and ensuring the vertical extension state of the soft elastic connection layer 203.

[0050] The technical solution in the above-mentioned embodiment of the present application has at least the following technical effects or advantages: relative to embodiment one, in this embodiment, the staff continuously injects gas into the interior of the connecting seat 102 and the intermediate stabilizing seat 103, so that the connecting seat 102 and the intermediate stabilizing seat 103 extend and expand through multiple soft elastic connecting layers 203. When the extension and expansion occur, the spacing between the multiple fitting rolling rollers 107 located outside the connecting seat 102 can be increased, thereby expanding the overall detection area and detection height, and adapting to deformation monitoring and early warning of the inner walls of tunnels at different heights.

[0051] Embodiment 3: Considering that the top of the mine tunnel is generally set to an arc shape to ensure its stability, the vertically expanded connecting seat 102 and the intermediate stabilizing seat 103 can be expanded to adapt to the detection of the side walls of the tunnels at different heights. However, when encountering the upper arc surface, the connecting seat 102 and the intermediate stabilizing seat 103 in the vertical state cannot drive multiple connecting seats 102 to monitor the upper arc tunnel surface. In view of the above technical solution, this application proposes the following technical solution to solve the above technical problems, specifically:

[0052] like Figure 9-10 As shown, the interior of the connecting seat 102 and the intermediate stabilizing seat 103 are integrally formed with an upper arc-shaped expansion bladder 302, the second conveying hose 201 and the first conveying hose 200 are connected to a diverter valve 300 at one end away from the diverter box 112, the outside of the diverter valve 300 is connected to the diverter hose 301, and the end of the diverter hose 301 away from the diverter valve 300 is connected to the upper arc-shaped expansion bladder 302.

[0053] Specifically, during use, in order to adapt to the curved surface above the inner wall of the alley, while the air pump 111 injects gas into the diverter box 112 and the suction tube 113 respectively, the diverter valve 300 can also be opened to inject gas into the diverter hose 301. After the gas is injected into the diverter hose 301, the upper curved expansion bladder 302 will gradually expand. After the gas enters the upper curved expansion bladder 302, it will gradually expand in an arc shape, thereby driving the two connecting seats 102 and the middle stabilizing seat 103 to gradually bend and expand in an arc shape at the top when expanding the detection area, so as to adapt to the curved surface of the side wall above the alley, thereby performing concave-convex detection processing on the curved surface above the alley.

[0054] The technical solution in the above-mentioned embodiment of the present application has at least the following technical effects or advantages: relative to embodiment 2, in the present embodiment, gas is injected into the interior of the upper arc-shaped expansion bladder 302 through the diverter valve 300 and the diverter hose 301, so that the upper arc-shaped expansion bladder 302 expands, and when the upper arc-shaped expansion bladder 302 located inside the connecting seat 102 and the intermediate stabilizing seat 103 expands, the connecting seat 102 and the intermediate stabilizing seat 103 can be driven to extend, and the upper arc-shaped expansion bladder 302 expands in a manner of gradually bending upward. In the case of gradually bending and expanding upward, the connecting seat 102 and the intermediate stabilizing seat 103 can be driven to gradually fit the arc-shaped arch surface above the inner wall of the tunnel, and the spatial deformation of the arc-shaped arch surface above the tunnel is monitored in the case of gradually fitting the arc-shaped arch surface above the inner wall of the tunnel.

[0055] Embodiment 4: Considering that when the connecting seat 102 and the intermediate stabilizing seat 103 are expanded upward and extended into an arc shape by the upper arc-shaped expansion bladder 302, the clamping block 106 and the fitting rolling roller 107 located at the vertex of the arc will droop downward due to gravity, resulting in that the fitting rolling roller 107 outside the connecting seat 102 cannot be well fitted to the outer wall of the arc surface above the laneway. In view of the above technical problems, the present application proposes the following technical solutions to solve the above technical problems, specifically:

[0056] like Fig.10 As shown, an elastic strip capsule 400 is integrally formed inside the upper arc-shaped expansion bladder 302 , and the elastic strip capsule 400 is filled with electrorheological fluid. The electrorheological fluid is internally connected to a power-carrying wire, and the power-carrying wire is electrically connected to an external power source.

[0057] Specifically, during use, when the upper arc-shaped expansion bladder 302 gradually expands and drives the connecting seat 102 and the middle stabilizing seat 103 to gradually fit onto the outer wall of the tunnel arch, the elastic strip bladder 400 inside the upper arc-shaped expansion bladder 302 will also be stretched together, and when the elastic strip bladder 400 is stretched, the electrorheological fluid filled inside will also be displaced along with the deformation of the elastic strip bladder 400, and when the upper arc-shaped expansion bladder 302 expands to a specified degree, it can also be energized by connecting the power-carrying wire to an external power source, thereby energizing the electrorheological fluid. In the process of energizing the electrorheological fluid, the electrorheological fluid will harden. When the electrorheological fluid hardens, it can support the multiple fitting rolling rollers 107 located outside the connecting seat 102 to prevent it from sagging due to gravity.

[0058] The technical solution in the above-mentioned embodiment of the present application has at least the following technical effects or advantages: relative to embodiment three, in this embodiment, when the upper arc-shaped expansion bladder 302 gradually expands to drive the connecting seat 102 and the middle stabilizing seat 103 to expand to the specified position, the electrorheological fluid inside the elastic strip bag 400 can be energized, and the electrorheological fluid can be hardened after being energized. The hardened electrorheological fluid can support the expanding and deformed connecting seat 102 and the middle stabilizing seat 103, thereby reducing the phenomenon of falling and not fitting due to gravity caused by the clamping block 106 and the fitting rolling roller 107 at the vertex position.

[0059] The present invention also provides an early warning method of a mine disaster early warning intelligent robot based on space monitoring, comprising the following steps:

[0060] S1. Fill different marking pigments into the two storage chambers respectively;

[0061] S2, placing the bearing base 100 and its connecting seat 102 on one side of the inner wall of the lane, and placing a plurality of laminating rolling rollers 107 on the inner wall of the lane;

[0062] S3, continuously moving the bearing base 100 and the plurality of laminating rollers 107, so that the plurality of laminating rollers 107 move on the inner wall of the laneway, when the laminating rollers 107 encounter a protrusion, the clamping block 106 connected to the laminating rollers 107 is pushed to one side by the external force contacting with the protrusion, thereby releasing the clamping of the outlet end of the first marking delivery pipe 109, when the outlet end of the first marking delivery pipe 109 is no longer clamped, the marking pigment inside the storage chamber is sprayed out under the internal pressure, completing the raised marking;

[0063] S4. When the moving fitting rolling roller 107 encounters the concave gap position, the elastic telescopic rod 114 will pull the connecting frame 104 closer to the position of the first marking delivery pipe 109, loosening the clamping of the second marking delivery pipe 110. When the outlet end of the second marking delivery pipe 110 is no longer clamped, the marking pigment located inside the storage chamber will be sprayed out under the internal pressure to complete the concave mark warning.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mine disaster warning intelligent robot based on space monitoring, comprising a bearing base (100), wherein two storage chambers are respectively provided inside the bearing base (100), wherein marking pigments are stored inside the storage chambers, and wherein: One side of the bearing base (100) is hingedly connected to two hinged seats (101); a connecting seat (102) is fixedly connected to the hinged seat (101); a plurality of connecting frames (104) are fixedly connected to the outside of the connecting seat (102); a spring (105) is fixedly connected to the inside of the connecting frame (104); an end of the spring (105) away from the connecting frame (104) is fixedly connected to a clamping block (106); a fitting rolling roller (107) is installed on the outside of the clamping block (106); a first marking conveying pipe (109) and a second marking conveying pipe (110) are connected to the inside of the connecting frame (104); the first marking conveying pipe (109) and the second marking conveying pipe (110) are connected to each other; The delivery pipes (110) are respectively located on both sides of the clamping block (106); the clamping block (106) is respectively clamped with the discharge ports of the first mark delivery pipe (109) and the second mark delivery pipe (110) in a normal state; the inlet ends of the first mark delivery pipe (109) and the second mark delivery pipe (110) both penetrate the outer wall of the bearing base (100) and are respectively connected to the two internal storage chambers; an air pump (111) is installed on the bearing base (100); a flow diversion box (112) is installed at the air outlet of the air pump (111); the outside of the flow diversion box (112) is connected to two boosting pipes via an electric control valve; the air outlets of the two boosting pipes are respectively connected to the two internal storage chambers; An intermediate stabilizing seat (103) is fixedly connected to one side of the supporting base (100); a plurality of suction holes (108) are provided on the outside of the intermediate stabilizing seat (103); a negative pressure cavity is integrally formed inside the intermediate stabilizing seat (103); the suction holes (108) are connected to the negative pressure cavity; an air inlet of the air pump (111) is connected to a suction pipe (113); an end of the suction pipe (113) away from the air pump (111) is connected to the negative pressure cavity.

2. The mine disaster early warning intelligent robot based on space monitoring according to claim 1 is characterized by: The intermediate stabilizing seat (103) is located between the two connecting seats (102); a plurality of elastic telescopic rods (114) are fixedly connected to the outside of the intermediate stabilizing seat (103); one end of the elastic telescopic rod (114) away from the intermediate stabilizing seat (103) is hinged to the outer wall of the connecting frame (104); and one end of the elastic telescopic rod (114) away from the connecting frame (104) is connected to the negative pressure cavity.

3. The mine disaster early warning intelligent robot based on space monitoring according to claim 2 is characterized by: The materials of the intermediate stabilizing seat (103) and the connecting seat (102) both include a plurality of hard connecting layers (202) and a soft elastic connecting layer (203), and the plurality of hard connecting layers (202) and the soft elastic connecting layers (203) are staggered and fixed together. The outside of the diverter box (112) is also connected to two second delivery hoses (201) via an electric control valve, and the ends of the two second delivery hoses (201) away from the diverter box (112) are respectively connected to the two connecting seats (102). The outside of the diverter box (112) is connected to a first delivery hose (200) via an electric control valve, and the end of the first delivery hose (200) away from the diverter box (112) is connected to the intermediate stabilizing seat (103).

4. The mine disaster early warning intelligent robot based on space monitoring according to claim 3 is characterized by: A plurality of plug-in guide strips (204) are fixedly connected inside the soft elastic connection layer (203) and the hard connection layer (202), and the plug-in guide strips (204) located inside the hard connection layer (202) are plugged in an alternating manner with the plug-in guide strips (204) located inside the soft elastic connection layer (203).

5. The mine disaster early warning intelligent robot based on space monitoring according to claim 4 is characterized in that: An upper arc-shaped expansion sac (302) is integrally formed inside the connecting seat (102) and the intermediate stabilizing seat (103); one end of the second delivery hose (201) and the first delivery hose (200) away from the diversion box (112) is connected to a diversion valve (300); the outside of the diversion valve (300) is connected to a diversion hose (301); and one end of the diversion hose (301) away from the diversion valve (300) is connected to the upper arc-shaped expansion sac (302).

6. The mine disaster early warning intelligent robot based on space monitoring according to claim 5 is characterized by: An elastic strip capsule (400) is integrally formed inside the upper arc-shaped expansion bladder (302), and the elastic strip capsule (400) is filled with an electrorheological fluid. The electrorheological fluid is internally connected to a power-carrying wire, and the power-carrying wire is electrically connected to an external power source.

7. The mine disaster early warning intelligent robot based on space monitoring according to claim 1 is characterized by: The hinge seat (101) is provided with a placement groove on the outside, a rolling wheel (501) is rotatably connected to the placement groove via a rotating shaft, a driving motor (500) is fixedly connected to the placement groove, and an output shaft of the driving motor (500) is fixedly connected to the rotating shaft of the rolling wheel (501).

8. The mine disaster early warning intelligent robot based on space monitoring according to claim 1 is characterized by: A plurality of universal balls (600) are installed at the bottom of the hinge seat (101) and the bearing base (100).

9. The mine disaster early warning intelligent robot based on space monitoring according to claim 1 is characterized by: Two pigment delivery tubes (700) are installed on the bearing base (100), and the two pigment delivery tubes (700) are respectively connected to the two internal storage chambers.

10. The early warning method using the mine disaster early warning intelligent robot based on space monitoring as described in any one of claims 1 to 9 is characterized in that: The following steps are involved: S1. Fill different marking pigments into the two storage chambers respectively; S2, placing the bearing base (100) and its connecting seat (102) on one side of the inner wall of the tunnel, and placing a plurality of laminating rolling rollers (107) in contact with the inner wall of the tunnel; S3, continuously moving the bearing base (100) and the plurality of laminating rollers (107), so that the plurality of laminating rollers (107) move on the inner wall of the laneway, and when the laminating rollers (107) encounter a protrusion, the clamping block (106) connected to the laminating rollers (107) is pushed to one side by the external force in contact with the protrusion, thereby releasing the clamping of the outlet end of the first marking delivery pipe (109), and when the outlet end of the first marking delivery pipe (109) is no longer clamped, the marking pigment located inside the internal storage chamber is sprayed out under the internal pressure, thereby completing the raised marking; S4. When the moving fitting rolling roller (107) encounters the position of the concave gap, the elastic telescopic rod (114) will pull the connecting frame (104) closer to the position of the first marking delivery pipe (109), loosening the clamping connection with the second marking delivery pipe (110). When the outlet end of the second marking delivery pipe (110) is no longer clamped, the marking pigment located inside the internal storage chamber will be sprayed out under the internal pressure, completing the concave mark warning.

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