Inspection method of coal mine intelligent inspection robot

Abstract

The invention discloses an inspection method of a coal mine intelligent inspection robot. The inspection method comprises the steps that S1, the intelligent inspection robot inspects; the host of the intelligent inspection robot is controlled to slide on the sliding rail through the driving system, and normal inspection is carried out on the environment in the mine; s2, performing fixed-distance inspection; the multi-stage detection system is started at intervals, the multi-stage steel wire hose assembly is controlled to descend to carry out gas detection on the environment near the ground, gas at different heights is detected at the same time, and the detection accuracy is guaranteed; s3, emergency treatment of harmful gas leakage; when harmful gas leakage is detected during cruising, a safe gas output system is started, safe gas is discharged, and harmful gas in the surrounding environment is diluted; s4, rescuing the trapped person; and S5, harmful gas leakage. The gas accumulated on the ground can be detected, gas detection can be carried out at different distances at the same time, the detection accuracy is improved, the situation of missing detection is avoided, and the safety coefficient is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and particularly relates to an inspection method for an intelligent coal mine inspection robot. Background Art

[0002] The fully-mechanized coal mining face underground in a coal mine is the first production site of coal, which is characterized by a narrow working space, many mechanical equipment, a poor visual environment, and a high temperature. It is a place where safety accidents in coal mine shafts frequently occur. During the long-term operation of numerous electromechanical equipment in coal mines, various faults are likely to occur, and there are many potential hazards. Therefore, it is very important to monitor key equipment in real time and deal with problems promptly.

[0003] Existing coal mine inspection robots conduct inspections and data collection by carrying equipment such as sensors and cameras. They can help people carry out monitoring, detection, and maintenance work in dangerous, high-temperature, high-pressure, toxic, and other environments. However, there are currently some problems;

[0004] 1) When detecting gases, the effective detection distance is limited. For gases located near the ground, the gas sensor cannot accurately monitor the gas concentration changes in this area, resulting in inaccurate detection data and missed detections. It is extremely easy to cause the diffusion of harmful gases, and it is impossible to promptly notify the staff to evacuate and take preventive measures, thus leading to the occurrence of dangerous accidents.

[0005] 2) In a mine, harmful gas leakage is likely to occur, such as gas leakage. The leakage of harmful gases can cause headaches, palpitations, vomiting, weakness in the limbs, fainting in people. In severe cases, it can cause convulsions, respiratory arrest, and even death. High-concentration gases such as gas and carbon dioxide can cause asphyxiating gas poisoning due to lack of oxygen in the human body, which can cause people to faint and suffocate to death quickly, which is very dangerous. When leakage occurs, people cannot quickly reach a safe place, threatening their own safety.

[0006] 3) Safety accidents are likely to occur underground in a mine, such as a collapse accident, resulting in people being trapped. When people are trapped, it is impossible to timely understand the situation of the trapped people, causing great difficulties for rescue.

[0007] Therefore, in view of the above technical problems, it is necessary to provide an inspection method for an intelligent coal mine inspection robot.

[0008] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0009] The purpose of the present invention is to provide an inspection method for an intelligent coal mine inspection robot, which can solve the above problems.

[0010] To achieve the above object, the technical solution provided by a specific embodiment of the present invention is as follows:

[0011] A coal mine intelligent inspection robot, the intelligent inspection robot is slidably connected to a slide rail, and the intelligent inspection robot includes a control host, an image acquisition system, a gas emergency rescue system, and a tracking robot. A drive system is provided on the control host, and the drive system is slidably connected to the slide rail; the image acquisition system is arranged on the bottom end face of the control host; the gas emergency rescue system includes a multi-stage detection system and a safety gas output system. A plurality of multi-stage steel wire hose assemblies are arranged on the multi-stage detection system, and gas detection sensors are connected to a plurality of the multi-stage steel wire hose assemblies. The lengths of the plurality of multi-stage hose detection components are all different. A plurality of the multi-stage steel wire hose assemblies are all connected to a lifting device. The safety gas output system is connected to the multi-stage detection system, and the safety gas output system outputs safety gas outward through the multi-stage detection system; the tracking robot is fixedly connected to one side end face of the control host, a communication module is arranged between the tracking robot and the control host, a detection module and a positioning module are arranged in the tracking robot, and the tracking robot descends and is fixed through a lifting component.

[0012] In one or more embodiments of the present invention, the lifting device includes a first sealing ring, a second sealing ring, and a third sealing ring. The first sealing ring, the second sealing ring, and the third sealing ring are all fixedly connected to the outer side end face of a drum-type gas cylinder. A pair of opposite end faces of the drum-type gas cylinder are both fixedly connected with a rotating shaft. The top end face of the drum-type gas cylinder is fixedly connected with a second connecting plate, and the second connecting plate is fixedly connected to the bottom end face of the control host. A protective shell is sleeved on the outer side end face of the drum-type gas cylinder, and a drive motor is fixedly connected to one side end face of the protective shell, and the drive motor is connected to the rotating shaft.

[0013] In one or more embodiments of the present invention, the multi-stage steel wire hose assembly includes a first steel wire hose, a second steel wire hose, and a third steel wire hose. A first gas detection sensor is fixedly connected to the bottom outer wall end face of the first steel wire hose. The first steel wire hose is connected to a first sealing ring. A second gas detection sensor is fixedly connected to the bottom outer wall end face of the second steel wire hose. The second steel wire hose is connected to a second sealing ring. A third gas detection sensor is fixedly connected to the bottom outer wall end face of the third steel wire hose. The third steel wire hose is connected to a third sealing ring. The first steel wire hose, the second steel wire hose, and the third steel wire hose are all wound around a drum-type gas cylinder. The lengths of the first steel wire hose, the second steel wire hose, and the third steel wire hose are all different. Connecting pipes are fixedly connected between the first sealing ring, the second sealing ring, the third sealing ring and the first steel wire hose, the second steel wire hose, the third steel wire hose. Multiple said connecting pipes are all connected to a second pipe, and multiple said second pipes are respectively located inside the first sealing ring, the second sealing ring, and the third sealing ring.

[0014] In one or more embodiments of the present invention, the safety gas output system includes a drum-type gas cylinder filled with safety gas. First limiting holes are provided on the end faces of the drum-type gas cylinder in contact with the first sealing ring, the second sealing ring, and the third sealing ring. Second limiting holes matching the first limiting holes are provided on the first sealing ring, the second sealing ring, and the third sealing ring. The first sealing ring, the second sealing ring, and the third sealing ring are hermetically connected to the outer end face of the drum-type gas cylinder. The first sealing ring, the second sealing ring, and the third sealing ring are all interconnected between the connecting pipes and the drum-type gas cylinder. Multiple said second pipes are all connected to electromagnetic valves. Limiting grooves are provided between the first sealing ring, the second sealing ring, the third sealing ring and the airbag, so that the safety gas enters the first sealing ring, the second sealing ring, and the third sealing ring and is transported out through the limiting grooves. A supply socket is connected to the outer end face of the drum-type gas cylinder.

[0015] In one or more embodiments of the present invention, airbags are provided on the inner end faces of the first sealing ring, the second sealing ring, and the third sealing ring. The airbags are filled with safety gas. A puncturing assembly is provided on one end face of the groove wall of the limiting groove. The puncturing assembly can puncture the airbag to release the safety gas. The safety gas is nitrogen or compressed air.

[0016] In one or more embodiments of the present invention, the puncturing assembly includes a protective tube, an automatic telescopic rod, and a puncturing needle. The bottom end face of the protective tube is fixedly connected to a base, and the base is fixedly connected to the inner wall end face of the first sealing ring, the second sealing ring, or the third sealing ring; the bottom end face of the automatic telescopic rod is fixedly connected to the base; the bottom end face of the puncturing needle is fixedly connected to a puncturing needle fixing seat, and the bottom end face of the puncturing needle fixing seat is fixedly connected to the top end face of the automatic telescopic rod. The height of the puncturing needle and the automatic telescopic rod in the initial state as a whole is lower than the height of the protective tube. Among them, both the puncturing needle and the automatic telescopic rod are located on the inner side end face of the protective tube.

[0017] In one or more embodiments of the present invention, the tracking robot includes a head protection plate, an image acquisition component, a control main board, and a legged walking mechanism. A magnetic charging seat is installed on one side end face of the control host, the control main board is plugged into the magnetic charging seat, a second iron sheet is provided on the magnetic charging seat, a magnet sheet is fixedly connected to the end face of the control main board in contact with the magnetic charging seat, and the magnet sheet is magnetically connected to the second iron sheet. The detection module includes a gas detection system and a thermal imager, and the positioning system includes an ultrasonic sensor.

[0018] In one or more embodiments of the present invention, the lifting assembly includes a reel, a first iron sheet, and an electromagnet. The reel is fixedly connected to one side end face of the control host. The reel includes a steel wire rope, and the bottom end face of the steel wire rope is fixedly connected to a first iron sheet. An electromagnet is provided on the end face of the control main board in contact with the first iron sheet, and the electromagnet is magnetically connected to the first iron sheet.

[0019] In one or more embodiments of the present invention, a shooting system is provided on one side end face of the control host. The shooting system includes a launching tube filled with rescue bullets. A second electromagnetic control valve is provided on the top end face of the rescue bullet, an impact sensor is provided on one side end face of the rescue bullet, and a first aid button is provided on one side end face of the rescue bullet.

[0020] An inspection method for a coal mine intelligent inspection robot includes the following steps;

[0021] S1. Inspection: The control host slides on the slide rail through the drive system to normally inspect the environment in the mine;

[0022] S2. Fixed-distance inspection: Set to start at regular intervals through a multi-level detection system, control the multi-level steel wire hose assembly to descend to detect the gas in the environment near the ground, and at the same time detect the gas at different heights to ensure the accuracy of the detection;

[0023] S3. Emergency treatment for harmful gas leakage: When harmful gas leakage is detected during cruising, start the safety gas output system to discharge safety gas and dilute the harmful gas in the surrounding environment.

[0024] S4. Relief for trapped personnel: When an accident occurs in the mine, the intelligent inspection robot can quickly reach the accident site. Lower the tracking robot to the vicinity of the accident site through the lifting component. The tracking robot quickly locates and determines the position of the trapped personnel, and establishes communication with the control host in a timely manner, transmitting the personnel situation back to the control host to help rescue personnel understand the situation of the trapped personnel and provide timely assistance.

[0025] S5. Assistance and relief when there is harmful gas leakage and personnel are trapped: When harmful gas leaks and personnel are trapped, threatening the safety of personnel, start the shooting system and use shooting rescue bullets. The rescue bullets reach the place where the personnel are trapped first, release safety gas, and dilute the harmful gas in the surrounding environment.

[0026] Compared with the prior art, the inspection method of a coal mine intelligent inspection robot of the present invention has the following benefits;

[0027] 1) The gas emergency rescue system is used to detect the gas accumulated on the ground, and gas detection can be carried out at different distances simultaneously, improving the accuracy of detection, without the situation of missed detection, and having high safety;

[0028] 2) When harmful gas leakage is detected, which poses a danger to the safety of personnel, safety gas is transported in a timely manner through the safety gas output system, reducing the accumulation of harmful gas in the air, alleviating the phenomenon of personnel poisoning, and winning time for subsequent medical treatment;

[0029] 3) The intelligent inspection robot can patrol the ground through the tracking robot, adapt to various complex terrains, quickly find the trapped personnel, help rescue personnel understand the situation of the trapped personnel in a timely manner, and provide timely assistance to them. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic structural diagram of a coal mine intelligent inspection robot in an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the first usage state of a coal mine intelligent inspection robot in an embodiment of the present invention;

[0033] Figure 3 is Figure 2 Schematic diagram of the structure at position A;

[0034] Figure 4 is Figure 3 Schematic diagram of the structure at position B;

[0035] Figure 5 Schematic diagram of the second usage state of an intelligent coal mine inspection robot in an embodiment of the present invention;

[0036] Figure 6 is Figure 5 Schematic diagram of the structure at position C;

[0037] Figure 7 is Figure 5 Schematic diagram of the structure at position D;

[0038] Figure 8 Schematic diagram of the usage state of a gas emergency rescue system;

[0039] Figure 9 is Figure 8 Schematic diagram of the structure at position E;

[0040] Figure 10 Cross-sectional view of a gas emergency rescue system;

[0041] Figure 11 Schematic diagram of the structure of a first sealing ring;

[0042] Figure 12 Cross-sectional view of a first sealing ring;

[0043] Figure 13 Schematic diagram of the usage state of a first sealing ring;

[0044] Figure 14 Schematic diagram of the structure of a tracking robot;

[0045] Figure 15 Schematic diagram of the structure of a rescue bullet;

[0046] Description of main reference numerals:

[0047] 1 - Intelligent inspection robot, 2 - Slide rail, 3 - Control host, 4 - Drive system, 5 - Image acquisition system, 6 - Shooting system, 601 - Launch tube, 7 - Gas emergency rescue system, 701 - Protective shell, 702 - Reel type gas cylinder, 7021 - First limit hole, 703 - Drive motor, 704 - First connecting plate, 705 - Rotating shaft, 706 - Second connecting plate, 8 - Tracking robot, 801 - Reeler, 802 - Magnetic charging seat, 803 - Control main board, 804 - Groove, 805 - First iron sheet, 806 - Steel wire rope, 807 - Image acquisition component, 808 - Head protection plate, 809 - Legged walking mechanism, 810 - Electromagnet, 9 - Multi-level detection system, 901 - First sealing ring, 9011 - First steel wire hose, 9012 - First gas detection sensor, 9013 - Connecting pipe, 902 - Second sealing ring, 9021 - Second steel wire hose, 9022 - Second gas detection sensor, 903 - Third sealing ring, 9031 - Third steel wire hose, 9032 - Third gas detection sensor, 904 - Limit groove, 10 - Piercing component, 1001 - Base, 1002 - Protective tube, 1003 - Automatic telescopic rod, 1004 - Needle fixing seat, 1005 - Needle, 11 - Airbag, 12 - Rescue bullet, 1201 - Second electromagnetic control valve, 1202 - First aid button. Detailed implementation manners

[0048] In order to enable the personnel in the technical field to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 in 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.

[0049] As Figure 1 shown, a coal mine intelligent inspection robot in an embodiment of the present invention, the intelligent inspection robot 1 is slidably connected to the slide rail 2. The intelligent inspection robot 1 includes a control host 3, an image acquisition system 5, a gas emergency rescue system 7, and a tracking robot 8. A drive system 4 is provided on the control host 3, and the drive system 4 is slidably connected to the slide rail 2. The image acquisition system 5 is provided on the bottom end face of the control host 3, so as to control the control host 3 to slide on the slide rail 2 for cruise operation, and detect the concentration of dangerous substances such as gas and coal dust. At the same time, the state of facilities such as roadways, coal mining faces, coal warehouses, and transportation equipment is monitored through the image acquisition system 5, so as to improve the safety production level of the coal mine.

[0050] As Figures 2 - 10As shown in the figure, the gas emergency rescue system 7 includes a multi-level detection system 9 and a safe gas output system. A plurality of multi-level steel wire hose assemblies are provided on the multi-level detection system 9. Gas detection sensors are connected to each of the plurality of multi-level steel wire hose assemblies. The lengths of the plurality of multi-level hose detection assemblies are all different. The plurality of multi-level steel wire hose assemblies are all connected to a lifting device. The multi-level steel wire hose assemblies are controlled to lift and lower by the lifting device, and then the multi-level steel wire hose assemblies are lowered to the bottom end face to detect the gas located at the bottom end face. At the same time, since the lengths of the plurality of multi-level hose detection assemblies are different, the gas at end faces at different distances can be detected simultaneously, improving the accuracy of detection and preventing missed detection that may lead to the failure to detect harmful gas leakage in time, resulting in the diffusion of harmful gas and thus triggering dangerous accidents.

[0051] The safe gas output system is connected to the multi-level detection system 9. The safe gas output system outputs safe gas to the outside through the multi-level detection system 9 to dilute the air and quickly eliminate the current danger, improving the safety of the mine.

[0052] The lifting device includes a first sealing ring 901, a second sealing ring 902 and a third sealing ring 903. The first sealing ring 901, the second sealing ring 902 and the third sealing ring 903 are all fixedly connected to the outer end face of the drum-type gas cylinder 702. The top end face of the drum-type gas cylinder 702 is fixedly connected to a second connecting plate 706. The second connecting plate 706 is fixedly connected to the bottom end face of the control host 3, realizing the fixation of the drum-type gas cylinder 702 to the bottom end face of the control host 3. A first connecting plate 704 is fixedly connected to the protective shell 701. The first connecting plate 704 is fixedly connected to the bottom end face of the control host 3. The protective shell 701 is located on the outer end face of the drum-type gas cylinder 702 to protect it.

[0053] Rotating shafts 705 are fixedly connected to a pair of opposite end faces of the drum-type gas cylinder 702. A protective shell 701 is sleeved on the outer end face of the drum-type gas cylinder 702. A driving motor 703 is fixedly connected to one end face of the protective shell 701. The driving motor 703 is connected to the rotating shaft 705, achieving driving the rotating shaft 705 to rotate through the driving motor 703, and then driving the drum-type gas cylinder 702 to rotate.

[0054] Further, the multi-stage steel wire hose assembly includes a first steel wire hose 9011, a second steel wire hose 9021, and a third steel wire hose 9031. A first gas detection sensor 9012 is fixedly connected to the bottom outer wall end face of the first steel wire hose 9011. The first steel wire hose 9011 is connected to a first sealing ring 901. A second gas detection sensor 9022 is fixedly connected to the bottom outer wall end face of the second steel wire hose 9021. The second steel wire hose 9021 is connected to a second sealing ring 902. A third gas detection sensor 9032 is fixedly connected to the bottom outer wall end face of the third steel wire hose 9031. The third steel wire hose 9031 is connected to a third sealing ring 903.

[0055] It should be noted that when the first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 9031 are attached to the outer wall end faces of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903, it does not affect the inner walls of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 from delivering safety gas outward.

[0056] The first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 9031 are all wound around the drum-type gas cylinder 702. The lengths of the first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 9031 are all different. Connecting pipes 9013 are fixedly connected between the first sealing ring 901, the second sealing ring 902, the third sealing ring 903 and the first steel wire hose 9011, the second steel wire hose 9021, the third steel wire hose 9031. That is, the connecting pipes 9013 are respectively connected to one side end faces of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903, and the other side end faces of the connecting pipes 9013 are connected to the first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 903.

[0057] Multiple connecting pipes 9013 are all connected to a second pipeline, and multiple second pipelines are respectively located inside the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903.

[0058] Specifically, when the drive motor 703 starts to drive the drum-type gas cylinder 702 to rotate, the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 rotate accordingly. At the same time, the second steel wire hose 9021, the first steel wire hose 9011, and the third steel wire hose 9031 connected to the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 rotate on the drum-type gas cylinder 702, thereby realizing the lifting and lowering of the second steel wire hose 9021, the first steel wire hose 9011, and the third steel wire hose 9031. Since the lengths of the first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 9031 are different, the gas concentration at multiple heights can be detected while lifting and lowering, with high detection efficiency. Moreover, the gas at different heights on the ground can be detected to prevent missed detection and timely discover gas leakage, with a high safety factor. Different from the existing inspection robots during gas detection, for the gas accumulated on the ground, they cannot detect it in a timely and effective manner, resulting in missed detection and prone to large-area safety gas leakage, thus leading to accidents and a high risk factor.

[0059] It is worth noting that the advantage of using steel wire hoses for the first steel wire hose 9011, the second steel wire hose 9021, and the third steel wire hose 9031 is that the steel wire hoses themselves can be directly used for power supply without the need to lay additional cables. This is convenient for power supply, has a relatively high hardness, and a small internal occupied space.

[0060] As Figures 8 - 10 shown, the safety gas output system includes a drum-type gas cylinder 702 filled with safety gas. The end faces of the drum-type gas cylinder 702 in contact with the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all provided with first limiting holes 7021;

[0061] The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all provided with second limiting holes matching the first limiting holes 7021. The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are hermetically connected to the outer end face of the drum-type gas cylinder 702. The corresponding first limiting holes 7021 are sealed by the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 respectively. Under the sealing action of the first sealing ring 901, the second sealing ring 902, the third sealing ring 903, and the connecting pipe 9013, the safety gas inside the drum-type gas cylinder 702 will not leak.

[0062] Preferably, sealing gaskets are bonded to the end faces of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 in contact with the drum-type gas cylinder 702. The connecting pipe 9013 can be connected to the first sealing ring 901, the second sealing ring 902, or the third sealing ring 903 in an integrally formed manner for sealing.

[0063] The first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are all in communication with the connecting pipe 9013 and the reel-type gas cylinder 702. A plurality of second pipes are all connected with electromagnetic valves, so as to control the opening and closing of the second pipes through the electromagnetic valves, and further control the safe gas to enter the connecting pipe 9013 through the second pipes, and then enter the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 in sequence for outward transportation.

[0064] Furthermore, limiting grooves 904 are provided between the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 and the airbag 11, so that the safe gas enters the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903, and is transported outward through the limiting grooves 904. A supply socket is connected to the outer end face of the reel-type gas cylinder 702, so that when the gas in the reel-type gas cylinder 702 is used up, it can enter the supply station through the supply socket for replenishment.

[0065] Airbags 11 are provided on the inner end faces of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903. The airbags 11 are filled with safe gas. The airbags 11 are fixedly connected to the inner wall end faces of the first sealing ring 901, the second sealing ring 902, or the third sealing ring 903. The connection between the airbag 11 and the first sealing ring 901, the second sealing ring 902, or the third sealing ring 903 can adopt snap connection, magic tape, or other movable connection methods, as long as the airbag 11 can be removably fixed.

[0066] A puncturing assembly 10 is provided on one end face of the groove wall of the limiting groove 904. The puncturing assembly 10 can puncture the airbag 11 to release the safe gas.

[0067] Furthermore, the airbag 11 can be recycled. After the airbag 11 is punctured and the gas is released, the airbag 11 can be removed. After the safe gas is replenished into the airbag 11 again, the damaged part can be repaired and then it can be used again.

[0068] It should also be noted that the multi-stage steel wire hose assembly can be customized according to the on-site situation. In this embodiment, the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are adopted. Of course, multiple steel wire hose assemblies can also be used. During long-term use, if one of the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 is damaged, the other two can still be used to ensure the accuracy of the detection results and ensure that there is no missed detection.

[0069] The safety gas is nitrogen or compressed air. As an inert gas, nitrogen does not support combustion and can effectively dilute the oxygen concentration in the mine, thus preventing the occurrence and spread of fires. When the oxygen concentration in the mine drops below 15%, the spontaneous combustion risk of most coals is significantly reduced. Nitrogen can effectively inhibit or slow down the oxidation of residual coal, thus playing a role in fire prevention and extinguishing, and can also reduce the gas concentration in this area to less than 5%. At the same time, it can also make the oxygen concentration in the area less than 12%, thus eliminating the risk of gas explosion. Therefore, when the above situation occurs and harmful gases are detected, nitrogen can be introduced to eliminate the danger.

[0070] Of course, compressed air can also be used as the safety gas. Compressed air can dilute the harmful gases in the air and reduce their concentration. At the same time, when workers inhale harmful gases and suffer from gas poisoning, delivering compressed air to them at this time can quickly relieve the symptoms and gain time for subsequent medical treatment.

[0071] Preferably, the airbag 11 is filled with nitrogen, and the reel-type gas cylinder 702 is filled with compressed air. It is possible to choose whether to activate the airbag 11 to deliver nitrogen or choose the reel-type gas cylinder 702 to deliver compressed air according to the current situation of the mine. Of course, it is also possible to choose to fill only nitrogen or compressed air in either the airbag 11 or the reel-type gas cylinder 702.

[0072] As Figures 11 - 13 shown, the puncturing assembly 10 includes a protective tube 1002, an automatic telescopic rod 1003 and a puncturing needle 1005. The bottom end face of the protective tube 1002 is fixedly connected to a base 1001, and the base 1001 is fixedly connected to the inner wall end face of the first sealing ring 901, the second sealing ring 902 or the third sealing ring 903. The bottom end face of the automatic telescopic rod 1003 is fixedly connected to the base 1001. The bottom end face of the puncturing needle 1005 is fixedly connected to a puncturing needle fixing seat 1004, and the bottom end face of the puncturing needle fixing seat 1004 is fixedly connected to the top end face of the automatic telescopic rod 1003, so as to control the lifting of the puncturing needle 1005 through the automatic telescopic rod 1003, and then control the puncturing needle 1005 to puncture the airbag 11 to help the airbag 11 discharge quickly.

[0073] Furthermore, both the puncturing needle 1005 and the automatic telescopic rod 1003 are located on the inner side end face of the protective tube 1002. The overall initial height of the puncturing needle 1005 and the automatic telescopic rod 1003 is lower than the height of the protective tube 1002. That is, in the original height state where the automatic telescopic rod 1003 does not rise, the height formed by the automatic telescopic rod 1003 and the puncturing needle 1005 is lower than the height of the protective tube 1002, so that during daily use, the puncturing needle 1005 will not affect the airbag 11 and the puncturing needle 1005 will not puncture the airbag 11.

[0074] Specifically, when it is necessary to discharge the safety gas from the airbag 11, after starting the automatic telescopic rod 1003 to control the thorn needle 1005 to rise and pierce the airbag 11, the automatic telescopic rod 1003 resets, without affecting the recycling of the airbag 11 during taking and placing.

[0075] As Figures 1 - 6 shown, the tracking robot 8 is fixedly connected to one end face of the control host 3. A communication module is arranged between the tracking robot 8 and the control host 3. A detection module and a positioning module are arranged in the tracking robot 8. The tracking robot 8 descends and is fixed through a lifting component, so as to search and rescue the trapped personnel through the tracking robot 8, establish contact in time, and help the rescue personnel to rescue in time.

[0076] The tracking robot 8 includes a head protection plate 808, an image acquisition component 807, a control main board 803 and a foot-type walking mechanism 809. The detection module includes a gas detection system and a thermal imager. The positioning system includes an ultrasonic sensor. The tracking robot 8 monitors the environmental gas through the gas detection system, gives an early warning in time when discovering abnormal situations, searches for people through the thermal imager at the same time, and advances through the foot-type walking mechanism 809. The foot-type walking mechanism 809 is adapted to various rough ground surfaces and can quickly walk to the people trapped by falling rocks, coal, etc. and enter the area of the trapped personnel to help the trapped personnel get in touch with the outside. At the same time, it is connected to the control host 3 through the positioning system, so that the control host 3 can respond quickly and confirm the position of the trapped personnel.

[0077] As Figures 4 - 14 shown, a magnetic charging seat 802 is installed on one end face of the control host 3. The control main board 803 is plugged into the magnetic charging seat 802. A second iron sheet is arranged on the magnetic charging seat 802. A magnet sheet is fixedly connected to the end face of the control main board 803 in contact with the magnetic charging seat 802. The magnet sheet is magnetically connected to the second iron sheet, so as to fix the tracking robot 8 on one end face of the control host 3 while charging the tracking robot 8 through the magnetic charging seat 802 and connecting it to the control main board 803.

[0078] The lifting component includes a reel 801, a first iron sheet 805 and an electromagnet 810. The reel 801 is fixedly connected to one end face of the control host 3. The reel 801 includes a steel wire rope 806. A groove 804 is formed in the reel 801. The steel wire rope 806 extends out from the groove 804;

[0079] The bottom end face of the steel wire rope 806 is fixedly connected with the first iron sheet 805, and the first iron sheet 805 is raised and lowered by the steel wire rope 806. The end face of the control main board 803 in contact with the first iron sheet 805 is provided with an electromagnet 810, and the electromagnet 810 is magnetically connected to the first iron sheet 805. After the tracking robot 8 is magnetically connected to the first iron sheet 805 through the electromagnet 810, it starts to descend from the control host 3 to the ground to perform walking rescue operations.

[0080] Specifically, when an accident occurs in the mine and rescue of trapped persons is required, the intelligent patrol robot 1 can quickly reach the vicinity of the trapped persons and control the reel 801 to start lowering the tracking robot 8 to touch the ground. At this time, the electromagnet 810 is powered off, the connection with the first iron sheet 805 is canceled, the wire rope 806 is reset, and the tracking robot 8 starts ground search and rescue operations. The lifting assembly can quickly send the tracking robot 8 to the trapped persons. This is different from the prior art, where only a crawling robot is used to reach the trapped persons, and the terrain is complex and a lot of time is required. The intelligent patrol robot 1 is used to slide on the slide rail 2 to the vicinity of the trapped persons, which can save a lot of time and save every second to gain time for the rescue personnel to be rescued quickly.

[0081] When the tracking robot 8 completes the rescue, it can move to the bottom end face of the control host 3. The reel 801 controls the wire rope 806 to descend to the first iron sheet 805 to magnetically connect to the electromagnet 810. After the fixation is completed, the electromagnet 810 rises to the magnetic charging seat 802 to magnetically connect to the control main board 803.

[0082] like Figure 15 As shown, a shooting system 6 is provided on one side end face of the control host 3, and the shooting system 6 includes a launch tube 601, and the launch tube 601 is filled with a rescue bullet 12. A second electromagnetic control valve 1201 is provided on the top end face of the rescue bullet 12, and the opening and sealing of the rescue bullet 12 are controlled by the second electromagnetic control valve 1201. An impact sensor is provided on one side end face of the rescue bullet 12, so that when the launch tube 601 launches the rescue bullet 12, the rescue bullet 12 reaches the ground or is hit, and the second electromagnetic control valve 1201 opens to control the gas inside the rescue bullet 12 to be discharged, so as to dilute the harmful gas in the surrounding environment.

[0083] Specifically, when the staff is trapped and unable to move, after the intelligent inspection robot 1 reaches the trapped area, its reel-type gas cylinder 702 and airbag 11 start to discharge safety gas. Due to complex terrain and other reasons, the intelligent inspection robot 1 is far away from the trapped personnel, and the safety gas cannot quickly dilute the trapped personnel area. At this time, the shooting system 6 is activated, and the tracking robot 8 reaches the trapped personnel. The appropriate descending position of the launch tube 601 is determined through the positioning system, and the launch tube 601 is launched. The launch tube 601 reaches the trapped personnel area and discharges safety gas, thereby quickly diluting the harmful gas and helping the trapped personnel escape. If the rescue bomb 12 falls to the trapped personnel, the trapped personnel can hold it and quickly obtain safety gas to relieve symptoms and eliminate the current crisis, with high safety.

[0084] Preferably, when the control host 3 discovers that the trapped personnel are harmed by harmful gas during the inspection process and the current condition allows for the shooting of the launch tube 601, the launch tube 601 can be preferentially launched towards the trapped area, and then the tracking robot 8 is controlled to descend into the trapped personnel area for search and rescue. The launch tube 601 arrives prior to the tracking robot 8 to help the trapped personnel relieve symptoms in a timely manner and win time for subsequent medical treatment.

[0085] It should be noted that when shooting the launch tube 601, if the shooting position cannot be determined, the tracking robot 8 can be dispatched to the trapped personnel area first to obtain a suitable shooting position and then shoot.

[0086] An emergency button 1202 is provided on one end face of the rescue bomb 12. When the rescue bomb 12 falls to the trapped personnel, the trapped personnel can press the emergency button 1202 to send an alarm in a timely manner, and the rescue personnel can carry out rapid rescue according to the positioning.

[0087] An inspection method for a coal mine intelligent inspection robot includes the following steps;

[0088] S1. Inspection: The control host 3 slides on the slide rail 2 through the drive system 4 to normally inspect the environment in the mine.

[0089] S2. Fixed-distance inspection: The multi-stage detection system 9 is set to start at regular intervals, controlling the multi-stage steel wire hose assembly to descend to detect the gas in the environment near the ground, and at the same time detecting the gas at different heights to ensure the accuracy of the detection;

[0090] By controlling the start of the drive motor 703 to drive the reel-type gas cylinder 702 to rotate, the second steel wire hose 9021, the first steel wire hose 9011, and the third steel wire hose 9031 on the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 are driven to rotate on the reel-type gas cylinder 702, thereby realizing the lifting and lowering of the second steel wire hose 9021, the first steel wire hose 9011, and the third steel wire hose 9031. By controlling them to descend to the ground area, the gas conditions at multiple heights can be detected simultaneously, with high detection efficiency and preventing missed detections.

[0091] S3. Emergency treatment for harmful gas leakage; when harmful gas leakage is detected during cruising, start the safety gas output system, and puncture the airbags 11 located within the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 by starting the puncturing assembly 10 to discharge the safety gas and dilute the harmful gas in the surrounding environment.

[0092] S4. Enhanced gas transportation of the reel-type gas cylinder 702 to reduce the harm of harmful gases; when cruising and it is found that the leakage of harmful gas concentration is serious and endangers the life and health of personnel, start the safety gas output system. While releasing the safety gas by puncturing the airbag 11, the safety gas in the reel-type gas cylinder 702 is opened through the first solenoid valve, and the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 transport the safety gas outward. At the same time, the first sealing ring 901, the second sealing ring 902, and the third sealing ring 903 descend to a suitable distance for rapid gas diffusion according to the distance of personnel through the lifting device and transport the safety gas outward to provide timely assistance to personnel.

[0093] It should be noted that only when the concentration of harmful gas in the current environment is relatively high and the airbag 11 alone cannot quickly and effectively carry out rapid diffusion and rescue, the reel-type gas cylinder 702 can be started for external gas discharge arrangement.

[0094] S5. Relief of trapped personnel; when an accident occurs in the mine, the intelligent inspection robot 1 can quickly reach the accident point. At this time, the tracking robot 8 is lowered to the vicinity of the accident point through the lifting assembly. The tracking robot 8 quickly finds and determines the position of the trapped personnel, and establishes communication with the control host 3 in a timely manner, and transmits the personnel situation back to the control host 3. Personnel can also establish contact with the outside world through the tracking robot 8 in a timely manner, helping the rescue personnel understand the situation of the trapped personnel and providing timely and effective assistance;

[0095] S6. Assistance and relief in case of harmful gas leakage and personnel being trapped; when an accident occurs, personnel are trapped, and harmful gas leaks, threatening the safety of personnel, activate the shooting system 6, use the shooting rescue bullet 12. When the rescue bullet 12 reaches the location where the personnel are trapped, while initially diluting the gas, activate the safe gas output system, use the reel-type gas cylinder 702 and the airbag 11 to output safe gas simultaneously, so as to quickly dilute the harmful gas, relieve the phenomenon of personnel poisoning, and win time for subsequent medical treatment;

[0096] When the ejected rescue bullet 12 falls to the trapped personnel, the trapped personnel can quickly adsorb the safe gas. At the same time, the trapped personnel can take the rescue bullet 12 and press the first aid button 1202 to call for help.

[0097] When shooting the shooting barrel 601, if the shooting position cannot be determined, the tracking robot 8 can be dispatched to the area where the trapped personnel are located first to obtain a suitable shooting position and then shoot.

[0098] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claim.

[0099] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A patrol inspection method for a coal mine intelligent patrol inspection robot, characterized in that, Including the following steps; S1. Intelligent inspection robot patrol: Control the host of the intelligent inspection robot to slide on the slide rail through the drive system to normally inspect the environment in the mine; S2. Fixed-distance inspection: Set to start at regular intervals through the multi-level detection system, control the multi-level steel wire hose assembly to descend to detect the gas in the environment near the ground, and at the same time detect the gas at different heights to ensure the accuracy of detection; S3. Emergency treatment for harmful gas leakage: When harmful gas leakage is detected during cruising, start the safety gas output system to discharge the safety gas and dilute the harmful gas in the surrounding environment; S4. Relief for trapped personnel: When an accident occurs in the mine, the intelligent inspection robot can quickly reach the accident point, lower the tracking robot to the vicinity of the accident point through the lifting assembly. The tracking robot quickly finds and determines the location of the trapped personnel, and establishes communication with the control host in time to transmit the personnel situation back to the control host to help rescue personnel understand the situation of the trapped personnel and provide timely assistance; S5. Assistance and relief when there is harmful gas leakage and personnel are trapped: When harmful gas leaks and personnel are trapped, threatening the safety of personnel, start the shooting system and use shooting rescue bullets. The rescue bullets first reach the place where the personnel are trapped and release safety gas to dilute the harmful gas in the surrounding environment; The intelligent inspection robot is slidably connected to the slide rail. The intelligent inspection robot includes a control host, an image acquisition system, a gas emergency rescue system, and a tracking robot. A drive system is arranged on the control host, and the drive system is slidably connected to the slide rail; the image acquisition system is arranged on the bottom end face of the control host; the gas emergency rescue system includes a multi-level detection system and a safety gas output system. A plurality of multi-level steel wire hose assemblies are arranged on the multi-level detection system. Gas detection sensors are connected to all of the plurality of multi-level steel wire hose assemblies. The lengths of the plurality of multi-level hose detection assemblies are all different. The plurality of multi-level steel wire hose assemblies are all connected to a lifting device. The safety gas output system is connected to the multi-level detection system, and the safety gas output system outputs safety gas outward through the multi-level detection system. The multi-level steel wire hose assembly includes a first steel wire hose, a second steel wire hose, and a third steel wire hose. A first gas detection sensor, a second gas detection sensor, and a third gas detection sensor are respectively and fixedly connected to the first steel wire hose, the second steel wire hose, and the third steel wire hose. The first steel wire hose is connected to a first sealing ring, the second steel wire hose is connected to a second sealing ring, and the third steel wire hose is connected to a third sealing ring.

2. The inspection method of an intelligent inspection robot for coal mines according to claim 1, characterized in that, The tracking robot is fixedly connected to one end face of the control host. A communication module is arranged between the tracking robot and the control host. A detection module and a positioning module are arranged inside the tracking robot. The tracking robot lands and fixes through a lifting assembly. The tracking robot includes a head protection plate, an image acquisition assembly, a control main board, and a foot-type walking mechanism. A magnetic charging seat is installed on one end face of the control host. The control main board is plugged into the magnetic charging seat. A second iron sheet is arranged on the magnetic charging seat. A magnet sheet is fixedly connected to the end face of the control main board in contact with the magnetic charging seat. The magnet sheet is magnetically connected to the second iron sheet. The detection module includes a gas detection system and a thermal imager. The positioning module includes an ultrasonic sensor.

3. The inspection method of an intelligent inspection robot for coal mines according to claim 2, characterized in that, The lifting assembly includes: A reel, fixedly connected to one end face of the control host. The reel includes a steel wire rope; A first iron sheet; a first iron sheet is fixedly connected to the bottom end face of the steel wire rope; An electromagnet: an electromagnet is arranged on the end face of the control main board in contact with the first iron sheet. The electromagnet is magnetically connected to the first iron sheet.

4. The inspection method of an intelligent inspection robot for coal mines according to claim 1, characterized in that, The lifting device includes a first sealing ring, a second sealing ring, and a third sealing ring. The first sealing ring, the second sealing ring, and the third sealing ring are all fixedly connected to the outer end face of the drum-type gas cylinder. A rotating shaft is fixedly connected to a pair of opposite end faces of the drum-type gas cylinder. A second connecting plate is fixedly connected to the top end face of the drum-type gas cylinder. The second connecting plate is fixedly connected to the bottom end face of the control host. A protective shell is sleeved on the outer end face of the drum-type gas cylinder. A driving motor is fixedly connected to one end face of the protective shell. The driving motor is connected to the rotating shaft.

5. The inspection method of an intelligent inspection robot for coal mines according to claim 3, characterized in that, The safety gas output system includes a drum-type gas cylinder. The drum-type gas cylinder is filled with safety gas.

6. The inspection method of an intelligent inspection robot for coal mines according to claim 4, characterized in that, An airbag is arranged on the inner end face of each of the first sealing ring, the second sealing ring, and the third sealing ring. The airbag is filled with safety gas. A puncturing assembly is arranged on one end face of the groove wall of the limiting groove. The puncturing assembly can puncture the airbag to release the safety gas. The safety gas is compressed air.

7. The inspection method of an intelligent inspection robot for coal mines according to claim 6, characterized in that, A shooting system is arranged on one end face of the control host. The shooting system includes a launching tube. The launching tube is filled with rescue bullets.

Images