Gas pipeline intelligent gangue removal system and method based on single-chip microcomputer control

Abstract

The system comprises an intelligent electric vehicle, a gangue removing box is arranged on the intelligent electric vehicle, a box door is arranged on the front side of the gangue removing box, and a gangue pushing device capable of moving front and back is arranged in the gangue removing box. A left magnetic adsorption type pipeline connecting assembly connected with an extraction pipeline in the large-diameter drill hole is arranged on the upper portion of the left side of the waste rock removing box, and a right magnetic adsorption type pipeline connecting assembly connected with a gas extraction pipeline in a roadway is arranged on the upper portion of the right side of the waste rock removing box. The STM32 single-chip microcomputer serves as a core controller, intelligence is achieved, the problem that coal gangue easily enters a coal mine large-diameter drilling extraction pipeline is solved, the coal gangue can be separated out in the gas extraction working process, the coal gangue in a goaf is prevented from entering and blocking the extraction pipeline, and the gas extraction efficiency is improved. And the gangue stacking height in the gangue removal box can be monitored in real time, gangue data are updated in real time, researchers can conveniently analyze the gangue removal effect, and the working process is further optimized.

Description

Technical Field

[0001] This invention belongs to the field of gas extraction technology, specifically relating to an intelligent gas pipeline desilting system and method based on microcontroller control. Background Technology

[0002] Large-diameter inclined borehole gas extraction technology in coal mines is an effective gas control method and a new gas extraction technology for goaf areas that has been developed in recent years. Figure 1 and Figure 2 The coal mining face 50 has an intake airway 49 and a return airway 51 on both sides. A gas control roadway 52 is set on the left side of the return airway 51 on the left side of the coal mining face 50. An inclined large-diameter borehole 53 is drilled from the gas control roadway 52 to the return airway 51. The inclined large-diameter borehole 53 replaces the connecting roadway of the return airway 51 to extract gas from the upper corner, which greatly improves the gas extraction effect in the goaf and achieves the goals of reducing the gas extraction cost in the goaf, stable extraction with low negative pressure and high flow rate, and significantly reducing gas outburst from the extraction face.

[0003] Compared to traditional gas drainage methods, inclined large-diameter borehole gas drainage technology in coal mines offers higher drainage efficiency and better safety. By creating a larger gas flow channel through the inclined large-diameter borehole 53, the gas flow velocity is accelerated, thereby improving gas drainage efficiency. Simultaneously, the inclined large-diameter borehole 53 can also reduce the gas pressure in the coal seam, decreasing the risk of gas accumulation and enhancing coal mine safety. The inclined large-diameter borehole 53 technology also features strong adaptability and ease of operation, enabling it to adapt to different geological conditions and coal mine production needs. In practical applications, the appropriate diameter and depth of the inclined large-diameter borehole 53 can be selected according to specific circumstances to achieve the best gas drainage effect.

[0004] Because the large extraction diameter of the inclined large-diameter borehole 53 is used to extract gas from the goaf 54, the crushed gangue from the goaf 54 can easily enter the extraction pipeline 57, affecting the gas extraction efficiency and increasing the safety risks of the coal mine. Therefore, a gangue treatment device must be installed on the extraction pipeline 57 set in the inclined large-diameter borehole 53, and the gangue must be transported to the waste dumping point designated by the coal mine. Figure 2 55 is a protective coal pillar, and 56 is a coal seam. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a microcontroller-controlled intelligent gas pipeline gangue removal system and method that facilitates the assembly and disassembly of extraction pipes installed within inclined large-diameter boreholes, collects gangue, and transports the collected gangue to a designated location.

[0006] To solve the above technical problems, the present invention adopts the following technical solution: a gas pipeline intelligent gangue removal system based on single-chip microcomputer control, including an intelligent electric vehicle, a gangue removal box on the intelligent electric vehicle, a box door on the front side of the gangue removal box, a gangue pushing device that can move back and forth inside the gangue removal box, a left magnetic adsorption type pipeline connection assembly for connecting to the extraction pipeline in the large-diameter borehole on the upper left side of the gangue removal box, and a right magnetic adsorption type pipeline connection assembly for connecting to the gas extraction pipeline in the roadway on the upper right side of the gangue removal box; The intelligent electric vehicle includes a chassis frame, with a Mecanum wheel and a DC motor at each of the four corners of the chassis frame to drive the rotation of the Mecanum wheel. The chassis frame is equipped with an STM32 microcontroller, a WIFI module, a battery, and a cooling fan.

[0007] The upper side of the box door is hinged to the front top of the waste removal box. The front side of the waste removal box is equipped with a magnetic door frame for adsorbing the box door. The left and right sides of the waste removal box are respectively equipped with a first electric push rod for driving the box door to open and close.

[0008] The waste rock pushing device includes a push plate and a second electric push rod. The push plate is vertically installed inside the waste rock removal box. The front end of the second electric push rod passes through the rear side of the waste rock removal box and extends into the waste rock removal box. The front end of the second electric push rod is connected to the middle of the rear side of the push plate. A bracket is provided on the rear side of the chassis frame, and the rear end of the second electric push rod is connected to the bracket.

[0009] The left magnetic adsorption type pipeline connection assembly includes a left connecting pipe, a first round cover, a second round cover, and a first fixing pipe. Both the first and second round covers have a first through hole at their centers. The right end of the left connecting pipe is connected to the left side of the first round cover. The first fixing pipe is fixedly mounted on the left side plate of the waste removal box, and its left end is fixedly connected to the right side of the second round cover. The open sides of the first and second round covers are positioned opposite each other. The first round cover contains two first rubber rings arranged concentrically, and a first annular iron plate fixedly connected to the first round cover is located between the two first rubber rings. The first round cover and the first annular iron plate are an integral structure. The second round cover contains two second rubber rings arranged concentrically, and a first annular electromagnet fixedly connected to the second round cover is located between the two second rubber rings. The first annular iron plate and the first annular electromagnet are magnetically attracted to each other. The two first rubber rings are correspondingly pressed against each other. The left end of the left connecting pipe is connected to the outer port of the extraction pipeline.

[0010] The right magnetic adsorption pipeline connection assembly has the same structure as the left magnetic adsorption pipeline connection assembly. The right magnetic adsorption pipeline connection assembly includes a right connecting pipe, a third round cover, a fourth round cover, and a second fixed pipe. The third round cover and the fourth round cover each have a second through hole in the center. The left end of the right connecting pipe is connected to the right side of the third round cover. The second fixed pipe is fixedly installed on the right side plate of the waste removal box. The right end of the second fixed pipe is fixedly connected to the left side of the fourth round cover. The open sides of the third round cover and the fourth round cover are arranged opposite each other. The third round cover has two third rubber rings arranged in concentric circles inside. A second annular iron plate fixedly connected to the third round cover is located between the two third rubber rings. The third round cover and the second annular iron plate are an integral structure. The fourth round cover has two fourth rubber rings arranged in concentric circles inside. A second annular electromagnet fixedly connected to the fourth round cover is located between the two fourth rubber rings. The second annular iron plate and the second annular electromagnet are connected to each other by magnetic attraction. The two third rubber rings are correspondingly pressed against the two fourth rubber rings. The right end of the right connecting pipe is connected to the gas extraction pipeline in the roadway.

[0011] The first fixed pipe is positioned lower than the second fixed pipe, and the inner end of the second fixed pipe is equipped with a filter screen that is fixedly connected to the inner wall of the right side plate of the waste removal box; A pair of first photoelectric sensors and a pair of second photoelectric sensors are installed on the inner wall of the left or right side plate of the waste removal box. The pair of first photoelectric sensors are set at the same height and opposite each other, and the pair of second photoelectric sensors are set at the same height and opposite each other. The position of the first photoelectric sensor is lower than that of the second photoelectric sensor, and the height of the second photoelectric sensor is the same as that of the first fixed tube. An LED sound and light alarm is installed on the top of the waste removal box.

[0012] The method for removing waste rock from a gas pipeline intelligent waste rock removal system based on a microcontroller includes the following steps: (1) Start the gas extraction pump in the coal mine gas extraction system. The gas extraction pump extracts gas from the goaf through the gas extraction pipeline in the roadway, the right connecting pipe, the second fixed pipe, the gangue removal box, the first fixed pipe, the left connecting pipe and the extraction pipeline in the large-diameter borehole. (2) During the extraction process, the gangue in the goaf slides into the gangue removal box in sequence along the extraction pipe, the left connecting pipe and the first fixed pipe; (3) The height of the gangue piled up in the gangue removal box gradually increases. When the height of the gangue reaches the monitoring position of the first photoelectric sensor, the first photoelectric sensor is triggered to send a feedback signal to the STM32 microcontroller. (4) The STM32 microcontroller sends a stop signal to the gas extraction platform via the WIFI module to shut down the extraction pump and the extraction valve on the extraction pipeline, thus stopping the extraction operation; (5) The STM32 microcontroller sends a power-off signal to the first and second annular electromagnets, and the first and second round covers separate, and the third and fourth round covers separate. (6) The STM32 microcontroller sends a working command to the DC motor, which drives the Mecanum wheel to rotate. The intelligent electric vehicle moves the waste removal box to the designated waste disposal site. At the same time, the lidar works to perform laser scanning, identify obstacles, and perform physical distance measurement. The lidar is located in the middle of the front side of the chassis frame, and the millimeter-wave radar is located in the middle of the rear side of the chassis frame. The millimeter-wave radar works in conjunction with the lidar to assist in obstacle identification and distance measurement. (7) When the lidar detects an obstacle nearby, it sends a feedback signal to the STM32 microcontroller. The STM32 microcontroller makes a corresponding judgment based on the signal fed back by the lidar, controls the speed and steering of the corresponding Mecanum wheel, and ensures that the intelligent electric vehicle moves normally and travels to the fixed gangue pile according to the predetermined route. (8) The STM32 microcontroller first controls the two first electric push rods to work. The first electric push rods extend and drive the box door to overcome the magnetic attraction of the magnetic door frame. The box door rotates forward and upward to open. Then the STM32 microcontroller controls the second electric push rod to work. The second electric push rod extends and drives the push plate to move forward to push out the internal gangue except for the gangue box. Finally, the second electric push rod and the first electric push rod are retracted in sequence, the push plate moves backward to reset, and the box door is closed. (9) The STM32 microcontroller controls the DC motor to start and travels along the predetermined route to the position between the first and fourth round covers; (10) Fine-tune the positions of the four Mecanum wheels so that the first round cover corresponds to the second round cover left and right, and the third round cover corresponds to the fourth round cover left and right; (11) The STM32 microcontroller sends an energizing signal to the first annular electromagnet and the second annular iron plate. The first annular iron plate and the first annular electromagnet are magnetically attracted to each other, the first round cover and the second round cover are combined into one, the second annular iron plate and the second annular electromagnet are magnetically attracted to each other, and the third round cover and the fourth round cover are combined into one.

[0013] (12) The STM32 microcontroller sends a signal to the gas extraction platform to start the removal of gangue through the WIFI module. The extraction pump starts, the extraction valve on the extraction pipeline opens, and the extraction work starts again. (13) Repeat steps (2)-(12) multiple times until the gas extraction in the goaf is completed.

[0014] During gas extraction, the separation and transportation of gangue can be achieved without the direct involvement of personnel. To improve equipment safety, a fault alarm system is installed, the specific method of which is as follows: ① When the first photoelectric sensor malfunctions, the gangue continues to accumulate upwards, triggering the second photoelectric sensor; ② The second photoelectric sensor feeds back information to the STM32 microcontroller, which then controls the LED sound and light alarm to start.

[0015] ③The STM32 microcontroller sends alarm information to the gas extraction control platform via the WIFI module, shuts down the extraction pump and the extraction valve on the extraction pipeline, and stops the extraction work.

[0016] ④The STM32 microcontroller controls the intelligent electric vehicle to move to the fixed gangue stack and unload the gangue from the gangue removal box; ⑤ The staff inspected and repaired the first photoelectric sensor inside the waste removal box.

[0017] Using the above technical solution, the present invention comprises an STM32 microcontroller, a first photoelectric sensor, a second photoelectric sensor, an LED audible and visual alarm, and a WIFI module to form a gangue detection system. Two pairs of laser-guided first and second photoelectric sensors are embedded on the inner sides of the left and right sides of the gangue removal box. The first photoelectric sensor is 40cm from the top of the gangue removal box, and the second photoelectric sensor is 30cm from the top of the box, used to detect the height of the gangue inside the box in real time. When the gangue reaches the working height for gangue removal, the first photoelectric sensor is triggered, sending a feedback signal to the STM32 microcontroller. The STM32 microcontroller then sends a signal to the working platform to shut down the extraction pump and valves, as well as a gangue removal work request signal, via the WIFI module. When the first photoelectric sensor malfunctions, and the gangue continues to accumulate to the gangue removal working threshold height, the second photoelectric sensor is triggered, sending a feedback signal to the STM32 microcontroller. The STM32 microcontroller then sends an alarm message to the working platform via the WIFI module and triggers the LED audible and visual alarm, awaiting timely repair by personnel.

[0018] The gangue treatment is carried out in three stages: the first stage is gravity inertial separation of gangue, the second stage is precise filtration of gangue by filter screen, and the third stage is removal of gangue from the gangue removal box by push rod device.

[0019] Gravity-inertial separation of gangue is a process in which gangue in the goaf slides sequentially along the extraction pipe, the left connecting pipe, and the first fixed pipe into the gangue removal box during gas drainage. The filter screen is used to filter out gangue and prevent it from being pulled out of the gangue removal box. The filter screen has a pore size of 10×10mm and can remove gangue particles larger than 10mm.

[0020] When the gangue inside the gangue removal box reaches the working height for gangue removal, the STM32 microcontroller controls the first and second electric push rods. First, the first electric push rod extends to open the removal box door, and then the second electric push rod drives the push plate forward to push the gangue out of the removal box. The box door is magnetically attached to the frame, ensuring the airtightness of the removal box during gas extraction and improving gas extraction efficiency.

[0021] The transportation of coal gangue utilizes intelligent electric vehicles. These vehicles are controlled by an STM32 microcontroller and equipped with modules such as Wi-Fi, LiDAR, and millimeter-wave radar. The STM32 microcontroller and Wi-Fi module are located inside the intelligent electric vehicle. The LiDAR is located at the geometric center of the front side of the chassis frame, and the millimeter-wave radar is located at the geometric center of the rear side of the chassis frame. The LiDAR scans the surrounding environment to obtain the shape and distance of objects. The STM32 microcontroller receives and processes the LiDAR feedback information and then controls the intelligent electric vehicle's direction and speed according to a preset program and algorithm, ensuring safe and stable transport to the coal gangue storage area. The intelligent electric vehicle can communicate wirelessly with other devices via the Wi-Fi module, enabling remote control and data transmission. The intelligent electric vehicle can autonomously sense and adapt to its environment. Through precise perception and response, it can avoid many potential dangers and accidents, achieving autonomous operation without human intervention.

[0022] In summary, this invention uses an STM32 microcontroller as the core controller to achieve intelligent operation and solve the problem of coal gangue easily entering the drainage pipes of large-diameter boreholes in coal mines. This invention can separate gangue during the gas drainage process, preventing it from entering and clogging the drainage pipes in the goaf, thus improving gas drainage efficiency. It can also monitor the gangue stacking height in the gangue removal box in real time and update the gangue data in real time, facilitating researchers to analyze the gangue removal effect and further optimize the workflow. Attached Figure Description

[0023] Figure 1 A schematic diagram of the plan layout of inclined large-diameter boreholes and goaf; Figure 2 for Figure 1 Sectional view of AA; Figure 3 This is a three-dimensional structural diagram of the present invention; Figure 4 This is a schematic diagram of the left side of the present invention; Figure 5 This is a planar sectional perspective view of the structure of the present invention; Figure 6 This is a schematic diagram of the internal structure of the first circular cover; Figure 7 This is a planar schematic diagram of the filter screen; Figure 8 This is a top-down view of an intelligent electric vehicle. Detailed Implementation

[0024] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0025] like Figures 1-8As shown, the intelligent coal removal system for gas pipelines based on single-chip microcomputer control of the present invention includes an intelligent electric vehicle 1, a coal removal box 2 on the intelligent electric vehicle 1, a box door 3 on the front side of the coal removal box 2, a coal pushing device that can move back and forth inside the coal removal box 2, a left magnetic adsorption type pipeline connection assembly connected to the extraction pipeline 57 in the large-diameter borehole 53 on the upper left side of the coal removal box 2, and a right magnetic adsorption type pipeline connection assembly connected to the gas extraction pipeline 30 in the roadway on the upper right side of the coal removal box 2. The intelligent electric vehicle 1 includes a chassis frame 4, with a Mecanum wheel 5 and a DC motor 9 for driving the Mecanum wheel 5 to rotate at each of the four corners of the chassis frame 4. The chassis frame 4 is equipped with an STM32 microcontroller 6, a WIFI module 10, a battery 7 and a cooling fan 8.

[0026] The upper side of the door 3 is hinged to the front top of the waste removal box 2. The front side of the waste removal box 2 is provided with a magnetic door frame 12 for adsorbing the door 3. The left and right sides of the waste removal box 2 are respectively provided with a first electric push rod 13 for driving the door 3 to open and close.

[0027] A lidar 14 is located in the middle of the front side of the chassis frame 4, and a millimeter-wave radar 15 is located in the middle of the rear side of the chassis frame 4.

[0028] The waste rock pushing device includes a push plate 16 and a second electric push rod 17. The push plate 16 is vertically arranged inside the waste rock removal box 2. The front end of the second electric push rod 17 passes through the rear side of the waste rock removal box 2 and extends into the waste rock removal box 2. The front end of the second electric push rod 17 is connected to the middle of the rear side of the push plate 16. A bracket 18 is provided on the rear side of the chassis frame 4. The rear end of the second electric push rod 17 is connected to the bracket 18.

[0029] The left magnetic adsorption type pipeline connection assembly includes a left connecting pipe 19, a first round cover 20, a second round cover 21, and a first fixing pipe 22. Both the first round cover 20 and the second round cover 21 have a first through hole 23 at their centers. The right end of the left connecting pipe 19 is connected to the left side of the first round cover 20. The first fixing pipe 22 is fixedly mounted on the left side plate of the waste removal box 2, and its left end is fixedly connected to the right side of the second round cover 21. The open sides of the first round cover 20 and the second round cover 21 are arranged opposite each other. The first round cover 20 has two first rubber rings 24 arranged concentrically inside. A first annular iron plate 25 is provided between the two first rubber rings 24 and is fixedly connected to the first round cover 20. The first round cover 20 and the first annular iron plate 25 are integral structures. The second round cover 21 has two second rubber rings arranged in concentric circles inside. A first annular electromagnet is provided between the two second rubber rings and is fixedly connected to the second round cover 21. The first annular iron plate 25 and the first annular electromagnet are connected to each other by magnetic attraction. The two first rubber rings 24 are correspondingly pressed together. The left end of the left connecting pipe 19 is connected to the outer port of the extraction pipe.

[0030] The right magnetic adsorption pipe connection assembly has the same structure as the left magnetic adsorption pipe connection assembly. The right magnetic adsorption pipe connection assembly includes a right connecting pipe 26, a third round cover 27, a fourth round cover 28, and a second fixing pipe 29. Both the third round cover 27 and the fourth round cover 28 have a second through hole in their centers. The left end of the right connecting pipe 26 is connected to the right side of the third round cover 27. The second fixing pipe 29 is fixedly mounted on the right side plate of the waste removal box 2, and its right end is fixedly connected to the left side of the fourth round cover 28. The open sides of the third round cover 27 and the fourth round cover 28 are arranged opposite each other. The interior of the third round cover 27... Two third rubber rings are arranged in concentric circles. A second annular iron plate is fixedly connected to the third round cover 27 between the two third rubber rings. The third round cover 27 and the second annular iron plate are integral structures. Two fourth rubber rings are arranged in concentric circles inside the fourth round cover 28. A second annular electromagnet is fixedly connected to the fourth round cover 28 between the two fourth rubber rings. The second annular iron plate and the second annular electromagnet are connected to each other by magnetic attraction. The two third rubber rings are correspondingly pressed against the two fourth rubber rings. The right end of the right connecting pipe 26 is connected to the gas extraction pipeline 30 in the roadway.

[0031] The first fixed pipe 22 is positioned lower than the second fixed pipe 29. The inner end of the second fixed pipe 29 is provided with a filter screen 40 that is fixedly connected to the inner wall of the right side plate of the waste removal box 2. A pair of first photoelectric sensors 41 and a pair of second photoelectric sensors 42 are provided on the inner wall of the left or right side plate of the waste removal box 2. The pair of first photoelectric sensors 41 are set at the same height and are positioned opposite each other. The pair of second photoelectric sensors 42 are set at the same height and are positioned opposite each other. The position of the first photoelectric sensor 41 is lower than that of the second photoelectric sensor 42. The height of the second photoelectric sensor 42 is the same as that of the first fixed tube 22. An LED sound and light alarm 43 is provided on the top of the waste removal box 2.

[0032] The method for removing waste rock from a gas pipeline intelligent waste rock removal system based on a microcontroller includes the following steps: (1) Start the gas extraction pump in the coal mine gas extraction system. The gas extraction pump extracts gas from the goaf through the gas extraction pipeline 30 in the roadway, the right connecting pipe 26, the second fixed pipe 29, the gangue removal box 2, the first fixed pipe 22, the left connecting pipe 19 and the extraction pipeline in the large diameter borehole. (2) During the gas extraction process, the gangue in the goaf slides into the gangue removal box 2 in sequence along the extraction pipe, the left connecting pipe 19 and the first fixed pipe 22; (3) The height of the gangue piled up in the gangue removal box 2 gradually increases. When the height of the gangue reaches the monitoring position of the first photoelectric sensor 41, the first photoelectric sensor 41 is triggered to send a feedback signal to the STM32 microcontroller 6. (4) The STM32 microcontroller 6 sends a stop signal to the gas extraction platform through the WIFI module 10 to stop the removal of gangue, close the extraction pump and the extraction valve on the extraction pipeline, and stop the extraction work; (5) The STM32 microcontroller 6 sends a power-off signal to the first and second annular electromagnets, and the first round cover 20 separates from the second round cover 21, and the third round cover 27 separates from the fourth round cover 28. (6) The STM32 microcontroller 6 sends a working command to the DC motor 9, the DC motor 9 drives the Mecanum wheel 5 to rotate, and the intelligent electric vehicle 1 drives the gangue removal box 2 to the designated gangue stacking location. At the same time, the lidar 14 works to perform laser scanning, identify obstacles, and perform physical ranging; the millimeter-wave radar 15 cooperates with the lidar 14 to assist in obstacle identification and ranging. (7) When the lidar 14 detects an obstacle nearby, it sends a feedback signal to the STM32 microcontroller 6. The STM32 microcontroller 6 makes a corresponding judgment based on the signal fed back by the lidar 14, controls the speed and steering of the corresponding Mecanum wheel 5, and ensures that the intelligent electric vehicle 1 moves normally and travels to the fixed gangue pile according to the predetermined route. (8) The STM32 microcontroller 6 first controls the two first electric push rods 13 to work. The first electric push rod 13 extends and drives the box door 3 to overcome the magnetic attraction of the magnetic door frame 12. The box door 3 rotates forward and upward to open. Then the STM32 microcontroller 6 controls the second electric push rod 17 to work. The second electric push rod 17 extends and drives the push plate 16 to move forward to push out the internal gangue except for the gangue box 2. Finally, the second electric push rod 17 and the first electric push rod 13 are retracted in sequence, the push plate 16 moves backward to reset, and the box door 3 is closed. (9) The STM32 microcontroller 6 controls the DC motor 9 to start and travel along the predetermined route to the position between the first round cover 20 and the fourth round cover 28; (10) Fine-tune the positions of the four Mecanum wheels 5 so that the first round cover 20 corresponds to the second round cover 21 and the third round cover 27 corresponds to the fourth round cover 28. (11) The STM32 microcontroller 6 sends an energizing signal to the first annular electromagnet and the second annular electromagnet. The first annular iron plate 25 and the first annular electromagnet are magnetically attracted to each other. The first round cover 20 and the second round cover 21 are combined into one. The second annular iron plate and the second annular electromagnet are magnetically attracted to each other. The third round cover 27 and the fourth round cover 28 are combined into one.

[0033] (12) The STM32 microcontroller 6 sends a signal to the gas extraction platform to start the removal of gangue through the WIFI module 10. The extraction pump starts, the extraction valve on the extraction pipeline opens, and the extraction work starts again. (13) Repeat steps (2)-(12) multiple times until the gas extraction in the goaf is completed.

[0034] During gas extraction, the separation and transportation of gangue can be achieved without the direct involvement of personnel. To improve equipment safety, a fault alarm system is installed, the specific method of which is as follows: ① When the first photoelectric sensor 41 malfunctions, the gangue continues to accumulate upwards, triggering the second photoelectric sensor 42; ② The second photoelectric sensor 42 feeds back information to the STM32 microcontroller 6, and the STM32 microcontroller 6 controls the LED sound and light alarm 43 to start.

[0035] ③The STM32 microcontroller 6 sends alarm information to the gas extraction control platform through the WIFI module 10, closes the extraction pump and the extraction valve on the extraction pipeline, and stops the extraction work.

[0036] ④The STM32 microcontroller 6 controls the intelligent electric vehicle 1 to move to the fixed gangue stacking site and unload the gangue from the gangue removal box 2; ⑤ The staff inspected and repaired the first photoelectric sensor 41 inside the waste removal box 2.

[0037] The above embodiments illustrate the basic principles and features of the present invention, but are merely preferred embodiments and are not limited to these embodiments. Those skilled in the art, inspired by this patent, can make many modifications and improvements without departing from the spirit and scope of the claims, all of which fall within the scope of protection of the present invention. Therefore, the scope of this patent and its protection should be determined by the appended claims.

Claims

1. A smart gas pipeline desilting system based on microcontroller control, characterized in that: It includes an intelligent electric vehicle equipped with a waste rock removal box, a box door on the front side of the waste rock removal box, a waste rock pushing device that can move back and forth inside the waste rock removal box, a left magnetic adsorption type pipeline connection assembly that connects to the extraction pipeline in the large-diameter borehole on the upper left side of the waste rock removal box, and a right magnetic adsorption type pipeline connection assembly that connects to the gas extraction pipeline in the roadway on the upper right side of the waste rock removal box. The intelligent electric vehicle includes a chassis frame, with a Mecanum wheel and a DC motor at each of the four corners of the chassis frame to drive the rotation of the Mecanum wheel. The chassis frame is equipped with an STM32 microcontroller, a WIFI module, a battery, and a cooling fan.

2. The intelligent gas pipeline desilting system based on single-chip microcomputer control according to claim 1, characterized in that: The upper side of the box door is hinged to the front top of the waste removal box. The front side of the waste removal box is equipped with a magnetic door frame for adsorbing the box door. The left and right sides of the waste removal box are respectively equipped with a first electric push rod for driving the box door to open and close.

3. The intelligent gas pipeline desilting system based on single-chip microcomputer control according to claim 2, characterized in that: The waste rock pushing device includes a push plate and a second electric push rod. The push plate is vertically installed inside the waste rock removal box. The front end of the second electric push rod passes through the rear side of the waste rock removal box and extends into the waste rock removal box. The front end of the second electric push rod is connected to the middle of the rear side of the push plate. A bracket is provided on the rear side of the chassis frame, and the rear end of the second electric push rod is connected to the bracket.

4. The intelligent gas pipeline desilting system based on single-chip microcomputer control according to claim 3, characterized in that: The left magnetic adsorption type pipeline connection assembly includes a left connecting pipe, a first round cover, a second round cover, and a first fixing pipe. Both the first and second round covers have a first through hole at their centers. The right end of the left connecting pipe is connected to the left side of the first round cover. The first fixing pipe is fixedly mounted on the left side plate of the waste removal box, and its left end is fixedly connected to the right side of the second round cover. The open sides of the first and second round covers are positioned opposite each other. The first round cover contains two first rubber rings arranged concentrically, and a first annular iron plate fixedly connected to the first round cover is located between the two first rubber rings. The first round cover and the first annular iron plate are an integral structure. The second round cover contains two second rubber rings arranged concentrically, and a first annular electromagnet fixedly connected to the second round cover is located between the two second rubber rings. The first annular iron plate and the first annular electromagnet are magnetically attracted to each other. The two first rubber rings are correspondingly pressed against each other. The left end of the left connecting pipe is connected to the outer port of the extraction pipeline.

5. The intelligent gas pipeline desilting system based on single-chip microcomputer control according to claim 4, characterized in that: The right magnetic adsorption pipeline connection assembly has the same structure as the left magnetic adsorption pipeline connection assembly. The right magnetic adsorption pipeline connection assembly includes a right connecting pipe, a third round cover, a fourth round cover, and a second fixed pipe. The third round cover and the fourth round cover each have a second through hole in the center. The left end of the right connecting pipe is connected to the right side of the third round cover. The second fixed pipe is fixedly installed on the right side plate of the waste removal box. The right end of the second fixed pipe is fixedly connected to the left side of the fourth round cover. The open sides of the third round cover and the fourth round cover are arranged opposite each other. The third round cover has two third rubber rings arranged in concentric circles inside. A second annular iron plate fixedly connected to the third round cover is located between the two third rubber rings. The third round cover and the second annular iron plate are an integral structure. The fourth round cover has two fourth rubber rings arranged in concentric circles inside. A second annular electromagnet fixedly connected to the fourth round cover is located between the two fourth rubber rings. The second annular iron plate and the second annular electromagnet are connected to each other by magnetic attraction. The two third rubber rings are correspondingly pressed against the two fourth rubber rings. The right end of the right connecting pipe is connected to the gas extraction pipeline in the roadway.

6. The intelligent gas pipeline desilting system based on single-chip microcomputer control according to claim 5, characterized in that: The first fixed pipe is positioned lower than the second fixed pipe, and the inner end of the second fixed pipe is equipped with a filter screen that is fixedly connected to the inner wall of the right side plate of the waste removal box; A pair of first photoelectric sensors and a pair of second photoelectric sensors are installed on the inner wall of the left or right side plate of the waste removal box. The pair of first photoelectric sensors are set at the same height and opposite each other, and the pair of second photoelectric sensors are set at the same height and opposite each other. The position of the first photoelectric sensor is lower than that of the second photoelectric sensor, and the height of the second photoelectric sensor is the same as that of the first fixed tube. An LED sound and light alarm is installed on the top of the waste removal box.

7. The method for removing waste rock from a gas pipeline using a microcontroller-controlled intelligent waste rock removal system as described in claim 6, characterized in that: Includes the following steps: (1) Start the gas extraction pump in the coal mine gas extraction system. The gas extraction pump extracts gas from the goaf through the gas extraction pipeline in the roadway, the right connecting pipe, the second fixed pipe, the gangue removal box, the first fixed pipe, the left connecting pipe and the extraction pipeline in the large-diameter borehole. (2) During the extraction process, the gangue in the goaf slides into the gangue removal box in sequence along the extraction pipe, the left connecting pipe and the first fixed pipe; (3) The height of the gangue piled up in the gangue removal box gradually increases. When the height of the gangue reaches the monitoring position of the first photoelectric sensor, the first photoelectric sensor is triggered to send a feedback signal to the STM32 microcontroller. (4) The STM32 microcontroller sends a stop signal to the gas extraction platform via the WIFI module to shut down the extraction pump and the extraction valve on the extraction pipeline, thus stopping the extraction operation; (5) The STM32 microcontroller sends a power-off signal to the first and second annular electromagnets, and the first and second round covers separate, and the third and fourth round covers separate. (6) The STM32 microcontroller sends a working command to the DC motor, which drives the Mecanum wheel to rotate. The intelligent electric vehicle moves the waste removal box to the designated waste disposal site. At the same time, the lidar works to perform laser scanning, identify obstacles, and perform physical distance measurement. The lidar is located in the middle of the front side of the chassis frame, and the millimeter-wave radar is located in the middle of the rear side of the chassis frame. The millimeter-wave radar works in conjunction with the lidar to assist in obstacle identification and distance measurement. (7) When the lidar detects an obstacle nearby, it sends a feedback signal to the STM32 microcontroller. The STM32 microcontroller makes a corresponding judgment based on the signal fed back by the lidar, controls the speed and steering of the corresponding Mecanum wheel, and ensures that the intelligent electric vehicle moves normally and travels to the fixed gangue pile according to the predetermined route. (8) The STM32 microcontroller first controls the two first electric push rods to work. The first electric push rods extend and drive the box door to overcome the magnetic attraction of the magnetic door frame. The box door rotates forward and upward to open. Then the STM32 microcontroller controls the second electric push rod to work. The second electric push rod extends and drives the push plate to move forward to push out the internal gangue except for the gangue box. Finally, the second electric push rod and the first electric push rod are retracted in sequence, the push plate moves backward to reset, and the box door is closed. (9) The STM32 microcontroller controls the DC motor to start and travels along the predetermined route to the position between the first and fourth round covers; (10) Fine-tune the positions of the four Mecanum wheels so that the first round cover corresponds to the second round cover left and right, and the third round cover corresponds to the fourth round cover left and right; (11) The STM32 microcontroller sends an energizing signal to the first annular electromagnet and the second annular iron plate. The first annular iron plate and the first annular electromagnet are magnetically attracted to each other, the first round cover and the second round cover are combined into one, the second annular iron plate and the second annular electromagnet are magnetically attracted to each other, and the third round cover and the fourth round cover are combined into one. (12) The STM32 microcontroller sends a signal to the gas extraction platform to start the removal of gangue through the WIFI module. The extraction pump starts, the extraction valve on the extraction pipeline opens, and the extraction work starts again. (13) Repeat steps (2)-(12) multiple times until the gas extraction in the goaf is completed.

8. The method for removing waste rock in a microcontroller-controlled intelligent waste rock removal system for gas pipelines according to claim 7, characterized in that: During gas extraction, the separation and transportation of gangue can be achieved without the direct involvement of personnel. To improve equipment safety, a fault alarm system is installed, the specific method of which is as follows: ① When the first photoelectric sensor malfunctions, the gangue continues to accumulate upwards, triggering the second photoelectric sensor; ② The second photoelectric sensor feeds back information to the STM32 microcontroller, which then controls the LED sound and light alarm to start. ③The STM32 microcontroller sends alarm information to the gas extraction control platform via the WIFI module, closes the extraction pump and the extraction valve on the extraction pipeline, and stops the extraction work; ④The STM32 microcontroller controls the intelligent electric vehicle to travel to the fixed gangue stack and unload the gangue from the gangue removal box; ⑤ The staff inspected and repaired the first photoelectric sensor inside the waste removal box.

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