Automatic calibration device, calibration robot, and calibration method

Abstract

The present invention relates to the technical field of sensor calibration, and in particular to an automatic calibration device, a calibration robot, and a calibration method. The automatic calibration device comprises: a test module, configured to output a gas to a sensor to be tested for test; a control module, being electrically connected to the test module so as to control the test module; a monitoring module, being electrically connected to the control module so that the control module outputs data to the monitoring module; and a gas supply module, being connected to the test module so as to supply a test gas to the test module. By means of the cooperation of the test module, the control module and the gas supply module, automatic calibration of a sensor can be achieved, operation steps for sensor calibration are simplified, and the complexity of personnel operations is reduced. Moreover, by means of the cooperation of the monitoring module and the control module, the quality of sensor calibration and the identification of abnormal operations are improved, the workload of on-site calibration is also reduced, and the stability and intelligence of a product are improved.

Description

Automatic calibration device, calibration robot and calibration method TECHNICAL FIELD

[0001] The present application relates to the technical field of sensor calibration, in particular to an automatic calibration device, a calibration robot and a calibration method. BACKGROUND

[0002] The gas sensor is an important component of the coal mine safety monitoring system, and its accuracy and reliability of measurement directly affect whether the coal mine can operate safely and reliably, and plays a crucial role in the safety production of the coal mine. Due to the harsh environment and complex gas environment in the coal mine, the gas sensor is prone to measurement deviation, and the gas sensor in use needs to be calibrated periodically. The coal mine underground sensor needs to be calibrated periodically, and inaccurate detection, false alarm and other problems caused by non-calibration and abnormal calibration seriously affect the production and maintenance cost of the coal mine.

[0003] At present, the common calibration devices have two types of air bags and gas cylinders, and the calibration work is mainly manually performed by the staff. The whole process is tedious, labor-intensive and time-consuming. In the traditional way, the calibration personnel are replaced, not calibrated, missed calibrated, and mis-calibrated, which often occurs. This method can only standardize the sensor calibration from the management, and in actual situations, it is also greatly related to the responsibility and experience of the calibration personnel, which leads to frequent errors in the calibration data of the sensor, and easily causes system false alarm or power failure during calibration, which is not conducive to maintenance and management.

[0004] The Chinese patent with application number 202211080360.8 proposes a method for zero point calibration and gas calibration of a gas sensor. There are the following deficiencies:

[0005] 1. The traditional calibration device has two built-in gas cylinders, namely a standard gas cylinder and a detection gas cylinder. The maintenance personnel connect the standard gas cylinder and the detection gas cylinder respectively to realize calibration, but this calibration method is more troublesome, the complexity of calibration is high, and the workload of the maintenance personnel is large.

[0006] 2. In actual calibration, the consumption of standard gas is much larger than that of zero gas, and zero gas is often not consumed. The number of calibratable sensors in a single calibration operation in the mine is directly determined by the standard gas, and there is a waste problem of gas in the zero gas cylinder.

[0007] 3. The traditional calibration device cannot correct the environmental parameters, and it is also difficult to correct the gas concentration.

[0008] 4. The existing wired transmission type mine sensor has a navigation plug, but only power supply, data uploading and data downloading to the monitoring system can be provided through the navigation plug, without wireless function. The data cannot be interacted with other devices, and automatic calibration cannot be realized.

[0009] SUMMARY

[0010] The technical problem solved by the present application is: in order to solve the technical problems in the prior art, the present application provides an automatic calibration device, a calibration robot and a calibration method, which can realize automatic calibration of the sensor and has identification of abnormal operation of the sensor. The method simplifies the operation steps of sensor calibration, reduces the complexity of personnel operation, and improves the quality of sensor calibration and the identification of abnormal operation.

[0011] The technical solution adopted by the present application to solve its technical problem is: an automatic calibration device, comprising a detection module for outputting gas to a sensor to be detected for detection; a control module, the control module is electrically connected with the detection module to control the detection module; a monitoring module, the monitoring module is electrically connected with the control module, so that the control module outputs data to the monitoring module; a gas supply module, the gas supply module is connected with the detection module to supply detection gas to the detection module.

[0012] Further, the gas supply module includes a gas cylinder assembly, the detection module includes a flow control assembly and a gas concentration sensor, the gas cylinder assembly is connected with the flow control assembly, and is adapted to output zero point calibration gas and linear calibration gas to the flow control assembly, the flow control assembly is adapted to mix the two gases output by the gas cylinder assembly, and control the mixing ratio and on-off of the mixed gas, and the gas sensor is connected with the flow control assembly to detect the concentration of the gas.

[0013] Through the above technical solution, the concentration of the gas is detected by the gas concentration sensor, and the consistency of the gas concentration of the output gas is ensured, the gas concentration is corrected by the gas concentration sensor, and the accuracy of the calibration is improved.

[0014] Further, the control module includes an environmental sensor adapted to detect the environment outside; a positioning module adapted to detect the position; a connection module adapted to connect with the sensor to be detected to transmit data; the connection module includes a wireless module, a wired module and a camera; the wired module includes a data repeater, the data repeater is connected with the sensor to be detected, and the data repeater also has a calibration connection port and a system connection port, the calibration connection port is used to connect with the automatic calibration device, and the system connection port is used to connect with the security monitoring system.

[0015] Through the above technical solution, the environmental parameters are obtained by the environmental sensor to correct the environmental parameters.

[0016] Further, the monitoring module is electrically connected with a safety monitoring system to upload the calibration process information to the safety monitoring system in real time, the safety monitoring system automatically generates a multi-dimensional data package containing "ventilation time-gas path flow-gas path concentration-sensor output value", and compares with historical ventilation data to realize fault diagnosis and life analysis of the sensor detection element.

[0017] Through the above technical solution, the calibration process information is collected by the monitoring module and stored in the safety monitoring system, which is convenient for comparison with historical data, and further convenient for health effect evaluation of the sensor.

[0018] A calibration robot, comprising an inspection robot adapted to move the automatic calibration device described above.

[0019] A calibration method based on the automatic calibration device described above, comprising the following steps:

[0020] S1, the calibration device is started, the operator logs in and takes a photo to ensure the identity of the operator;

[0021] S2, unscrew the dust cover of the sensor to be tested, check whether the sensor to be tested is blocked and whether it needs to be maintained, and take a photo record, the calibration device automatically determines whether maintenance is needed, and after ensuring that the sensor is not blocked, the following steps are executed;

[0022] S3, the calibration device and the sensor to be tested are connected;

[0023] S4, the calibration device obtains the health condition self-diagnosis information of the sensor, if the sensor gas detection function fails, the communication function between the sensor and the system is abnormal, and other problems affecting the normal work of the sensor, the calibration of the sensor is stopped;

[0024] S5, connect the ventilation cover to the gas inlet of the sensor to be tested, start the calibration process of the sensor to be tested with a remote controller, the start operation can also be started through the start button on the calibration device, and the calibration device automatically completes the calibration related operation;

[0025] S6, complete the calibration.

[0026] Further, in S5, the calibration operation includes:

[0027] S51, enter the online calibration state;

[0028] S52, pass zero gas according to the specified flow;

[0029] S53, adjust the zero point of the sensor;

[0030] S54, pass the calibration gas (mixed gas of zero gas and calibration gas) of alarm value concentration;

[0031] S55, test the alarm point of the sensor (whether the sensor sounds and flashes);

[0032] S56, pass the standard gas of the off power point concentration (the mixed gas of the zero gas and the standard gas);

[0033] S57, test the off power point of the sensor (whether the associated equipment is powered off);

[0034] S58, pass the standard gas according to the specified flow;

[0035] S59, time the standard gas;

[0036] S510, adjust the linearity of the sensor;

[0037] S511, pass the standard gas of the power-on point concentration (the mixed gas of the zero gas and the standard gas);

[0038] S512, test the power-on point of the sensor (whether the associated equipment is powered on);

[0039] S513, exit the calibration state.

[0040] Further, in S2, if it is necessary to test the filter blockage of the sensor, the zero gas is opened according to the default opening degree, and the blockage of the filter can be obtained by judging the flow value output by the flow control component.

[0041] Further, in S5, if it is necessary to test the response time of the sensor, the calibration gas is passed to the sensor, and the response time is the difference between the time when the sensor reaches 90% of the concentration of the calibration gas sample and the time when the calibration gas sample is passed.

[0042] Further, in S5, during the process of completing the gas passing calibration operation of the calibration device, the calibration related data are uploaded in real time and the calibration record is formed.

[0043] Further, in S5, the calibration device detects and identifies the working condition information in the environment in real time, and transmits the detection information to the sensor to be tested, the sensor to be tested uses the information for information comparison and correction, and further inverses the position information of itself, compares with the historical position information, and identifies the position compliance.

[0044] The beneficial effects of the present application are,

[0045] 1. The method can realize automatic calibration of the sensor, has identification of abnormal operation of the sensor, identification of the health condition of the sensor, and diagnosis of abnormal operation of the calibration device; the method simplifies the operation steps of the sensor calibration, reduces the complexity of personnel operation, improves the quality of the sensor calibration and the identification of abnormal operation; the method reduces the intensity of the on-site calibration, and improves the stability and intelligence of the product.

[0046] 2. Traditional methods only provide zero gas and calibration gas for the sensor. This method further provides information such as temperature, humidity and pressure in the environment through environmental sensors. The sensor can not only correct for gas concentration but also for environmental parameters.

[0047] 3. The automatic calibration device can automatically mix zero gas and standard gas, and then output different specified concentrations of gas required for calibration. It can realize multi-point calibration with full coverage, which has higher calibration accuracy. At the same time, it can ensure that no item is missed in the calibration process, ensure that the safety monitoring system obtains all data, and improve the compliance and quality of calibration.

[0048] 4. The automatic calibration device can detect probe blockage and remind calibration personnel to replace the filter in time, ensuring that the sensor works normally under natural diffusion and improving detection accuracy.

[0049] 5. Based on the solution proposed in this application, the number of calibrable sensors of the calibration device can be significantly increased on the basis of the same pressure and volume gas cylinder, reducing gas waste and reducing the workload of gas cylinder maintenance.

[0050] 6. With the data repeater, maintenance personnel only need to connect the automatic calibration device to the calibration port via cable during maintenance. This enables the automatic calibration device to interact with the sensor under test, allowing the sensor to automatically enter the calibration state and achieve automatic calibration. This is unaffected by signal interference or environmental factors, resulting in higher calibration efficiency. Furthermore, after connecting the automatic calibration device to the calibration port, it can also connect to the security monitoring system via the data repeater. Compared to the wireless module 76, this method provides a more stable communication signal.

[0051] 7. By setting up a data repeater, there is no need to replace the existing wired transmission sensors downhole. The existing sensors can be directly modified to support automatic calibration devices. The solution is simple, easy to implement, and highly universal, which greatly expands the application scope of automatic calibration devices and reduces their application costs. Attached Figure Description

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0053] Figure 1 is a schematic diagram illustrating the overall structure of the automatic calibration device in this invention.

[0054] Figure 2 is a schematic diagram illustrating the structure of the flow control component in this invention, which uses an electromagnetic proportional valve and a flow sensor.

[0055] Figure 3 is a schematic diagram illustrating the relationship between the output flow rate and the driving current of the electromagnetic proportional valve in this invention.

[0056] Figure 4 is a schematic diagram of the flow control assembly of the present application.

[0057] Figure 5 is a schematic diagram of the connection module of the present application.

[0058] Figure 6 is a schematic diagram of the communication of the data relay when the sensor under test is in the calibration state of the present application.

[0059] Figure 7 is a schematic diagram of the communication of the data relay when the sensor under test is in the non-calibration state of the present application.

[0060] Figure 8 is a schematic diagram of the calibration method of the present application.

[0061] Figure 9 is a schematic diagram of the front appearance of the calibration tool box of the present application.

[0062] Figure 10 is a schematic diagram of the back appearance of the calibration tool box of the present application.

[0063] Figure 11 is a schematic diagram of the adjustment knob of the present application.

[0064] Figure 12 is a schematic diagram of the gas cylinder assembly and the flow control assembly of the present application.

[0065] Figure 13 is a schematic diagram of the front appearance of the cover plate of the present application.

[0066] Figure 14 is a schematic diagram of the back appearance of the cover plate of the present application.

[0067] Figure 15 is a schematic diagram of the zero gas cylinder of the present application.

[0068] Figure 16 is a schematic diagram of the flow control assembly of the present application.

[0069] Figure 17 is a schematic diagram of the front appearance of the filling machine of the present application.

[0070] Figure 18 is a schematic diagram of the back appearance of the filling machine of the present application.

[0071] Figure 19 is a schematic diagram of the principle of the filling and vacuuming of the filling machine of the present application.

[0072] In the figure: 1, main box; 11, upper cover; 111, lock catch; 12, inner liner; 13, cover plate; 131, zero gas vacuum joint; 132, standard gas vacuum joint; 133, zero gas tee valve; 134, standard gas tee valve; 135, inflation hole; 136, vacuum hole; 14, gas outlet; 15, square observation window; 151, circular observation window; 152, double shoulder strap mounting buckle; 153, lifting ring; 154, handle; 2, gas cylinder assembly; 21, gas cylinder one; 22, gas cylinder two; 23, pressure reducing valve one; 231, adjusting knob; 24, thimble valve; 25, zero gas inflation joint; 26, zero gas outlet joint; 27, pressure reducing valve two; 3, flow control assembly; 31, zero gas interface; 32, standard gas interface; 33, gas outlet interface; 34, zero gas electromagnetic proportional valve; 35, standard gas electromagnetic proportional valve; 36, zero gas flow sensor; 37, standard gas flow sensor; 38, zero gas electromagnetic switch valve; 39, standard gas electromagnetic switch valve; 391, total electromagnetic proportional valve; 392, total flow sensor; 4, filling cabinet body; 41, vacuum pump; 411, first pressure sensor; 412, first electromagnetic valve; 42, booster pump; 421, second pressure sensor; 422, pressure relief valve; 423, second electromagnetic valve; 424, third electromagnetic valve; 425, air filter; 426, standard gas cylinder; 427, output pressure reducing valve; 428, fourth electromagnetic valve; 43, inflation pipeline; 44, vacuum pipeline; 45, control panel; 46, protective observation window; 6, gas concentration sensor; 61, check valve; 62, filter; 7, control module; 71, processor; 72, positioning module; 73, display screen; 74, camera; 75, alarm; 76, wireless module; 761, data repeater; 77, power sensor; 78, environmental sensor; 79, battery assembly; 8, to-be-measured sensor. DETAILED DESCRIPTION

[0073] The application will now be described in further detail with reference to the drawings. These drawings are simplified schematic diagrams which only schematically show the basic structure of the application, and thus only show the components relevant to the application.

[0074] In the description of the present application, it is to be understood by those skilled in the art that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified and limited, the meaning of "a plurality of" is two or more. In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] The application discloses an automatic calibration device, a calibration robot and a calibration method.

[0076] Referring to FIG. 1, an automatic calibration device comprises a gas supply module, a control module 7, a detection module and a monitoring module, the gas supply module comprises a gas cylinder assembly 2, the detection module comprises a flow control assembly 3 and a gas sensor 6, the gas cylinder assembly 2 provides a gas source required for calibration, generally provides two kinds of gases, one is a zero calibration gas, and the other is a linear calibration gas. The gas cylinder assembly 2 comprises a gas cylinder one 21, a gas cylinder two 22, a pressure gauge one and a pressure reducing valve one 23 arranged in sequence at an outlet of the gas cylinder one 21, a pressure gauge two and a pressure reducing valve two 27 arranged in sequence at an outlet of the gas cylinder two 22, the pressure gauge is used to indicate the residual pressure of the gas in the gas cylinder, the pressure reducing valve one 23 and the pressure reducing valve two 27 can adopt a two-stage constant pressure pressure reducing valve, which is used to reduce the gas pressure at the outlet of the gas cylinder one 21 or the gas cylinder two 22 and output a constant gas pressure, in the embodiment, the output gas pressure is limited in the range of 0.15-0.2 MPa, which is convenient for the use of rear-end parts. The gas sensor 6 is convenient for detecting the concentration of the gas. The linear calibration gas can be filled with mixed gas, for example, methane and carbon monoxide gas, so that one bottle of gas can be used to simultaneously perform linear calibration on the methane sensor and the carbon monoxide sensor. Pure nitrogen or clean air is generally selected for calibrating the methane sensor and the carbon monoxide sensor. The material of the gas cylinder is mainly aluminum alloy and carbon fiber.

[0077] It should be noted that in this embodiment, the gas cylinder one 21 outputs zero point calibration gas, namely zero gas, and the gas cylinder two 22 outputs linear calibration gas, namely calibration gas.

[0078] Referring to FIG. 2, the flow control assembly 3 includes a zero gas electromagnetic proportional valve 34, a calibration gas electromagnetic proportional valve 35, a zero gas flow sensor 36 and a calibration gas flow sensor 37. One end of the zero gas electromagnetic proportional valve 34 is connected with the pressure reducing valve one 23, and the other end is connected with the zero gas flow sensor 36. The zero gas flow sensor 36 is connected with the gas concentration sensor 6. One end of the calibration gas electromagnetic proportional valve 35 is connected with the pressure reducing valve two 27, and the other end is connected with the calibration gas flow sensor 37. The calibration gas flow sensor 37 is connected with the gas concentration sensor 6. Through the zero gas flow controller, the calibration gas flow controller, the zero gas electromagnetic proportional valve 34 and the calibration gas electromagnetic proportional valve 35, the accurate output of the zero gas and the calibration gas is realized. Then, through the gas concentration sensor 6, the gas concentration is monitored. The double-way flow control unit is adopted to realize the automatic setting and self-checking of the gas concentration of the two-way gas circuit, and then the accuracy of the calibration is improved.

[0079] Specifically, the pressure reducing valve one 23 and the pressure reducing valve two 27 can both adopt constant pressure type pressure reducing valves to ensure that the gas outlet pressure of the zero gas cylinder and the calibration gas cylinder is constant. The gas outlet pressure will not be affected by the reduction of the cylinder pressure. When the cylinder pressure is reduced to the gas outlet pressure, the gas cylinder stops discharging. In this embodiment, the gas outlet pressure is set to 0.15 MPa.

[0080] The electromagnetic proportional valve is adopted as the flow proportional control unit. Referring to FIG. 3, under the condition that the pressure difference between the inlet and outlet of the electromagnetic proportional valve is constant, the driving current is proportional to the output flow. The electromagnetic proportional valve is driven by a PWM pulse signal. By controlling the duty cycle of the PWM pulse, the average driving current of the proportional valve port can be controlled, and then the purpose of controlling the flow is achieved.

[0081] The flow sensor is adopted as the flow detection unit. In this embodiment, the flow sensor is built-in with a temperature and pressure compensation module, and outputs a 0-VDC signal to realize the accurate measurement and digital feedback of the mass flow. Before use, the flow sensor can be calibrated by a float flowmeter to realize the accurate measurement of the volume flow. During work, the flow sensor feeds back the flow measurement data to the control module 7. The control module 7 adjusts the PWM pulse of the electromagnetic valve according to the PID control algorithm, and then realizes the automatic control of the flow. In this embodiment, the control module 7 can adopt a single-chip microcomputer.

[0082] The gas concentration sensor 6 is used as a gas concentration detection unit. The measurement accuracy and stability of the gas concentration sensor 6 are much higher than those of the calibrated sensor. The calibrated sensor can be reserved with a calibration gas inlet to be calibrated with standard gas periodically. The gas concentration sensor 6 is used to measure the actual gas concentration of the mixed zero gas and standard gas, and the concentration measurement data is fed back to the control module 7. The control module 7 completes the linear calibration of the calibrated sensor according to the ventilation flow, gas concentration, and ventilation time. In addition, during the setting stage, the control module 7 can open the electromagnetic valves of the zero gas and the standard gas respectively, and the gas concentration sensor 6 can be used to detect the concentration of the two gas paths, so as to achieve the purpose of automatic setting and self-checking of the gas concentration of the two gas paths.

[0083] In the embodiment, the one-way valve 61 is preferably provided with two, one of which is arranged between the zero gas electromagnetic proportional valve 34 and the zero gas flow sensor 36, and the other is arranged between the standard gas electromagnetic proportional valve 35 and the standard gas flow sensor 37. In the embodiment, the filter 62 is preferably provided with two, one of which is arranged between the pressure reducing valve one 23 and the zero gas electromagnetic proportional valve 34, and the other is arranged between the pressure reducing valve two 27 and the standard gas electromagnetic proportional valve 35.

[0084] A gas mixing method based on the automatic calibration device comprises the following steps:

[0085] S1, the zero gas cylinder supplies zero gas to the pressure reducing valve one 23, and the pressure reducing valve one 23 outputs zero gas with constant pressure. At the same time, the standard gas cylinder supplies standard gas to the pressure reducing valve two 27, and the pressure reducing valve two 27 outputs zero gas with constant pressure. At this time, the control module 7 opens the zero gas electromagnetic proportional valve 34 and the standard gas electromagnetic proportional valve 35 respectively, and the gas concentration sensor 6 detects the concentration of the two gas paths, so as to realize the automatic setting and self-checking of the gas concentration of the two gas paths.

[0086] S2, then the zero gas flow sensor 36 monitors the flow output by the zero gas electromagnetic proportional valve 34, and feeds back the signal to the control module 7, and the control module 7 controls the flow output by the zero gas electromagnetic proportional valve 34.

[0087] S3, the standard gas flow sensor 37 monitors the flow output by the standard gas electromagnetic proportional valve 35, and feeds back the signal to the control module 7, and the control module 7 controls the flow output by the standard gas electromagnetic proportional valve 35.

[0088] S4, the gas concentration sensor 6 monitors the concentration of the zero gas and the standard gas output by the zero gas electromagnetic proportional valve 34 and the standard gas electromagnetic proportional valve 35, and transmits the signal to the control module 7, and the control module 7 completes the linear calibration of the calibrated sensor according to the ventilation flow, gas concentration, and ventilation time.

[0089] In another embodiment, referring to FIG. 4, the flow control assembly 3 comprises a zero-gas electromagnetic on-off valve 38, a standard-gas electromagnetic on-off valve 39, a total electromagnetic proportional valve 391, and a total flow sensor 392. One end of the zero-gas electromagnetic on-off valve 38 is connected to the pressure-reducing valve 1 23, and the other end is connected to the total electromagnetic proportional valve 391. One end of the standard-gas electromagnetic on-off valve 39 is connected to the pressure-reducing valve 2 27, and the other end is connected to the total electromagnetic proportional valve 391. The total electromagnetic proportional valve 391 is connected to the total flow sensor 392, and the total flow sensor 392 is connected to the gas concentration sensor 6. The dual-path flow switching unit and the single-path flow control unit are realized by the zero-gas electromagnetic on-off valve 38, the standard-gas electromagnetic on-off valve 39, and the total electromagnetic proportional valve 391. While realizing gas mixing and output, two low-cost electromagnetic on-off valves are used to replace a set of high-cost electromagnetic proportional valve and flow controller, thereby greatly reducing the cost and difficulty of industrialization.

[0090] In the embodiment, two one-way valves 61 are preferably provided. One is arranged between the zero-gas electromagnetic on-off valve 38 and the total electromagnetic proportional valve 391, and the other is arranged between the standard-gas electromagnetic on-off valve 39 and the total electromagnetic proportional valve 391. In the embodiment, two filters 62 are preferably provided. One is arranged between the pressure-reducing valve 1 23 and the zero-gas electromagnetic on-off valve 38, and the other is arranged between the pressure-reducing valve 2 27 and the electromagnetic on-off valve.

[0091] A gas mixing method based on the above flow control assembly, comprising the following steps:

[0092] S1, the zero-gas cylinder supplies zero gas to the pressure-reducing valve 1 23, and the pressure-reducing valve 1 23 outputs zero gas at a constant pressure. At the same time, the standard-gas cylinder supplies zero gas to the pressure-reducing valve 2 27, and the pressure-reducing valve 2 27 outputs zero gas at a constant pressure. At this time, the control module 7 opens the zero-gas electromagnetic on-off valve 38 and the standard-gas electromagnetic on-off valve 39 in turn, and uses the gas concentration sensor 6 to detect the concentrations of the two gas paths, thereby realizing automatic setting and self-checking of the gas concentrations of the two gas paths.

[0093] S2, the zero-gas electromagnetic on-off valve 38 outputs zero gas at a fixed flow rate, and the standard-gas electromagnetic on-off valve 39 outputs standard gas at a fixed flow rate. The zero-gas electromagnetic on-off valve 38 and the standard-gas electromagnetic on-off valve 39 are controlled by pulse width modulation. When the frequency is constant, the duty cycle of the driving voltage PWM control signal is changed to realize the flow proportional function of the on-off electromagnetic valve.

[0094] S3, the total flow sensor 392 monitors the flow rate of the total electromagnetic proportional valve 391 and feeds back the signal to the control module 7, and the control module 7 controls the flow rate of the total electromagnetic proportional valve 391 to realize stable output control of the flow rate.

[0095] S4, the gas concentration sensor 6 monitors the concentration of zero gas and standard gas output by the total electromagnetic proportional valve 391, and transmits signals to the control module 7, and the control module 7 completes the linear calibration of the calibrated sensor according to the ventilation flow, gas concentration and ventilation time.

[0096] The control module 7 includes a processor 71, a positioning module 72, a display screen 73, an alarm 75, a connection module, a power sensor 77 and an environmental sensor 78. The alarm 75 of the control module 7 is used for alarm prompt, which can include light alarm 75 and sound alarm 75. The environmental sensor 78 is used to detect the external environment, which can include temperature sensor, pressure sensor, humidity sensor, etc. Based on the parameters of the environmental sensor 78, the volume flow output of the flow control module 7 can be compensated for temperature, humidity and pressure.

[0097] The positioning module 72 of the control module 7 is used for position detection, which can realize the positioning of the calibration position by UWB, RTID, ZigBee, WIFI, 4G, 5G and the like.

[0098] Referring to FIG. 6, the connection module includes a wireless module 76, a wired module 79 and a camera 74 and the like connection mode.

[0099] Specifically, the camera 74 of the control module 7 can be used as an optional item to shoot the sensor and the surrounding environment, which is convenient for signal interaction through video recognition.

[0100] The wireless module 76 of the control module 7 is used for data connection with the to-be-measured sensor 8, which can adopt Bluetooth, WaveMesh, NB, LoRa, ZigBee, RFID, UWB, infrared, Wifi, 4G, 5G and the like. Based on the establishment of the data connection channel, the automatic calibration device can realize real-time communication with the safety monitoring system of the coal mine enterprise, obtain the related change information of the system equipment, and judge the working conditions of the sensor alarm, power recovery and power off. The to-be-measured sensor 8 is the calibrated sensor mentioned in the foregoing.

[0101] Referring to FIGS. 6 and 7, the wired module includes a data repeater 761 connected with the to-be-tested sensor 8, and further has a calibration connection port and a system connection port. The calibration connection port is used for connecting with the automatic calibration device, and the system connection port is used for connecting with the safety monitoring system. Through the setting of the data repeater 761, when the maintenance personnel maintains, the automatic calibration device only needs to be connected with the calibration connection port through a cable, so that the automatic calibration device and the to-be-tested sensor 8 can be interacted, the to-be-tested sensor 8 automatically enters the calibration state, and the automatic calibration is realized. The calibration efficiency is higher, and the to-be-tested sensor 8 can be stably connected with the safety monitoring system through the system connection port in the non-calibration state, so that the instructions can be uploaded or issued.

[0102] In addition, after the automatic calibration device is connected with the calibration connection port, the automatic calibration device can also be connected with the safety monitoring system through the data repeater 761. Compared with the wireless module 76, the communication signal of this mode is more stable.

[0103] The data repeater 761 has two forms. One form is that the data repeater 761 is built in the to-be-tested sensor 8 shell, and the other form is that the data repeater 761 is externally hung on the to-be-tested sensor 8 shell.

[0104] Specifically, when the data repeater 761 is built in the to-be-tested sensor 8 shell, two USB ports, i.e., the calibration connection port and the system connection port, need to be reserved on the to-be-tested sensor 8. This mode cannot realize the on-site transformation, but the safety is higher.

[0105] The data repeater 761 externally hung on the to-be-tested sensor 8 shell has three interfaces. One interface is connected with the USB port of the to-be-tested sensor 8 itself, and the other two interfaces are the calibration connection port and the system connection port. This mode can realize the on-site transformation of the existing wired transmission type sensor in the well to support the automatic calibration of the sensor. The transformation scheme is simple, has strong universality, can greatly widen the application range of the automatic calibration device, and reduces the application cost.

[0106] The monitoring module is electrically connected with the safety monitoring system, can upload the calibration process information (such as the ventilation flow, the ventilation concentration, the sensor concentration change, etc.) to the safety monitoring system in real time, and the safety monitoring system automatically generates a multi-dimensional data package containing “ventilation time-airway flow-airway concentration-sensor output value”, and compares with the historical ventilation data. Thus, the fault diagnosis and the service life analysis of the sensor detection element can be realized, and the tracking and analysis of the probe health status can be realized.

[0107] The display of the control module 7 displays the related data of the automatic calibration device and the to-be-tested sensor 8, and can adopt an LED screen, a liquid crystal screen, a touch screen, etc.

[0108] The control module 7 is also connected with a battery assembly 79, which provides power supply for the flow controller, has a built-in battery protection board, has multiple protections such as voltage, current, overload, overcharge, overdischarge, and overheating, and has functions of monitoring power, voltage, and current.

[0109] The automatic calibration device can adopt various forms such as portable, fixed, and embedded. The portable type includes backpack type, shoulder bag type, hand-held type, and wheel type, which are convenient for calibration personnel to carry. The fixed type can be directly arranged at the installation position of the underground sensor and used as needed, or placed on a mechanical arm and automatically lifted to approach the sensor to be calibrated for automatic calibration. The embedded type can fuse the sensor and the automatic calibration device to derive a mine self-calibration gas sensor, which can realize periodic calibration without maintenance personnel going down to calibrate.

[0110] A calibration robot includes an inspection robot, and the automatic calibration device is installed on the inspection robot to transport the automatic calibration device to the sensor to be calibrated by the inspection robot. The inspection robot has a moving device and a positioning device. The moving device can be a tracked type to move in the coal mine passage. The positioning device is used to identify the positioning point installed in the coal mine passage to realize accurate positioning. The inspection robot also has a mechanical arm to connect the pipeline between the automatic calibration device and the sensor to be calibrated.

[0111] A calibration method based on the above calibration device includes the following steps with reference to FIG. 8:

[0112] S1, the calibration device is started, the operator logs in and takes a photo to ensure the identity of the operator. The camera 74 of the calibration device is used to check the installation position of the sensor to be measured, and the built-in algorithm of the calibration device is called to judge whether the installation position meets the standard. This step does not affect the subsequent calibration process, only identifies the abnormality of the sensor installation position, and provides installation and maintenance suggestions for the user.

[0113] S2, the dust cover of the sensor to be measured is unscrewed, whether the sensor to be measured is blocked and whether it needs to be maintained are checked, and a photo is taken for record. The calibration device automatically judges whether maintenance is needed. After ensuring that the sensor is not blocked, the following steps are performed.

[0114] S3, the calibration device and the sensor to be measured are connected in data, and the connection mode can be wired or wireless, such as RS485, CAN, Bluetooth, WaveMesh, NB, LoRa, ZigBee, RFID, UWB, infrared, Wifi, 4G, 5G, etc.

[0115] S4, the calibration device obtains the health self-diagnosis information of the sensor. If there is a problem affecting the normal work of the sensor, such as sensor gas detection function failure, sensor communication function abnormality, etc., the calibration of the sensor is stopped. The calibration device has a sensor fault analysis and analysis function, which can provide further maintenance suggestions for the user, which is displayed through the display and reminded through the sound and light alarm. If the fault is removed after maintenance, continue the subsequent steps.

[0116] S5, connect the ventilation cover to the sensor air inlet, and start the sensor calibration process with the remote controller. The start operation can also be started through the start button on the calibration device. The calibration device can automatically complete a series of operations related to calibration, including:

[0117] S51, enter the online calibration state;

[0118] S52, pass zero gas at a specified flow rate;

[0119] S53, adjust the sensor zero point;

[0120] S54, pass the calibration gas of alarm value concentration, that is, pass the mixed gas of zero gas and calibration gas;

[0121] S55, test the alarm point of the sensor, that is, check whether the sensor sounds and flashes;

[0122] S56, pass the calibration gas of power-off point concentration, that is, pass the mixed gas of zero gas and calibration gas;

[0123] S57, test the power-off point of the sensor, that is, check whether the associated equipment is powered off;

[0124] S58, pass the calibration gas at a specified flow rate;

[0125] S59, time the calibration gas;

[0126] S510, adjust the sensor linearity;

[0127] S511, pass the calibration gas of power-on point concentration, that is, pass the mixed gas of zero gas and calibration gas;

[0128] S512, test the power-on point of the sensor, that is, check whether the associated equipment is powered on;

[0129] S513, exit the calibration state.

[0130] S6, if the response time of the sensor needs to be tested, pass the calibration gas to the sensor, and the response time is the difference between the time when the sensor reaches 90% of the calibration gas sample concentration and the time when the calibration gas sample is passed.

[0131] S7, if it is necessary to test the filter blockage of the sensor, the opening degree valve one of the zero gas can be opened at the default opening degree, and the blockage of the filter can be obtained by judging the flow value of the flow sensor. Because the output pressure of the pressure reducing valve is constant, the opening degree of the opening degree valve one is constant, and the flow of the gas flow is directly affected by the back pressure pressure drop of the filter blockage. If the output flow is less than the specified value, it indicates that the pressure drop of the filter is too large, the blockage is serious, and the filter needs to be replaced to ensure that the sensor works normally under natural diffusion.

[0132] S8, during the process of completing the ventilation calibration work of the calibration device, the calibration related data is uploaded in real time and the calibration record is formed. The calibration data includes: calibration personnel, calibration start time, calibration end time, calibration gas type, calibration gas flow, calibration gas concentration, sensor concentration, etc. The safety monitoring system automatically generates a multi-dimensional data package containing "ventilation time-gas flow-gas concentration-sensor output value" according to the calibration data, and compares it with the historical ventilation data, so as to realize fault diagnosis and life analysis of the sensor detection element, and realize tracking and analysis of the health status of the probe. If it is identified that the sensor probe has a fault, the calibration process is interrupted, and the calibration personnel are reminded to replace the related sensor.

[0133] S9, the calibration device detects and identifies the working condition information such as pressure, temperature and humidity and position information in the environment in real time, and can transmit the detection information to the sensor. The sensor 8 can use this information for information comparison and correction, and can further invert its own position information and compare it with the historical position information to identify the position compliance.

[0134] A kind of portable gas calibration tool box in coal mine underground, it is convenient to store gas supply module, referring to figure 9 to figure 16, including main box body 1 and upper cover 11, upper cover 11 is covered on main box body 1, and is connected with main box body 1 by lock catch 111.Main box body 1 bottom is connected with inner liner 12, cylinder assembly 2 and flow control assembly 3 are arranged on inner liner 12, and inner liner 12 is suitable for supporting cylinder assembly 2 and flow control assembly 3.Cylinder assembly 2 is suitable for storing zero gas and calibration gas, flow control assembly 3 is connected with the output end of cylinder assembly 2, and is suitable for controlling the output of gas in cylinder assembly 2.Main box body 1 is also connected with cover plate 13, cover plate 13 is covered on cylinder assembly 2 and flow control assembly 3, to be fixed in main box body 1 with cylinder assembly 2 and flow control assembly 3 with inner liner 12 cooperation.Main box body 1 side wall is installed with gas outlet 14, and gas outlet 14 is connected with the output end of flow control assembly 3.Gas outlet 14 can be arranged on the front, or can be arranged on the side.

[0135] Specifically, the main box 1 and the upper cover 11 are made of high-strength flame-retardant antistatic special engineering plastics, which are structurally strong, light in weight and easy to carry. The top of the upper cover 11 is provided with a handle 154 for carrying by hand. The main box 1 is provided with an observation window including two circular observation windows 151 for observing the pressure of the internal gas cylinder assembly 2 and a square observation window 15 for observing the display parameters of the flow control assembly 3 and remotely controlling the controller. The two sides of the main box 1 are provided with lifting rings 153 for facilitating the installation of shoulder straps and single-shoulder cross-body carrying. The back of the main box 1 is provided with double-shoulder strap mounting buckles 152 for facilitating the installation of double-shoulder straps and double-shoulder carrying.

[0136] More specifically, when calibrating the methane sensor, the zero gas is generally air or nitrogen, and the calibration gas is a specified concentration of methane gas (such as 2% concentration of methane); when calibrating the carbon monoxide sensor, the zero gas is generally air, and the calibration gas is a specified concentration of carbon monoxide gas (such as 500 PPM of carbon monoxide). When calibrating other types of sensors, configure the zero gas and calibration gas as needed.

[0137] The gas cylinder one 21 and the gas cylinder two 22 are each provided with a needle valve 24, and the pressure reducing valve one 23 and the pressure reducing valve two 27 are each used to reduce the high-pressure gas (1-10 MPa pressure) in the gas cylinder to a constant lower pressure (0.1-1 MPa pressure), and then deliver it to the flow control assembly 3 through the gas outlet connector to achieve stable pressure input. The pressure reducing valve one 23 and the pressure reducing valve two 27 are each provided with an adjusting knob 231, which is arranged to extend out of the cover plate 13 so as to be rotated by the operator. The pressure reducing valve is also provided with a gas charging connector and a gas outlet connector, and the gas outlet connector 33 can be a quick plug connector to facilitate the quick pulling out of the gas pipe and the replacement adjustment of the gas cylinder. The gas charging connector is a gas charging quick plug male head to achieve quick connection and gas charging, and at the same time, the gas charging connector is a one-way connector that can only be input from the pressure reducing valve one and cannot flow back. The needle valve 24 is used to connect the gas cylinder and the pressure reducing valve, and the needle valve 24 is fixed with a bursting disc. When the pressure in the gas cylinder exceeds the normal working pressure of the gas cylinder, the bursting disc will break to release the pressure of the gas cylinder, ensuring the safety of the gas cylinder.

[0138] The top of the flow control assembly 3 is provided with a charging port and a switch for charging and controlling the opening and closing of the flow control assembly 3. The flow control assembly 3 is provided with a zero gas interface 31, a standard gas interface 32 and a gas outlet interface 33. The gas outlet interface 33 includes a zero gas outlet connector 26 and a standard gas outlet connector. The zero gas outlet connector 26 is arranged on the gas cylinder 1, and the standard gas outlet connector is arranged on the gas cylinder 2. The zero gas outlet connector 26 is connected to the zero gas interface 31, and the standard gas outlet connector is connected to the standard gas interface 32. The gas outlet interface 33 of the flow control assembly 3 is connected to the gas outlet nozzle 14 of the main box body 1. Two gas inlets are respectively connected to the gas outlets of the gas cylinder 1 and the gas cylinder 2, and one gas outlet is connected to the gas outlet of the box.

[0139] The gas charging connector includes a zero gas charging connector 25 and a standard gas charging connector. The zero gas charging connector 25 is arranged on the gas cylinder 1, and the standard gas charging connector is arranged on the gas cylinder 2. The cover plate 13 is connected to a vacuum extraction connector and a three-way valve. The vacuum extraction connector includes a zero gas vacuum extraction connector 131 and a standard gas vacuum extraction connector 132. The three-way valve includes a zero gas three-way valve 133 and a standard gas three-way valve 134. The three connectors of the zero gas three-way valve 133 are respectively connected to the zero gas outlet connector 26, the zero gas vacuum extraction connector 131 and the zero gas interface 31. The three connectors of the standard gas three-way valve 134 are respectively connected to the standard gas outlet connector, the standard gas vacuum extraction connector 132 and the standard gas interface 32.

[0140] It should be noted that the cover plate 13 is provided with a gas charging hole 135 for the gas charging connector to pass through, and a vacuum extraction hole 136 for the vacuum extraction connector to pass through. The cover plate 13 is provided with a gas path related fixing structure, which fixes and stores the gas path accessories of the gas cylinder assembly 2 and the flow control assembly 3, and ensures the reliable connection of the gas path. In addition, the cover plate 13 also has the functions of personnel protection and explosion protection. By connecting with the main box body 1, the gas cylinder assembly 2 and the flow control assembly 3 are enclosed in the main box body 1, ensuring the safety of the calibration tool box.

[0141] A filling method based on the above calibration tool box is provided, which is filled by a filling machine.

[0142] Referring to FIGS. 17-19, the filling machine includes a filling machine cabinet 4, a gas charging module and a vacuum extraction module arranged on the filling machine cabinet 4. The vacuum extraction module is connected to the vacuum extraction connector through a vacuum extraction pipeline 44, and the gas charging module is connected to the gas charging connector through a gas charging pipeline 43. The filling machine cabinet 4 is provided with a protective observation window 46 and a control panel 45. The protective observation window 46 is fixed on the filling machine cabinet 4 by a hinge, and the machine can only be started after the protective observation window 46 is closed. The control panel 45 is convenient for operating the filling machine.

[0143] Specifically, the vacuum-pumping module comprises a vacuum pump 41, a first pressure sensor 411 and a first electromagnetic valve 412, the first electromagnetic valve 412 is connected with the vacuum pump 41, the first electromagnetic valve 412 is connected with the vacuum joint through a vacuum-pumping pipeline 44, the first pressure sensor 411 is installed on the pipeline between the first electromagnetic valve 412 and the vacuum pump 41, the first pressure sensor 411 is electrically connected with the first electromagnetic valve 412 and the vacuum pump 41, so that the first electromagnetic valve 412 and the vacuum pump 41 are closed when the pressure in the pipeline reaches a set pressure value.

[0144] More specifically, the first electromagnetic valve 412 and the vacuum-pumping pipeline 44 are each provided with two groups, so as to respectively pump the gas cylinder one 21 and the gas cylinder two 22.

[0145] The inflation module comprises a booster pump 42, a second pressure sensor 421, a pressure relief valve 422, a second electromagnetic valve 423, a zero-gas supply unit and a standard-gas supply unit, the booster pump 42 is connected with the zero-gas supply unit and the standard-gas supply unit, one end of the second electromagnetic valve 423 is connected with the inflation joint through an inflation pipeline 43, the other end is connected with the pressure relief valve 422, the pressure relief valve 422 is also connected with the booster pump 42, the second pressure sensor 421 is connected on the pipeline between the pressure relief valve 422 and the booster pump 42, and the second pressure sensor 421 is electrically connected with the second electromagnetic valve 423, so as to cut off the gas path through the second electromagnetic valve 423 when the pressure in the pipeline reaches a set pressure value. The pressure relief valve 422 is responsible for relieving the high-pressure pipeline after inflation.

[0146] More specifically, the second electromagnetic valve 423 and the inflation pipeline 43 are each provided with two groups, so as to respectively inflate the gas cylinder one 21 and the gas cylinder two 22.

[0147] The zero gas supply unit and the standard gas supply unit supply zero gas and standard gas respectively. Taking the methane sensor as an example, the zero gas is air, so the zero gas supply unit comprises a third electromagnetic valve 424 and an air filter 425. One end of the air filter 425 is connected to the atmosphere, and the other end is connected to the third electromagnetic valve 424. The third electromagnetic valve 424 is connected to the booster pump 42, so as to supply filtered air. The air filter 425 can adopt a triple air filter 425. The standard gas supply unit comprises a standard gas cylinder 426, an output pressure reducing valve 427 and a fourth electromagnetic valve 428 connected in sequence. The fourth electromagnetic valve 428 is connected to the booster pump 42. The high-pressure gas in the standard gas cylinder 426 is reduced to low-pressure gas by the output pressure reducing valve 427, and then enters the booster pump 42 for boosting and pumping. The design of reducing the pressure of the large bottle gas source (air or standard gas cylinder 426) and then boosting it to the gas cylinder assembly 2 can ensure that the filling machine fully utilizes the gas in the large bottle gas, and also ensures that the pressure of the small gas cylinder (cylinder one 21 or cylinder two 22) meets the use requirements, thereby maximizing the number of sensors that can be calibrated by the calibration tool box. Through the booster, the remaining gas in the standard gas cylinder can be maximized, and the problem of gas waste caused by insufficient pressure in the large gas cylinder can be avoided.

[0148] For the vacuumizing step, the vacuumizing connector adopts a self-locking quick plug female head with a one-way valve 61. When the male head is not inserted into the female head, the gas path cannot be conducted. The use pressure range of this type of vacuumizing connector is -100 kPa-1.0 MPa, which can fully withstand the pressure fluctuation caused by vacuumizing. When the gas is normally discharged, the one-way valve 61 of the female head is self-locked and cannot discharge gas outward from the quick plug female head. The pressurized gas in the gas path acts on the one-way valve 61, and the normal pressure air in the environment cannot enter the pipeline, thereby avoiding the dilution of the gas flow in the gas path. When the gas is discharged by vacuumizing, the male head is inserted into the female head, which opens the one-way valve 61 of the female head, and then the gas can be discharged outward from the female head, thereby realizing the operation of discharging the gas from the gas cylinder to the outside by vacuumizing.

[0149] For the gas filling step, the head of the gas filling quick plug male head is designed with a dustproof brass filter disc to prevent impurities in the filling gas from entering the gas cylinder. The gas filling quick plug male head contains a one-way valve 61, the flow direction of which is only in and not out. The inlet pressure of the one-way valve 61 is much higher than 1 MPa, so as to avoid the mixing of normal pressure gas. When the gas is normally discharged, the one-way valve 61 of the gas filling quick plug male head is self-locked and cannot discharge gas outward from the gas filling quick plug male head. The pressurized gas in the pressure reducing valve acts on the one-way valve 61, and the normal pressure gas in the environment cannot enter the pressure reducing valve, thereby avoiding the influence on the gas flow in the gas cylinder. In the case of gas filling, the female head on the gas filling flexible tube is connected to the gas filling quick plug male head of the pressure reducing valve. The booster pumps the gas in the gas cylinder or the environment, and then pumps it to the inside of the gas cylinder through the gas filling flexible tube. When the pressure in the flexible tube reaches the preset pressure, the booster stops working, and the gas filling is completed.

[0150] The vacuum line 44 extends from the cabinet and is a pressure-resistant PU flexible hose. One end connects to the matching vacuum pump 41 of the inflation drive module, and a solenoid valve controls the opening and closing of the line. The other end is a quick-connect male vacuum connector for connection to the self-locking quick-connect female connector on the gas cylinder assembly 2. The inflation line 43 extends from the cabinet and is an explosion-proof flexible metal hose. One end connects to the booster pump 42 of the inflation module, and the other end is a quick-connect female inflation connector for connection to the quick-connect male inflation connector on the gas cylinder assembly 2. The booster pump 42 is connected to the standard gas cylinder 426 via a booster line extending from the cabinet. This booster line is also an explosion-proof flexible metal hose, and a fourth solenoid valve 428 controls its opening and closing. The inflation module uses a male connector, while the vacuum module uses a female connector, facilitating operator differentiation and enabling rapid operation.

[0151] Filling via a filling machine includes the following steps:

[0152] S1. Open the top cover 11 of the calibration toolbox, push the toolbox into the filling station of the filling machine and fix it.

[0153] S2. Connect the vacuum line 44 and the inflation line 43 of the filling machine to the vacuum connector and inflation connector of the calibration toolbox, and confirm that the connection is reliable. Specifically, the two sets of vacuum lines 44 are connected to the zero gas vacuum connector 131 and the standard gas vacuum connector 132, respectively.

[0154] S3. Open the adjustment knob 231 on the pressure reducing valve of the calibration toolbox and close the protective observation window 46 of the filling machine.

[0155] S4. Start the automatic filling program via the control panel 45 of the filling machine:

[0156] S5. Vacuuming of gas cylinder 21: The filling machine starts the vacuum pump 41, opens the first solenoid valve 412 connected to gas cylinder 21, and evacuates gas cylinder 21. When the first pressure sensor 411 detects that the pipeline has reached the predetermined vacuum level, the first solenoid valve 412 closes and the vacuum pump 41 is turned off.

[0157] S6. Filling Cylinder 21: The filling machine starts the booster pump 42, opens the second solenoid valve 423 and the third solenoid valve 424 connected to Cylinder 21, and fills Cylinder 21 with air filtered by the air filter 425. After the second pressure sensor 421 detects that the pipeline pressure has reached the predetermined filling pressure, the booster pump 42 is stopped, the pressure relief valve 422 is activated to release the pressure in the filling pipeline 43, and then the second solenoid valve 423 and the third solenoid valve 424 are closed.

[0158] S7, the cylinder two 22 vacuum: filling machine starts vacuum pump 41, open the first solenoid valve 412 connected with cylinder two 22, cylinder two 22 vacuum, the first pressure sensor 411 detects pipeline pressure reaches the predetermined vacuum, the first solenoid valve 412 is closed, closed vacuum pump 41;

[0159] S8, cylinder two 22 filling: filling machine starts booster pump 42, open the second solenoid valve 423 and the fourth solenoid valve 428 connected with cylinder two 22, cylinder two 22 filling from standard gas cylinder 426 standard gas, the second pressure sensor 421 detects pipeline reaches the predetermined inflation pressure, stop booster pump 42, pressure relief valve 422 starts, inflation pipeline 43 pressure relief, then close the second solenoid valve 423 and the fourth solenoid valve 428.

[0160] S9, after the end of gas filling, first through the observation window check cylinder pressure gauge whether to reach the set pressure, open the protective observation window 46, close the calibration tool box pressure regulating knob 231, vacuum line 44, inflation pipeline 43 disconnect, take out the calibration tool box, close the calibration tool box cover 11, gas filling is completed.

[0161] The above described according to the ideal embodiment of the present application for inspiration, through the above description, the relevant staff can be in the range of not deviating from the technical idea of the present invention, to make a variety of changes and modifications. The technical scope of the present invention is not limited to the contents of the specification, must be determined according to the scope of claims to determine its technical scope.

Claims

1. An automatic calibration device, characterized in that, The application relates to an automatic calibration device for a sensor, which comprises a detection module for outputting gas to a sensor (8) to be detected; a control module (7) electrically connected with the detection module to control the detection module; a monitoring module electrically connected with the control module (7) so that the control module (7) outputs data to the monitoring module; and a gas supply module connected with the detection module to supply detection gas to the detection module. The gas supply module comprises a gas cylinder assembly (2), the detection module comprises a flow control assembly (3) and a gas concentration sensor (6), the gas cylinder assembly (2) is connected with the flow control assembly (3) and is adapted to output zero-point calibration gas and linear calibration gas to the flow control assembly (3), the flow control assembly (3) is adapted to mix the two kinds of gas output by the gas cylinder assembly (2) and control the mixing ratio and on-off of the mixed gas, and the gas sensor (6) is connected with the flow control assembly (3) to detect the concentration of the gas. The gas cylinder assembly (2) comprises a first gas cylinder (21), a second gas cylinder (22), a pressure gauge one and a pressure reducing valve one (23) arranged in sequence at the outlet of the first gas cylinder (21), and a pressure gauge two and a pressure reducing valve two (27) arranged in sequence at the outlet of the second gas cylinder (22). The flow control assembly (3) comprises a zero-gas electromagnetic switch valve (38), a calibration-gas electromagnetic switch valve (39), a total electromagnetic proportional valve (391) and a total flow sensor (392), one end of the zero-gas electromagnetic switch valve (38) is connected with the pressure reducing valve one (23), the other end is connected with the total electromagnetic proportional valve (391), one end of the calibration-gas electromagnetic switch valve (39) is connected with the pressure reducing valve two (27), the other end is connected with the total electromagnetic proportional valve (391), the total electromagnetic proportional valve (391) is connected with the total flow sensor (392), and the total flow sensor (392) is connected with the gas concentration sensor (6). The control module (7) comprises an environment sensor (78) adapted to detect the environment of the outside world, a positioning module (72) adapted to detect the position, a connection module adapted to be connected with the sensor (8) to be detected to perform data transmission, and a wireless module (76), a wired module and a camera (74).

2. The automatic calibration device of claim 1, wherein The wired module comprises a data repeater (761) connected with the sensor (8) to be detected, and the data repeater (761) is further provided with a calibration connection port and a system connection port, the calibration connection port is used for being connected with an automatic calibration device, and the system connection port is used for being connected with a safety monitoring system. The monitoring module is electrically connected with the safety monitoring system to upload calibration process information to the safety monitoring system in real time, the safety monitoring system automatically generates a multi-dimensional data package containing "ventilation time-gas path flow-gas path concentration-sensor output value", and compares the multi-dimensional data package with historical ventilation data to realize fault diagnosis and life analysis of a sensor detection element. The application further relates to a patrol robot adapted to move the automatic calibration device.

3. The automatic calibration device of claim 1, wherein The application further relates to a method for calibrating a sensor, which comprises the following steps: ​ ​ ​ ​ ​ 4. The automatic calibration device of claim 1, wherein ​ 5. A calibration robot characterized in that, ​ 6. A calibration method based on the automatic calibration device according to any one of claims 1 to 4, characterized in that, ​ S1, the calibration device is turned on, the operator logs in, and takes a photo to ensure the identity of the operator; S2, unscrew the dust cover of the sensor to be tested (8), check whether the sensor to be tested (8) is blocked, whether it needs to be maintained, and take a photo record, the calibration device automatically judges whether it needs to be maintained, ensures that the sensor is not blocked, and then executes the subsequent steps; S3, the calibration device and the sensor to be tested (8) establish data connection; S4, the calibration device obtains the health status self-diagnosis information of the sensor, if the sensor gas detection function fails, the communication function between the sensor and the system is abnormal, and other problems affecting the normal work of the sensor, stop the calibration of the sensor; S5, connect the breather cover to the air inlet of the sensor to be tested (8), and the calibration device automatically completes the calibration operation; S6, complete the calibration.

7. The calibration method of claim 6, wherein, In S5, the calibration operation includes: S51, enter the online calibration state; S52, pass zero gas at a specified flow rate; S53, adjust the sensor zero point; S54, pass the calibration gas with an alarm value concentration; S55, test the alarm point of the sensor; S56, pass the calibration gas with a power-off point concentration; S57, test the power-off point of the sensor; S58, pass the calibration gas at a specified flow rate; S59, time the calibration gas; S510, adjust the sensor linearity; S511, pass the calibration gas with a power-on point concentration; S512, test the power-on point of the sensor; S513, exit the calibration state.

8. The calibration method of claim 6, wherein, In S2, if the filter of the sensor needs to be tested for blockage, open the zero gas at the default opening, and by judging the flow value output by the flow control component (3), the blockage of the filter can be obtained; In S5, if the response time of the sensor needs to be tested, pass the calibration gas to the sensor, and the response time is the difference between the time when the sensor reaches 90% of the calibration gas concentration and the time when the calibration gas is passed; In S5, the calibration device detects and identifies the working condition information in the environment in real time, and transmits the detection information to the sensor to be tested (8), the sensor to be tested (8) uses this information for information comparison and correction, and further inverts its own position information, compares it with the historical position information, and identifies the position compliance.

9. A portable gas calibration kit for use in a coal mine, comprising the gas supply module of claim 2, characterised in that, The utility model provides a kind of gas cylinder assembly and flow control assembly, including main box (1) and upper cover (11), the upper cover (11) is covered on main box (1), and is connected with main box (1) by lock catch (111), the bottom of main box (1) is connected with inner liner (12), gas cylinder assembly (2) and flow control assembly (3) are equipped on inner liner (12), the inner liner (12) is suitable for supporting gas cylinder assembly (2) and flow control assembly (3), the gas cylinder assembly (2) is suitable for storing zero gas and standard gas, the output end of flow control assembly (3) is connected with gas cylinder assembly (2), and it is suitable for controlling the output of gas in gas cylinder assembly (2), cover plate (13) is further connected in main box (1), the cover plate (13) is covered on gas cylinder assembly (2) and flow control assembly (3), to cooperate with inner liner (12) and fix gas cylinder assembly (2) and flow control assembly (3) in main box (1), outlet (14) is installed on the side wall of main box (1), the outlet (14) is connected with the output end of flow control assembly (3), and the outlet (14) can be arranged in front, and can also be arranged in side face; The top of flow control assembly (3) is equipped with charging port and switch to charge and control the opening and closing of flow control assembly (3), zero gas interface (31), standard gas interface (32) and gas outlet (33) are equipped on flow control assembly (3), the gas outlet includes zero gas gas outlet (26) and standard gas gas outlet, the zero gas gas outlet (26) is equipped on cylinder one (21), and the standard gas gas outlet is equipped on cylinder two (22), the zero gas gas outlet (26) is connected with zero gas interface (31), the standard gas gas outlet is connected with standard gas interface (32), the gas outlet (33) on flow control assembly (3) is connected with outlet (14) on main box (1), two-way gas inlet is connected with cylinder one (21) gas outlet, cylinder two (22) gas outlet respectively, and one-way gas outlet is connected with bag gas outlet; The charging connector includes zero gas charging connector (25) and standard gas charging connector, the zero gas charging connector (25) is equipped on cylinder one (21), and the standard gas charging connector is equipped on cylinder two (22), the cover plate (13) is connected with vacuumizing connector and three-way valve, the vacuumizing connector includes zero gas vacuumizing connector (131) and standard gas vacuumizing connector (132), the three-way valve includes zero gas three-way valve (133) and standard gas three-way valve (134), the three connectors of zero gas three-way valve (133) are connected with zero gas gas outlet (26), zero gas vacuumizing connector (131) and zero gas interface (31) respectively, the three connectors of standard gas three-way valve (134) are connected with standard gas gas outlet, standard gas vacuumizing connector (132) and standard gas interface (32) respectively.

10. A method of filling, based on the coal mine underground portable gas calibration tool box according to claim 9, characterized in that, The filling is carried out by a filling machine, which comprises a filling machine cabinet body (4) and a gas filling module and a vacuum pumping module arranged on the filling machine cabinet body (4), the vacuum pumping module is connected with a vacuum pumping joint through a vacuum pumping pipeline (44), and the gas filling module is connected with a gas filling joint through a gas filling pipeline (43); The vacuum pumping module comprises a vacuum pump (41), a first pressure sensor (411) and a first electromagnetic valve (412), the first electromagnetic valve (412) is connected with the vacuum pump (41), the first electromagnetic valve (412) is connected with the vacuum pumping joint through the vacuum pumping pipeline (44), the first pressure sensor (411) is arranged on a pipeline between the first electromagnetic valve (412) and the vacuum pump (41), and the first pressure sensor (411) is electrically connected with the first electromagnetic valve (412) and the vacuum pump (41) so as to make the first electromagnetic valve (412) and the vacuum pump (41) closed when the pressure in the pipeline reaches a set pressure value; The gas filling module comprises a booster pump (42), a second pressure sensor (421), a pressure relief valve (422), a second electromagnetic valve (423), a zero gas supply unit and a standard gas supply unit, the booster pump (42) is connected with the zero gas supply unit and the standard gas supply unit, one end of the second electromagnetic valve (423) is connected with the gas filling joint through the gas filling pipeline (43), the other end is connected with the pressure relief valve (422), the pressure relief valve (422) is also connected with the booster pump (42), the second pressure sensor (421) is arranged on a pipeline between the pressure relief valve (422) and the booster pump (42), and the second pressure sensor (421) is electrically connected with the second electromagnetic valve (423) so as to cut off the gas path through the second electromagnetic valve (423) when the pressure in the pipeline reaches a set pressure value; The zero gas supply unit and the standard gas supply unit supply zero gas and standard gas respectively, the zero gas supply unit comprises a third electromagnetic valve (424) and an air filter (425), one end of the air filter (425) is connected with the atmosphere, and the other end is connected with the third electromagnetic valve (424), the third electromagnetic valve (424) is connected with the booster pump (42), so as to supply filtered air, the air filter (425) can adopt a triple air filter (425), and the standard gas supply unit comprises a standard gas cylinder (426), an output pressure relief valve (427) and a fourth electromagnetic valve (428) connected in sequence, the fourth electromagnetic valve (428) is connected with the booster pump (42), and high-pressure gas in the standard gas cylinder (426) is reduced to low-pressure gas through the output pressure relief valve (427) and then enters the booster pump (42) for pressure boosting and pumping; The filling by the filling machine comprises the following steps: S1, open the upper cover (11) of the calibration tool box, push the tool box into the filling station of the filling machine and fix it. S2, connect the vacuum pipe (44) and the inflation pipe (43) of the filling machine to the vacuum joint and the inflation joint of the calibration tool box, and confirm the reliable connection. Specifically, the two sets of vacuum pipes (44) are connected to the zero gas vacuum joint (131) and the standard gas vacuum joint (132), respectively. S3, open the adjustment knob (231) of the pressure relief valve of the calibration tool box, and close the protective observation window (46) of the filling machine. S4, start the automatic filling program through the control panel (45) of the filling machine. S5, cylinder one (21) vacuumizing: the filling machine starts the vacuum pump (41), opens the first electromagnetic valve (412) connected to cylinder one (21), and vacuums cylinder one (21). When the first pressure sensor (411) detects that the pipeline reaches the predetermined vacuum degree, the first electromagnetic valve (412) is closed, and the vacuum pump (41) is closed. S6, cylinder one (21) filling: the filling machine starts the booster pump (42), opens the second electromagnetic valve (423) and the third electromagnetic valve (424) connected to cylinder one (21), and fills cylinder one (21) with air filtered by the filter (62). When the second pressure sensor (421) detects that the pipeline pressure reaches the predetermined inflation pressure, stop the booster pump (42), start the pressure relief valve (422), and relieve the inflation pipe (43), then close the second electromagnetic valve (423) and the third electromagnetic valve (424). S7, cylinder two (22) vacuumizing: the filling machine starts the vacuum pump (41), opens the first electromagnetic valve (412) connected to cylinder two (22), and vacuums cylinder two (22). When the first pressure sensor (411) detects that the pipeline pressure reaches the predetermined vacuum degree, the first electromagnetic valve (412) is closed, and the vacuum pump (41) is closed. S8, cylinder two (22) filling: the filling machine starts the booster pump (42), opens the second electromagnetic valve (423) and the fourth electromagnetic valve (428) connected to cylinder two (22), and fills cylinder two (22) with standard gas from the standard gas cylinder (426). When the second pressure sensor (421) detects that the pipeline reaches the predetermined inflation pressure, stop the booster pump (42), start the pressure relief valve (422), relieve the inflation pipe (43), and then close the second electromagnetic valve (423) and the fourth electromagnetic valve (428). S9, after the gas filling is completed, check whether the pressure gauge of the cylinder reaches the set pressure through the observation window, then open the protective observation window (46), close the pressure relief valve adjustment knob (231) of the calibration tool box, disconnect the vacuum pipe (44) and the inflation pipe (43), take out the calibration tool box, close the calibration tool box cover (11), and the gas filling is completed.

Images