A remote control system for cleaning coal bunkers in mines

Abstract

This invention relates to the field of remote control system technology, specifically a remote control system for cleaning coal bunkers in mines. It includes an intelligent monitoring unit with several sets of intelligent monitoring devices arranged around the cleaning equipment to acquire and transmit real-time images of the coal bunker environment; an environmental monitoring module to monitor and analyze the environmental conditions within the coal bunker to determine the operating status; an early warning module to issue warnings based on received warning signals and, upon warning, issue a stop command to control the cleaning equipment to cease operation; an environmental identification module to extract environmental images from the intelligent monitoring unit and analyze them to determine the areas requiring cleaning; and a cleaning simulation module to derive a corresponding cleaning plan based on the analysis of the cleaning areas. This invention enables operators to remotely control the cleaning process, helping to avoid hazardous environments. It also provides early warnings for abnormal conditions within the coal bunker and promptly controls the cleaning equipment to stop operation, reducing the risk of accidental damage to the cleaning equipment.

Description

Technical Field

[0001] This invention relates to the field of remote control system technology, and more specifically, to a remote control system for cleaning coal bunkers in mines. Background Technology

[0002] Coal bunkers are structures used in coal mines for short-term coal storage. They are mainly used for temporary coal storage to facilitate coal transportation and loading. However, in actual operation, due to the physical properties of coal and environmental factors, coal may accumulate in coal bunkers over long-term use, leading to blockages and accumulation problems that affect the normal transportation and storage of coal. Therefore, it is essential to regularly dredge and clean the coal bunkers.

[0003] During the existing coal bunker cleaning process, poor visibility, harsh environment, and serious pollution inside the coal bunker bring inconvenience and safety hazards to the cleaning site operation. At the same time, factors such as coal dust can also easily cause harm to the health of on-site workers. Therefore, how to effectively improve this situation and ensure safe, accurate and effective operation is a common concern of the coal machinery industry.

[0004] Based on this, a remote control system for cleaning coal bunkers in mines is proposed. Summary of the Invention

[0005] The main objective of this invention is to provide a remote control system for cleaning coal bunkers in mines, so as to overcome the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides a remote control system for cleaning coal bunkers in mines, including an intelligent monitoring unit, an environmental monitoring module, an early warning module, and a wireless transmission module, and also includes an environmental identification module and a cleaning simulation module;

[0007] The environmental recognition module is used to extract environmental images inside the coal bunker from the intelligent monitoring unit, extract the constituent lines from the environmental images, input the constituent lines into the computer and convert them according to a preset ratio, construct a final stereoscopic image corresponding to the environmental image, set a reference environmental image inside the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into the computer and convert them according to a preset ratio, construct an initial stereoscopic image corresponding to the reference environmental image, select the same center point and keep the top level with the final stereoscopic image to overlap, form a cleaning reference image, compare the cleaning reference image with the initial stereoscopic image, select the comparison error area and mark it as the first cleaning area, and transmit it to the cleaning simulation module;

[0008] The cleanup simulation module sets several cleanup ranges based on a first cleanup area and marks them with numbers. It matches the first cleanup area with the several cleanup ranges to obtain several second cleanup areas. It acquires environmental feature data of several second cleanup areas to form a cleanup index. It sets cleanup parameters for the corresponding environmental feature data and sums them to form a cleanup index. It matches the cleanup index with the cleanup index to obtain a matching index. It sets a matching index threshold. If the matching index is greater than the matching threshold, it indicates a successful match. The cleanup index is substituted into the computer and converted according to a preset ratio to obtain the corresponding cleanup plan. If the matching index is less than the matching threshold, it indicates a failed match. The cleanup parameters are reset and the cleanup index is calculated a second time.

[0009] As a further improvement to the present invention, the matching index is processed and analyzed, and the specific process is as follows:

[0010] The environmental characteristic data is analyzed to obtain the cleaning location, area and thickness data. After normalization, the data is entered into the formula QL'=WZ×β1+MJ×β2+HD×β3 to obtain the cleaning index QL', where WZ, MJ and HD are the values ​​of cleaning location, area and thickness, respectively, and β1, β2 and β3 are the set weight factors.

[0011] The cleaning parameters are analyzed to obtain the cleaning angle, path and force data. After normalization, the data are entered into the formula QL=JD×δ1+LJ×δ2+LD×δ3 to obtain the cleaning index QL, where JD, LJ and LD are the values ​​of cleaning angle, path and force, respectively, and δ1, δ2 and δ3 are the set weight factors.

[0012] The matching index PZ is obtained using the formula PZ = |QL' - QL|. The matching index threshold PZ' is set, and the matching index PZ is compared with the matching index threshold PZ'. If PZ > PZ', the cleaning angle, path, and intensity set by the cleaning index are converted according to the preset ratio to generate a cleaning plan. If PZ < PZ', the cleaning index is reset.

[0013] As a further improvement to the present invention, the cleaning position and cleaning angle are processed, and the specific process is as follows:

[0014] A cylindrical coordinate system is constructed with the initial 3D image's internal diameter as the horizontal axis, the initial 3D image's internal height as the vertical axis, and the initial 3D image's internal radius as the polar axis. Several second cleaning areas are used as coordinate points 1 to obtain the cleaning position ranges corresponding to these second cleaning areas. The vertex and bottom point of each second cleaning area range are selected as position 1 and position 2, respectively. The cleaning equipment is used as coordinate point 2 to obtain the position corresponding to the cleaning equipment and is designated as position 3. Position 1 and position 3 are set as endpoints and connected by a straight line to obtain angle line 1. Position 2 and position 3 are set as endpoints and connected by a straight line to obtain angle line 2. When both angle line 1 and angle line 2 have position 3 as their common endpoint, the angle between the other ends of angle line 1 and angle line 2 is selected as the cleaning angle.

[0015] As a further improvement of the present invention, the cleaning area and cleaning path are processed, and the specific process is as follows:

[0016] Using the cleaning location range corresponding to the second cleaning area as the cleaning area, connect the endpoints of angle line one and angle line two with a rectangular line, and set a center line at the center point of the rectangular line. Mark the rectangular line as cleaning path one, and lay cleaning path one horizontally parallel to fill the cleaning area of ​​the second cleaning area. Cut off the rectangular line that exceeds the cleaning area, and select the center line of each rectangular line to connect to obtain the cleaning path.

[0017] As a further improvement to the present invention, the cleaning thickness and cleaning force are processed, and the specific process is as follows:

[0018] A two-dimensional coordinate graph is constructed with the internal height of the initial 3D image as the horizontal axis and the internal diameter of the initial 3D image as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, and each thickness range corresponds to a cleaning intensity. All thicknesses are matched with several thickness ranges to obtain the corresponding cleaning intensity.

[0019] As a further improvement of the present invention, the environmental monitoring module is specifically analyzed as follows:

[0020] Real-time monitoring of environmental data within the coal bunker is conducted to obtain temperature, humidity, and gas concentration data. After normalization, these data are input into the formula P1=WD×γ1+SD×γ2+QT×γ3 to obtain the environmental index P1. WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively, while γ1, γ2, and γ3 represent the set proportionality coefficient factors.

[0021] Set temperature, humidity and gas concentration thresholds, normalize them and enter them into the formula P2=WD'×γ1+SD'×γ2+QT'×γ3 to obtain the environmental preset index P2. WD', SD', and QT' represent the thresholds for temperature, humidity and gas concentration, respectively. Select the maximum to minimum values ​​within the influence range of the environmental preset index P2 to form the environmental preset index threshold interval (-P2, P2, +P2).

[0022] The environmental index P1 is matched with the preset environmental index threshold range (-P2, P2, +P2). If P1 ∈ (-P2, P2, +P2), it indicates that the environmental data inside the coal bunker is normal, and cleaning operations can proceed normally. If the value is greater than +P2, it indicates that the environmental data inside the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module.

[0023] As a further improvement to the present invention, it also includes:

[0024] The intelligent monitoring unit, with the cleaning equipment as the main body, is equipped with several sets of intelligent monitoring devices to collect and transmit images of the real-time environment inside the coal bunker;

[0025] The early warning module issues warnings based on received warning signals and sends a stop command to control the cleaning equipment to stop operating when a warning is issued.

[0026] The wireless transmission module is used to control the wireless signal transmission between the device and the remote control.

[0027] The beneficial effects of this invention are:

[0028] This invention acquires images of the internal environment of a coal bunker, analyzes the images to generate corresponding cleaning plans, and controls cleaning equipment to carry out cleaning operations based on the cleaning plans. This enables operators to remotely control the cleaning process, which helps to avoid dangerous environments, reduce safety hazards during the cleaning process, improve the working environment, and reduce physical injury to on-site workers.

[0029] This invention monitors the real-time environmental conditions inside the coal bunker and can promptly control the cleaning equipment to stop operating in case of abnormal environmental conditions, so as to prevent the environmental abnormalities from continuing to deteriorate as cleaning progresses. It also provides timely warnings to remind on-site personnel to adjust the environment inside the coal bunker, which helps to reduce accidental damage to the cleaning equipment and avoid damage to the coal bunker. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0031] Figure 1This is a system schematic diagram of the present invention. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0036] Please see Figure 1 As shown, a remote control system for cleaning coal bunkers in mines includes an intelligent monitoring unit, an environmental monitoring module, an early warning module, a wireless transmission module, an environmental identification module, and a cleaning simulation module.

[0037] The environmental recognition module is used to extract environmental images inside the coal bunker from the intelligent monitoring unit, extract the constituent lines from the environmental images, input the constituent lines into the computer and convert them according to a preset ratio, construct a final stereoscopic image corresponding to the environmental image, set a reference environmental image inside the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into the computer and convert them according to a preset ratio, construct an initial stereoscopic image corresponding to the reference environmental image, select the same center point and keep the top level with the final stereoscopic image to overlap, form a cleaning reference image, compare the cleaning reference image with the initial stereoscopic image, select the comparison error area and mark it as the first cleaning area, and transmit it to the cleaning simulation module;

[0038] The specific analysis is as follows: the extracted environmental image inside the coal bunker is converted into a line composition form, and the corresponding environmental image is reduced according to a preset ratio to construct a final stereoscopic image. The environmental image of the coal bunker when it is put into use is extracted, converted into a line composition form, and the corresponding environmental image is reduced according to a preset ratio to construct an initial stereoscopic image. The center point of the top of the final stereoscopic image and the initial stereoscopic image are selected to coincide. The part of the final stereoscopic image that exceeds the initial stereoscopic image is the error area, which is the area that needs to be cleaned by the cleaning equipment and is marked as the first cleaning area.

[0039] The cleanup simulation module sets several cleanup ranges based on the first cleanup area and marks them with numbers. It matches the first cleanup area with the several cleanup ranges to obtain several second cleanup areas. It acquires environmental feature data of several second cleanup areas to form a cleanup index. It sets cleanup parameters for the corresponding environmental feature data and sums them to form a cleanup index. It matches the cleanup index with the cleanup index to obtain a matching index. It sets a matching index threshold. If the matching index is greater than the matching threshold, it indicates that the matching is successful. It substitutes the cleanup index into the computer and converts it according to a preset ratio to obtain the corresponding cleanup plan. If the matching index is less than the matching threshold, it indicates that the matching is unsuccessful. It resets the cleanup parameters and recalculates the cleanup index.

[0040] The specific analysis is as follows: Based on the first cleaning area, the staff divided it into several cleaning ranges and marked them according to the division order, such as ①, ②, ... The first cleaning area was matched with several cleaning ranges to complete the cleaning division of the first cleaning area and obtain several second cleaning areas. Combined with the number, the second cleaning area ①, second cleaning area ②, ... were obtained. Each numbered second cleaning area has its own environmental characteristic data.

[0041] The matching index is processed and analyzed, and the specific process is as follows:

[0042] The environmental characteristic data is analyzed to obtain the cleaning location, area and thickness data. After normalization, the data is entered into the formula QL'=WZ×β1+MJ×β2+HD×β3 to obtain the cleaning index QL', where WZ, MJ and HD are the values ​​of cleaning location, area and thickness, respectively, and β1, β2 and β3 are the set weight factors.

[0043] The cleaning parameters are analyzed to obtain the cleaning angle, path and force data. After normalization, the data are entered into the formula QL=JD×δ1+LJ×δ2+LD×δ3 to obtain the cleaning index QL, where JD, LJ and LD are the values ​​of cleaning angle, path and force, respectively, and δ1, δ2 and δ3 are the set weight factors.

[0044] The matching index PZ is obtained by formula PZ = |QL' - QL|. The matching index threshold PZ' is set. The matching index PZ is compared with the matching index threshold PZ'. If PZ > PZ', the cleaning angle, path and intensity set by the cleaning index are converted according to the preset ratio to generate a cleaning plan. If PZ < PZ', the cleaning index is reset.

[0045] For example: If PZ > PZ', the current cleaning plan is as follows: enlarge the cleaning angle, path and force according to the preset ratio to obtain the actual cleaning data required at the cleaning site. According to the cleaning data, control the angle between the cleaning structure on the cleaning equipment and the second cleaning area to be equal to the cleaning angle, and move it to the starting point of the cleaning path. According to the value of the cleaning force, control the cleaning structure to be inserted into the starting point of the cleaning path and move and clean according to the cleaning path.

[0046] The cleaning location and angle are adjusted as follows:

[0047] A cylindrical coordinate system is constructed with the initial 3D image's internal diameter as the horizontal axis, the initial 3D image's internal height as the vertical axis, and the initial 3D image's internal radius as the polar axis. Several second cleaning areas are used as coordinate points 1 to obtain the cleaning position ranges corresponding to the second cleaning areas. The vertex and bottom point of the second cleaning area range are selected as position 1 and position 2, respectively. The cleaning equipment is used as coordinate point 2 to obtain the position corresponding to the cleaning equipment and set it as position 3. Position 1 and position 3 are set as endpoints and connected by a straight line to obtain angle line 1. Position 2 and position 3 are set as endpoints and connected by a straight line to obtain angle line 2. When both angle line 1 and angle line 2 set position 3 as a common endpoint, the angle between the other ends of angle line 1 and angle line 2 is selected as the cleaning angle.

[0048] The cleaning area and cleaning path are processed as follows:

[0049] Using the cleaning location range corresponding to the second cleaning area as the cleaning area, connect the endpoints of angle line one and angle line two with a rectangular line, and set a center line at the center point of the rectangular line. Mark the rectangular line as cleaning path one, and lay cleaning path one horizontally parallel to fill the cleaning area of ​​the second cleaning area. Cut off the rectangular line that exceeds the cleaning area, and select the center line of each rectangular line to connect to obtain the cleaning path.

[0050] The cleaning thickness and cleaning intensity are adjusted, and the specific process is as follows:

[0051] A two-dimensional coordinate graph is constructed with the internal height of the initial 3D image as the horizontal axis and the internal diameter of the initial 3D image as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, and each thickness range corresponds to a cleaning intensity. All thicknesses are matched with several thickness ranges to obtain the corresponding cleaning intensity.

[0052] The environmental monitoring module is analyzed in detail as follows:

[0053] Real-time monitoring of environmental data within the coal bunker is conducted to obtain temperature, humidity, and gas concentration data. After normalization, these data are input into the formula P1=WD×γ1+SD×γ2+QT×γ3 to obtain the environmental index P1. WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively, while γ1, γ2, and γ3 represent the set proportionality coefficient factors.

[0054] Set temperature, humidity and gas concentration thresholds, normalize them and enter them into the formula P2=WD'×γ1+SD'×γ2+QT'×γ3 to obtain the environmental preset index P2. WD', SD', and QT' represent the thresholds for temperature, humidity and gas concentration, respectively. Select the maximum to minimum values ​​within the influence range of the environmental preset index P2 to form the environmental preset index threshold interval (-P2, P2, +P2).

[0055] The environmental index P1 is matched with the preset environmental index threshold range (-P2, P2, +P2). If P1 ∈ (-P2, P2, +P2), it indicates that the environmental data inside the coal bunker is normal, and cleaning operations can proceed normally. If the value is greater than +P2, it indicates that the environmental data inside the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module.

[0056] For example, the specific risk factors associated with abnormal environmental data within coal bunkers include:

[0057] S1. If the humidity inside the coal bunker is too high, there is an abnormal humidity, which can increase the risk of spontaneous combustion of coal and lead to a fire accident in the coal bunker.

[0058] S2. If the temperature inside the coal bunker is too high or too low, there is a temperature anomaly. Too high a temperature can increase the risk of spontaneous combustion of the coal, while too low a temperature can cause the coal to harden, increasing the difficulty of cleaning.

[0059] S3. If the gas concentration in the coal bunker is too high, such as high oxygen concentration, it will increase the risk of spontaneous combustion of coal. High methane concentration may pose an explosion risk when exposed to open flame or electrical spark.

[0060] The intelligent monitoring unit, with the cleaning equipment as the main body, is equipped with several sets of intelligent monitoring devices to collect and transmit images of the real-time environment inside the coal bunker;

[0061] By setting up several sets of high-definition cameras and light source components on the cleaning equipment, images of the inside of the coal bunker are collected in real time and transmitted.

[0062] The early warning module issues warnings based on received warning signals and sends a stop command to control the cleaning equipment to stop operating when a warning is issued.

[0063] The wireless transmission module is used to control the wireless signal transmission between the device and the remote control.

[0064] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A remote control system for cleaning coal bunkers in mines, comprising an intelligent monitoring unit, an environmental monitoring module, an early warning module, and a wireless transmission module, characterized in that, It also includes an environment identification module and a cleaning simulation module; The environmental recognition module is used to extract environmental images inside the coal bunker from the intelligent monitoring unit, extract the constituent lines from the environmental images, input the constituent lines into the computer and convert them according to a preset ratio, construct a final stereoscopic image corresponding to the environmental image, set a reference environmental image inside the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into the computer and convert them according to a preset ratio, construct an initial stereoscopic image corresponding to the reference environmental image, select the same center point and keep the top level with the final stereoscopic image to overlap, form a cleaning reference image, compare the cleaning reference image with the initial stereoscopic image, select the comparison error area and mark it as the first cleaning area, and transmit it to the cleaning simulation module; The cleanup simulation module sets several cleanup ranges based on a first cleanup area and marks them with numbers. It matches the first cleanup area with these ranges to obtain several second cleanup areas. It acquires environmental characteristic data for these second cleanup areas to form a cleanup index. It sets cleanup parameters for the corresponding environmental characteristic data and sums them to calculate the cleanup index. It matches the cleanup index with the cleanup index to obtain a matching index. It sets a matching index threshold. If the matching index is greater than the threshold, the match is successful. The cleanup index is then substituted into the computer and converted according to a preset ratio to obtain the corresponding cleanup plan. If the matching index is less than the threshold, the match fails, and the cleanup parameters are reset for a second calculation of the cleanup index. The matching index is processed and analyzed, and the specific process is as follows: The environmental characteristic data is analyzed to obtain the cleaning location, area, and thickness data, which are then normalized and input into the formula. Obtain the cleanup index WZ, MJ, and HD represent the values ​​for the cleaning location, area, and thickness, respectively. These are respectively represented as the set weighting factors; The cleaning parameters are analyzed to obtain cleaning angle, path, and force data, which are then normalized and input into the formula. Get cleanup index JD, LJ, and LD represent the values ​​for cleaning angle, path, and force, respectively. These are respectively represented as the set weighting factors; Through formula Obtain the matching index PZ, and set the matching index threshold. The matching index PZ and the matching index threshold are compared. Perform a comparison, if The cleaning angle, path, and intensity set by the cleaning index will be converted according to a preset ratio to generate a cleaning plan. If so, then reset the cleanup index.

2. The remote control system for cleaning coal bunkers in mines according to claim 1, characterized in that, The cleaning location and angle are adjusted as follows: A cylindrical coordinate system is constructed with the initial 3D image's internal diameter as the horizontal axis, the initial 3D image's internal height as the vertical axis, and the initial 3D image's internal radius as the polar axis. Several second cleaning areas are used as coordinate points 1 to obtain the cleaning position ranges corresponding to these second cleaning areas. The vertex and bottom point of each second cleaning area range are selected as position 1 and position 2, respectively. The cleaning equipment is used as coordinate point 2 to obtain the position corresponding to the cleaning equipment and is designated as position 3. Position 1 and position 3 are set as endpoints and connected by a straight line to obtain angle line 1. Position 2 and position 3 are set as endpoints and connected by a straight line to obtain angle line 2. When both angle line 1 and angle line 2 have position 3 as their common endpoint, the angle between the other ends of angle line 1 and angle line 2 is selected as the cleaning angle.

3. The remote control system for cleaning coal bunkers in mines according to claim 1, characterized in that, The cleaning area and cleaning path are processed as follows: Using the cleaning location range corresponding to the second cleaning area as the cleaning area, connect the endpoints of angle line one and angle line two with a rectangular line, and set a center line at the center point of the rectangular line. Mark the rectangular line as cleaning path one, and lay cleaning path one horizontally parallel to fill the cleaning area of ​​the second cleaning area. Cut off the rectangular line that exceeds the cleaning area, and select the center line of each rectangular line to connect to obtain the cleaning path.

4. The remote control system for cleaning coal bunkers in mines according to claim 1, characterized in that, The cleaning thickness and cleaning intensity are adjusted, and the specific process is as follows: A two-dimensional coordinate graph is constructed with the internal height of the initial 3D image as the horizontal axis and the internal diameter of the initial 3D image as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, and each thickness range corresponds to a cleaning intensity. All thicknesses are matched with several thickness ranges to obtain the corresponding cleaning intensity.

5. A remote control system for cleaning coal bunkers in mines according to claim 1, characterized in that, The environmental monitoring module is analyzed in detail as follows: Real-time monitoring of the environmental data inside the coal bunker is performed to obtain temperature, humidity, and gas concentration data. After normalization, these data are then input into the formula. The environmental index P1 is obtained, and WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively. This is represented as the set scaling factor; Set thresholds for temperature, humidity, and gas concentration, normalize them, and then input them into the formula. The environmental preset index P2 is obtained. The threshold values ​​for temperature, humidity, and gas concentration are respectively represented by the maximum and minimum values ​​within the influence range of the environmental preset index P2, forming the environmental preset index threshold interval. ; The environmental index P1 is compared with the preset environmental index threshold range. Perform a match, if This indicates that the environmental data inside the coal bunker is normal, and cleaning operations can proceed normally. If this occurs, it indicates that the environmental data inside the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module.

6. A remote control system for cleaning coal bunkers in mines according to claim 1, characterized in that, Also includes: The intelligent monitoring unit, with the cleaning equipment as the main body, is equipped with several sets of intelligent monitoring devices to collect and transmit images of the real-time environment inside the coal bunker; The early warning module issues warnings based on received warning signals and sends a stop command to control the cleaning equipment to stop operating when a warning is issued. The wireless transmission module is used to control the wireless signal transmission between the device and the remote control.

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