Underground coal mine intelligent inspection automatic tracking explosion suppression device

Abstract

The utility model provides an underground coal mine intelligent inspection and automatic tracking explosion suppression device, and belongs to the technical field of intelligent inspection. The underground coal mine intelligent inspection and automatic tracking explosion suppression device comprises a gas detection module, a temperature detection module, a humidity detection module, a first or module, a second or module, a first switch module and a ventilation module which are all arranged on an inspection robot; the gas detection module is connected with the first input end of the first or module, the temperature detection module is connected with the second input end of the first or module, the output end of the first or module is connected with the first input end of the second or module, and the humidity detection module is connected with the second input end of the second or module. The output end of the second OR module is connected with the control end of the first switch module, the first end of the first switch module is connected with a power supply, and the second end of the first switch module is connected with the ventilation module. The problem that an underground coal mine is lack of safety can be solved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent inspection technology, and in particular to an intelligent inspection automatic tracking explosion suppression device for underground coal mines. Background Technology

[0002] Coal mines are high-risk working environments, posing various dangers such as gas explosions. Traditional inspection methods mainly rely on manual labor, but the underground environment is complex and changeable, with insufficient lighting, high dust concentrations, and the potential for water accumulation and flammable and explosive gases in the air, all of which greatly affect the safety of manual inspections.

[0003] Therefore, there is a need for an inspection device that can improve underground safety in coal mines and provide strong protection for safe production in coal mines. Utility Model Content

[0004] This disclosure provides an intelligent inspection and automatic tracking explosion suppression device for underground coal mines to address the lack of safety in underground coal mines.

[0005] This disclosure provides an intelligent underground inspection and automatic tracking explosion suppression device for coal mines, comprising:

[0006] Inspection robot, gas detection module, temperature detection module, humidity detection module, first OR module, second OR module, first switch module and ventilation module;

[0007] The gas detection module, temperature detection module, humidity detection module, first OR module, second OR module, first switch module and ventilation module are all installed on the inspection robot;

[0008] The gas detection module is connected to the first input terminal of the first OR module, the temperature detection module is connected to the second input terminal of the first OR module, the output terminal of the first OR module is connected to the first input terminal of the second OR module, the humidity detection module is connected to the second input terminal of the second OR module, the output terminal of the second OR module is connected to the control terminal of the first switch module, the first terminal of the first switch module is used to connect to the power supply, and the second terminal of the first switch module is connected to the ventilation module.

[0009] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a variable frequency speed control module and a control module;

[0010] Both the variable frequency speed control module and the control module are installed on the inspection robot;

[0011] The gas detection module is connected to the control module, and the control module is connected to the ventilation module through the frequency converter.

[0012] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a first comparator, a second comparator, and a third comparator;

[0013] The first comparator, the second comparator, and the third comparator are all installed on the inspection robot;

[0014] The non-inverting input of the first comparator is connected to the gas detection module, the inverting input of the first comparator is used to connect to the reference voltage Vref1, and the output of the first comparator is connected to the first input of the first OR module.

[0015] The non-inverting input of the second comparator is connected to the temperature detection module, the inverting input of the second comparator is used to connect to the reference voltage Vref2, and the output of the second comparator is connected to the second input of the first OR module.

[0016] The non-inverting input of the third comparator is connected to the humidity detection module, the inverting input of the third comparator is connected to the reference voltage Vref3, and the output of the third comparator is connected to the second input of the second OR module.

[0017] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a second switch module and a dehumidification module;

[0018] Both the second switch module and the dehumidification module are installed on the inspection robot;

[0019] The output of the third comparator is connected to the control terminal of the second switching module;

[0020] The first end of the second switch module is used to connect to the power supply, and the second end of the second switch module is connected to the dehumidification module.

[0021] The dehumidification module is connected to the control module.

[0022] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a camera module and a supplementary lighting module;

[0023] Both the camera module and the supplementary lighting module are installed on the inspection robot;

[0024] Both the camera module and the fill light module are connected to the control module.

[0025] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a fault detection module and an alarm module;

[0026] Both the fault detection module and the alarm module are installed on the inspection robot;

[0027] Both the fault detection module and the alarm module are connected to the control module.

[0028] In one exemplary embodiment of this disclosure, the intelligent inspection and automatic tracking explosion suppression device for underground coal mines further includes: a remote monitoring module;

[0029] The control module and the remote monitoring module are connected for communication.

[0030] The beneficial effects of the intelligent underground inspection and automatic tracking explosion suppression device for coal mines provided in this embodiment are as follows:

[0031] This invention utilizes an inspection robot equipped with multiple detection modules to achieve comprehensive, automated, real-time monitoring of the underground coal mine environment. This effectively covers large underground areas, significantly improving detection efficiency and accuracy, enabling timely detection of potential hazards and enhancing safety. Simultaneously, the automatically controlled ventilation module rapidly activates when gas concentration, temperature, or humidity exceeds safe thresholds, precisely adjusting the composition, temperature, and humidity of the underground air. This effectively dilutes harmful gases and removes heat and moisture, strongly ensuring the stability and safety of the underground working environment. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of an intelligent underground inspection automatic tracking explosion suppression device provided in this embodiment of the present disclosure;

[0034] Figure 2 This is a schematic diagram of another intelligent underground inspection automatic tracking explosion suppression device provided in this embodiment of the present disclosure;

[0035] Figure 3 This is a schematic diagram of the structure of another intelligent inspection and automatic tracking explosion suppression device for underground coal mines provided in this embodiment. Detailed Implementation

[0036] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this solution will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this solution, not all of them. Based on the embodiments of this solution, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this solution.

[0037] The term "comprising" and any other variations thereof in the specification, claims, and accompanying drawings of this invention mean "including but not limited to," and are intended to cover a non-exclusive inclusion, not limited to the examples listed herein. Furthermore, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order.

[0038] The implementation of this disclosure will be described in detail below with reference to the specific accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the structure of an intelligent underground inspection and automatic tracking explosion suppression device for coal mines, provided as an embodiment of this disclosure. (Refer to...) Figure 1 The intelligent underground inspection and automatic tracking explosion suppression device for coal mines includes:

[0040] Inspection robot 101, gas detection module 102, temperature detection module 103, humidity detection module 104, first OR module 105, second OR module 106, first switch module 107, and ventilation module 108;

[0041] Gas detection module 102, temperature detection module 103, humidity detection module 104, first OR module 105, second OR module 106, first switch module 107 and ventilation module 108 are all mounted on the inspection robot 101;

[0042] Gas detection module 102 is connected to the first input terminal of first OR module 105, temperature detection module 103 is connected to the second input terminal of first OR module 105, output terminal of first OR module 105 is connected to the first input terminal of second OR module 106, humidity detection module 104 is connected to the second input terminal of second OR module 106, output terminal of second OR module 106 is connected to the control terminal of first switch module 107, first terminal of first switch module 107 is used to connect to power supply 10, and second terminal of first switch module 107 is connected to ventilation module 108.

[0043] In this embodiment, a track can be laid on the top of the mine tunnel, and the inspection robot 101 can be slidably mounted on the track. During the inspection, the inspection robot can slide along the track to complete the mine inspection work. The inspection robot 101 is configured to autonomously navigate and perform inspection tasks underground in the coal mine, and is equipped with various modules to collect multiple types of information. For example, in the underground tunnel network of the coal mine, following a preset inspection route, it gradually delves into the mining face and various ventilation branch tunnels from the area near the mine entrance, regularly inspecting each area to ensure comprehensive coverage of the underground environment detection range. At the same time, the inspection robot 101 adopts an explosion-proof design to ensure stable operation in extreme environments.

[0044] The gas detection module 102 is configured to detect the concentration information of various gases in the air of underground coal mines. For example, the gas detection module 102 can accurately measure the concentration of methane. When the methane concentration is in the range of 0.1%-1%, the gas detection module 102 can detect and output the corresponding concentration signal in real time. Once the methane concentration exceeds the concentration safety threshold of 1% (the lower explosive limit of methane is about 5%, but warnings are usually issued at lower concentrations), it will transmit a signal "1" to the first or second module 105 to indicate the danger of methane accumulation.

[0045] The temperature detection module 103 is configured to detect the ambient temperature in the coal mine. For example, in the coal mining face, the temperature may rise due to factors such as equipment operation and coal oxidation. The temperature detection module 103 can measure the temperature change in real time. When the temperature exceeds the temperature safety threshold of 30℃ (the normal ambient temperature in a coal mine is generally between 10℃ and 30℃) and continues to rise, it transmits a signal "1" to the first OR module 105 to provide a basis for judging whether there are hidden dangers such as spontaneous combustion of coal or overheating of equipment underground.

[0046] The humidity detection module 104 is configured to detect the humidity data of the air in the coal mine. For example, in some coal seam areas with high humidity or in roadways near water accumulation, the humidity detection module 104 can measure the relative humidity value. When the relative humidity is 90% (the normal relative humidity range is generally 40%-60%) and remains so for a long time, it will affect the insulation performance of electrical equipment or cause the roadway walls to become damp, leading to other safety problems. At this time, the humidity detection module 104 sends a signal "1" to the second or third module 106.

[0047] The first OR module 105 is configured to perform logical judgments on the signals from the gas detection module 102 and the temperature detection module 103. As long as the gas detection module 102 detects that the gas concentration is greater than the concentration safety threshold or the temperature detection module 103 detects that the temperature is greater than the temperature safety threshold, the first OR module 105 will output a signal "1" to the second OR module 106.

[0048] The second OR module 106 is configured to combine the signals from the first OR module 105 and the humidity detection module 104. If the first OR module 105 sends a signal "1" or the humidity detection module 104 sends a signal "1" indicating that the humidity exceeds the safe humidity threshold, the second OR module 106 will generate a control signal. For example, if any of the following three conditions occur: excessive gas concentration, excessive temperature, or excessive humidity, the second OR module 106 will output a valid control signal "1" to the first switch module 107.

[0049] The first switch module 107 is configured to control the power supply 10 of the ventilation module 108 to be switched on and off according to the control signal of the second OR module 106. When a valid control signal "1" is received from the second OR module 106, the first switch module 107 closes, connecting the circuit between the power supply 10 and the ventilation module 108, causing the ventilation module 108 to start and reducing safety risks.

[0050] The ventilation module 108 is configured to start working after the first switch module 107 connects to the power supply 10. Through the operation of the ventilation module 108, fresh air is supplied to the underground coal mine, harmful gases are discharged, and the temperature and humidity of the underground coal mine air are regulated. The ventilation module 108 can be a fan.

[0051] As can be seen from the above, this disclosure, through the inspection robot 101 equipped with multiple detection modules, achieves comprehensive and automated real-time detection of the underground coal mine environment, effectively covering a large underground area, greatly improving detection efficiency and accuracy, and enabling timely detection of potential hazards, thereby enhancing safety. Simultaneously, the automatically controlled ventilation module 108 rapidly activates when the gas concentration exceeds the concentration safety threshold, the temperature exceeds the temperature safety threshold, or the humidity exceeds the humidity safety threshold, precisely adjusting the composition, temperature, and humidity of the underground coal mine air, effectively diluting harmful gases, removing heat and moisture, and strongly ensuring the stability and safety of the underground coal mine working environment.

[0052] In one embodiment of this disclosure, reference is made to Figure 2 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a variable frequency speed control module 109 and a control module 110;

[0053] Both the variable frequency speed control module 109 and the control module 110 are mounted on the inspection robot 101;

[0054] The gas detection module 102 is connected to the control module 110, and the control module 110 is connected to the ventilation module 108 through the frequency conversion speed control module 109.

[0055] In this embodiment, the variable frequency speed control module 109 is configured to adjust the speed of the ventilation module 108 (fan) according to the instructions of the control module 110. For example, in a coal mine, if the gas detection module 102 detects a slight increase in methane concentration but it has not yet reached the danger threshold, the control module 110 can send a corresponding control instruction to the variable frequency speed control module 109 based on the detected methane concentration. The variable frequency speed control module 109 can then adjust the speed of the ventilation module 108, such as increasing it from 80% to 90% of the rated speed, to accelerate air circulation. This ensures an effective reduction in methane concentration while avoiding excessive fan operation that could lead to energy waste and equipment damage.

[0056] The control module 110 is configured to receive gas concentration information from the gas detection module 102, analyze and process this information, and then send control commands to the variable frequency speed control module 109. For example, when the gas detection module 102 detects a continuous increase in carbon monoxide concentration in the coal mine, the control module 110 determines the appropriate ventilation volume requirement based on the carbon monoxide concentration growth rate and the current concentration value, referring to a pre-set concentration-speed relationship curve. It then outputs a corresponding control signal to the variable frequency speed control module 109 to precisely control the fan speed of the ventilation module 108, achieving precise regulation of the underground air environment and effectively preventing safety accidents caused by the accumulation of harmful gases.

[0057] As can be seen from the above, the control module 110 can accurately analyze gas detection data, making the control of the ventilation module 108 more targeted. Combined with the variable frequency speed control module 109, the speed of the ventilation module 108 can be flexibly adjusted according to the actual gas conditions in the coal mine. When the concentration of harmful gases is below the safe concentration threshold, the ventilation module 108 can operate without being activated; while when the concentration of harmful gases is above the safe concentration threshold, the speed of the ventilation module 108 can be changed according to the actual concentration via the variable frequency speed control module 109. Therefore, this not only ensures safety in the coal mine and effectively reduces the risks of explosions, but also reduces energy consumption.

[0058] In one embodiment of this disclosure, reference is made to Figure 3 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a first comparator 111, a second comparator 112 and a third comparator 113;

[0059] The first comparator 111, the second comparator 112 and the third comparator 113 are all mounted on the inspection robot 101;

[0060] The non-inverting input of the first comparator 111 is connected to the gas detection module 102, the inverting input of the first comparator 111 is connected to the reference voltage Vref1, and the output of the first comparator 111 is connected to the first input of the first OR module 105.

[0061] The non-inverting input of the second comparator 112 is connected to the temperature detection module 103, the inverting input of the second comparator 112 is connected to the reference voltage Vref2, and the output of the second comparator 112 is connected to the second input of the first OR module 105.

[0062] The non-inverting input of the third comparator 113 is connected to the humidity detection module 104, the inverting input of the third comparator 113 is connected to the reference voltage Vref3, and the output of the third comparator 113 is connected to the second input of the second OR module 106.

[0063] In this embodiment, the first comparator 111 is configured to compare the gas concentration signal detected by the gas detection module 102 with a preset reference voltage Vref1. The reference voltage Vref1 corresponds to the voltage value of the gas concentration safety threshold. For example, for methane gas, when the detection voltage corresponding to the methane concentration is greater than the reference voltage Vref1, it means that the methane concentration exceeds the safe range. The first comparator 111 outputs a high-level signal to the first input terminal of the first OR module 105, triggering subsequent logic judgments and corresponding actions, such as activating safety measures like the ventilation module 108.

[0064] The second comparator 112 is configured to convert the temperature value acquired by the temperature detection module 103 into a voltage signal and compare it with a reference voltage Vref2. The reference voltage Vref2 corresponds to the voltage value of the temperature safety threshold. If the temperature in a certain area of ​​the coal mine rises, causing the detected temperature voltage to exceed the reference voltage Vref2, such as when the temperature rises slowly in the early stage of coal spontaneous combustion, and exceeds the set reference voltage Vref2, the second comparator 112 outputs a high level to the second input terminal of the first or second module 105 so that subsequent cooling or other emergency measures can be taken.

[0065] The third comparator 113 is configured to compare the humidity signal from the humidity detection module 104 with the humidity safety threshold signal corresponding to the reference voltage Vref3. Taking relative humidity as an example, when the voltage corresponding to the detected humidity signal is greater than the reference voltage Vref3, such as in a local water accumulation area in a coal mine or when poor ventilation causes a significant increase in humidity exceeding the set safe humidity reference value, the third comparator 113 outputs a high level to the second input terminal of the second OR module 106. The second OR module 106 comprehensively judges the environmental status in the coal mine and initiates related operations such as ventilation and dehumidification.

[0066] As can be seen from the above, the first comparator 111, the second comparator 112, and the third comparator 113 can accurately compare the detection data of harmful gases, temperature, and humidity with preset reference values, efficiently determine whether each parameter exceeds the safety threshold, improve the accuracy and timeliness of safety hazard identification, and effectively avoid accidents caused by misjudgment or omission. At the same time, through close collaboration with other modules, they achieve refined detection and control of the underground environment, effectively ensuring the safety of underground coal mine operations.

[0067] In one embodiment of this disclosure, reference is made to Figure 3 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a second switch module 114 and a dehumidification module 115;

[0068] Both the second switch module 114 and the dehumidification module 115 are mounted on the inspection robot 101;

[0069] The output of the third comparator 113 is connected to the control terminal of the second switch module 114;

[0070] The first end of the second switch module 114 is used to connect to the power supply 10, and the second end of the second switch module 114 is connected to the dehumidification module 115.

[0071] The dehumidification module 115 is connected to the control module 110.

[0072] In this embodiment, the second switch module 114 is configured to control the power supply 10 of the dehumidification module 115 to be switched on and off according to the output signal of the third comparator 113. When the third comparator 113 detects that the humidity signal from the humidity detection module 104 is greater than the reference humidity, the third comparator 113 outputs a valid high-level signal to the control terminal of the second switch module 114, and the second switch module 114 closes, connecting the circuit between the power supply 10 and the dehumidification module 115.

[0073] The dehumidification module 115 is configured to start working after the second switch module 114 is closed and energized, to dehumidify the air in the coal mine. For example, in areas near water accumulation or in places where poor ventilation leads to persistently high humidity, the dehumidification module 115 can remove moisture from the air through condensation, adsorption, or absorption.

[0074] The dehumidification module 115 can also be activated by controlling the dehumidification module 115 to start according to the dehumidification command sent by the remote monitoring module 120 to the control module 110.

[0075] As can be seen from the above, when the humidity in the coal mine exceeds the humidity safety threshold, the third comparator 113 triggers the second switch module 114 to conduct, and the dehumidification module 115 works in time, which can effectively reduce the air humidity, avoid electrical equipment short circuits, leakage and other faults caused by high humidity, extend the service life of the equipment, and reduce production interruptions caused by equipment damage.

[0076] In one embodiment of this disclosure, reference is made to Figure 3 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a camera module 116 and a supplementary lighting module 117;

[0077] Both the camera module 116 and the supplementary lighting module 117 are mounted on the inspection robot 101;

[0078] Both the camera module 116 and the fill light module 117 are connected to the control module 110.

[0079] In this embodiment, the camera module 116 is configured to acquire real-time images of the environment, equipment, and personnel activities in the coal mine. During the inspection process, the camera module 116 on the inspection robot 101 can clearly record the operating status of the mining equipment, such as whether the conveyor belt runs smoothly; and when the inspection robot 101 is inspecting the coal face, the camera module 116 can capture images of whether there is coal accumulation in the coal bunker, providing intuitive image evidence for safety management.

[0080] The supplementary lighting module 117 is configured to provide auxiliary lighting for the camera module 116 when there is insufficient light in the coal mine, ensuring that the camera module 116 can capture clear images. Since some areas in the coal mine are dimly lit, such as deep roadways and near goaf areas, the supplementary lighting module 117 automatically turns on when the camera module 116 is working in these areas, emitting sufficiently strong and uniform light to illuminate the shooting area. This allows the camera module 116 to better perform environmental monitoring, equipment inspection, and safety supervision, and enhances the device's visual monitoring capabilities of the underground conditions in conjunction with the camera module 116.

[0081] As can be seen from the above, the camera module 116 can intuitively record various conditions underground, providing accurate image data for equipment maintenance and helping to promptly detect potential equipment failures. Monitoring personnel operations helps standardize operating procedures and improve safety management. The supplementary lighting module 117 assists the camera in low-light conditions, ensuring clear images; the two work together to eliminate blind spots in detection. Whether in the dimly lit edges of goaf areas or deep tunnel corners, it can accurately capture details, comprehensively ensuring visibility and controllability of underground coal mine operations and effectively reducing safety risks.

[0082] In one embodiment of this disclosure, reference is made to Figure 3 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a fault detection module 118 and an alarm module 119.

[0083] Both the fault detection module 118 and the alarm module 119 are installed on the inspection robot 101;

[0084] Both the fault detection module 118 and the alarm module 119 are connected to the control module 110.

[0085] In this embodiment, the fault detection module 118 is configured to comprehensively detect all components and operating status of the intelligent inspection and automatic tracking explosion suppression device in the coal mine. It can detect various sensors such as the gas detection module 102, temperature detection module 103, and humidity detection module 104 in real time to determine if there are any signal abnormalities, zero-point drift, or calibration failures. It can also check the operating status of actuators such as the ventilation module 108 and dehumidification module 115, such as whether the fan is running smoothly and whether the dehumidification elements are working properly. For example, if the sensitive element of the gas detection module 102 ages, causing a decrease in detection accuracy, the fault detection module 118 will promptly detect this and transmit the fault information to the control module 110.

[0086] The alarm module 119 is configured to issue a corresponding alarm signal according to the instructions of the control module 110 when the fault detection module 118 detects a fault in the device. The alarm signal can be a visual signal, such as the warning lights on the inspection robot 101 flashing different colors to indicate different types of faults, with red indicating a serious fault and yellow indicating a general fault; or it can be an auditory signal, such as emitting an alarm sound at a specific frequency and volume to attract the attention of personnel in a noisy underground environment. For example, when the fault detection module 118 detects a fan stoppage fault in the ventilation module 108, the alarm module 119 immediately activates, the warning light illuminates red, and an alarm sounds, reminding underground personnel to promptly repair the device.

[0087] As can be seen from the above, the fault detection module 118 accurately detects the status of each part of the device, promptly identifies potential problems, and can quickly discover potential faults such as sensor malfunctions, providing crucial information for rapid repair. Once a fault occurs, the alarm module 119 immediately issues a warning through a conspicuous light and a piercing alarm sound. Therefore, it not only allows workers to detect faults in a timely manner but also maintains the continuity and safety of underground operations.

[0088] In one embodiment of this disclosure, reference is made to Figure 3 The intelligent inspection and automatic tracking explosion suppression device for underground coal mines also includes: a remote monitoring module 120;

[0089] The control module 110 is communicatively connected to the remote monitoring module 120.

[0090] In this embodiment, the remote monitoring module 120 is configured to receive various underground detection data and the device's own operating status information transmitted from the control module 110, and upload this information to the monitoring center above ground. Simultaneously, the remote monitoring module 120 can also receive control commands from the monitoring center above ground, enabling remote control of the underground inspection robot 101 and related devices. For example, at the monitoring center above ground, staff can use the remote monitoring module 120 to view real-time data on gas concentrations such as methane and carbon monoxide measured by the underground gas detection module 102, temperature values ​​reported by the temperature detection module 103, and the location and trajectory of the inspection robot 101. If an upward trend in methane concentration in a certain area is detected, approaching the warning value, monitoring personnel can send commands to the control module 110 via the remote monitoring module 120 to adjust the inspection route of the inspection robot 101, prioritizing the detection of that area, and controlling the ventilation module 108 to increase ventilation, thereby effectively preventing safety accidents caused by methane accumulation and achieving remote, efficient, and precise monitoring and management of the underground environment and equipment in the coal mine.

[0091] As can be seen from the above, the remote monitoring module 120 breaks down the information barriers between underground and surface operations, enabling surface personnel to have a real-time grasp of the overall situation underground. On the one hand, it can promptly acquire various detection data and device statuses, such as accurately monitoring changes in gas concentration and whether equipment is operating normally, in order to provide early warnings and arrange maintenance. On the other hand, it can remotely control the inspection robot 101 and related devices to quickly respond to emergencies, such as remotely directing the robot to specific areas to investigate hidden dangers or adjust ventilation. This not only improves the efficiency of coal mine safety management and reduces the risks to personnel going underground, but also optimizes resource allocation and ensures the stable, safe, and efficient continuous operation of underground work.

[0092] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A smart inspection and automatic tracking explosion suppression device for underground coal mines, characterized in that, It includes an inspection robot, a gas detection module, a temperature detection module, a humidity detection module, a first OR module, a second OR module, a first switch module, and a ventilation module; The gas detection module, the temperature detection module, the humidity detection module, the first OR module, the second OR module, the first switch module, and the ventilation module are all mounted on the inspection robot. The gas detection module is connected to the first input terminal of the first OR module, the temperature detection module is connected to the second input terminal of the first OR module, the output terminal of the first OR module is connected to the first input terminal of the second OR module, the humidity detection module is connected to the second input terminal of the second OR module, the output terminal of the second OR module is connected to the control terminal of the first switch module, the first terminal of the first switch module is used to connect to the power supply, and the second terminal of the first switch module is connected to the ventilation module.

2. The intelligent underground inspection and automatic tracking explosion suppression device for coal mines as described in claim 1, characterized in that, Also includes: Variable frequency speed control module and control module; Both the variable frequency speed control module and the control module are mounted on the inspection robot. The gas detection module is connected to the control module, and the control module is connected to the ventilation module through the frequency converter.

3. The intelligent underground inspection automatic tracking explosion suppression device for coal mines as described in claim 2, characterized in that, Also includes: First comparator, second comparator, and third comparator; The first comparator, the second comparator, and the third comparator are all mounted on the inspection robot; The non-inverting input of the first comparator is connected to the gas detection module, the inverting input of the first comparator is used to connect to the reference voltage Vref1, and the output of the first comparator is connected to the first input of the first OR module. The non-inverting input of the second comparator is connected to the temperature detection module, the inverting input of the second comparator is connected to the reference voltage Vref2, and the output of the second comparator is connected to the second input of the first OR module. The non-inverting input of the third comparator is connected to the humidity detection module, the inverting input of the third comparator is used to connect to the reference voltage Vref3, and the output of the third comparator is connected to the second input of the second OR module.

4. The intelligent underground inspection automatic tracking explosion suppression device for coal mines as described in claim 3, characterized in that, Also includes: Second switch module and dehumidification module; Both the second switch module and the dehumidification module are mounted on the inspection robot; The output of the third comparator is connected to the control terminal of the second switching module; The first end of the second switch module is used to connect to the power supply, and the second end of the second switch module is connected to the dehumidification module; The dehumidification module is connected to the control module.

5. The intelligent underground inspection and automatic tracking explosion suppression device for coal mines as described in claim 2, characterized in that, Also includes: Camera module and fill light module; Both the camera module and the supplementary lighting module are mounted on the inspection robot; Both the camera module and the fill light module are connected to the control module.

6. The intelligent underground inspection automatic tracking explosion suppression device for coal mines as described in claim 2, characterized in that, Also includes: Fault detection module and alarm module; Both the fault detection module and the alarm module are installed on the inspection robot; Both the fault detection module and the alarm module are connected to the control module.

7. The intelligent underground inspection and automatic tracking explosion suppression device for coal mines as described in claim 2, characterized in that, Also includes: Remote monitoring module; The control module is communicatively connected to the remote monitoring module.

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