A coal mine underground corner CO self-adaptive intelligent elimination system

Abstract

This invention provides an adaptive intelligent CO elimination system for corners in coal mines, comprising an elimination device, an extraction device, a multi-degree-of-freedom fixing device, a detection device, and an intelligent central control system. The extraction device uses an explosion-proof negative pressure pump to power the gas from the corner and guide it into the elimination device. The elimination plate in the elimination device integrates a HEPA filter and a gradient catalytic elimination module to enhance CO elimination efficiency. The multi-degree-of-freedom fixing device, based on a parallel robot structure, enables multi-angle adjustment and precise distance control of the elimination device. The intelligent central control system receives three-dimensional CO concentration field data generated by the detection device, integrates LSTM prediction algorithms and weighted step methods for analysis and processing, predicts concentration peaks in real time, and dynamically adjusts parameters such as the operating angle, distance, and power of the actuators to achieve adaptive matching between the system and the corner environment. This invention solves the problems of low elimination efficiency and poor adaptability of traditional devices, fills the gap in proactive predictive CO elimination technology for corners, and is of great significance for ensuring safe production underground.

Description

Technical Field

[0001] This invention relates to the field of harmful gas purification and elimination technology, specifically to an adaptive intelligent CO elimination system for the corners of underground coal mines. Background Technology

[0002] Coal mining generates a large amount of CO gas, primarily from sources such as oxidation of residual coal in the goaf, coal cutting by the mining machine, and exhaust fumes from transport vehicles in the roadways. Since most mines use a U-shaped ventilation system, after fresh air enters the working face from the intake roadway, some of the airflow flows into the goaf along the lower corner or support gaps, carrying CO gas out of the goaf. Simultaneously, the airflow carries vehicle exhaust fumes and CO generated by the mining machine cutting the coal, ultimately causing all three types of CO to accumulate in the upper or lower corners, often exceeding the dangerous threshold of 24 ppm. This poses a risk of CO poisoning to underground workers and can even threaten their lives. Currently, most underground methods reduce CO generation by inhibiting spontaneous combustion of residual coal in the goaf, or by reducing air leakage in the goaf and monitoring CO concentration in the corners with alarms to alert workers for self-rescue. However, these methods are not very effective and have low reliability. Therefore, how to achieve efficient, proactive, and adaptive elimination of CO in the corners, thereby relieving the threat to workers' lives and ensuring normal mine production, has become an urgent problem for researchers to solve. Summary of the Invention

[0003] To address the aforementioned technical shortcomings, the purpose of this invention is to provide an adaptive intelligent CO removal system for underground corners of coal mines, solving problems such as low removal efficiency and poor adaptability of traditional devices.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive intelligent CO elimination system for underground corners of coal mines includes: The elimination device is used to filter, adsorb, and catalytically eliminate CO gas in the lower corners of coal mines; The suction device is connected to the elimination device at one end; the suction device is used to provide negative pressure to guide the corner gas into the elimination device. A multi-degree-of-freedom fixing device is installed on the elimination device at one end; the multi-degree-of-freedom fixing device is used to realize the angle adjustment of the elimination device within the horizontal and vertical rotation range of 30°-150°. The detection device is installed on the elimination device; the detection device is used to collect corner environmental parameters and equipment operating parameters. The intelligent central control unit receives and processes the detection data from the detection device and sends control commands to the elimination device, the extraction device, and the multi-degree-of-freedom fixed device.

[0005] Preferably, the elimination device includes a fixed-length guide rail, a slider, a support plate, an elimination plate, a folded gas-blocking cloth, a telescopic slide rail, and an electric push rod; the elimination plate includes a HEPA filter and an adsorption and catalytic elimination layer disposed on the HEPA filter; the slider is installed on both sides of the HEPA filter; multiple support plates are configured, and the multiple support plates are arranged in parallel intervals; the HEPA filter is arranged between adjacent support plates; the fixed-length guide rail is fixedly installed on the support plate; the slider is slidably installed on the fixed-length guide rail; the folded gas-blocking cloth is fixed to both sides of the elimination plate and the support plate along the unfolding direction of the elimination plate; the electric push rod is disposed between two adjacent support plates along the unfolding direction of the elimination plate, and its two ends are respectively installed on the two adjacent support plates; the telescopic slide rail is disposed between two adjacent support plates.

[0006] Preferably, the gas extraction device includes a gas collection hood, a gas extraction pipeline, a gas flow rate sensor, and an explosion-proof negative pressure pump; one end of the gas collection hood is fastened to the elimination device; one end of the gas extraction pipeline is connected to the gas collection hood, and the other end is connected to the explosion-proof negative pressure pump; the gas flow rate sensor is installed in front of the gas inlet of the explosion-proof negative pressure pump.

[0007] Preferably, the multi-degree-of-freedom fixing device includes a parallel robot support, a first movable component, a second movable component, a third movable component, a fourth movable component, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor, and an explosion-proof base; one end of the parallel robot support is mounted on the elimination device, and the other end is hinged to one end of the first movable component via the first servo motor; the other end of the first movable component is hinged to one end of the second movable component via the second servo motor; the other end of the second movable component is hinged to one end of the third movable component via the third servo motor; the other end of the third movable component is hinged to one end of the fourth movable component via the fourth servo motor; and the other end of the fourth movable component is hinged to the explosion-proof base via the fifth servo motor.

[0008] Preferably, the detection device includes a distributed fiber optic sensor array, a data acquisition unit, and a wireless transmission module; the detection device adopts distributed Bragg grating technology and is arranged in three dimensions along the corner space, and is installed around the outside of the elimination device, the multi-degree-of-freedom fixing device, and the outlet of the explosion-proof negative pressure pump of the air extraction device.

[0009] Preferably, the intelligent central control unit is integrated into the housing of the explosion-proof negative pressure pump; the intelligent central control unit has a built-in data processing module, data visualization module, alarm communication module, and one-button start / stop module.

[0010] Preferably, the support plate is made of lightweight alloy material and has dimensions of 320mm×300mm×10mm; the elimination plate has dimensions of 300mm×300mm×30mm; the electric push rod is a four-section telescopic structure with a total length of 1260mm and an original length of 360mm; the elimination device has an elimination area adjustment range of 360mm×1200mm~1200mm×1200mm, and an elimination angle and distance adjustment range of 270° adjustable angle and 1-3m adjustable distance. The HEPA filter has a filtration accuracy of ≥99.97%; the adsorption and catalytic elimination layer includes a transition adsorption sublayer and a modified catalytic sublayer inner layer; the transition adsorption sublayer is made of activated alumina with a specific surface area of ​​350 m² / g; the modified catalytic sublayer is loaded with CO scavenger, using porous honeycomb ceramic as a carrier with a porosity of ≥80%, loaded with manganese-iron-cerium composite oxide, with an active component loading of 5-10%, and doped with 0.5% precious metal palladium to enhance catalytic activity, and formed a stable crystalline phase by high-temperature calcination at 600-800℃; The elimination plate is connected to the sealing ring via quick-release buckles; the edge of the HEPA filter is equipped with an annular silicone sealing gasket, 2mm thick, with a Shore hardness of 50±5, which is fixed to the transition adsorption sublayer via 4 nylon quick-release buckles; the transition adsorption sublayer and the modified catalyst sublayer are also connected by buckles, and the layers are separated by pressing the buckles when disassembling.

[0011] Preferably, the gas collection hood adopts a tapered structure with a rectangular inlet and a circular outlet. The main body is welded with 3mm thick Q235 steel plate, and the inner wall is sprayed with epoxy resin coating. A movable guide plate is set on the upper edge of the inlet end, which is fixed by two bolts and can rotate 0-30° around the axis. It can be manually adjusted and then locked with a nut. The extraction pipeline has a variable diameter structure, made of wear-resistant stainless steel, with the diameter gradually decreasing from 150mm to 100mm along the airflow direction. The inner wall is equipped with a spiral guide groove. The extraction pipeline has a quick-release interface with a double sealing structure of a conical sealing surface and an O-ring. The male end of the quick-release interface has a conical surface with a taper of 1:10, and the female end has a corresponding conical groove. A fluororubber O-ring with a diameter of 5mm is embedded at the mating point of the male and female ends, ensuring a gas leakage rate ≤0.1L / min under negative pressure. A miniature pressure sensor is added to the middle section of the extraction pipeline, with a measurement range of -0.1~0MPa and an accuracy of ±0.001MPa. The explosion-proof negative pressure pump is a frequency-adjustable negative pressure pump.

[0012] Preferably, the parallel robot support is made of carbon fiber composite material, containing 4 sets of symmetrically arranged drive arms with a strength ≥3000MPa and a density ≤1.8g / cm³. Each set of drive arms is controlled by a servo drive motor, and the joints are equipped with a double sealing structure and a micro ultrasonic transducer. The double sealing structure consists of a nitrile rubber sealing ring and a metal dust cover. The first servo motor controls the horizontal relative rotation angle between the parallel robot support and the first movable component within the range of 30°-150°; the second servo motor controls the vertical relative rotation angle between the first and second movable components within the range of 30°-150°; the third servo motor controls the vertical relative rotation angle between the second and third movable components within the range of 30°-150°; the fourth servo motor controls the vertical relative rotation angle between the third and fourth movable components within the range of 30°-150°; and the fifth servo motor controls the horizontal relative rotation angle between the fourth and fifth movable components within the range of 30°-150°.

[0013] Preferably, the distributed fiber optic sensor array includes a CO concentration sensor, a humidity sensor, a temperature sensor, a gas concentration sensor, and a displacement sensor; the detection device is externally equipped with a stainless steel protective sleeve with a diameter of 8mm, a wall thickness of 1mm, and both ends sealed with epoxy resin, achieving an IP68 protection rating; the distributed fiber optic sensor array is fixed to the underground roadway support or roof using explosion-proof cable clamps, with a detection position accuracy deviation of ≤10mm and an explosion-proof cable clamp spacing of 300mm; The explosion-proof base has a built-in supercapacitor energy storage module, which is connected in parallel with the mine's main power supply.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention adopts a modular drawer-type elimination plate. Through the combination design of slider, slide rail and support plate, the series and parallel connection of elimination plates can be freely adjusted by increasing or decreasing the number of units according to specific needs. The inclination angle of elimination plates can also be changed by changing the spacing of support plates, thereby adjusting the air intake area. It is simple to operate and easy to disassemble and install. The air extraction device can change the airflow direction by adjusting the angle of the guide plate, and directionally capture the gas in the corner CO concentration peak area, which is superior to the treatment efficiency of traditional passive control methods. 2. This invention employs a composite elimination plate consisting of a HEPA filter, a transitional adsorption layer, and a modified catalytic layer. The HEPA filter can filter out particulate matter and other particles entering the elimination device, preventing these particles from affecting the elimination efficiency. The high specific surface area of ​​the activated alumina adsorption layer can temporarily adsorb CO gas, extending the CO residence time to 15 seconds, compared to only 5 seconds for traditional methods without an adsorption layer. The modified catalytic layer maintains a stable CO elimination efficiency of ≥92% in environments ranging from 15-550℃ and 20-100%RH, and has a service life of ≥12 months in high humidity environments. This three-layer composite structure achieves synergistic effects of dust removal, adsorption, and catalysis. 3. The multi-degree-of-freedom fixing device of the present invention adopts a multi-movable component combination design, which can adaptively adjust the distance between the hydraulic support fixing point and the elimination device as well as the facing angle of the elimination device. Combined with the gradient negative pressure guidance of the gas extraction device, it ensures that the elimination device is always aligned with the CO concentration peak area, which is conducive to the flexible arrangement of the elimination device at multiple angles and distances, and adapts to complex downhole spaces and different CO concentration scenarios. 4. The distributed optical fiber detection device of the present invention constructs a three-dimensional sensor array based on DBG technology. At the same time, detection units are arranged around the outer perimeter of the elimination device, each joint of the fixed device, and the air outlet of the extraction device to achieve full-space coverage monitoring of corner CO concentration, temperature, humidity, gas concentration, and displacement distance, solving the defect that traditional single-point detection cannot reflect the concentration distribution. 5. This invention adopts a synchronous monitoring design for inlet and outlet CO concentrations, which can not only adaptively adjust the elimination area and rate according to the actual elimination situation, but also does not affect the accuracy of corner CO concentration as an indicator gas for other disasters. 6. This invention integrates LSTM prediction algorithm with three-dimensional concentration field detection to predict CO concentration changes in advance, determine CO concentration peak area, and control the elimination device to adaptively adjust the angle and distance so that the normal center of the elimination plate is directly facing the CO concentration peak area, and the outer plane of the elimination plate is on the same plane as the CO concentration peak area. This ensures that the elimination device can flexibly respond to various elimination environments and is always in the optimal elimination position, breaking the traditional "detect first and then adjust" lagging mode and avoiding the risk of concentration exceeding the limit. 7. The present invention features an intelligent central control system that sets multiple safety thresholds: a warning threshold of 15 ppm and an alarm threshold of 24 ppm. When a warning is triggered, the system automatically strengthens the elimination parameters, increases the power of the negative pressure pump, and deploys all elimination plates. When an alarm is triggered, the system immediately sends a signal to the mine dispatch center and cuts off the power supply to the negative pressure pump and starts emergency ventilation via a "one-click start / stop module." Simultaneously, the system can monitor the gas concentration to prevent gas accumulation due to negative pressure during CO elimination, thus forming a dual safety guarantee for CO control and gas prevention and reducing the risk of multiple harmful gases accumulating underground. 8. The devices of this invention are made of heat-resistant, corrosion-resistant and impact-resistant materials. The detection device is resistant to electromagnetic interference. The design of each core component takes into account the convenience of operation and maintenance. It can work stably in the complex environment of high temperature and humidity underground and has a long service life. 9. This invention uses a distributed fiber optic detection device to collect real-time three-dimensional CO concentration field data in the corner of the mine and uploads it to an intelligent central control system. It integrates an LSTM prediction algorithm to predict concentration change trends and generate control commands. These commands are sent to a novel elimination device to adjust the expansion of the elimination plate and the working state of the catalyst layer; the extraction device adjusts the power of the negative pressure pump and the airflow guidance angle; and the multi-degree-of-freedom fixing device adjusts the angle and distance of the elimination device. After each device performs its adjustments, the detection device provides real-time feedback on the elimination effect, and the intelligent central control system continuously optimizes parameters to form a closed-loop control, achieving adaptive and predictive elimination of CO in the corner. The overall structure is compact and rationally designed, suitable for mass production applications. It overcomes the problems of long-term CO accumulation in underground corners and the "passive and inefficient" nature of traditional treatment methods, providing an adaptive intelligent elimination system for CO in underground coal mine corners that effectively reduces CO concentration and prevents CO poisoning among underground workers. Attached Figure Description

[0015] Figure 1 A schematic diagram of the elimination device unit; Figure 2 This is a schematic diagram of the outer structure of the elimination device; Figure 3 This is a schematic diagram of the internal structure of the elimination device; Figure 4 This is a system block diagram of the present invention; Figure 5 This is a schematic diagram of the overall structure of the system of the present invention.

[0016] in: 1. Fixed-length guide rail; 2. Slider; 3. Support plate; 4. Elimination plate; 5. HEPA filter; 6. Adsorption and catalytic layer; 7. Detection device; 8. Folded gas-blocking cloth; 4. Elimination plate; 9. Telescopic slide rail; 3. Support plate; 11. Elimination device; 12. Gas collection hood; 13. Parallel robot support; 141. First movable component; 142. Second movable component; 143. Third movable component; 144. Fourth movable component; 15. Gas extraction pipeline; 161. First servo motor; 162. Second servo motor; 163. Third servo motor; 164. Fourth servo motor; 165. Fifth servo motor; 17. Gas flow rate sensor; 18. Explosion-proof negative pressure pump; 19. Explosion-proof base; 20. Intelligent central control. Detailed Implementation

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] like Figures 1 to 5 As shown, an adaptive intelligent CO elimination system for underground corners of coal mines includes: elimination device 11, air extraction device, multi-degree-of-freedom fixing device, detection device 7, and intelligent central control 20.

[0019] The elimination device 11 includes a fixed-length guide rail 1, a slider 2, a support plate 33, an elimination plate 44, a folded air-blocking cloth 8, a telescopic slide rail 9, and an electric push rod. The elimination plate 44 is composed of a HEPA filter 5 and an adsorption and catalytic elimination layer. Two sets of sliders 2 are provided on both sides of the elimination plate 44, and the support plate 33 is provided on both sides with fixed-length guide rails 1, corresponding to the positions of the sliders 2 on the elimination plate 44. The elimination plate 44 is connected to the guide rails through the sliders 2 and installed between the two support plates 33 to form a drawer-type structure. It can be pulled out and replaced without disassembling the support plates 33, and the elimination module can be adjusted from 0-90° angle. The folded air-blocking cloth 8 is along the... The eliminator plate 44 is fixed in the unfolding direction on both sides of the eliminator plate 44 and the support plate 33 to form a sealed space. It extends and retracts synchronously with the eliminator plate 44 to ensure no gas leakage. The electric push rod is installed on the inner side of the eliminator device 11 along the unfolding direction of the eliminator plate 44. Its bottom and top ends are fixed to the support plates 33 on both sides of the central axis of the eliminator plate 44, respectively. It drives the eliminator plate 44 to make precise adjustments within the unfolding area to adapt to different CO concentration scenarios. The support plate 33 is equipped with sliders 2 on both sides, which are used to cooperate with the telescopic slide rails 9 that are installed on the outer side of the eliminator plate 44 at the central axis of the eliminator plate 44 to fix the outer side of the support plate 33.

[0020] The air extraction device consists of an air collection hood 12, an air extraction pipeline 15, a gas flow rate sensor 17, and an explosion-proof negative pressure pump 18. The front end of the air collection hood 12 is connected to the inner and outer support plate 33 and the folded air-blocking cloth 8 of the elimination device 11 to form a closed space. The end of the air collection hood 12 is connected to the air extraction pipeline 15, which is then connected to the explosion-proof negative pressure pump 18. The gas flow rate sensor 17 is installed in front of the air inlet of the explosion-proof negative pressure pump 18 to monitor the airflow speed in real time.

[0021] Furthermore, the explosion-proof negative pressure pump 18 dynamically adjusts its power based on sensor data to achieve gradient negative pressure for the CO concentration peak area, enhances the gas capture capability in corners, and avoids local CO retention.

[0022] The multi-degree-of-freedom fixing device consists of a parallel robot structural support, a first movable component 141, a second movable component 142, a third movable component 143, a fourth movable component 144, a first servo motor 161, a second servo motor 162, a third servo motor 163, a fourth servo motor 164, a fifth servo motor 165, and an explosion-proof base 19. One end of the parallel robot structural support is fixedly connected to the outer wall of the elimination device 11, and the other end is hinged to one end of the first movable component 141. The other end of the first movable component 141 is connected to the second servo motor 162. One end of the second movable component 142 is hinged to the third movable component 143 via a third servo motor 163. The other end of the third movable component 143 is hinged to one end of the fourth movable component 144 via a fourth servo motor 164. The other end of the fourth movable component 144 is hinged to the explosion-proof negative pressure pump 18 and the explosion-proof base 19 via a fifth servo motor 165. Several movable components are interconnected, and a servo motor is provided at each connection point. The explosion-proof base 19 is quickly connected to the hydraulic support, which facilitates the installation and movement of the device.

[0023] The detection device 7 consists of a distributed fiber optic sensor array (CO concentration sensor, humidity sensor, temperature sensor, gas concentration sensor, displacement sensor), a data acquisition unit, and a wireless transmission module. The fiber optic sensor array is arranged in three dimensions along the corner space. The detection device 7 adopts distributed Bragg grating (DBG) technology and is arranged in three dimensions along the corner space to solve the defect of traditional single-point detection that "cannot reflect the concentration distribution". It has strong anti-electromagnetic interference capability, signal transmission distance ≥10km, and can work stably in explosive hazardous environments. The detection device 7 is also installed around the outside of the elimination device 11, at each joint of the fixing device, and at the gas outlet of the extraction device, and communicates wirelessly with the intelligent control unit 20 for data transmission.

[0024] Furthermore, the data acquisition unit processes sensor signals in real time, wirelessly transmitting the three-dimensional concentration field data to the intelligent control unit 20. Simultaneously, it connects to the existing communication optical cable in the mine via an explosion-proof fiber optic cable. When the wireless signal is interfered with, it automatically switches to wired transmission. The data acquisition unit has a built-in local data cache to prevent data loss due to power outages.

[0025] The intelligent master control unit 20 is integrated into the housing of the explosion-proof negative pressure pump 18 and is connected to the detection device 7, electric push rod, first servo motor 161, second servo motor 162, third servo motor 163, fourth servo motor 164, fifth servo motor 165, gas flow rate sensor 17 and explosion-proof negative pressure pump 18. The intelligent master control unit 20 has a built-in data processing module, data visualization module, alarm communication module and one-button start / stop module.

[0026] Furthermore, the data processing module processes and analyzes the data transmitted by the detection device 7, integrates the LSTM prediction algorithm, and constructs a CO concentration prediction model based on historical concentration data. This model predicts the CO concentration trend within 5 minutes, shifting from passive response to active prediction. With the optimization goals of maximizing elimination efficiency and minimizing energy consumption, and combined with real-time concentration field data, it sends control commands to the elimination device 11, the extraction device, and the fixing device according to preset adjustment parameters. This dynamically adjusts control parameters such as the expansion degree of the elimination plate 44, the power of the negative pressure pump, and the angle and distance of the fixing device. Each device receives the commands and executes the adjustments, ensuring that the elimination device 11 is precisely aligned with the concentration peak and in optimal working condition. The detection device 7 provides real-time feedback on the elimination effect, and the intelligent overall system... The control module continuously optimizes parameters to form a closed-loop control system, achieving adaptive and predictive CO elimination. The data visualization module visualizes data such as the three-dimensional concentration field and equipment parameters, including a core component health assessment function. Based on the working time of the elimination plate 44, the number of servo motor start-stop cycles, and changes in CO elimination efficiency, it constructs an activity decay model for the elimination plate 44 and a lifespan prediction model for the servo motor, sending replacement or maintenance reminders to maintenance personnel in advance. The alarm communication module sets multiple threshold levels (warning value 15ppm, alarm value 24ppm). When a warning is triggered, it automatically adjusts system parameters to enhance elimination, and when an alarm is triggered, it sends an alarm signal to the mine dispatch center. The one-button start / stop module can automatically cut off the power supply to the negative pressure pump and start emergency ventilation, with an emergency response time of ≤10s.

[0027] Furthermore, the adjustable frequency explosion-proof negative pressure pump 18 provides negative pressure power, which, together with the gas collection hood 12, guides the corner gas into the elimination device 11. Inside the elimination device 11, the gradient catalytic elimination module (containing adsorbent and modified CO eliminator) and the HEPA filter 5 form a composite purification elimination plate 44. After the corner CO gas is filtered and dusted, it reacts with the eliminator and is then discharged through the gas collection hood 12 and the extraction pipe route via the explosion-proof negative pressure pump 18, thereby achieving corner CO elimination. The intelligent central control 20 receives the three-dimensional CO concentration field data transmitted by the distributed optical fiber detection device 7, integrates the LSTM prediction algorithm and the weighted step method for processing, analysis and visualization, calculates the elimination rate in real time, determines the CO concentration center and change trend, and sends control commands to the electric push rod, the multi-degree-of-freedom servo motor and the explosion-proof negative pressure pump 18 to adjust the expansion degree of the elimination plate 44, the rotation angle of the moving components and the power of the explosion-proof negative pressure pump 18, thereby adjusting the system to the optimal elimination rate and elimination angle, and finally achieving adaptive intelligent elimination of corner CO.

[0028] Furthermore, the support plate 33 is made of lightweight alloy material and measures 320mm×300mm×10mm; the elimination plate 44 measures 300mm×300mm×30mm; the electric push rod is a four-section telescopic structure with a total length of 1260mm and an original length of 360mm; the elimination device 11 has an elimination area adjustment range of 360mm×1200mm~1200mm×1200mm, and an elimination angle and distance adjustment range of 270° adjustable angle and 1-3m adjustable distance.

[0029] Furthermore, the angle and distance adjustment of the elimination device 11 can be achieved by using data detected by fiber optic sensors arranged in three dimensions in the corner space and detection devices 7 arranged around the outside of the elimination device 11. The location of the CO concentration peak is determined by using the LSTM prediction algorithm, and a step limit is given to control the drive motor to adjust. The adjustment angle is such that the normal of the elimination plate 44 is directly facing the CO concentration peak, and the adjustment distance is such that the center point of the outer plane of the elimination device 11 is on the same horizontal plane as the CO concentration peak.

[0030] Furthermore, the elimination plate 44 is composed of a HEPA filter 5 and an adsorption and catalytic elimination layer. The adsorption and catalytic elimination layer includes a transition adsorption sublayer and a modified catalytic sublayer inner layer. The whole adopts a three-layer composite structure of "HEPA filter 5-transition adsorption layer-modified catalytic layer". The outer HEPA filter 5 has a filtration accuracy of ≥99.97%; the middle transition adsorption layer uses high specific surface area active alumina with a specific surface area of ​​350m² / g; the modified catalytic sublayer contains CO elimination agent, with porous honeycomb ceramic as the carrier (porosity ≥80%), loaded with manganese-iron-cerium composite oxide, with an active component loading of 5-10%, and doped with 0.5% precious metal palladium to enhance catalytic activity. After high-temperature calcination at 600-800℃, a stable crystalline phase is formed. The CO elimination reaction rate is ≥0.3mmol / (g・h) in an environment of 15-550℃ and 20-100%RH, and the service life is ≥12 months in a high humidity environment.

[0031] Furthermore, the outer HEPA filter 5 can effectively intercept downhole dust and avoid clogging the catalytic channel; the high specific surface area active alumina can temporarily adsorb CO gas and prolong the reaction time; the CO eliminator is suitable for humid environments; and the elimination plate 44 can achieve efficient elimination of CO in corners.

[0032] Furthermore, the elimination plate 44 is connected to the sealing ring with quick-release buckles, and the edge of the HEPA filter 5 is provided with an annular silicone sealing gasket with a thickness of 2mm and a Shore hardness of 50±5. It is fixed to the transition adsorption sublayer by 4 nylon quick-release buckles. The transition adsorption sublayer and the modified catalyst sublayer are also connected by buckles. When disassembling, you only need to press the buckles to separate the layers. Furthermore, the quick-release buckle and sealing ring connection allow for the individual replacement of faulty parts. When the HEPA filter 5 is clogged, only the filter needs to be replaced, reducing maintenance costs. The replacement time for a single level is ≤5 minutes.

[0033] Furthermore, the gas collection hood 12 adopts a tapered structure with a rectangular inlet and a circular outlet, with a smooth transition on the inner wall. The main body is welded with 3mm thick Q235 steel plate, and the inner wall is sprayed with epoxy resin coating to prevent corrosion. A movable guide plate is set on the upper edge of the inlet end, which is fixed by two bolts and can rotate 0-30° around the axis. It can be manually adjusted and then locked with a nut.

[0034] Furthermore, the tapered structure of the gas collection hood 12 can effectively reduce airflow resistance. By adjusting the angle of the guide vane, the direction of airflow can be changed, guiding low-velocity corner gas to enter efficiently.

[0035] Furthermore, the extraction pipeline 15 is made of wear-resistant stainless steel, with the pipe diameter gradually decreasing from 150mm to 100mm along the airflow direction. The inner wall is equipped with a spiral guide groove, and the pipeline features a quick-release interface for easy disassembly and installation. The quick-release interface of the extraction pipeline 15 has a double sealing structure of a conical sealing surface and an O-ring. The male end of the quick-release interface has a conical surface with a taper of 1:10, and the female end has a corresponding conical groove. A fluororubber O-ring with a diameter of 5mm is embedded at the mating point to ensure a gas leakage rate ≤0.1L / min under negative pressure. Simultaneously, a miniature pressure sensor is added to the middle section of the extraction pipeline 15, with a measurement range of -0.1~0MPa and an accuracy of ±0.001MPa.

[0036] Furthermore, the miniature pressure sensor can monitor the pressure in the pipeline in real time. When the pressure is abnormal, such as when the pipeline is blocked and the negative pressure drops suddenly, the intelligent control unit 20 will automatically trigger the adjustable frequency explosion-proof negative pressure pump 18 to stop for protection.

[0037] Furthermore, the parallel robot structure support and elimination device 11 are fixedly connected, including 4 sets of symmetrically arranged drive arms. The drive arms are made of carbon fiber composite material with a strength ≥3000MPa and a density ≤1.8g / cm³, and the weight is reduced by 40% compared with the traditional metal support. Each set of drive arms is controlled by a servo drive motor, and each drive arm joint is equipped with a displacement sensor. Multiple sets of servo motors and displacement sensors work together to control the coordinated movement of the 4 sets of symmetrical drive arms. Each drive arm joint is equipped with a double sealing structure and a micro ultrasonic transducer. The double sealing structure consists of a nitrile rubber sealing ring and a metal dust cover.

[0038] Furthermore, the double-sealed structure effectively isolates dust, and the miniature ultrasonic transducer automatically starts every 4 hours to vibrate and remove dust from the joint gaps. The device is lightweight and flexible.

[0039] Furthermore, the first servo motor 161 is installed at the connection between the parallel robot support 13 and the first movable component 141, controlling the horizontal relative rotation angle between them within the range of 30°-150°; the second servo motor 162 is installed at the connection between the first movable component 141 and the second movable component 142, controlling the vertical relative rotation angle between them within the range of 30°-150°; the third servo motor 163 is installed at the connection between the second movable component 142 and the third movable component 143, controlling the vertical relative rotation angle between them within the range of 30°-150°; the fourth servo motor 164 is installed at the connection between the third movable component 143 and the fourth movable component 144, controlling the vertical relative rotation angle between them within the range of 30°-150°; and the fifth servo motor 165 is installed at the connection between the fourth movable component 144 and the explosion-proof negative pressure pump 18, controlling the horizontal relative rotation angle between them within the range of 30°-150°.

[0040] Furthermore, the explosion-proof negative pressure pump 18 is a frequency-adjustable negative pressure pump.

[0041] Furthermore, the rotation angle of the moving components and the power of the explosion-proof negative pressure pump 18 can be automatically adjusted according to the control commands sent by the intelligent master controller 20, thereby adjusting the system to the optimal elimination rate and elimination angle.

[0042] Furthermore, the sensing unit of the detection device 7 is equipped with a stainless steel protective sleeve with a diameter of 8mm and a wall thickness of 1mm. Both ends are sealed with epoxy resin, and the protection level reaches IP68. The sensor array wiring of the detection device 7 is fixed to the underground roadway support or roof with explosion-proof cable clamps (300mm spacing), and the detection position accuracy deviation is ≤10mm. Furthermore, the detection device 7 arranged around the elimination device 11 and at the outlet of the explosion-proof negative pressure pump 18 can simultaneously detect the CO concentration before and after elimination, calculate the real-time elimination efficiency, set the minimum elimination efficiency, and control the electric push rod through the intelligent master control 20 to unfold the elimination plate 44, expand the elimination area, increase the air intake, and increase the power of the negative pressure pump to ultimately improve the elimination efficiency. Furthermore, the detection device 7 includes a "gas-CO collaborative protection logic". When the detected gas concentration is ≥0.5%, exceeding the limit of the coal mine safety regulations, the intelligent master control 20 immediately cuts off the power supply of the adjustable frequency explosion-proof negative pressure pump 18 to prevent gas accumulation caused by negative pressure. At the same time, it controls the multi-degree-of-freedom fixed device to adjust the new elimination device 11 to the "standby position" to move it away from the peak gas concentration area, and sends a "gas over-limit-CO elimination pause" linkage signal to the mine dispatch center. After the gas concentration drops to a safe value, the system automatically resumes operation.

[0043] Furthermore, the explosion-proof base 19 has a built-in supercapacitor energy storage module, which is connected in parallel with the mine's main power supply; Furthermore, when the main power is interrupted, the built-in energy storage module of the explosion-proof base 19 can automatically switch power supply, supporting the operation of the system's core functions (detection, alarm, emergency ventilation) for more than 30 minutes, avoiding the loss of control of CO concentration due to power failure; after the main power is restored, it can automatically trickle charge without manual intervention. Example 1

[0044] like Figure 1 As shown, the elimination device 11 unit structure included in this invention consists of a fixed-length guide rail 1, a slider 2, a support plate 3, and an elimination plate 4. The elimination plate 4 is composed of a HEPA filter 5 and an adsorption and catalytic layer 6. By changing the spacing of the support plates 3, the tilt angle of the elimination plate 4 is changed, thereby adjusting the air intake area. The adsorption and catalytic layer 6 includes a transition adsorption sublayer and a modified catalytic sublayer, which are connected by quick-release clips to form a gradient catalytic module. The preparation and performance testing of a novel gradient catalytic module for elimination devices were carried out. The modified catalytic layer used porous honeycomb ceramic as a carrier and was prepared by the sol-gel method. The sol-gel method was used to prepare manganese-iron-cerium composite oxide sol: manganese nitrate, iron nitrate, and cerium nitrate were dissolved in deionized water at a molar ratio of Mn:Fe:Ce=3:2:1. Citric acid (chelating agent, molar ratio with metal ions 1.2:1) was added, and the mixture was magnetically stirred for 30 min at 500 rpm. The pH value was adjusted to 3.5-4.0, and acidification was performed with nitric acid solution. The mixture was then aged in a water bath at 60℃ for 12 h to form a sol. 0.5% chloropalladic acid solution (palladium source) was added, and the mixture was ultrasonically dispersed at 300W for 15 min. The mixture was then uniformly coated on the surface of the porous honeycomb ceramic carrier (porosity 85%) and calcined at 700℃ in air atmosphere for 2 h at a heating rate of 5℃ / min to form a modified catalytic sublayer. The transition adsorption sublayer was composed of active alumina with a specific surface area of ​​350 m² / g. A simulated downhole environment chamber was used to conduct catalytic performance tests under the conditions of temperature 15-550℃, humidity 20-100%RH, and initial CO concentration of 50ppm. The results showed that the CO elimination reaction rate was stable at 0.3-0.4mmol / (g・h), the elimination efficiency was ≥92%, and the stable effective period was 12 months. Example 2

[0045] like Figure 2 , 3As shown in the figure, this embodiment specifically describes the overall mechanical structure and internal composition of the elimination device 11. The overall structure of the elimination device 11 is composed of multiple elimination device units as in Embodiment 1, which are connected in series and parallel via telescopic slide rails 9. A folded air-blocking cloth 8 is provided between the parallel unit structures. The folded air-blocking cloth 8 expands and contracts synchronously with the expansion and contraction of the elimination plate to ensure the airtightness between the combined units. Four detection devices 7 are arranged on the outside of the elimination device 11 to detect the gas parameters at the air inlet of the elimination device 11. Five electric push rods 10 are arranged on the inside. The two ends of each electric push rod are connected to the adjacent support plates 3 respectively. Through synchronous telescopic movement, they provide power to change the spacing between the support plates 3, thereby realizing the continuous and reliable adjustment of the overall air inlet area of ​​the elimination plate 4. Example 3

[0046] like Figure 4 As shown, the detection device 7, installed on the outside of the elimination device 11, at each joint of the multi-degree-of-freedom fixing device, and at the outlet of the explosion-proof negative pressure pump 18, can monitor the inlet and outlet CO concentration, gas concentration, humidity, temperature, and displacement distance in real time. It communicates with the intelligent control unit 20 to transmit data. The intelligent control unit 20 integrates a data processing module, a data visualization module, an alarm communication module, and a one-button start / stop module. The data processing module performs fusion analysis on the received multi-data, constructs a CO concentration prediction model based on the LSTM algorithm, realizes the prediction of the concentration change trend within 5 minutes, and determines the CO concentration center. Based on the prediction results and real-time three-dimensional concentration field information, with the goal of maximizing elimination efficiency, it generates optimization instructions and sends control instructions in real time to the electric push rod 10, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, and the explosion-proof negative pressure pump 18. This adjusts the expansion degree of the elimination plate 4, the first movable component, the second movable component, the third movable component, the fourth movable component, the rotation angle, and the power of the explosion-proof negative pressure pump 18, thereby adjusting the system to the optimal elimination rate and the optimal elimination angle, ultimately achieving rapid CO elimination. The data visualization module displays the three-dimensional concentration field distribution and equipment operating parameters in real time, and integrates core component health assessment functions. Based on the cumulative working time of the elimination plate and the operating status of the servo motor, it predicts the remaining lifespan and issues maintenance reminders in advance. The alarm communication module sets a CO concentration warning threshold of 15ppm and an alarm threshold of 24ppm. When a warning is triggered, it automatically enhances the system's elimination capability; when an alarm is triggered, it sends an alarm signal to the mine dispatch center. The one-button start / stop module can automatically cut off the power to the negative pressure pump and start emergency ventilation within 10 seconds in an emergency. To verify the system's emergency response performance, the CO concentration was manually increased to 50ppm to trigger the alarm mechanism during implementation. Test results show that the system accurately executes power outage, switches to emergency ventilation, and sends an alarm signal to the dispatch center within 10 seconds, demonstrating a rapid and effective response and verifying the reliability of its closed-loop control and safety linkage mechanism. Example 4

[0047] like Figure 5As shown, the adaptive intelligent CO elimination system for corners in coal mines according to the present invention comprises an elimination device 11, a gas collection hood 12, a parallel robot support 13, a first movable component 141, a second movable component 142, an extraction pipeline 15, a third movable component 143, a fourth movable component 144, a first servo motor 161, a second servo motor 162, a third servo motor 163, a fourth servo motor 164, a fifth servo motor 165, a gas flow rate sensor 17, an explosion-proof negative pressure pump 18, a base 19, and an intelligent control unit 20. The explosion-proof negative pressure pump 18 provides negative pressure, allowing the corner gas to enter the elimination device 11. The elimination plate 4 in the elimination device 11 is made of HEP (High-Efficiency Particulate Air). A filter 5 and adsorption and catalytic layer 6 are formed. When corner CO gas passes through elimination plate 4, it is filtered, adsorbed, and catalyzed before being discharged by explosion-proof negative pressure pump 18 through gas collection hood 12 and extraction pipeline 15, thereby achieving corner CO elimination. The electric push rod 10 in elimination device 11 provides power for the expansion of elimination plate 4. Parallel robot bracket 13 is connected to first movable component 141 through first servo motor 161. Then, first movable component 141 is connected to second movable component 142 through second servo motor 162. Then, second movable component 142 is connected to third movable component 143 through third servo motor 163. Then, third movable component 143 is connected to fourth servo motor 163. 64 is connected to the fourth movable component 144, and then the fourth movable component 144 is connected to the explosion-proof negative pressure pump 18 via the fifth servo motor 165. The explosion-proof negative pressure pump 18 is then fixedly connected to the explosion-proof base 19, and the explosion-proof base 19 is connected to the hydraulic support. The horizontal angle (30°-150°) between the first movable component 141 and the parallel robot support 13 is changed by controlling the first servo motor 161; the vertical angle (30°-150°) between the first movable component 141 and the second movable component 142 is changed by controlling the second servo motor 162; and the vertical angle (30°-150°) between the second movable component 142 and the third movable component 143 is changed by controlling the third servo motor 163. The vertical angle between the third movable component 143 and the fourth movable component 144 is changed by controlling the fourth servo motor 164 (30°-150°), and the horizontal angle between the fourth movable component 144 and the explosion-proof negative pressure pump 18 is changed by controlling the fifth servo motor 165 (30°-150°). The communication and control method between the detection device 7 and the intelligent control 20, as well as the electric push rod 10, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, and the explosion-proof negative pressure pump 18, is carried out according to Example 3. Through real-time detection, data processing, intelligent control and other operations, the adaptive intelligent elimination of CO in the corner of the coal mine is finally realized.A system operation test was conducted in a space measuring 8m×4m×2.5m, mimicking a coal mine corner working face. A distributed fiber optic detection device 7 was arranged with 24 detection points at a horizontal spacing of 0.5m and a vertical spacing of 0.3m. An intelligent central control unit 20 was connected to the mine dispatch center. The temperature fluctuated between 30-50℃, the humidity between 80-95%RH, and the corner CO concentration was set at 35ppm. The intelligent central control unit, using an LSTM prediction algorithm, predicted that the CO concentration would rise to 40ppm in 5 minutes and generated control commands: the elimination plate expanded to an area of ​​1.2m², the suction device was set to a negative pressure of -0.05MPa, and the multi-degree-of-freedom fixing device was adjusted to an angle of 45° and a distance of 1.5m. After the adjustment was executed, the CO concentration dropped to 18ppm in 3 minutes and stabilized at 12ppm after 5 minutes, achieving an elimination efficiency of 91%. Through the above embodiment, the adaptive intelligent CO elimination system for coal mine corners of this invention has the advantages of high efficiency, accuracy, intelligence, and low consumption. It can effectively solve the technical pain points of traditional devices and meet the actual needs of CO control in coal mine corners.

Claims

1. A self-adaptive intelligent CO elimination system for the corners of underground coal mines, characterized in that, include: An elimination device is used to filter, adsorb, and catalytically eliminate CO gas in the corners of underground coal mines. The elimination device includes a fixed-length guide rail, a slider, a support plate, an elimination plate, a folded gas-blocking cloth, a telescopic slide rail, and an electric push rod. The elimination plate includes a HEPA filter and an adsorption and catalytic elimination layer disposed on the HEPA filter. The slider is installed on both sides of the HEPA filter. Multiple support plates are configured and arranged in parallel intervals; HEPA filters are arranged between adjacent support plates; fixed-length guide rails are fixedly installed on the support plates; sliders are slidably installed on the fixed-length guide rails; folded air-blocking cloths are fixed to both sides of the elimination plate and the support plates along the unfolding direction of the elimination plate; electric push rods are arranged between two adjacent support plates along the unfolding direction of the elimination plate, with their ends respectively installed on the two adjacent support plates; telescopic slide rails are arranged between two adjacent support plates; the folded air-blocking cloths expand and contract synchronously with the elimination plate to ensure airtightness between the combined units; the electric push rods continuously adjust the overall air intake area of ​​the elimination plate by changing the distance between adjacent support plates; An extraction device is connected at one end to an elimination device. The extraction device is used to provide negative pressure power to guide corner gas into the elimination device. The extraction device includes a gas collection hood, an extraction pipeline, a gas flow rate sensor, and a frequency-adjustable explosion-proof negative pressure pump. The frequency-adjustable explosion-proof negative pressure pump adjusts the negative pressure power according to the control command of the intelligent master control to form a gradient negative pressure for CO concentration peak area capture. A multi-degree-of-freedom fixing device is installed at one end on the elimination device; the multi-degree-of-freedom fixing device is used to realize the angle adjustment of the elimination device within the horizontal and vertical rotation range of 30°-150°; the multi-degree-of-freedom fixing device includes a parallel robot support, a first movable component, a second movable component, a third movable component, a fourth movable component, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor, and an explosion-proof base; The multi-degree-of-freedom fixing device is used to adjust the angle and distance of the elimination device relative to the CO concentration peak under intelligent overall control; A detection device is installed on the elimination device. The detection device is used to collect environmental parameters and equipment operating parameters in the corner. The detection device includes a distributed fiber optic sensor array, a data acquisition unit, and a wireless transmission module. The detection device adopts distributed Bragg grating technology and is arranged in three dimensions along the corner space. It is installed around the outside of the elimination device, the multi-degree-of-freedom fixing device, and the outlet of the adjustable frequency explosion-proof negative pressure pump of the air extraction device. It is used to collect CO concentration, gas concentration, temperature, humidity, and displacement data, and generate three-dimensional CO concentration field data in the corner and CO concentration difference data before and after elimination. The intelligent central control unit is used to receive and process the detection data from the detection device and send control commands to the elimination device, the extraction device, and the multi-degree-of-freedom fixing device. The intelligent control system has a built-in data processing module. Based on historical CO concentration data and real-time three-dimensional CO concentration field data, the data processing module predicts the CO concentration change trend within the next 5 minutes and determines the CO concentration peak area using an LSTM prediction algorithm. Then, it generates control commands by combining the weighted step method. According to the control commands, the intelligent control system controls the electric push rod to adjust the unfolded area of ​​the elimination plate, controls the servo motor of the multi-degree-of-freedom fixed device to adjust the angle and distance of the elimination device relative to the CO concentration peak area, and controls the frequency-adjustable explosion-proof negative pressure pump to adjust the negative pressure power, so that the normal center line of the elimination plate is aligned with the CO concentration peak area, and the center point of the outer plane of the elimination device is on the same horizontal plane as the CO concentration peak area, forming a pose-area-negative pressure collaborative closed-loop elimination based on the three-dimensional CO concentration field prediction results. The intelligent central control is configured to execute the gas-CO collaborative protection logic: when the detection device detects that the gas concentration is greater than or equal to 0.5%, the intelligent central control cuts off the power supply of the adjustable frequency explosion-proof negative pressure pump, controls the multi-degree-of-freedom fixing device to adjust the elimination device to a standby position far away from the gas concentration exceeding the limit area, and sends a gas exceeding the limit-CO elimination suspension linkage signal to the mine dispatch center. The control system resumes operation after the gas concentration is lower than 0.5%.

2. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 1, characterized in that, One end of the gas collection hood is fastened to the elimination device; one end of the extraction pipeline is connected to the gas collection hood, and the other end is connected to the adjustable frequency explosion-proof negative pressure pump; the gas flow rate sensor is installed in front of the air inlet of the adjustable frequency explosion-proof negative pressure pump.

3. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 2, characterized in that, One end of the parallel robot bracket is mounted on the elimination device, and the other end is hinged to one end of the first movable component via a first servo motor; the other end of the first movable component is hinged to one end of the second movable component via a second servo motor; the other end of the second movable component is hinged to one end of the third movable component via a third servo motor; the other end of the third movable component is hinged to one end of the fourth movable component via a fourth servo motor; and the other end of the fourth movable component is hinged to the explosion-proof base via a fifth servo motor.

4. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 2, characterized in that, The intelligent central control unit is integrated and installed in the housing of the adjustable frequency explosion-proof negative pressure pump; the intelligent central control unit has a built-in data processing module, data visualization module, alarm communication module, and one-button start / stop module.

5. The adaptive intelligent CO elimination system for underground corners of coal mines as described in claim 1, characterized in that, The support plate is made of lightweight alloy material and measures 320mm×300mm×10mm; the elimination plate measures 300mm×300mm×30mm; the electric push rod is a four-section telescopic structure with a total length of 1260mm and an original length of 360mm; the elimination device has an elimination area adjustment range of 360mm×1200mm~1200mm×1200mm, and an elimination angle and distance adjustment range of 270° and 1-3m. The HEPA filter has a filtration accuracy of ≥99.97%; the adsorption and catalytic elimination layer includes a transition adsorption sublayer and a modified catalytic sublayer inner layer; the transition adsorption sublayer is made of activated alumina with a specific surface area of ​​350 m². 2 / g; The modified catalyst sublayer is loaded with CO scavenger, with porous honeycomb ceramic as the carrier, porosity ≥80%, loaded with manganese-iron-cerium composite oxide, active component loading 5-10%, and doped with 0.5% noble metal palladium to enhance catalytic activity, and formed a stable crystalline phase by high temperature calcination at 600-800℃. The elimination plate is connected to the sealing ring via quick-release buckles; the edge of the HEPA filter is equipped with an annular silicone sealing gasket, 2mm thick, with a Shore hardness of 50±5, which is fixed to the transition adsorption sublayer via 4 nylon quick-release buckles; the transition adsorption sublayer and the modified catalyst sublayer are also connected by buckles, and the layers are separated by pressing the buckles when disassembling.

6. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 2, characterized in that, The gas collection hood adopts a tapered structure with a rectangular inlet and a circular outlet. The main body is welded with 3mm thick Q235 steel plate, and the inner wall is sprayed with epoxy resin coating. A movable guide plate is set on the upper edge of the inlet end, which is fixed by two bolts and can rotate 0-30° around the axis. It can be manually adjusted and then locked with a nut. The extraction pipeline has a variable diameter structure, made of wear-resistant stainless steel, with the diameter gradually decreasing from 150mm to 100mm along the airflow direction. The inner wall is equipped with a spiral guide groove. The extraction pipeline has a quick-release interface with a double sealing structure of a conical sealing surface and an O-ring. The male end of the quick-release interface has a conical surface with a taper of 1:10, and the female end has a corresponding conical groove. A fluororubber O-ring with a diameter of 5mm is embedded at the mating point of the male and female ends, ensuring a gas leakage rate ≤0.1L / min under negative pressure. A miniature pressure sensor is added to the middle section of the extraction pipeline, with a measurement range of -0.1~0MPa and an accuracy of ±0.001MPa.

7. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 3, characterized in that, The parallel robot support is made of carbon fiber composite material and contains 4 sets of symmetrically arranged drive arms with a strength ≥3000MPa and a density ≤1.8g / cm³. Each set of drive arms is controlled by a servo drive motor. The joints are equipped with a double-seal structure and a micro ultrasonic transducer. The double-seal structure consists of a nitrile rubber sealing ring and a metal dust cover. The first servo motor controls the horizontal relative rotation angle between the parallel robot support and the first movable component within the range of 30°-150°; the second servo motor controls the vertical relative rotation angle between the first and second movable components within the range of 30°-150°; the third servo motor controls the vertical relative rotation angle between the second and third movable components within the range of 30°-150°; the fourth servo motor controls the vertical relative rotation angle between the third and fourth movable components within the range of 30°-150°; and the fifth servo motor controls the horizontal relative rotation angle between the fourth and fifth movable components within the range of 30°-150°.

8. The adaptive intelligent CO elimination system for underground corners in coal mines as described in claim 1, characterized in that, The distributed fiber optic sensor array includes a CO concentration sensor, a humidity sensor, a temperature sensor, a gas concentration sensor, and a displacement sensor. The detection device is externally equipped with a stainless steel protective sleeve with a diameter of 8mm and a wall thickness of 1mm. Both ends are sealed with epoxy resin, and the protection level reaches IP68. The distributed fiber optic sensor array is fixed to the underground roadway support or roof using explosion-proof cable clamps. The detection position accuracy deviation is ≤10mm, and the spacing between the explosion-proof cable clamps is 300mm. The explosion-proof base has a built-in supercapacitor energy storage module, which is connected in parallel with the mine's main power supply.

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