Intelligent sensing control microorganism spraying fire preventing and extinguishing device for coal mine goaf

Abstract

The invention discloses a coal mine goaf intelligent sensing control microorganism spraying fire preventing and extinguishing device, and relates to the technical field of coal mine goaf fire preventing and extinguishing, which comprises a microorganism fire preventing and extinguishing liquid circulating system, an environment sensing and decision making system and an autonomous navigation and movement system which are all mounted on a moving mechanism, the microorganism fire preventing and extinguishing liquid circulating system and the multi-mode spraying execution system are mounted in an adaptive manner; the environment perception and decision-making system is used for collecting distributed data and dividing fire danger grades to generate a dynamic spraying instruction; the multi-mode spraying execution system is used for executing the dynamic spraying instruction; the autonomous navigation and motion system is used for constructing a goaf three-dimensional map and planning a moving path. The spraying device adopts a microbial fire prevention and extinguishing technology, is environment-friendly and pollution-free, realizes full-automatic control, can flexibly move in a goaf due to the design of a moving mechanism, and meets the spraying requirement in a complex environment. The intelligent control system can adjust the spraying strategy in real time according to the goaf environment change, and the optimal fire preventing and extinguishing effect is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine goaf fire prevention and extinguishing, more particularly to a coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device. BACKGROUND

[0002] In the process of coal mining, the coal spontaneous combustion problem in goaf has been a major hidden danger of safety production. Traditional fire prevention and extinguishing methods such as grouting prevention and control technology, inhibitor prevention and control technology, pressure equalization prevention and control technology, inert gas prevention and control technology, gel prevention and control technology, etc. have many limitations, such as low efficiency, high cost, short cycle, pollution to the environment, etc. Microbial fire prevention and extinguishing technology as a new green fire prevention and extinguishing means has the advantages of environmental protection and high efficiency. However, the current microbial spraying device is mostly fixed or manual mode, which cannot meet the flexible spraying needs in the complex environment of goaf.

[0003] Therefore, how to propose a coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device to improve the goaf fire prevention and extinguishing efficiency is a problem to be solved by those skilled in the art. SUMMARY

[0004] Therefore, the present application provides a coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device, which aims to consume oxygen in the goaf by using a microbial fire prevention and extinguishing liquid mixed by specific oxygen-consuming microbial liquid, nutrient liquid and additives, reduce the oxidation rate of coal, and prevent fire from the root; real-time monitoring of goaf environmental parameters by a sensor system, automatic control of the conveying pump, the spraying head and the moving mechanism by the control system, and realization of automatic and accurate fire prevention and extinguishing; using a tracked or wheeled moving mechanism, cooperating with an adjustable spraying head, realizing flexible movement and omnidirectional spraying in complex terrain. The microbial fire prevention and extinguishing technology is deeply integrated with intelligent equipment, breaking through the coverage blind area and response delay problem of traditional fixed devices, and can independently complete oxygen concentration regulation, fire source point targeted spraying and full-area path planning under complex geological conditions, and has environmental friendliness and fire prevention and extinguishing efficiency persistence, providing a all-weather, self-adaptive and zero-pollution three-dimensional fire prevention and extinguishing solution for coal mine goaf. In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] A coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device, comprising: a microbial fire prevention and extinguishing liquid circulation system, a multi-modal spraying execution system, an environmental perception and decision system, an autonomous navigation and motion system, and a moving mechanism;

[0006] The microbial fire prevention and extinguishing liquid circulation system, the environmental perception and decision system, and the autonomous navigation and motion system are installed on the moving mechanism, and the microbial fire prevention and extinguishing liquid circulation system is adaptively installed with the multi-modal spraying execution system.

[0007] The environment perception and decision system is used for collecting distributed data and dividing fire risk levels to generate dynamic spraying instructions.

[0008] The multi-modal spraying execution system is used for executing the dynamic spraying instructions.

[0009] The autonomous navigation and movement system is used for constructing a three-dimensional map of the goaf and planning a movement path.

[0010] Optionally, the microbial fire extinguishing and preventing liquid circulation system comprises a liquid storage tank and a delivery pump, the liquid storage tank comprises a liquid storage tank shell, a liquid storage tank core wall and a timing stirring table, the liquid storage tank shell is connected with the liquid storage tank core wall, the timing stirring table is rotationally connected with the bottom of the liquid storage tank, and the delivery pump is fixedly connected with the bottom of the liquid storage tank.

[0011] Optionally, the multi-modal spraying execution system comprises a telescopic delivery pump and a spraying head, the spraying head and the telescopic delivery pump are connected through an automatic sealing hole film, the spraying head is communicated with the delivery pump through the telescopic delivery pump, and the spraying head comprises a main body and a multi-hole spraying head interface.

[0012] Optionally, the environment perception and decision system comprises a sensor system, and the sensor system comprises a temperature sensor, an oxygen concentration sensor, a carbon monoxide concentration sensor and a liquid level sensor.

[0013] Optionally, the system further comprises a control system, and the control system is signal connected with the temperature sensor, the oxygen concentration sensor, the carbon monoxide concentration sensor and the liquid level sensor respectively.

[0014] Optionally, the autonomous navigation and movement system comprises a movement mechanism, an automatic navigation system and an obstacle avoidance system, the movement mechanism comprises a movement platform, a track, a rotating wheel and a telescopic buckle, the rotating wheel is rotationally connected with the movement platform, the rotating wheel is adaptively installed with the track, and the telescopic buckle is flip-connected with the movement platform; the automatic navigation system comprises a front high-precision solid-state laser radar, a rear high-precision solid-state laser radar, a left high-precision solid-state laser radar and a right high-precision solid-state laser radar, and the front high-precision solid-state laser radar, the rear high-precision solid-state laser radar, the left high-precision solid-state laser radar and the right high-precision solid-state laser radar are all installed on the movement platform.

[0015] Optionally, the autonomous navigation and movement system constructs a three-dimensional map of the goaf based on a SLAM algorithm, plans a movement path in combination with a terrain complexity factor α and a fire risk severity factor β, and a path weight function is as follows:

[0016] Optionally, the surface of the spray head is distributed with three micro-nozzles in a honeycomb array, the spacing between adjacent nozzles is n times of the diameter of the nozzle, supporting the switching between pulse spraying and continuous spraying modes.

[0017] Optionally, the control system comprises a fire risk grading module, which divides the fire risk level into: grade I early warning, grade II local spraying and grade III full-power spraying.

[0018] Optionally, the liquid level sensor and the temperature sensor are in real-time communication with the control system, and when the liquid level is too low or the temperature is abnormal, the control system automatically issues an alarm and takes corresponding measures.

[0019] According to the above technical solution, compared with the prior art, the present application provides a coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device, which has the following beneficial effects:

[0020] The present application provides a coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device, which comprises: a microbial fire prevention and extinguishing liquid circulation system, a multi-modal spraying execution system, an environment sensing and decision-making system, an autonomous navigation and motion system, and a mobile mechanism; the microbial fire prevention and extinguishing liquid circulation system, the environment sensing and decision-making system, and the autonomous navigation and motion system are all installed on the mobile mechanism, and the microbial fire prevention and extinguishing liquid circulation system is adaptively installed with the multi-modal spraying execution system; the environment sensing and decision-making system is used for collecting distributed data and dividing fire risk levels to generate dynamic spraying instructions; the multi-modal spraying execution system is used for executing the dynamic spraying instructions; and the autonomous navigation and motion system is used for constructing a three-dimensional map of the goaf and planning a mobile path. The present application adopts microbial fire prevention and extinguishing technology, which is environmentally friendly and pollution-free, and meets the requirements of green mine construction; realizes full-automatic control of the spraying device, improves the spraying efficiency and fire prevention and extinguishing effect; the design of the mobile mechanism enables the spraying device to move flexibly in the goaf, meeting the spraying requirements in complex environments; the intelligent control system can adjust the spraying strategy in real time according to the environmental changes in the goaf, ensuring the optimal fire prevention and extinguishing effect; the high-strength design of the device main structure enables it to operate stably in harsh environments, prolonging the service life; the optimized design of the microbial culture liquid storage and transportation system ensures the uniformity of the culture liquid and the spraying effect, further improving the reliability of fire prevention and extinguishing. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description, and obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any creative labor.

[0022] Figure 1 A coal mine goaf intelligent sensing and control microbial spraying fire prevention and extinguishing device structure schematic diagram is provided for the present application.

[0023] Figure 2(a) is a front view of the liquid storage tank provided by the present application.

[0024] Figure 2(b) is a plan view of the liquid storage tank provided by the present application.

[0025] Figure 2(c) is a schematic diagram of the telescopic conveying pump structure provided by the present application.

[0026] Figure 2(d) is a schematic diagram of the spray head structure provided by the present application.

[0027] Figure 3(a) is a front view of the autonomous navigation and motion system provided by the present application.

[0028] Figure 3(b) is a schematic diagram of the moving mechanism structure provided by the present application.

[0029] Figure 3(c) is a schematic diagram of the automatic navigation system structure provided by the present application.

[0030] Figure 4 A sensor system and decision control system workflow schematic diagram is provided for the present application.

[0031] Figure 5 A control relationship between the systems provided by the present application is shown in the schematic diagram.

[0032] Among them, 1-liquid storage tank, 2-conveying pump, 3-spray head, 4-sensor system, 5-control system, 7-automatic navigation system, 8-obstacle avoidance system, 11-liquid storage tank shell, 12-liquid storage tank core wall, 21-timed stirring table, 31-telescopic conveying pump, 32-automatic sealing hole membrane, 33-multi-hole spray head interface, 41-temperature sensor, 42-oxygen concentration sensor, 43-carbon monoxide concentration sensor, 44-liquid level sensor, 61-track, 62-wheel, 63-telescopic buckle, 71-front high-precision solid-state laser radar, 72-rear precision solid-state laser radar, 73-left precision solid-state laser radar, 74-right precision solid-state laser radar. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] The embodiment of the present application discloses a kind of intelligent microbial spray fire prevention and extinguishing devices for coal mine goaf, comprising: microbial fire prevention and extinguishing liquid circulation system, multi-modal spraying execution system, environmental perception and decision system, autonomous navigation and motion system and mobile mechanism;

[0035] The microbial fire prevention and extinguishing liquid circulation system, environmental perception and decision system, autonomous navigation and motion system are installed on the mobile mechanism, and the microbial fire prevention and extinguishing liquid circulation system is adaptively installed with the multi-modal spraying execution system.

[0036] The environmental perception and decision system is used to collect distributed data and divide fire risk levels to generate dynamic spraying instructions.

[0037] The multi-modal spraying execution system is used to execute dynamic spraying instructions.

[0038] The autonomous navigation and motion system is used to construct a three-dimensional map of the goaf and plan a moving path.

[0039] Further, as shown in FIGS. 2(a) and 2(b), the microbial fire prevention and extinguishing liquid circulation system comprises a liquid storage tank 1 and a delivery pump 2. The liquid storage tank 1 comprises a liquid storage tank shell 11, a liquid storage tank core wall 12 and a timing stirring table 21. The liquid storage tank shell 11 is connected with the liquid storage tank core wall 12. The timing stirring table 21 is rotationally connected with the bottom of the liquid storage tank 1. The delivery pump 2 is fixedly connected with the bottom of the liquid storage tank 1.

[0040] Specifically, the liquid storage tank 1 adopts a double-layer structure. The inner layer liquid storage tank core wall 12 is filled with nano phase change materials. When the temperature is greater than or equal to 45°C, the cooling cycle is triggered. The pressure resistance level is greater than or equal to 1.6 MPa.

[0041] Further, as shown in FIGS. 2(c) and 2(d), the multi-modal spraying execution system comprises a telescopic delivery pump 31 and a spraying head 3. The spraying head 3 and the telescopic delivery pump 31 are connected through an automatic sealing hole membrane 32. The spraying head 3 is communicated with the delivery pump 2 through the telescopic delivery pump 31. The spraying head 3 comprises a main body and a multi-hole spraying head interface 33. The multi-hole spraying head interface 33 is arranged inside the main body.

[0042] Specifically, the telescopic delivery pump 31 is provided with a pressure feedback module at the end of the telescopic rod. The spraying pressure is adjusted in real time. The pressure fluctuation error is less than or equal to ±0.1 MPa.

[0043] Specifically, the automatic sealing hole membrane 32 is arranged between the liquid storage tank 1 and the spraying head 3. The hole membrane adopts a polytetrafluoroethylene microporous membrane. The hole membrane is automatically closed when the pipeline pressure is less than 0.3 MPa. The closing response time is less than 50 ms.

[0044] Further, the environment perception and decision system comprises a sensor system 4, which comprises a temperature sensor 41, an oxygen concentration sensor 42, a carbon monoxide concentration sensor 43, and a liquid level sensor 44.

[0045] Specifically, the environment perception and decision system collects temperature, oxygen, and carbon monoxide data in real time through a distributed sensor network 4, divides fire risk levels (I-level early warning / II-level local spraying / III-level full-power spraying) through a random forest model, and generates dynamic spraying instructions.

[0046] Specifically, the distributed optical fiber temperature sensor in the sensor system has a layout density of 5 measuring points per meter, and a detection response time of <0.5s.

[0047] Further, the control system 5 is signal-connected with the temperature sensor 41, the oxygen concentration sensor 42, the carbon monoxide concentration sensor 43, and the liquid level sensor 44, respectively.

[0048] Further, as shown in FIG. 3(b) and FIG. 3(c), the autonomous navigation and motion system comprises a moving mechanism, an automatic navigation system 7, and an obstacle avoidance system 8. The moving mechanism comprises a moving platform, a track 61, a rotating wheel 62, and a telescopic buckle 63. The rotating wheel 62 is rotationally connected with the moving platform, the rotating wheel 62 is adaptively installed with the track 61, and the telescopic buckle 63 is flip-connected with the moving platform. The automatic navigation system 7 comprises a front high-precision solid-state laser radar 71, a rear side precision solid-state laser radar 72, a left side precision solid-state laser radar 73, and a right side precision solid-state laser radar 74, which are all installed on the moving platform.

[0049] Specifically, the moving mechanism is in a track type or a wheel type structure, and can stably walk on the complex terrain of the goaf. The track type adopts a new type of rubber track and a hydraulic damping system, and the wheel type selects special tires with explosion-proof and anti-skid functions, and is equipped with an independent suspension system and a four-wheel steering function, and carries the automatic navigation system 7 and the laser radar obstacle avoidance system.

[0050] Specifically, the moving mechanism further comprises a four-wheel independent suspension system, which adopts a double wishbone structure, has a single suspension stroke of 150mm, and has a dynamically adjustable damping coefficient of a hydraulic shock absorber, with an adjustment range of 50-200N·s / m.

[0051] Further, as shown in FIG. 3(a), the autonomous navigation and motion system constructs a three-dimensional map of the goaf based on a SLAM algorithm, plans a moving path in combination with a terrain complexity factor a and a fire risk severity factor β, and a path weight function is: a is a terrain complexity factor, RSSI: received signal strength indicator. RSSI ∈ [1, 100]. In the formula, 1 / RSSI is used to depict "the weaker the signal, the more serious the terrain obstruction". β: fire hazard factor. Represents the "urgency weight" of CO concentration change on path planning, and is set according to the pre-set value of the goaf fire hazard level and dynamic adjustment; the pre-set value β ∈ [0.5, 3], when ΔCO rises continuously for 5 minutes, the value of β is automatically increased by 10%-30%. ΔCO: CO concentration change. ΔCO = CO(t)-CO(t-Δt). Positioning accuracy ±10cm, path planning update frequency ≥1Hz, maximum climbing degree 35°.

[0052] In the specific embodiment, the terrain complexity factor a is calculated by a weighted model by fusing the slope variance (local terrain fluctuation intensity), obstacle density (obstacle distribution density in unit volume) and the like:

[0053] a = k1·σ slope +k2·ρ obstacle ;

[0054] Wherein, σ slope represents the standard deviation of the terrain slope in the local area, and the steeper the slope, the larger the value. ρ obstacle represents the number of obstacle points in the unit volume of laser point cloud, and the more dense the obstacles, the larger the value. The value of k represents the calibration coefficient, which needs to be optimized through field experiments, and the typical value k1 ∈ [0.6, 0.8], k2 ∈ [0.2, 0.4].

[0055] Further, the surface of the spray head 3 is distributed with three kinds of micro nozzles in a honeycomb array, and the spacing between adjacent nozzles is n times the diameter of the nozzle, supporting the switching between pulse spraying and continuous spraying modes.

[0056] Specifically, the surface of the spray head 3 is distributed with three kinds of micro nozzles with diameters of 0.5mm, 1mm and 2mm in a honeycomb array, and the spacing between adjacent nozzles is 3 times the diameter of the nozzle, supporting the switching between pulse spraying (single spraying amount 0.1-5mL) and continuous spraying modes. The spray head adopts a modular design, and different specifications of the spray head can be quickly replaced according to actual needs to adapt to different spraying ranges and angle requirements.

[0057] Further, the control system 5 comprises a fire hazard grading module, which divides the fire hazard level into: grade I early warning, grade II local spraying and grade III full-power spraying.

[0058] Further, the liquid level sensor 44 and the temperature sensor 41 are in real-time communication with the control system 5, and when the liquid level is too low or the temperature is abnormal, the control system 5 automatically issues an alarm and takes corresponding measures.

[0059] The application discloses a kind of intelligent microbial spraying fire prevention and extinguishing devices for coal mine goaf, to the problems such as poor flexibility, response lag and environmental pollution of traditional fire prevention and extinguishing device, a kind of integrated environmental perception, intelligent decision and active prevention and control solution is presented.The device includes: double-layer microbial solution storage tank, telescopic delivery pump 31, honeycomb array multi-mode spray head, distributed sensor network and mobile platform based on SLAM navigation.Through real-time analysis of environmental data by deep reinforcement learning algorithm, dynamically divide Ⅰ-Ⅲ grade fire danger and trigger grading spray strategy, combined with oxygen-consuming microbial liquid target inhibition of coal spontaneous combustion, realize goaf all-terrain coverage, all-time monitoring and zero-pollution prevention and control, more than 40% of traditional device fire extinguishing efficiency is improved.

[0060] In the specific embodiment, as shown in Figure 4 A kind of intelligent microbial spraying fire prevention and extinguishing devices for coal mine goaf, including liquid storage tank 1, delivery pump 2, spray head 3, sensor system 4, control system 5 and mobile mechanism:

[0061] The liquid storage tank 1 is used to store microbial fire extinguishing liquid;The delivery pump 2 is connected with the liquid storage tank 1, for delivering microbial fire extinguishing liquid to the spray head 3;The spray head 3 is arranged at a suitable position in the goaf, for spraying microbial fire extinguishing liquid to the goaf;The sensor system 4 includes temperature sensor 41, oxygen concentration sensor 42, carbon monoxide concentration sensor 43 and the like, for monitoring environmental parameters of the goaf in real time;The control system 5 is connected with the delivery pump 2, sensor system 4 and mobile mechanism, according to the environmental parameters fed back by the sensor system 4, automatically controls the start-stop of the delivery pump 2 and the spraying amount of the spray head, controls the movement of the mobile mechanism at the same time, so that the spraying device can move flexibly in the goaf, realizing all-round spraying;The mobile mechanism is of tracked or wheeled structure, and can stably walk on the complex terrain in the goaf.

[0062] The microbial fire extinguishing liquid is mixed by specific oxygen-consuming microbial solution, nutrient solution and additive, which can effectively consume oxygen in the goaf, reduce the oxidation rate of coal, so as to achieve the purpose of fire prevention and extinguishing.

[0063] The control system 5 adopts advanced intelligent algorithm, which can adjust the spraying strategy in real time according to the environmental changes in the goaf, to ensure the optimal fire prevention and extinguishing effect.

[0064] The spray head 3 is an adjustable spray head, which can adjust the spraying angle and spraying range as needed to adapt to the shape and size of different goafs.

[0065] The mobile mechanism adopts tracked or wheeled chassis, has good passability and climbing ability, and can adapt to the complex terrain in the goaf.The main body is made of high-strength material, has the characteristics of explosion-proof, waterproof and dustproof, and can ensure stable operation in harsh environment.

[0066] The trolley is internally provided with a microbial culture solution storage tank connected with the spray head through a pipeline. The storage tank is internally provided with a stirring device to ensure the uniformity of the microbial culture solution. The delivery system adopts a high-pressure pump capable of delivering the culture solution to the spray head in a high-pressure form to realize long-distance and high-pressure spraying.

[0067] In the specific embodiment, as shown in Figure 5 A coal mine goaf intelligent microbial control and spraying fire extinguishing device, specifically comprising:

[0068] The microbial solution storage tank 1 is used for storing microbial fire extinguishing liquid, and its capacity is designed according to the size of the goaf and the fire extinguishing demand. The storage tank 1 is made of high-strength and corrosion-resistant materials to ensure stable operation in harsh environments. The storage tank 1 is internally provided with a liquid level sensor 44 for real-time monitoring of the liquid level and transmitting data to the control system 5. When the liquid level is below the set value, the control system 5 will issue an alarm to prompt the need to supplement the microbial fire extinguishing liquid.

[0069] The delivery pump 2 is connected with the storage tank 1 and delivers the microbial fire extinguishing liquid to the spray head 3 through a pipeline. The delivery pump 2 adopts a high-pressure telescopic pump capable of providing sufficient pressure to ensure that the microbial fire extinguishing liquid can be delivered to the spray head 3 in a high-pressure form to realize long-distance and high-pressure spraying. The start and stop of the delivery pump 2 are automatically controlled by the control system 5 according to the environmental parameters fed back by the sensor system 4.

[0070] The spray head 3 is connected with the delivery pump 2 and adopts an adjustable spray head capable of adjusting the spraying angle and spraying range as needed. The surface of the spray head 3 is distributed with regular spray holes of different diameters in a honeycomb array, and the spacing between adjacent spray holes is 3 times the diameter, supporting the switching between pulse spraying and continuous spraying modes. It can ensure comprehensive coverage of the goaf. The spraying amount of the spray head 3 is automatically adjusted by the control system 5 according to the environmental parameters fed back by the sensor system 4 to achieve the best fire extinguishing effect.

[0071] The sensor system 4 includes temperature sensors 41, oxygen concentration sensors 42, carbon monoxide concentration sensors 43, etc., which are respectively installed at different positions of the goaf for real-time monitoring of the environmental parameters of the goaf. The temperature sensor 41 is used for monitoring the temperature change of the goaf, the oxygen concentration sensor 42 is used for monitoring the oxygen concentration in the goaf, and the carbon monoxide concentration sensor 43 is used for monitoring the carbon monoxide concentration in the goaf. These sensors transmit the monitored data to the control system 5 in real time to provide decision basis for the control system 5.

[0072] The control system 5 is connected with the conveying pump 2, the sensor system 4, the moving mechanism, the automatic navigation system 7 and the obstacle avoidance system 8, adopts a random forest algorithm, divides a fire risk level according to environmental parameters fed back by the sensor system 4, generates a dynamic spraying instruction, automatically controls start and stop of the conveying pump 2 and spraying amount of the spraying head 3, simultaneously controls movement of the moving mechanism, so that the spraying device can move flexibly in the goaf and realize omnidirectional spraying. The control system 5 adopts a modular design and comprises a data acquisition module, a data processing module, a control module and a communication module. The data acquisition module is responsible for collecting data of the sensor system 4, the data processing module analyzes and processes data, the control module controls operation of the conveying pump 2 and the spraying head 3 according to a processing result, and the communication module is responsible for data communication with external equipment, so as to realize remote monitoring and control.

[0073] The moving mechanism comprises a caterpillar 61, a rotating wheel 62 and a clamping groove structure, the clamping groove structure is a retractable buckle 63 and can stably walk on complex terrains in the goaf. The caterpillar type structure has good passability and climbing ability and can adapt to complex terrains in the goaf, and the clamping groove type is suitable for areas with fixed position structure. Movement of the moving mechanism is automatically controlled by the control system 5 according to environmental parameters fed back by the sensor system 4, so as to ensure that the spraying device can reach every corner of the goaf and realize omnidirectional spraying. The driving system of the moving mechanism adopts electric driving and has advantages of high efficiency, low noise and low energy consumption.

[0074] The automatic navigation system 7 adopts SLAM (Simultaneous Localization and Mapping) technology, realizes real-time mapping and positioning of the environment by integrating various high-precision sensors such as laser radar and camera, etc. The technology can construct a map in an unknown environment and simultaneously determine the position of the device in the map, so as to realize autonomous navigation. The automatic navigation system 7 combines a path planning algorithm to generate an optimal path from a starting point to an ending point, so as to ensure that the device can efficiently and safely reach a target position.

[0075] The obstacle avoidance system 8 detects obstacles in the surrounding environment in real time through a laser radar, adjusts movement direction and speed of the device in real time according to obstacle information fed back by the sensor, so as to ensure that the device can safely avoid obstacles. The obstacle avoidance system 8 closely cooperates with the automatic navigation system 7 to ensure safe driving of the device in a complex environment.

[0076] The present application integrates advanced environmental monitoring, intelligent control, automatic navigation and obstacle avoidance technologies, realizes efficient and uniform spraying in the goaf and effectively prevents and controls coal spontaneous combustion. The device not only improves spraying efficiency, guarantees safety of miners and reduces operating cost, but also meets environmental protection requirements and has a broad application prospect.

[0077] The various embodiments described in this specification are presented for the purpose of illustration and description. Each of the embodiments described in this specification is presented as one or more exemplary embodiments. The various embodiments described in this specification can be combined with each other in any manner. Each of the embodiments described in this specification can be combined with other embodiments disclosed in the specification in any manner. The same or similar elements in the various embodiments are denoted by the same or similar reference numerals.

[0078] The above description of disclosed embodiments is intended to be illustrative and not restrictive. Many modifications and variations to the described embodiments will be apparent to those skilled in the art from this disclosure. The scope of the application should be determined from the following claims, along with the full scope of equivalents to which such claims are entitled. It is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A smart sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas, characterized in that, include: Microbial fire extinguishing liquid circulation system, multimodal spraying execution system, environmental perception and decision-making system, autonomous navigation and motion system, and mobile mechanism; The microbial fire extinguishing liquid circulation system, environmental perception and decision-making system, and autonomous navigation and motion system are all installed on the mobile mechanism. The microbial fire extinguishing liquid circulation system is adapted and installed to the multimodal spraying execution system. The environmental perception and decision-making system is used to collect distributed data and generate dynamic sprinkler commands by classifying fire hazard levels. The multimodal spraying execution system is used to execute dynamic spraying commands; The autonomous navigation and motion system is used to construct a three-dimensional map of the goaf and plan movement paths.

2. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 1, characterized in that, The microbial fire extinguishing liquid circulation system includes: a storage tank (1) and a delivery pump (2). The storage tank (1) includes a storage tank shell (11), a storage tank core wall (12), and a timed stirring platform (21). The storage tank shell (11) is connected to the storage tank core wall (12). The timed stirring platform (21) is rotatably connected to the bottom inside the storage tank (1). The delivery pump (2) is fixedly connected to the bottom inside the storage tank (1).

3. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 2, characterized in that, The multimodal spraying system includes a retractable delivery pump (31) and a spray head (3). The spray head (3) and the retractable delivery pump (31) are connected by an automatic sealing membrane (32). The spray head (3) is connected to the delivery pump (2) through the retractable delivery pump (31). The spray head (3) includes a main body and a multi-hole nozzle interface (33). The multi-hole nozzle interface (33) is placed inside the main body.

4. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 1, characterized in that, The environmental perception and decision-making system includes a sensor system (4), which includes a temperature sensor (41), an oxygen concentration sensor (42), a carbon monoxide concentration sensor (43), and a liquid level sensor (44).

5. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 4, characterized in that, It also includes a control system (5), which is connected to the temperature sensor (41), oxygen concentration sensor (42), carbon monoxide concentration sensor (43) and liquid level sensor (44) respectively.

6. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 1, characterized in that, The autonomous navigation and motion system includes a mobile mechanism, an automatic navigation system (7), and an obstacle avoidance system (8). The mobile mechanism includes a mobile platform, tracks (61), wheels (62), and retractable buckles (63). The wheels (62) are rotatably connected to the mobile platform, and the wheels (62) are adapted to the tracks (61). The retractable buckles (63) are flipped to connect to the mobile platform. The automatic navigation system (7) includes a front high-precision solid-state laser radar (71), a rear high-precision solid-state laser radar (72), a left high-precision solid-state laser radar (73), and a right high-precision solid-state laser radar (74). The front high-precision solid-state laser radar (71), the rear high-precision solid-state laser radar (72), the left high-precision solid-state laser radar (73), and the right high-precision solid-state laser radar (74) are all mounted on the mobile platform.

7. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 6, characterized in that, The autonomous navigation and motion system constructs a 3D map of the goaf based on the SLAM algorithm, and plans the movement path by combining the terrain complexity factor α and the fire hazard intensity factor β. The path weight function is as follows:

8. The intelligent sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 3, characterized in that, The surface of the spray head (3) is distributed with three types of micro-spray holes in a honeycomb array, and the distance between adjacent spray holes is n times the hole diameter, supporting the switching between pulse spray and continuous spray modes.

9. A smart sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 5, characterized in that, The control system (5) includes a fire hazard classification module, which classifies fire hazard levels into: Level I early warning, Level II local spraying and Level III full-power spraying.

10. A smart sensing and control microbial spraying fire prevention and extinguishing device for coal mine goaf areas according to claim 5, characterized in that, The liquid level sensor (44) and temperature sensor (41) communicate with the control system (5) in real time. When the liquid level is too low or the temperature is abnormal, the control system (5) automatically issues an alarm and takes corresponding measures.

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