Coal spontaneous combustion area gas detection mobile robot system and detection method

Abstract

The invention discloses a coal spontaneous combustion area gas detection mobile robot system and a detection method, and relates to the technical field of coal mine gas detection.The coal spontaneous combustion area gas detection mobile robot system comprises a gas collection unit, and sealing units are arranged at the front end and the rear end of the gas collection unit; the sealing unit can define a sealed detection chamber in a to-be-detected area, and the gas collection unit is used for collecting gas in the detection chamber and detecting the oxygen concentration. According to the invention, the robot is used for realizing detection while sampling, and a worker does not need to enter a goaf to collect samples, so that the safety of personnel is guaranteed, the detection efficiency is improved, errors caused by external gas permeation pollution are greatly reduced, and gas at any position of the goaf can be collected and detected; the gas is collected in a mode that the air bag expands to construct the sealed cavity, the gas is prevented from being mixed into other areas of the goaf, and therefore the data detection precision can be improved, and errors between analysis of the division condition of the three zones of the goaf and the real distribution condition of the three zones of the goaf are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine gas detection, and particularly to a mobile robot system and a detection method for gas detection in the coal spontaneous combustion area. Background Art

[0002] The spontaneous combustion of residual coal in the gob is one of the main disasters in coal mines, posing a serious threat to coal mine production and the safety of underground workers. The "three zones" of spontaneous combustion of residual coal in the gob can be divided into a heat dissipation zone, an oxidation zone, and an asphyxiation zone according to the oxygen concentration inside the gob. The spontaneous combustion of residual coal mainly occurs in the oxidation zone, and the range of the oxidation zone directly affects the degree of danger of spontaneous combustion of residual coal. In order to reduce the probability of spontaneous combustion of residual coal in the gob, it is crucial to divide the "three zones" of spontaneous combustion of residual coal in the gob in detail and determine the range of the oxidation zone.

[0003] The existing detection methods for the "three zones" of spontaneous combustion of residual coal in the gob mainly lay protection steel pipes and bundle tubes at the open-off cut near the working face in the intake and return air headings in advance. The detection personnel carry air bags and air extraction devices to the sampling points, collect gas samples and then return to the ground for chemical analysis and gas component analysis through a gas chromatograph. According to the change of gas concentration at the measuring point over time, the distribution of the "three zones" in the gob is judged and analyzed. It has the following deficiencies: The bundle tubes are mostly arranged in the two side roadways, and there is less gas monitoring in the middle area of the gob. If it is necessary to measure the gas in the middle of the gob, the number of bundle tubes needs to be increased and the quality of the protection steel pipes needs to be improved; The bundle tubes are far away and the monitoring period is long, and the dynamic change of the gas in the middle of the gob cannot be reflected in time; As the working face continues to advance, the pressure in the roadway gradually increases, and the surrounding rock of the roadway is prone to deformation and damage, making it difficult for personnel to enter.

[0004] In view of this, how to provide a gas detection device and a detection method for the coal spontaneous combustion area that can solve all or part of the above deficiencies is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a mobile robot system and a detection method for gas detection in the coal spontaneous combustion area to solve the problems existing in the prior art.

[0006] To achieve the above purpose, the present invention provides a mobile robot system for gas detection in the coal spontaneous combustion area, including:

[0007] A gas collection unit, internally provided with a gas analysis component;

[0008] A sealing unit, arranged at the front and rear ends of the gas collection unit. When the gas collection unit corresponds to the area to be measured, the sealing unit can form a closed detection chamber in the area to be measured, and the gas collection unit is used to collect the gas in the detection chamber and detect the oxygen concentration.

[0009] Further, it further includes a semi-circular pipe assembly, the semi-circular pipe assembly is arranged in the goaf of the coal mine, a moving assembly is arranged on the gas collection unit and / or the sealing unit, the moving assembly can drive the gas collection unit and the sealing unit to move along the length direction of the semi-circular pipe assembly, and the sealing unit can enclose the detection chamber with the inner wall of the semi-circular pipe assembly in the area to be measured.

[0010] Further, the semi-circular pipe assembly includes: an inner pipe and an outer pipe that are concentric and spaced apart, the outer pipe is provided with a plurality of outer air holes penetrating through the inner and outer surfaces along the length direction, the inner pipe is provided with a plurality of inner air holes corresponding to the outer air holes, the gas collection unit and the sealing unit can move along the length direction of the inner pipe, and the sealing unit can enclose the detection chamber with the inner wall of the inner pipe.

[0011] Further, the sealing unit is arranged at the front and rear ends of the gas collection unit, and the sealing unit includes:

[0012] A first body, connected to the gas collection unit, and a first gas chamber is defined inside the first body;

[0013] A first intake pipe, one end of which is communicated with the first gas chamber, and the other end extends outward in a direction away from the gas collection unit, and a first two-way air pump is arranged on the first intake pipe;

[0014] A first outlet pipe, one end of which is communicated with the first gas chamber, and the other end is communicated with an airbag; a first electric valve is arranged on the first outlet pipe near the first gas chamber, a second electric valve is arranged near the airbag, and a second two-way air pump is arranged on the first outlet pipe between the first electric valve and the second electric valve; the airbag is arranged outside the first body;

[0015] The first gas chamber can convey gas to the airbag and cause the airbag to expand outward until it contacts the inner wall of the inner pipe, and after the airbag expands, it seals the inner pipe, and the inner wall of the inner pipe corresponding to the gas collection unit and the airbag enclose the detection chamber.

[0016] Further, the gas collection unit includes:

[0017] A second body, connected to the first body through a connecting piece, a second gas chamber is defined inside the second body, and the gas analysis component is arranged in the second gas chamber, which includes a laser oxygen sensor and an infrared sensor;

[0018] A second intake pipe, one end of which is communicated with the second gas chamber, and the other end extends outward, and a first air pump is arranged on the second intake pipe;

[0019] The second air outlet pipe, one end of which is communicated with the second gas chamber and the other end extends to the outside, is provided with a second air pump.

[0020] Further, the moving component includes a driving wheel and a driven wheel. The driving wheel is driven by a motor, the driven wheel is in transmission connection with the driving wheel, the driving wheel and the driven wheel are respectively arranged on the upper and lower sides of the second body and both the driving wheel and the driven wheel are in contact with the inner wall of the inner pipe.

[0021] Further, the closing unit arranged at the front end of the gas collection unit is a head unit, and the closing unit arranged at the rear end of the gas collection unit is a tail unit. An RFID reader is arranged on the head unit. A plurality of RFID positioning tags are arranged along the length direction of the semi-circular pipe assembly. The RFID reader and the moving component are both in communication connection with the control center. When the RFID reader corresponds to the RFID positioning tag, the RFID reader sends a signal to the control center, and the control center controls the moving component to stop.

[0022] Further, a first pressure sensor is arranged in the airbag, and a second pressure sensor is arranged in the first gas chamber.

[0023] The present invention also provides a method for detecting gas in a coal spontaneous combustion area, which applies the mobile robot system for detecting gas in a coal spontaneous combustion area and includes the following steps:

[0024] S1: In a goaf of a coal mine, a plurality of RFID positioning tags are arranged along the length direction of the semi-circular pipe assembly and numbered in sequence;

[0025] S2: The moving component drives the gas collection unit and the closing unit to move along the length direction of the semi-circular pipe assembly. When the RFID reader on the head unit corresponds to the first RFID positioning tag, the RFID reader sends a signal to the control center, and the control center controls the moving component to stop;

[0026] S3: Open the first two-way air pump, close the first electric valve, inflate the first gas chamber until the preset air pressure is reached, and then close the first two-way air pump;

[0027] S4: Open the first electric valve and the second electric valve. The gas in the first gas chamber is sent into the airbag through the second two-way air pump. The airbag expands outwards until it is in contact with the inner wall of the inner pipe. When the airbag reaches the preset air pressure, close the second electric valve. After the airbag expands, a closed detection chamber is formed by the inner wall of the inner pipe corresponding to the gas collection unit.

[0028] S5: Turn on the first air pump, turn off the second air pump, suck the gas in the detection chamber into the second gas chamber, and detect the oxygen concentration through the laser oxygen sensor and the infrared sensor; after the detection, turn on the second air pump, turn off the first air pump, and discharge the gas in the second gas chamber;

[0029] S6: Open the first electric valve, the second electric valve, the first two-way air pump and the second two-way air pump, switch the flow direction of the first two-way air pump and the second two-way air pump, discharge the gas in the airbag and switch the flow direction to the initial state, and the control center starts the moving component again, and the moving component drives the gas collection unit and the sealing unit to move along the length direction of the semi-annular tube component until the RFID reader corresponds to the next RFID positioning tag;

[0030] S7: Repeat steps S2-S6 to detect the oxygen concentration in the test area corresponding to each RFID positioning tag.

[0031] The present invention discloses the following technical effects:

[0032] 1. The mobile robot can move to the area to be tested and collect the oxygen concentration in the test gas. Compared with the existing technology, the robot can achieve instant sampling and testing, without the need for manual entry into the goaf to collect samples, which ensures the safety of personnel, improves the detection efficiency, greatly reduces the error caused by external gas infiltration and pollution, and can collect and test the gas at any position in the goaf.

[0033] 2. The gas in the area to be tested is accurately collected by constructing a sealed chamber through airbag expansion to prevent the collected gas from mixing with gas from other areas of the goaf, thereby improving data detection accuracy and reducing the error between the division of the three zones of the goaf obtained by analysis and the actual distribution of the three zones in the goaf.

[0034] 3. The closed unit uses a gas chamber to inflate the airbag, which can reduce the inflation time of the airbag and reduce energy consumption.

[0035] 4. The semi-annular pipe assembly consists of an inner pipe and an outer pipe. The inner pipe serves as the mobile channel for the gas collection unit and the closed unit and is used to enclose a closed detection chamber during detection. The outer pipe serves as a load-bearing structure to protect the normal operation of the equipment and avoid the influence of factors such as gravel in the goaf, thereby ensuring smooth flow of gas in the inner pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 is a schematic diagram of the semi-circular tube assembly structure;

[0039] Figure 3 is a schematic diagram of the working state of the present invention;

[0040] Among them, 1. Head first two-way air pump; 2. First air pump; 3. Second air pump; 4. Tail first two-way air pump; 5. Second two-way air pump; 6. First electric valve; 7. Second electric valve; 8. Airbag; 9. First gas chamber; 10. Second gas chamber; 11. Laser oxygen sensor; 12. Infrared sensor; 13. First pressure sensor; 14. Second pressure sensor; 15. Power module; 16. Communication module; 17. RFID reader; 18. Driving wheel; 19. Driven wheel; 20. Head unit; 21. Gas collection unit; 22. Tail unit; 23. RFID positioning tag; 24. RFID positioning base station; 25. Inner pipeline; 26. Outer pipeline. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0043] The embodiment of the present invention provides a gas detection mobile robot system for coal spontaneous combustion areas. A gas analysis component is arranged inside the gas collection unit 21; closing units are arranged at the front and rear ends of the gas collection unit 21. When the gas collection unit 21 corresponds to the area to be measured, the closing units can enclose a closed detection chamber in the area to be measured, and the gas collection unit 21 is used to collect the gas in the detection chamber and detect the oxygen concentration.

[0044] In this embodiment, it further includes a semi-circular tube assembly. The semi-circular tube assembly is arranged in the goaf of the coal mine. A moving component is arranged on the gas collection unit 21 and / or the closing unit. The moving component can drive the gas collection unit 21 and the closing unit to move along the length direction of the semi-circular tube assembly, and the closing unit can enclose a detection chamber between the area to be measured and the inner wall of the semi-circular tube assembly.

[0045] In this embodiment, the semi-circular pipe assembly includes: an inner pipe 25 and an outer pipe 26 that are concentric and spaced apart. The outer pipe 26 is provided with a plurality of outer air holes penetrating through the inner and outer surfaces along the length direction. The inner pipe 25 is provided with a plurality of inner air holes corresponding to the outer air holes. The gas collection unit 21 and the closing unit can move along the length direction of the inner pipe 25, and the closing unit can enclose a detection chamber with the inner wall of the inner pipe 25.

[0046] In this embodiment, the closing unit is arranged at the front and rear ends of the gas collection unit 21, and the closing unit includes:

[0047] A first body, connected to the gas collection unit 21, and a first gas chamber 9 is defined inside the first body;

[0048] A first intake pipe, one end of which is communicated with the first gas chamber 9, and the other end extends outward in a direction away from the gas collection unit 21. The first intake pipe is provided with a first two-way air pump;

[0049] A first outlet pipe, one end of which is communicated with the first gas chamber 9, and the other end is communicated with the airbag 8; a first electric valve 6 is arranged near the first gas chamber 9 on the first outlet pipe, and a second electric valve 7 is arranged near the airbag 8. A second two-way air pump 5 is arranged between the first electric valve 6 and the second electric valve 7 on the first outlet pipe; the airbag 8 is arranged outside the first body;

[0050] The first gas chamber 9 serves as a buffer chamber for gas transportation and can complete the inflation operation before the equipment works. When the airbag 8 needs to expand, it can quickly transport gas to the airbag 8 by relying on its own air pressure and cause the airbag 8 to expand outward until it contacts the inner wall of the inner pipe 25. After the airbag 8 expands, it blocks the inner pipe 25, and the inner wall of the inner pipe 25 corresponding to the airbag 8 and the gas collection unit 21 encloses a detection chamber. Therefore, the setting of the first gas chamber 9 can reduce the inflation and air extraction time of the airbag 8, thereby improving efficiency and reducing energy consumption.

[0051] In this embodiment, the gas collection unit 21 includes:

[0052] A second body, connected to the first body through a connecting member. The connecting member is flexible, making the overall structure more flexible to move in a snake-like shape. A second gas chamber 10 is defined inside the second body, and a gas analysis component is arranged in the second gas chamber 10, which includes a laser oxygen sensor 11 and an infrared sensor 12; when performing gas detection, it is necessary to detect and analyze oxygen, carbon monoxide, carbon dioxide, methane, ethane, ethylene, acetylene, etc. Among them, oxygen is the main gas to be detected. To avoid the interference of other gases, a laser oxygen sensor 11 is used to detect its concentration, and other gases are all detected by an infrared sensor, which has high precision, good stability and certain anti-interference ability.

[0053] The second intake pipe has one end connected to the second gas chamber 10 and the other end extending to the outside. A first air pump 2 is provided on the second intake pipe.

[0054] The second outlet pipe has one end connected to the second gas chamber 10 and the other end extending to the outside. A second air pump 3 is provided on the second outlet pipe.

[0055] In this embodiment, the moving assembly includes a driving wheel 18 and a driven wheel 19. The driving wheel 18 is driven by a motor, and the driven wheel 19 is in transmission connection with the driving wheel 18. The driving wheel 18 and the driven wheel 19 are respectively arranged on the upper and lower sides of the second body, and both the driving wheel 18 and the driven wheel 19 are in contact with the inner wall of the inner pipe 25.

[0056] In this embodiment, the closing unit provided at the front end of the gas collection unit 21 is the head unit 20, and the closing unit provided at the rear end of the gas collection unit 21 is the tail unit 22. The head unit 20 and the tail unit 22 have basically the same structure, except that an RFID reader 17 is further provided on the head unit 20. A plurality of RFID positioning tags 23 are arranged along the length direction of the semi-circular pipe assembly. The RFID reader 17 and the moving assembly are both in communication connection with the control center. When the RFID reader 17 corresponds to the RFID positioning tag 23, the RFID reader 17 sends a signal to the control center, and the control center controls the moving assembly to stop. The specific position of the detection area can be accurately grasped through the RFID reader 17 and the RFID positioning tag 23. The RFID positioning base station 24 is arranged near the entrance of the semi-circular pipe and at the roadway entrance. The control center is set on the ground, and information interaction with the robot is realized through the communication module 16. A tree-shaped information network is formed among the control center, the robot, and the area to be measured. The staff can view the gas information collected by the robot at any straight-line position perpendicular to the advancing direction of the goaf through the control center. In this embodiment, the first two-way air pump on the head unit 20 is set as the head first two-way air pump 1, and the first two-way air pump on the tail unit 22 is set as the tail first two-way air pump 4.

[0057] In this embodiment, a power module 15 is provided on the first body of both the head unit 20 and the tail unit 22. The power module 15 is used to provide power to all air pumps, electric valves, and the moving assembly. A communication module 16 is provided on the second body of the gas collection unit 21. The communication module 16 is used to realize communication connection and transmission of necessary signals between the control center and all air pumps, electric valves, the moving assembly, and the power module 15.

[0058] In this embodiment, a first pressure sensor 13 is disposed inside the airbag 8. The first pressure sensor 13 is generally located at the junction of the airbag 8 and the first body of the closing unit. A second pressure sensor 14 is disposed inside the first gas chamber 9. The first pressure sensor 13 is used to detect the air pressure of the airbag 8, and the second pressure sensor 14 is used to detect the air pressure of the first gas chamber 9. The first pressure sensor 13 and the second pressure sensor 14 are communicatively connected to the control center through the communication module 16. By setting the preset pressures of the airbag 8 and the first gas chamber 9 and comparing the real-time air pressures fed back by the first pressure sensor 13 and the second pressure sensor 14, it can be determined whether the airbag 8 and the first gas chamber 9 reach the preset state.

[0059] The present invention also provides a method for detecting gases in a coal spontaneous combustion area, which is applied to a mobile robot system for detecting gases in a coal spontaneous combustion area, and includes the following steps:

[0060] S1: In the goaf of a coal mine, a plurality of RFID positioning tags 23 are arranged along the length direction of the semi-circular pipe assembly and numbered in sequence;

[0061] S2: The moving assembly drives the gas collection unit 21 and the closing unit to move along the length direction of the semi-circular pipe assembly. When the RFID reader 17 on the head unit 20 corresponds to the first RFID positioning tag 23, the RFID reader 17 reads the signal sent by the RFID positioning tag 23, and the RFID reader 17 sends a signal to the control center, and the control center controls the moving assembly to stop;

[0062] S3: Open the two first two-way air pumps of the head unit 20 and the tail unit 22, close the first electric valve 6, and inflate the first gas chamber 9 until the preset air pressure is reached, and then close the first two-way air pump; it should be noted that the inflation operation of the first gas chamber 9 in step S3 can be performed before the detection, that is, the first gas chamber 9 reaches the preset air pressure first, and then the device is sent into the inner pipe body of the semi-circular pipe assembly;

[0063] S4: Open the first electric valve 6 and the second electric valve 7. The gas in the first gas chamber 9 is sent into the airbag 8 through the second two-way air pump 5 by its own air pressure. The airbag 8 expands outward until it contacts the inner wall of the inner pipe 25. When the airbag 8 reaches the preset air pressure, close the second electric valve 7; at this time, the inner pipe 25 at both ends of the gas collection unit 21 is completely blocked after the airbag 8 expands, and the inner walls of the two airbags 8 and the inner pipe 25 corresponding to the gas collection unit 21 enclose a closed detection chamber; it should be noted that even if step S3 is performed in real time, the gas sucked by the first gas chamber 9 is located at the front and rear ends of the area to be measured, so it will not affect the gas in the subsequent detection chamber from entering the second gas chamber 10;

[0064] S5: Turn on the first air pump 2, turn off the second air pump 3, suck the gas in the detection chamber into the second gas chamber 10, detect the oxygen concentration through the laser oxygen sensor 11 and the infrared sensor 12, and upload the detection data to the control center through the communication module 16; after the detection, turn on the second air pump 3, turn off the first air pump 2, and discharge the gas in the second gas chamber 10; the control center analyzes the detection data through the computer system to obtain the corresponding oxygen concentration data.

[0065] S6: Open the first electric valve 6, the second electric valve 7, the first two-way air pump 5, switch the flow direction of the first two-way air pump and the second two-way air pump 5, discharge the gas in the airbag 8 and switch the flow direction to the initial state, and the control center starts the moving component again, and the moving component drives the gas collection unit 21 and the sealing unit to move along the length direction of the semi-annular tube component until the RFID reader 17 corresponds to the next RFID positioning tag 23;

[0066] S7: Repeat steps S2-S6 to detect oxygen concentration in the test area corresponding to each RFID positioning tag 23. The control center summarizes and stores all the data finally obtained according to the time sequence and the number of the RFID positioning tag 23.

[0067] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0068] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A mobile robot system for detecting gas in coal spontaneous combustion areas, characterized in that: include: A gas collection unit (21) having a gas analysis component disposed therein; A closed unit is arranged at the front and rear ends of the gas collection unit (21); when the gas collection unit (21) corresponds to the area to be tested, the closed unit can enclose a closed detection chamber in the area to be tested; the gas collection unit (21) is used to collect gas in the detection chamber and detect oxygen concentration.

2. A coal spontaneous combustion area gas detection mobile robot system according to claim 1, characterized in that: It also includes a semi-annular pipe assembly, which is arranged in the coal mine goaf. A moving assembly is arranged on the gas collection unit (21) and / or the sealing unit. The moving assembly can drive the gas collection unit (21) and the sealing unit to move along the length direction of the semi-annular pipe assembly. The sealing unit can enclose the detection chamber with the inner wall of the semi-annular pipe assembly in the test area.

3. A coal spontaneous combustion area gas detection mobile robot system according to claim 2, characterized in that: The semi-annular pipe assembly comprises: an inner pipe (25) and an outer pipe (26) which are concentrically and spaced apart from each other; the outer pipe (26) is provided with a plurality of outer air holes penetrating the inner and outer surfaces along the length direction; the inner pipe (25) is provided with a plurality of inner air holes corresponding to the outer air holes; the gas collection unit (21) and the sealing unit are movable along the length direction of the inner pipe (25); and the sealing unit is able to enclose the detection chamber together with the inner wall of the inner pipe (25).

4. A coal spontaneous combustion area gas detection mobile robot system according to claim 3, characterized in that: The sealing unit is arranged at the front and rear ends of the gas collection unit (21), and the sealing unit comprises: A first body connected to the gas collection unit (21), wherein a first gas chamber (9) is defined inside the first body; a first air intake pipeline, one end of which is in communication with the first gas chamber (9) and the other end of which extends outward in a direction away from the gas collection unit (21), wherein the first air intake pipeline is provided with a first bidirectional air pump; A first air outlet pipe, one end of which is in communication with the first gas chamber (9) and the other end of which is in communication with the air bag (8); a first electric valve (6) is arranged near the first gas chamber (9) on the first air outlet pipe, a second electric valve (7) is arranged near the air bag (8), and a second bidirectional air pump (5) is arranged between the first electric valve (6) and the second electric valve (7); the air bag (8) is arranged outside the first body; The first gas chamber (9) is capable of conveying gas to the airbag (8) and causing the airbag (8) to expand outward until it contacts the inner wall of the inner pipe (25); the airbag (8) blocks the inner pipe (25) after expansion; the airbag (8) and the inner wall of the inner pipe (25) corresponding to the gas collection unit (21) form the detection chamber.

5. A coal spontaneous combustion area gas detection mobile robot system according to claim 4, characterized in that: The gas collection unit (21) comprises: A second body connected to the first body via a connecting piece, wherein a second gas chamber (10) is defined in the second body, and the gas analysis component is arranged in the second gas chamber (10), and comprises a laser oxygen sensor (11) and an infrared sensor (12); a second air inlet pipeline, one end of which is in communication with the second gas chamber (10) and the other end of which extends to the outside, wherein the second air inlet pipeline is provided with a first air pump (2); A second gas outlet pipeline has one end connected to the second gas chamber (10) and the other end extending to the outside, and the second gas outlet pipeline is provided with a second gas pump (3).

6. A coal spontaneous combustion area gas detection mobile robot system according to claim 5, characterized in that: The moving assembly comprises a driving wheel (18) and a driven wheel (19), wherein the driving wheel (18) is driven by a motor, and the driven wheel (19) is in transmission connection with the driving wheel (18), wherein the driving wheel (18) and the driven wheel (19) are respectively arranged on the upper and lower sides of the second body, and the driving wheel (18) and the driven wheel (19) are both connected to the inner wall of the inner pipe (25).

7. A coal spontaneous combustion area gas detection mobile robot system according to claim 6, characterized in that: The enclosed unit arranged at the front end of the gas collection unit (21) is a head unit (20), and the enclosed unit arranged at the rear end of the gas collection unit (21) is a tail unit (22). The head unit (20) is provided with an RFID reader (17). The semi-annular tube component is provided with a plurality of RFID positioning tags (23) along the length direction. The RFID reader (17) and the moving component are both connected to a control center for communication. When the RFID reader (17) corresponds to the RFID positioning tag (23), the RFID reader (17) sends a signal to the control center, and the control center controls the moving component to stop.

8. A coal spontaneous combustion area gas detection mobile robot system according to claim 7, characterized in that: A first pressure sensor (13) is arranged in the airbag (8), and a second pressure sensor (14) is arranged in the first gas chamber (9).

9. A method for detecting gas in a coal spontaneous combustion area, characterized in that: The coal spontaneous combustion area gas detection mobile robot system according to claim 8 comprises the following steps: S1: In the coal mine goaf, a plurality of RFID positioning tags (23) are arranged along the length direction of the semi-annular pipe assembly and numbered in sequence; S2: The moving assembly drives the gas collection unit (21) and the sealing unit to move along the length direction of the semi-circular tube assembly. When the RFID reader (17) on the head unit (20) corresponds to the first RFID positioning tag (23), the RFID reader (17) sends a signal to the control center, and the control center controls the moving assembly to stop; S3: opening the first bidirectional air pump, closing the first electric valve (6), filling the first gas chamber (9) with air until a preset air pressure is reached, and then closing the first bidirectional air pump; S4: the first electric valve (6) and the second electric valve (7) are opened, the gas in the first gas chamber (9) is sent into the airbag (8) through the second bidirectional air pump (5), the airbag (8) expands outwards until it contacts the inner wall of the inner pipe (25), and when the airbag (8) reaches a preset air pressure, the second electric valve (7) is closed, and after the airbag (8) expands, the inner wall of the inner pipe (25) corresponding to the gas collection unit (21) forms a closed detection chamber; S5: turning on the first air pump (2), turning off the second air pump (3), sucking the gas in the detection chamber into the second gas chamber (10), and detecting the oxygen concentration by means of the laser oxygen sensor (11) and the infrared sensor (12); after the detection, turning on the second air pump (3), turning off the first air pump (2), and discharging the gas in the second gas chamber (10); S6: Open the first electric valve (6), the second electric valve (7), the first two-way air pump and the second two-way air pump (5), switch the flow direction of the first two-way air pump and the second two-way air pump (5), discharge the gas in the airbag (8), and then switch the flow direction to the initial state. The control center starts the moving component again, and the moving component drives the gas collection unit (21) and the sealing unit to move along the length direction of the semi-circular tube component until the RFID reader (17) corresponds to the next RFID positioning tag (23); S7: Repeat steps S2-S6 to detect the oxygen concentration in the test area corresponding to each RFID positioning tag (23).

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