The invention relates to a
coal mine underground gas inspection collaborative decision-making method and a
coal mine underground gas inspection collaborative decision-making device. Comprising the steps of amphibious inspection
robot system initialization, inertial data preprocessing and
state prediction,
point cloud acquisition and state updating, multi-
source data fusion and map updating, spatio-temporal feature node construction, dynamic spatio-temporal diagram modeling and information spreading, emission source probability field generation, three-dimensional semantic understanding,
terrain geometric parameter extraction and
trafficability quantitative
decision making. The gas emission source positioning method has the
advantage that the gas emission source positioning method based on dynamic space-time diagram modeling and
physical information fusion is provided. A node network with space-time constraint is constructed, a learnable neural network is utilized to calculate node association weights, and a gating modulation mechanism of environmental factors such as
wind speed is combined, so that efficient fusion and reasoning of sparse and dynamic gas data are realized. An attention mechanism and
kernel density estimation capable of optimizing bandwidth are further introduced, a continuous and explainable gas emission probability field is generated, and the limitation of traditional point type monitoring is broken through.