Shallow hidden fire area radon gas in-situ tracing accurate identification and definition prevention and control system

Abstract

The invention discloses a shallow hidden fire area radon gas in-situ tracing accurate identification and definition prevention and control system, belongs to the technical field of mine fire prevention and control, and aims to construct a dynamic monitoring, accurate delineation and targeted plugging multi-cooperation closed-loop governance chain and an in-situ radon detection and identification monitoring unit. Drilling, cup burying and sampling integrated operation is completed, and a radon gas concentration abnormal signal is monitored in real time; the radon measurement magnetic method fire area precise delineation unit is used for quantitatively delineating a fire source prevention and control area in a grading manner by fusing a radon gas magnetic field two-parameter ring type measurement network layout and combining an intersection and union set abnormal area division method and a comprehensive abnormal index threshold value method; according to the earth surface crack self-adaption blocking treatment unit, a dynamic shoveling solidified slurry precise blocking device is adopted, and efficient treatment of the shallow buried coal seam hidden fire area is achieved by separating an earth surface and an underground air leakage channel through bucket prepared soil screening and conveying, instant slurry preparation through a synthesis system, directional slurry spraying through a blocking mechanism and crawler belt ballasting dense blocking.

Description

Technical Field

[0001] The in-situ tracing, precise identification, delimitation and prevention and control system for radon gas in shallow concealed fire areas of the present invention involves technologies of in-situ radon measurement, exploration and monitoring, precise delineation of concealed fire areas, and surface fissure plugging and treatment, and belongs to the technical field of mine fire prevention and control. Background Technique

[0002] China's energy consumption presents a "one large and three small" characteristic pattern dominated by coal. With the decline of resources in eastern mining areas, the focus of coal development has gradually shifted to the central and western regions, which have geological advantages such as shallow burial, thick coal seams, and easy mining. However, due to the special geological occurrence conditions of shallow-buried coal seams, the overlying strata are prone to deformation and fracture under the disturbance of mining-induced stress during the mining process, forming vertical fissures that penetrate the surface. The sunken surface and the underground goaf form an efficient oxygen transportation channel through the fissures. The permeability of the overlying loess loose layer of shallow-buried coal seams is relatively strong, which exacerbates the air leakage power and oxygen diffusion efficiency. Continuous oxygen supply promotes the oxidation and heat release of the remaining coal in the goaf, and the heat accumulation is prone to form concealed fire areas with multi-field coupling characteristics. The position of the fire source migrates dynamically with the fissures, making the fire area boundary blurred and the disaster risk doubled. The coupling effect between the surface depression fissures and the concealed fire areas of shallow-buried coal seams constitutes a major technical challenge for coal mine fire prevention and control. Therefore, precise identification, delimitation, prevention and control of potential fire areas are of great significance for the safe and high-quality development of mines.

[0003] At present, for the detection and monitoring of concealed fire areas in shallow-buried coal seams, traditional infrared temperature measurement and gas analysis detection methods are easily affected by the surface fissure air flow, and there is a large temperature gradient difference between the surface and the coal seam, resulting in insufficient positioning accuracy for concealed fire areas in shallow-buried coal seams; the isotope radon measurement method, as a dynamic tracking means for identifying large-scale fire areas at multiple measurement points, has problems that the moving path of the radon measurement device is blocked on the uneven surface, and the drilling and cup burying sampling links are relatively isolated. The radon gas collection is easily disturbed by the complex air flow in the fissures, resulting in differential measurement errors in radon gas concentration; under dynamic mining conditions, the radon measurement points are mostly arranged at uniform intervals, and the detection accuracy in the sunken surface fissure area is difficult to meet the standard. The identification and delineation of concealed fire areas are judged by a single parameter, and there are problems such as a high misjudgment rate in the abnormal area division and a blurred boundary; the plugging means for surface air leakage channels penetrated by concealed fire areas of different grades are single, and it is difficult to effectively treat the potential fire areas. Therefore, there is an urgent need for a three-dimensional prevention and control system integrating an in-situ radon measurement, exploration and monitoring unit, a precise delineation unit for radon measurement and magnetic method fire areas, and a surface fissure adaptive plugging and treatment unit to precisely identify and efficiently prevent and control concealed fire areas. Summary of the Invention

[0004] In view of this, the radon in-situ tracing, precise identification, delimitation and prevention and control system for shallow concealed fire areas in the embodiments of the present invention can trace in-situ the radon gas migrating from the underground fire area to the surface through fissures, accurately delineate potential fire areas with different prevention and control levels, and efficiently block the through fissures to isolate the ventilation path for oxygen supply from the surface to the underground, thus eliminating the dangerous disaster-causing nature of the concealed fire areas in coal mines.

[0005] The embodiments of the present invention provide a radon in-situ tracing, precise identification, delimitation and prevention and control system for shallow concealed fire areas, which includes an in-situ radon detection and exploration monitoring unit, a radon detection and magnetic method fire area precise delineation unit, and a surface fissure adaptive plugging and treatment unit.

[0006] The in-situ radon detection and exploration monitoring unit proposed by the present invention includes an intelligent control drilling and burying linkage self-avoiding obstacle radon detection device and an in-situ tracing multi-linkage detection principle; the radon detection and magnetic method fire area precise delineation unit mainly includes a dynamic mining radon detection and magnetic method ring-shaped measuring point layout and a radon detection multi-parameter fusion fire area grading delineation algorithm; the surface fissure adaptive plugging and treatment unit includes a dynamic shoveling and curing mud precise plugging device.

[0007] The intelligent control drilling and burying linkage self-avoiding obstacle radon detection device includes an intelligent drilling and burying cup sampling fusion device, a long-hole casing packer, a radon detection element, a radon value transmission and control linkage module, and a concave collapse self-avoiding obstacle buffer three-dimensional device.

[0008] Optionally, the concave collapse self-avoiding obstacle buffer three-dimensional device mainly includes an omnidirectional sliding and rotating damping buffer wheel, a millimeter wave lidar, a dual-field collapse warning infrared sensor, and a high-strength carbon fiber explosion-proof energy absorption layer.

[0009] Optionally, the omnidirectional sliding and rotating damping buffer wheel includes a six-axis shock-absorbing drive wheel, a damping deformation spring, a pneumatic support rod, a dual-axis reciprocating torque hinge, and a sliding lateral guide rail.

[0010] The six-axis shock-absorbing drive wheel realizes dynamic buffering and power transmission through a double-layer hub and six spring connection bearings. The outer ring is designed as a wide-tire anti-slip tread layer, which directly contacts the uneven ground surface. The inner layer center integrates a drive shaft interface hole, and spring connection points are evenly distributed around it. The six springs are symmetrically distributed at an equal angle of 60°, connecting the inner and outer layers of the hub to form an annular shock-absorbing matrix, allowing free deformation in the vertical, horizontal, and torsional directions.

[0011] Optionally, the damping deformation spring is a composite spring that integrates elastic deformation and energy dissipation functions. Its main body is a strong extension pressure spiral spring. The spring internal is designed as a hollow structure, with a piston separating chamber inside. When compressed or stretched, a damping force is generated through small holes to suppress high-frequency vibrations, forming a dual surface self-adaptive spring buffer mechanism with the six-axis shock-absorbing drive wheel.

[0012] Optionally, a pneumatic support rod penetrates through the middle of a damping deformation spring to form a coaxial nested integrated structure. The external spring dominates the surface undulation deformation. In the low-pressure state of the pneumatic support rod, the vibration friction is reduced. When the reverse air pressure increases, it shares the overload load of the spring. Both ends of the pneumatic support rod are fixed to a biaxial reciprocating torque hinge through double-row bearings.

[0013] Optionally, the biaxial reciprocating torque hinges are arranged symmetrically and parallelly, and the two rotating shafts cross at 90°. During the bearing vibration process, the hinge connection synchronously moves between 30° and 120° of rotation angle, and can bear double loads in the radial and axial directions to achieve multi-degree-of-freedom movement.

[0014] Optionally, the sliding transverse guide rail is fixed at the bottom of the intelligent drilling, embedding, linkage, self-avoiding obstacle and radon detection device, and is used to carry six-axis shock-absorbing drive wheels to provide a steerable sliding track. When it is detected that there are static obstacles on the traveling surface, the six-axis shock-absorbing drive wheels trigger a rotation command and slide in opposite directions on the sliding transverse guide rail to change the original traveling direction and then continue to move forward.

[0015] The millimeter-wave lidar is a multi-modal sensor integrating millimeter-wave monitoring and lidar, and is used to detect the positions of obstacles in a complex surface environment. It has the characteristics of high-resolution three-dimensional imaging ability and anti-interference. After initially positioning the obstacle area, through the laser emission module, it measures the positions and distances of dynamic and static obstacles and outputs a predicted motion trajectory.

[0016] The dual-field collapse warning infrared sensor is equipped with a dual-field switching lens, which is divided into a wide-angle detection mode and a narrow-angle focusing mode. Initially, it quickly scans the surface of the traveling path with a wide-angle field of view of 150°, and then further switches to the narrow-angle mode of 30° to closely focus on the concentrated depression area. An infrared laser array is added to improve the deformation monitoring and imaging ability of the surface in the night environment.

[0017] The high-strength carbon fiber explosion-proof energy-absorbing layer is a composite of carbon fiber and a tough polymer, and is arranged in a gradient from dense to sparse. The outer layer is a high-density woven layer to resist impact loads in multiple directions, and the inner layer realizes the energy-absorbing and buffering function through a porous honeycomb structure.

[0018] The intelligent drilling, embedding, sampling and fusion device is divided into an intelligent drilling module and an embedding and sampling module. After the intelligent drilling module efficiently drills a hole and synchronously recovers the slag and dust, the embedding and sampling module immediately places the sampling cup accurately at the bottom of the hole, and realizes the integration of drilling, embedding and radon detection through an intelligent embedded dual-drive steering arm to improve the radon gas detection efficiency. The intelligent drilling module consists of a stepless speed regulation screw drill rod, a micro-compression identification probe, an oppositely separated slag collection and dust elimination device, and a drill slag collection box.

[0019] Optionally, for the stepless speed regulation auger rod, the blade pitch gradually changes along the axial direction of the drill rod. The front-end dense area enhances the rotational driving force and the downward embedding speed of the drill rod, while the rear-end sparse area reduces the rotational resistance. It is driven by a high-power electromagnetic unit coupling. The rotational speed of the drill rod bit is continuously adjustable within the range of 10 - 300 rpm, achieving stepless adjustment of the torque-rotation double degrees of freedom.

[0020] The micro compressive recognition probe is installed at the connection between the stepless speed regulation auger rod and the drill bit, integrating an optical fiber torque sensor to continuously monitor the drilling resistance and feedback it to the control system. It identifies the data of the rock hardness and fracture density probe, and pre-adjusts the parameters according to different geological conditions detected. For hard rock formations, it dynamically adjusts to high torque and low speed, and for soft soil layers, it adopts low torque and high speed, realizing the dynamic matching of formation characteristics and drilling parameters.

[0021] Optionally, the oppositely separated slag collecting and dust removing device is arranged inside the hollow cavity of the stepless speed regulation auger rod. At the drill bit, local negative pressure is generated by high-speed air flow to enhance the suction force of slag and dust. An axial tangential auxiliary air flow is designed inside the cavity to form a spiral eddy current, and the centrifugal force is used to realize the synchronous suction and separation of slag and dust.

[0022] The drill slag collection box is installed with a visual window on the side to display the filling state of slag and dust in real time. The bottom is integrated with a roller slide rail system with a bearing capacity of 50 - 80 kg, supporting single-person rapid disassembly, installation and handling. It is equipped with a multi-stage aperture vibrating screen. The coarse screen intercepts large particle size rock blocks, and the fine screen collects small particle size drill slag, realizing automatic classification storage of slag and dust.

[0023] The buried cup sampling module includes a double-bin rotary cup storage chamber, sampling cups, a linkage steering buried cup frame, and a trigger type radon single-permeation seal cover. The double-bin rotary cup storage chamber loads the sampling cups in sequence. The linkage steering buried cup frame accurately grabs and pushes them into the drill hole, and the trigger type radon single-permeation seal cover automatically closes to ensure efficient radon adsorption, realizing the collaborative operation of the whole process of cup storage, positioning and sealing, and improving the accuracy of radon sampling and the reliability of data.

[0024] The double-bin rotary cup storage chamber includes a reverse rotating load-bearing base, a ball steering bearing, a light self-weight type falling port, and a self-spring type touch button, which is used to store multiple columns of sampling cups. Through an intelligent self-identification mechanism, the trigger type radon single-permeation seal cover is loaded at the bottom of the sampling cup, and the intelligent embedded double-drive steering arm is used to grab and bury the cup for operation.

[0025] The intelligent embedded double-drive steering arm integrates the stepless speed regulation auger rod and the linkage steering buried cup frame, and intelligently switches the operation mode through a double-power drive unit. A dynamic shock-absorbing loading rod is added as an automatic fixed idle module during the alternating operation of the drill rod or the buried cup, avoiding buffer vibration interference.

[0026] Optionally, the linkage steering buried cup holder mainly includes a grasping cup clamp, a head telescopic guide rod, a conjugate transmission gear, and an axial tension-compression rod. The linkage steering buried cup holder drives the steering angle through the conjugate transmission gear. The grasping cup clamp precisely clamps the sampling cup. The axial tension-compression rod pushes it to reach the drilling position. The conjugate transmission gears rotate synchronously to ensure vertical positioning. The head telescopic guide rod adjusts the buried cup depth. After reaching the layer depth position, the cup body is released, and the trigger-type radon single-permeation seal cover automatically closes to ensure that the sampling cup fits tightly against the hole wall and the hole bottom.

[0027] Optionally, the trigger-type radon single-permeation seal cover is composed of an elastic recognition ring and a microporous molecular sieve film. When the sampling cup is placed at the bottom of the hole, the cup body is pressed to trigger the expansion of the elastic recognition ring, which closely adheres to the hole wall to form a sealed space. The molecular sieve film only allows radon to penetrate into the cup unidirectionally, blocking other interfering gases and dust particles.

[0028] The long-hole casing packer adopts a modular layered sealing design. Through the synergistic action of a spiral hollow wall-attached casing, a socket-type detachable buckle, a segmented expansion integrated airtight bag, and an adaptive compensation seal ring, it realizes multi-level dynamic sealing and support functions in the borehole.

[0029] The long-hole casing packer adopts a telescopic casing structure to drive the radial expansion of modular units, which closely adheres to the hole wall to form a rigid support, preventing the collapse of the loess layer at a certain buried cup depth. After sampling, it is depressurized and contracted, and the long-hole casing packer is extracted to ensure the complete removal of the sampling cup, combining compressive sealing and rapid disassembly functions.

[0030] Optionally, the spiral hollow wall-attached casing is designed with an external meshing thread and is sleeved outside the sampling cup. It is embedded in the hole wall by rotating and pressing to form an anchor. The inner diameter D of the hollow inner cavity in = 12 - 15 cm, providing a protection channel for the sampling cup. The bottom is a downward-embedded fixed cone arranged in a triangle to prevent the lateral displacement of the casing and ensure the stable burial and sealing of the sampling cup.

[0031] Optionally, the socket-type detachable buckle is split into a pressing-type lever bracket and a double-shock-absorbing card. The pressing-type lever bracket uses the lever principle to buckle into the unilateral hole of the round tube chuck through the rigid round tube chuck on the outside of the spiral hollow wall-attached casing to complete the rapid locking between components. The double-shock-absorbing card completes the two-way vibration buffer between the spiral hollow wall-attached casing and the segmented expansion integrated airtight bag through elastic deformation.

[0032] Optionally, the segmented expansion integrated airtight bag is composed of multiple independent airbag units. The number is increased or decreased according to different layer depth positions. It expands and fills the borehole gaps at different depths step by step from bottom to top. The airbags are connected in series through an adaptive compensation seal ring and synchronously cooperate to closely adhere to the inner wall of the irregular hole circumference to form a continuous longitudinal sealing barrier.

[0033] Optionally, the adaptive compensation sealing ring is built with a temperature-sensitive sensor and a swelling and shrinking response coating, which can sense the shape of the hole wall and temperature changes in real time. When there are gaps caused by irregular hole walls or temperature differences, the temperature-sensitive sensor triggers the swelling and shrinking response coating to expand when heated, with the expansion rate adjustable within 5% - 15%, and it shrinks back to its original state after cooling, dynamically adapting to different hole diameters and geological conditions.

[0034] The in-situ tracing multi-linkage detection principle completes the collaborative work of precise positioning - intelligent sampling - dynamic correction through the GPS positioning system for advanced sensing, the intelligent drilling module for hole monitoring, the buried cup sampling module for in-situ sampling, the signal processing of the radon detection element, the compensation and correction of the radon value transmission and control module, and the multi-dimensional data fusion feedback.

[0035] Optionally, the GPS positioning system preliminarily determines the location of the concealed fire area, determines the radon measurement points, drills a hole to the target depth on the ground surface with the stepless speed regulation screw drill pipe. The drilling depth H1 = 40 - 50 cm, and at the concentrated zone of surface fissure development, the drilling depth extends longitudinally to H2 = 70 - 80 cm, and the slag discharging operation is carried out synchronously. After accurately placing the sampling cup at the target depth, in-situ radon gas collection is carried out.

[0036] Optionally, the core of the radon detection element is an α - energy spectrum sensor. The semiconductor detector inside the sensor captures the α - particles released by the decay of radon gas and generates an electrical signal. Through the energy spectrum analysis technology, the characteristic energy peaks of radon isotopes are distinguished, and the particle counting rate is converted into a radon concentration pulse signal to realize the real - time dynamic monitoring of the in - situ radon gas concentration.

[0037] The radon value transmission and control module is equipped with a temperature and humidity compensation element, which collects environmental data in real time, uses a compensation algorithm to correct environmental interference in real time, fuses the data of borehole coordinates, in - hole temperature, and surface temperature and humidity, corrects the temperature and humidity attenuation error of the α - pulse signal, constructs a multi - dimensional database, outputs the accurate radon gas concentration value, and uploads it to the cloud in real time through the wireless communication module to dynamically monitor the abnormal fluctuations of radon concentration.

[0038] The compensation and correction formula is

[0039] Optionally, in the formula, S c is the corrected pulse signal intensity, S r is the measured pulse signal intensity, T0, RH0 are the calibrated reference temperature and humidity, T z is the temperature at the depth z of the borehole, D(T0) is the diffusion coefficient of radon gas at the temperature T0, η(RH0) is the collection efficiency at the humidity RH0, λ is the radon gas decay constant, and Δt is the sampling time.

[0040] Optionally, when the vertical temperature gradient between the borehole and the ground surface is relatively significant, the borehole temperature parameter is corrected by a secondary calculation, then In the formula, Tup Denotes the surface temperature. After the measured pulse signal is dynamically calibrated by the compensation algorithm, an accurate radon gas concentration value is output.

[0041] The dynamic mining radon measurement magnetic method ring-shaped measuring point layout integrates the borehole radon measurement and the magnetic method fire area detection technology to form a radon gas - magnetic field dual-parameter ring-shaped measurement network. The borehole radon measurement is based on the upward migration characteristics of decay radon gas in high-temperature fire areas. The abnormal radon concentration in the borehole is detected by an α energy spectrum sensor. The magnetic method technology utilizes the magnetic attenuation of rock formations caused by the high temperature in the fire area and measures the change of the surface magnetic field gradient through a high-precision magnetometer to accurately delineate the scope of hidden fire areas.

[0042] Optionally, for the radon gas - magnetic field dual-parameter ring-shaped measurement network, targeted centralized measuring point arrangements are made according to the development of surface air leakage fissures. Taking the fissure development zone as the center of the measuring point, the radon measurement measuring points adopt a hierarchical circular progressive layout. Taking the target area as the center, the diameter of the radon measurement measuring point is set as d, and the number of layers is set as m. The diameter d of the radon measurement measuring point = [10m + 2(m - 1)]m. 4 - 6 measuring points are arranged in each layer to form an increasing concentric circular measurement network. The depth of the measuring points in the conventional area is 40 - 50 cm, and the depth of the measuring points in the subsidence area extends to 70 - 80 cm, covering the radon gas migration path of the disturbed layer.

[0043] Optionally, the magnetic method measuring points do not require boreholes and adopt a surface matrix layout. Taking the center of the measuring point as the origin, the diagonal distance of the magnetic method measuring point is set as l. The measuring point spacing gradually increases with the number of layers and is staggered along the gaps between the radon measurement circular measuring points. High-precision magnetometers are directly deployed on the surface to quickly scan the change of the magnetic field gradient and identify the thermal anomaly boundary through complementary superposition with the radon measurement data.

[0044] The radon measurement multi-parameter fusion fire area grading delineation algorithm uses radon gas values, magnetic field values, and temperature values as multiple evaluation parameters, combines the intersection and union abnormal area division method with the comprehensive abnormal index threshold method, establishes a multi-dimensional grading model, and delineates four-level fire source prevention and control areas according to the conditional matrix.

[0045] Optionally, for the intersection and union abnormal area division method, the abnormal areas are independently divided based on single-parameter thresholds. Multiple points are sampled (n) in the area without fire source interference to calculate the radon background value R0. The radon concentration higher than 3 - 4 times the radon background value is set as the radon anomaly threshold to divide the radon anomaly area; the surface magnetic field reference value M0 is measured, and the magnetic anomaly area is divided with a threshold of 15 - 30% lower than the reference value; a vertical temperature gradient threshold of 5 - 10 °C / m is set, and when the temperature change exceeds the threshold, it is determined as a thermal anomaly area.

[0046] Optionally, the radon background value Magnetic field reference value

[0047] Optionally, a spatial intersection and union superposition algorithm is used to divide the intersection of total parameter synchronization anomalies into a first-level fire source control zone, the intersection area of any two parameters is defined as a second-level fire source control zone, the single-parameter anomaly area is determined as a third-level fire source control zone, and the rest of the area is a fourth-level safety protection zone.

[0048] The comprehensive anomaly index threshold method assigns dynamic weights to multiple parameters, adjusts the final level quantitatively through the conditional judgment matrix, and sums the weighted contributions of the radon gas value (R), magnetic field value (M) and temperature value (T) of the measuring point to the fire zone identification, normalizes them to the same dimension, and calculates the comprehensive judgment index F, F = w1·R+w2·M+w3·T, where w i is the weighted fraction.

[0049] Optionally, based on the specificity balance analysis, set the comprehensive abnormality discrimination threshold c, and superimpose the intersection and union areas with the comprehensive judgment index F≥c results. <c区域降为二级重点防控区,二级火源防控区F≥c区域升为一级高危防控区,三级火源防控区F≥c区域升为二级重点防控区,若四级安全防护区内存在F≥c区域,则新增为三级潜在防控区,其余保持原等级,在多参数协同异常特征下,精细化标定最终火源防控区等级。

[0050] The dynamic shoveling and solidifying mud precise sealing device mainly includes four units: a depression adaptive chassis system, a rotary bucket soil taking and conveying module, an in-situ synthesis system of solidifying materials, and a crack sealing actuator.

[0051] Optionally, the sunken adaptive chassis system consists of omnidirectional mobile Mecanum wheels and hydraulic dense ballasted tracks. The omnidirectional mobile Mecanum wheels support lateral translation and in-situ rotation, and are responsible for flexible movement on sunken surfaces and obstacle avoidance. The hydraulic dense ballasted tracks are used for crack plugging and compaction, and dynamically switch wheel-track modes to achieve stable travel and load.

[0052] The optional omnidirectional Mecanum wheel consists of a hub and eight sets of free-wheeling rollers angled 45 degrees, arranged in a spiral around the hub. When the motor drives the hub to rotate, the rollers contact the ground, generating a lateral force component. By coordinating the speed and direction of the four wheels, the vehicle can dynamically switch between forward, lateral, oblique, and in-place rotation modes, achieving 360-degree flexible movement without the need for a steering mechanism.

[0053] Optionally, the hydraulic dense ballast track is composed of a diamond-shaped anti-skid track shoe, a hydraulic drive motor and an adjustable ballast tank. The surface of the track shoe is designed with staggered anti-skid convex teeth, and a hydraulic motor drives the chain transmission to achieve smooth movement. The adjustable ballast tank is equipped with load blocks of different weights, which can dynamically adjust the ground load force of the hydraulic dense ballast track on the surface.

[0054] The rotary bucket soil collection and conveying module includes a rotary drive soil collection bucket, an acrylic visible side-sliding housing, spiral gravel rotating blades, and a vibrating separation adjustable screen. It self-collects materials by rotating and cutting into the soil layer on the current ground surface. The spiral gravel rotating blades synchronously crush large rock particles, and the soil residues are subjected to high-frequency vibration by the vibrating separation adjustable screen, realizing the full-process automation of excavation, crushing, screening, and conveying.

[0055] Optionally, the rotary drive soil collection bucket is composed of a hollow steel shovel body, a hydraulic drive motor, and equidistant rows of teeth. The equidistant rows of teeth evenly scrape the loess layer, and the hollow hole structure reduces the overall weight by 30 - 40%, while guiding the soil residues into the central soil collection cavity to prevent debris from clogging in the dead corners outside the shovel body.

[0056] Optionally, the acrylic visible side-sliding housing is connected to the hollow steel shovel body through a slide rail, monitors the soil collection status in real time, and synchronously slides to adjust the soil intake. The lateral side-sliding soil intake opening has an adjustable opening degree of 0 - 270°, and when fully closed, it is used to receive the fine-grained loess after screening.

[0057] Optionally, the spiral gravel rotating blades adopt a cross design of five blades and seven blades. After the coarse loess is initially impacted and crushed by the five blades, it enters the gaps between the seven blades for secondary crushing and grinding, and the target particle size loess for plugging preparation is screened out after passing through the vibrating separation adjustable screen.

[0058] Optionally, the vibrating separation adjustable screen generates horizontal and vertical composite vibrations through a vibrating motor. The inclination angle of the screen is adjustable within the range of 30 - 150°. The fine soil falls through the screen holes into the lower acrylic side-sliding housing and is transported to the loess feeding bin by a conveyor belt. The large particles slide out of the screen along the screen surface, realizing the efficient separation of multi-level particle size soil layers.

[0059] The in-situ solidification material synthesis system includes a loess feeding bin, a horizontal water storage tank, an impermeability curing agent adding bin, and a multi-level in-situ mixing and stirring bin.

[0060] Optionally, the impermeability curing agent adding bin adopts a sealed and moisture-proof design, with an externally connected parameter dynamic adjustment valve, automatically controlling the output of the impermeability curing agent according to the air leakage situation of the fissures, ensuring the accurate mixing of the curing agent with loess and water as required.

[0061] The fissure plugging actuator is designed as a high-pressure paste-like mud injector. The nozzle adopts a conical design to enhance the jet impact force. The compound paste-like mud is pressurized and adjusted by a high-pressure pump. The multi-directionally adjustable nozzle adapts to the width and direction of the fissures, dynamically adjusting the jet pressure and angle to ensure that the paste-like mud penetrates into the surface fissures and fills evenly. Description of the Drawings

[0062] Figure 1It is a precise identification, definition, prevention and control map for in-situ tracing of radon gas in shallow concealed fire areas;

[0063] Figure 2 It is a diagram of a surface intelligent control drill-burying linkage self-avoiding obstacle radon detection device;

[0064] Figure 3 It is a structural diagram of an intelligent drilling cup-burying sampling fusion device;

[0065] Figure 4 It is a structural diagram of a long-hole casing packer hole passage support;

[0066] Figure 5 It is a schematic diagram of the multi-linkage detection principle of in-situ radon gas tracing;

[0067] Figure 6 It is a layout diagram of dynamic mining radon detection magnetic method circular measuring points;

[0068] Figure 7 It is a diagram of the radon detection magnetic method multi-fusion fire area grading delineation algorithm;

[0069] Figure 8 It is a diagram of a dynamic shoveling and solidifying mud precise plugging device;

[0070] Figure 9 It is a schematic diagram of the surface crack adaptive precise plugging principle. Specific implementation manners

[0071] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the features and implementation manners of the present invention are more easily understood by engineering and technical personnel.

[0072] Please refer to Figure 1 , the present invention provides a precise identification, definition, prevention and control system for in-situ tracing of radon gas in shallow concealed fire areas, which mainly includes three units, namely, an in-situ radon detection and identification monitoring unit, a radon detection magnetic method fire area precise delineation unit and a surface crack adaptive plugging and treatment unit; it can be clearly seen from this schematic diagram that for the potential concealed fire areas in shallowly buried coal seams, the in-situ tracing radon detection method is used to monitor the radon gas concentration in real time and accurately locate the underground fire source; the double-parameter circular measuring network layout of radon gas and magnetic field is fused, the fire area boundary is delineated by the threshold, and the surface dynamic shoveling and ballasting technology is used to efficiently plug the developed cracks and block the air leakage channel.

[0073] In the in-situ tracing radon detection method, radon gas (Rn) migrates upward along the developed cracks from the coal seam fire area, drill holes on the surface and bury sampling cups, the intelligent control drill-burying linkage self-avoiding obstacle radon detection device adapts to the uneven surface, drills to the target depth, synchronously buries the special sampling cups, triggers the automatic closing of the sealing cover to collect single and pure radon gas, the α particles released by the decay are captured by the α energy spectrum sensor and converted into pulse signals, and the concealed fire area is accurately located according to the abnormal value of the radon concentration.

[0074] Optionally, asFigure 1 As shown in the figure, after initially locating the potential fire area, the radon measurement in boreholes and magnetic method technology are integrated to accurately judge the state and combustion path of the concealed fire area. For the large surface fissure zone, a dual-parameter (radon gas and magnetic field) circular measurement network layout is adopted to synchronously monitor the abnormal change data of radon gas concentration and magnetic field. Using radon gas value, magnetic field value, and temperature value as multiple evaluation parameters, the intersection and union operations are performed on the single-parameter threshold abnormal areas to initially divide the risk levels. Then, based on the dynamic weight and threshold matrix determination, the four-level fire source prevention and control area is accurately delineated.

[0075] As Figure 1 As shown in the figure, according to different levels of fire source prevention and control areas, a dynamic shoveling and solidifying mud precise plugging device is used to grout and plug the surface fissures. It mainly includes four parts: a sunken adaptive chassis system, a rotating bucket soil-taking and conveying module, an in-situ synthesis system for solidifying materials, and a fissure plugging actuator. It completes the whole process of plugging operation, including self-sourcing materials from the surface layer, dynamically adjusting the quantity and in-situ synthesis, identifying air leakage in fissures, and filling and compacting with ballast tracks, isolating the oxygen supply channel, and realizing a multi-effect prevention and control system integrating in-situ radon gas tracer identification, delineation, and plugging of the concealed fire area.

[0076] Figure 2 As shown in the figure, the surface intelligent control drilling and burying linkage self-avoiding obstacle radon measurement device mainly realizes the collaborative functions of sunken buffer obstacle avoidance, intelligent drilling and burying cups, and radon gas detection and transmission. When starting the surface drilling and radon measurement operation, the sunken self-avoiding obstacle buffer three-dimensional device uses a millimeter-wave lidar to identify the surface state of the traveling path. When a raised obstacle is detected blocking the path, the six-axis shock-absorbing drive wheels receive the rotation command and rotate 360° omnidirectionally, and move forward according to the latest path; if it still maintains the original path to cross the obstacle, the omnidirectional sliding and rotating damping buffer wheels move laterally with the help of the sliding lateral guide rail, and avoid the protrusion by changing the distance between the two wheels, and then continue to move forward in the original direction.

[0077] Optionally, as Figure 2 As shown in the figure, when encountering a sunken fissure, the omnidirectional sliding and rotating damping buffer wheels achieve multi-directional shock absorption through the damping deformation spring, and the double-axis reciprocating torque hinge and the damping deformation spring work synchronously to complete the shock buffering in the vertical and torsional directions; when performing night operations, the dual-field collapse warning infrared sensor is turned on in dual modes to enhance the imaging monitoring ability of the night scene. The wide-angle mode quickly sweeps the surface path, and the narrow-angle mode accurately focuses on the fissure and sunken area. During the traveling process, it cooperates with the high-strength carbon fiber explosion-proof and energy-absorbing layer to achieve multi-dimensional shock buffering functions.

[0078] Figure 3As shown, after initially determining the central radon measurement point, intelligent drilling operations and cup embedding for gas collection and sampling are carried out in sequence. The stepless speed regulation screw drill rod embeds downward according to the target hole depth. The micro-compressive identification probe at the lower end monitors the formation characteristics during the drilling process in real time, drives the self-adjusting torque and speed through the electromagnetic unit, and correspondingly adjusts the deflection state of the drill bit for hard rock layers. The opposite separation slag collection and dust elimination device in the drill rod cavity simultaneously carries out slag removal work. Using the spiral eddy current formed by the axial tangential auxiliary air flow, it drives the slag and dust to be sucked upward for separation, and reaches the drill slag collection box through the conveying channel. The recovered and stored slag and dust can be used for the synthesis of crack sealing materials.

[0079] Optionally, as Figure 3 shown, the cup embedding sampling module synchronously takes cups from the double-chamber rotary cup storage chamber. A single sampling cup is thrown out from the light self-weight falling port, rotates to the right side of the double-chamber rotary cup storage chamber through the reverse rotation load-bearing base, and the self-elastic touch button pushes the single trigger-type radon gas single-permeation seal cover as needed, which is sleeved at the bottom of the sampling cup. The intelligent embedded double-drive steering arm rotates and bends, drives the linkage steering cup embedding frame to grab the sampling cup, the axial tension and compression rod stretches to the drilling hole entrance position, and then the end telescopic guide rod adjusts the descending height. After reaching the target hole depth position, the cup body is released, and the trigger-type radon gas single-permeation seal cover automatically closes to adsorb and collect radon gas in situ.

[0080] Figure 4 As shown, after the sampling cup is buried, a long-hole casing packer is used for sealing and support. The spiral hollow wall-attached casing spirally embeds into the hole wall to form an initial support to prevent the sampling cup from slipping laterally. Select the number of segmented expansion integrated airtight capsules according to the drilling depth, and expand and fill the drilling gap step by step from bottom to top as needed. The socket-type detachable buckle quickly locks the rigid support layer and the flexible airbag layer through the pressing-type lever bracket. The self-adaptive compensation seal ring elastically adjusts according to the hole wall shape and temperature changes to make up for local irregular pores, forming a modular layered sealing barrier. After the radon gas sampling is completed, the rapid separation between modules is realized through pressure relief and shrinkage and buckle disassembly.

[0081] Figure 5 As shown, the GPS positioning system is used to calibrate potential fire areas and plan drilling points to ensure that the detected target area covers the fire source core and the diffusion path. At the central radon measurement point, the intelligent drilling module drills into the target layer depth through the stepless speed regulation screw drill rod, adjusts the drilling speed and torque in real time according to the formation feedback, and simultaneously starts the opposite slag collection work to ensure the cleanliness and structural stability of the inside of the drilling hole. The cup embedding sampling module places the sampling cup at the bottom of the hole, the trigger-type radon gas single-permeation seal cover automatically closes, and the sampling cup fits tightly with the hole wall to form a closed chamber, only allowing radon gas to permeate unidirectionally from the bottom, blocking the interference of impurities such as CO, CH4, and dust particles, and improving the sampling accuracy.

[0082] Optionally, as Figure 5As shown in the figure, the α - energy spectrum sensor in the radon detection element captures the α - particles generated by the decay of radon gas through an internal silicon semiconductor detector. The energy spectrum analysis circuit distinguishes the characteristic peaks of radon isotopes and converts them into visual pulse signals. The temperature - humidity compensation element monitors the environmental parameters in real - time and corrects the signal offset through the temperature - humidity fitting algorithm to ensure that the radon concentration value truly reflects the heat source intensity. The multi - dimensional data is fused and analyzed by the radon value transmission and control module to generate a three - dimensional distribution model of abnormal fluctuations in radon concentration, intuitively observing the distribution state of underground fire areas.

[0083] Figure 6 As shown in the figure, for the dynamic mining radon - magnetic ring - type measuring point layout, a dual - parameter fusion fire area detection technology with radon - magnetic complementarity and layered coverage design is adopted. The radon - measuring point layout takes the fracture - developed zone as the center and adopts a layered circular progressive design, gradually expanding layer by layer from the target center to the periphery. The measuring points in each layer are arranged incrementally according to the diameter d = [10m + 2(m - 1)]m, forming a concentric circular measuring point network. The drilling depth in the conventional area is 40 - 50 cm, and 4 - 6 radon - measuring points are evenly arranged in each layer to cover the main channels of radon gas migration. In the area of collapse fissures, due to strong soil layer disturbance, the measuring point depth is increased to 70 - 80 cm to accurately capture the abnormal signals of deep - layer radon gas.

[0084] Optionally, Figure 6 As shown in the figure, the magnetic - method measuring point arrangement adopts a surface matrix layout. Taking the same center as the radon - measuring points as the origin, with as the diagonal distance of the measuring network, the measuring point spacing gradually increases with the outward expansion of the layers, and is arranged staggeredly with the gaps of the radon - measuring circular points. High - precision magnetometers are directly arranged on the surface to quickly scan the changes in magnetic field intensity, identify the boundaries of thermal anomaly areas with low - value magnetic field areas, and realize the synchronous identification of shallow - layer boundaries and deep - layer fire sources by superimposing and delineating with high - value radon - concentration areas.

[0085] Figure 7 As shown in the figure, for the radon - magnetic multi - fusion fire area grading and delineation algorithm, it combines the intersection - union set abnormal area division method and the comprehensive abnormal index threshold method for collaborative identification. Based on the radon - magnetic measuring point sampling database, temperature parameter compensation judgment conditions are added. Taking the radon gas value, magnetic field value, and temperature value as multi - evaluation parameters, the measured radon concentration value higher than 3 - 4 times the radon background value is the radon abnormal area, the magnetic field value lower than 15 - 30% of the surface magnetic field reference value is the magnetic abnormal area, and the temperature change value higher than the vertical temperature gradient threshold is the thermal abnormal area. The overlapping area of the three - parameter intersections is divided into the first - level fire source prevention and control area, the pairwise intersections are divided into the second - level fire source prevention and control area, a single anomaly is the third - level fire source prevention and control area, and the remaining areas are automatically classified into the fourth - level safety protection area.

[0086] Optionally, as Figure 7As shown in the figure, the radon gas value, magnetic field value, and temperature value data of the measurement points are normalized, and the contribution degree weights for fire area identification are assigned. The comprehensive determination index of each measurement point is calculated, and the dynamic reference value of the area without fire source interference is taken as the comprehensive anomaly discrimination threshold. The comprehensive determination index of the entire area is calibrated with the threshold. The first-level fire source prevention and control area below the threshold is adjusted to the second-level key prevention and control area, the high-threshold area of the second-level fire source prevention and control is upgraded to the first-level high-risk prevention and control area, the high-threshold area of the third-level fire source prevention and control is upgraded to the second-level key prevention and control area, and the high-threshold area within the fourth-level safety range is newly added as the third-level potential prevention and control area. The rest remain at the original level. The intersection and union method is used to quickly lock the abnormal range, and the comprehensive index method is used to refine the risk stratification to achieve the precise delineation of the concealed fire area.

[0087] Figure 8 As shown in the figure, it mainly consists of a sunken adaptive chassis system, a rotating bucket soil collection and conveying module, an in-situ solidification material synthesis system, and a crack sealing actuator. The rotating bucket soil collection and conveying module immediately collects soil from the current surface layer and transports it to the in-situ solidification material synthesis system; on the left side of the horizontal water storage tank and the anti-seepage curing agent addition bin, there are parametric dynamic adjustment valves to dynamically regulate the compounding ratio of loess, water, and anti-seepage curing agent according to the fire area risk level, generating high-strength plugging slurry. The crack sealing actuator then injects the slurry under high pressure to fill the cracks, and the sunken adaptive chassis system compacts to form a sealing layer. Through the efficient soil preparation by the bucket, the instant slurry preparation by the synthesis system, the directional slurry injection by the plugging mechanism, and the compaction by the crawler ballast, the four modules are coordinated to form a closed-loop operation.

[0088] Figure 9 As shown in the figure, the rotating drive soil collection bucket cuts into the surface through equidistant row teeth, evenly scraping the loess with impurities. The five fan blades rotate at high speed to break large pieces of gravel, and the seven fan blade structure grinds it a second time to fine-grained loess. By remotely adjusting the inclination angle and amplitude of the screen, it adapts to soils with different humidity and viscosity. After the vibrating separation adjustable screen vibrates at high frequency, the loess of the target particle size falls through the screen holes into the fully closed acrylic side-sliding housing. By self-adjusting the lateral sliding opening and closing degree of the housing, the fine loess is transported to the loess feeding bin, and the coarse particles are discharged along with the screen surface, realizing the full automation of the soil collection, crushing, screening, and conveying process, ensuring the uniformity of the loess raw material in the slurry plugging preparation material.

[0089] Optionally, as Figure 9 As shown in the figure, with the help of a multi-spectral crack sensor, the air leakage situation of the surface cracks is monitored in real time. Through the parametric dynamic adjustment valve, the ratio of loess, water, and anti-seepage curing agent is dynamically regulated and transported to the multi-stage in-situ mixing and stirring bin. The multi-layer stirring fully blends to form a homogeneous paste-like material for plugging air leakage cracks and strengthening the surface; through a high-pressure paste-like slurry injector, slurry is precisely sprayed onto the surface cracks to fill the gaps and initially consolidate. The hydraulic dense ballast crawler applies uniform pressure to roll the crack surface so that the slurry is fully filled and compacted, cutting off the air leakage channel between the surface and the underground, cutting off the oxygen supply, and inhibiting the spread of the concealed fire area in shallowly buried coal seams, achieving the efficient treatment of the concealed fire area.

[0090] The beneficial effects of the present invention are as follows: to provide a precise identification, definition, prevention and control system for in-situ radon tracing of shallow concealed fire areas, to achieve high-precision monitoring of the dynamic migration of radon gas in concealed fire areas, quantitative classification and delineation of fire area risks, and optimization of in-situ synthesis of slurry for crack sealing treatment, to form a systematic method of multi-effect collaborative treatment including in-situ radon measurement for exploration and monitoring, precise delineation of fire areas by radon measurement and magnetic method, and dense sealing of surface cracks, to improve the sensitivity of in-situ radon tracing and the accuracy of fire area boundary identification, to strengthen the crack sealing efficiency of shallow-buried coal seam concealed fire areas, and to enhance the innovative level of multi-effect treatment and prevention of coal mine fires.

Claims

1. Shallow concealed fire area radon in-situ tracer precise identification and delimitation prevention and control system, characterized in that, It includes three parts: the in-situ radon detection and monitoring unit, the precise delineation unit of fire areas by radon measurement and magnetic method, and the adaptive plugging and treatment unit of surface fissures; the in-situ radon detection and monitoring unit includes the intelligent control drill-burying linkage self-avoidance obstacle radon measurement device and the in-situ tracing multi-linkage detection principle; the precise delineation unit of fire areas by radon measurement and magnetic method mainly includes the dynamic mining radon measurement and magnetic method circular measuring point layout and the radon measurement multi-parameter fusion fire area grading delineation algorithm; the adaptive plugging and treatment unit of surface fissures mainly includes the dynamic shoveling and curing mud precise plugging device.

2. The in-situ tracing, precise identification, definition, prevention and control system for radon gas in shallow concealed fire areas according to claim 1, wherein The intelligent control drill-burying linkage self-avoidance obstacle radon measurement device includes an intelligent drilling and burying cup sampling fusion device, a long-hole casing packer, a radon measurement detection element, a radon value transmission and control linkage module, and a concave collapse self-avoidance buffer three-dimensional device; the concave collapse self-avoidance buffer three-dimensional device uses a millimeter-wave lidar to form a pre-judgment module, a dual-field-of-view collapse warning infrared sensor scans the surface obstacles in real time, and an all-round sliding and rotating damping buffer wheel triggers the deflection of the travel path or slow slope operation, and dynamically avoids obstacles through a six-axis shock-absorbing drive wheel.

3. The in-situ tracing, precise identification, delimitation, prevention and control system for radon gas in shallow concealed fire areas according to claim 2, characterized in that The intelligent drilling and burying cup sampling fusion device consists of an infinitely variable speed screw drill pipe, an oppositely separated slag collecting and dust removing device, and a micro-compressive identification probe to form an intelligent drilling module, a double-chamber rotary cup storage chamber, a linkage steering cup burying frame, and a trigger-type radon single-permeation seal cover to form a cup burying sampling module; the GPS positioning system determines the location of potential fire sources, the infinitely variable speed screw drill pipe automatically adjusts the drilling speed and torque, the oppositely separated slag collecting and dust removing device synchronously sucks the drilling slag and dust, the linkage steering cup burying frame accurately places the sampling cup to the specified depth, and the trigger-type radon single-permeation seal cover automatically closes to control the unidirectional infiltration of radon gas.

4. The in-situ tracing, precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 2, characterized in that The long-hole casing packer uses a spiral hollow wall-attached casing, a socket-type detachable buckle, a segmented expansion integrated airtight capsule, and an adaptive compensation seal ring to construct a modular channel. The casing has a hollow reserved channel with D in = 12 to 15 cm, which is slightly larger than the diameter of the sampling cup and is sleeved outside the sampling cup to form a support barrier; the segmented expansion integrated airtight capsule expands radially to dynamically seal the peripheral drilling gaps at different layers, and a longitudinal airtight space is constructed from bottom to top. The adaptive compensation seal ring synchronously fits the hole wall to isolate the interference of shallow lateral seepage gas.

5. The in-situ tracer precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 1, wherein For the in-situ tracing multi-linkage detection principle, the intelligent drilling module accurately locates and monitors the depth of the drilling path, the cup burying sampling module in-situ collects radon gas at the target depth, the radon measurement detection element converts the alpha particles released by the radon gas into pulse signals through an alpha energy spectrum sensor, the radon value transmission and control linkage module is equipped with a temperature and humidity compensation element to correct the intensity of the pulse signal according to the on-site temperature and humidity difference, superimposes the drilling coordinates and the hole depth temperature data, and transmits them back to the cloud platform through the wireless communication module for monitoring the abnormal fluctuation of radon gas concentration.

6. The in-situ tracing, precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 1, wherein The dynamic mining radon measurement and magnetic method circular measuring point layout integrates the drilling radon measurement and magnetic method technologies to detect the scope of the fire area, and arranges the measuring points in a targeted circular manner according to the development of air leakage fissures. Taking the fissure development zone as the center of the measuring point, the number of peripheral measuring points is designed to be 4 - 6, the depth of the radon measurement measuring point is 40 - 50 cm, and they are arranged in an increasing diameter. The measuring points for positioning and marking in the collapse area extend downward to 70 - 80 cm; the magnetic method measuring points do not require drilling, and are arranged on the surface in a staggered manner with the radon measurement measuring points along the increasing diagonal distance, and simultaneously monitor the radon concentration and magnetic anomaly change data.

7. The in-situ tracing, precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 1, wherein The radon-measuring multi-parameter fusion fire area grading and delineation algorithm uses the radon gas value (R), magnetic field value (M), and temperature value (T) as multi-evaluation parameters. It sets the radon anomaly threshold when the radon gas value is higher than 3 to 4 times the radon background value, divides the radon anomaly area, divides the magnetic anomaly area based on the total base point magnetic field value, and preliminarily divides the four-level fire source prevention and control area according to the intersection and union anomaly areas; it weights and sums the contributions of the radon gas, magnetic field, and temperature of the measuring points to the fire area identification, and assigns different weights w i , calculates the comprehensive determination index F, F = w1R + w2M + w3T, sets the comprehensive anomaly discrimination threshold c, and adjusts the final fire area delineation level through the F≥c condition judgment matrix.

8. The in-situ tracing, precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 1, characterized in that The dynamic shoveling and solidifying mud precise plugging device includes a depression self-adaptive chassis system, a rotating bucket soil-taking and conveying module, a solidifying material in-situ synthesis system, and a crack plugging execution mechanism; the depression self-adaptive chassis system is divided into an omnidirectional moving Mecanum wheel and a hydraulic dense ballast track, the rotating bucket soil-taking and conveying module includes a rotating drive soil-collecting bucket, a spiral gravel rotating blade, and a vibration separation adjustable screen, scans and identifies the available loess layer along the boundary of the potential fire area, takes soil, screens it and temporarily stores it, and adjusts the material dosage synthesis and crack precise plugging according to the fire area risk level.

9. The in-situ tracing, precise identification, definition and prevention and control system for radon gas in shallow concealed fire areas according to claim 8, wherein, The solidifying material in-situ synthesis system includes a loess feeding bin, a horizontal water storage tank, an impermeability solidifying agent adding bin, and a multi-stage in-situ mixing and stirring bin. According to the surface air leakage data of different levels of fire areas monitored by a multi-spectral crack width sensor, through a parameter dynamic adjustment valve, the loess, water, and impermeability solidifying agent are compounded in multiple proportions in-situ, and precisely sprayed into the surface cracks through a high-pressure paste-like mud injector, and the hydraulic dense ballast track is used for compaction and plugging.

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