CN-122009542-A - Intelligent gas emission detection equipment and method

CN122009542ACN 122009542 ACN122009542 ACN 122009542ACN-122009542-A

Abstract

The application discloses intelligent gas emission detection equipment and a method, which relate to the field of underground safety monitoring of coal mines, wherein the equipment comprises a telescopic mechanism, a detection module and a control module, wherein the telescopic mechanism is used for controlling an integrated probe of a multifunctional detector to extend or retract to a detection module installation cavity; the system comprises an angle adjusting mechanism, a LoRa gateway, a LoRaWAN module, an airborne processing unit and a multifunctional detector integrated probe, wherein the angle adjusting mechanism is used for controlling the rotation angle of the telescopic mechanism, the LoRa gateway is used for acquiring gas data acquired by a fixed sensor installed in a roadway of a coal mine well, the LoRaWAN module is used for transmitting the gas data to the airborne processing unit, the airborne processing unit is used for determining an area where the fixed sensor is located as an abnormal area when the gas data is larger than a set threshold value, controlling the unmanned aerial vehicle to fly from a current position to the abnormal area, and controlling the telescopic mechanism to enable the multifunctional detector integrated probe to extend out of a mounting cavity of the detection module after the abnormal area is reached, and controlling the multifunctional detector integrated probe to detect mine environment parameters of the abnormal area. The application can improve the accuracy of gas emission detection and the safety of underground coal mines.

Inventors

YANG WEI
GAO YABIN
LI ZIWEN
YAN FAZHI
LIU CHENGXIN

Assignees

太原理工大学

Dates

Publication Date: 20260512
Application Date: 20260310

Claims (10)

1. The intelligent gas emission detection equipment is characterized by comprising a detection unmanned aerial vehicle and a LoRa gateway, wherein the detection unmanned aerial vehicle comprises a machine body, a telescopic multi-parameter detection module arranged on the machine body, an airborne processing unit and a LoRaWAN module arranged in the machine body, wherein the telescopic multi-parameter detection module comprises a detection module mounting cavity, a telescopic mechanism arranged in the detection module mounting cavity, a multifunctional detector integrated probe and an angle adjusting mechanism; The machine-mounted processing unit is respectively connected with the telescopic mechanism, the multifunctional detector integrated probe, the angle adjusting mechanism and the LoRaWAN module; The device comprises a detection module installation cavity, a telescopic mechanism, a LoRa gateway, an airborne processing unit and an airborne processing unit, wherein the telescopic mechanism is used for controlling the multifunctional detector integrated probe to extend or retract to the detection module installation cavity, the angle adjusting mechanism is used for controlling the rotation angle of the telescopic mechanism, the LoRa gateway is used for acquiring gas data acquired by a fixed sensor installed in a coal mine tunnel, the LoRa WAN module is used for transmitting the gas data to the airborne processing unit, the airborne processing unit is used for determining an area where the fixed sensor is located as an abnormal area when the gas data is larger than a set threshold value, controlling the detection unmanned aerial vehicle to fly from a current position to the abnormal area, and controlling the telescopic mechanism to enable the multifunctional detector integrated probe to extend out of the detection module installation cavity after reaching the abnormal area, and controlling the multifunctional detector integrated probe to detect mine environment parameters of the abnormal area.
2. The intelligent gas emission detection device according to claim 1, wherein the on-board processing unit is further configured to control the detection unmanned aerial vehicle to maintain a patrol state when the gas data is less than or equal to a set threshold value, and the patrol state is that the telescopic mechanism is controlled at a current position to enable the multifunctional detector integrated probe to extend out of the detection module installation cavity, and the multifunctional detector integrated probe is controlled to detect mine environment parameters at the current position.
3. The intelligent gas emission detection device according to claim 1, wherein the telescopic multi-parameter detection module further comprises a dust isolation film, and the dust isolation film covers the end face of the multifunctional detector integrated probe.
4. The intelligent gas emission detection device of claim 1, wherein the detection unmanned aerial vehicle further comprises a dispelling module, wherein the dispelling module comprises a blade; the blade is arranged on the machine body and used for dissipating gas in the abnormal area.
5. The intelligent gas emission detection device as claimed in claim 4, wherein the fuselage comprises a cross-shaped carbon fiber main frame, a cage-type wing protection structure, an elastic buffering foot rest and an explosion-proof sealed cabin; The cross-shaped carbon fiber main frame is of an integrated structure, the explosion-proof sealed cabin is arranged at the joint of the cross-shaped carbon fiber main frame, the airborne processing unit and the LoRaWAN module are arranged in the explosion-proof sealed cabin, the cage-type wing protection structure is symmetrically fixed at the tail ends of four wings of the cross-shaped carbon fiber main frame, the blades are arranged in the cage-type wing protection structure, and the elastic buffer foot rest is arranged at the bottom of the explosion-proof sealed cabin.
6. The intelligent gas flush detection apparatus of claim 1, wherein the detection drone further comprises an audible and visual alarm; The audible and visual alarm is connected with the airborne processing unit, the airborne processing unit is also used for generating an early warning instruction according to gas data or mine environment parameters of an abnormal area, and the audible and visual alarm is used for alarming according to the early warning instruction.
7. The intelligent gas emission detection device according to claim 5, wherein the detection unmanned aerial vehicle further comprises a laser SLAM navigation module and a camera module, wherein the laser SLAM navigation module comprises a laser radar, a plurality of ultrasonic sensors and a laser speed sensor, and the camera module comprises a camera and an anti-shake holder; the laser radar is positioned at the top of the explosion-proof sealed cabin, the ultrasonic sensors are uniformly arranged on the upper surface of the cage-type wing protection structure, the laser speed sensor is arranged in the explosion-proof sealed cabin, the camera is arranged on the explosion-proof sealed cabin through the anti-shake cradle head, and the laser radar, the ultrasonic sensors, the laser speed sensor and the camera are all connected with the airborne processing unit; the laser radar is used for collecting environmental point cloud data in a coal mine tunnel, the ultrasonic sensor is used for detecting the distance between the unmanned aerial vehicle and surrounding obstacles according to detection, the laser speed sensor is used for detecting the flight speed of the unmanned aerial vehicle, the camera is used for collecting environmental images and environmental videos in the coal mine tunnel, and the airborne processing unit is also used for generating a flight track of the unmanned aerial vehicle flying from the current position to the abnormal area according to the environmental point cloud data, the distance, the flight speed, the environmental images and the environmental videos.
8. The intelligent gas emission detection device according to claim 1, further comprising an automatic operation and maintenance charging bin, wherein the automatic operation and maintenance charging bin comprises an explosion-proof sealed shell, a wireless charging coil set, a visual positioning camera, a dust cleaning device and a control box, wherein the wireless charging coil set, the visual positioning camera, the dust cleaning device and the control box are arranged in the explosion-proof sealed shell; The wireless charging coil assembly is arranged at the bottom of the explosion-proof sealing shell, the visual positioning camera is arranged at the top of the explosion-proof sealing shell, and the dust cleaning device is arranged at the side surface of the explosion-proof sealing shell; The visual positioning camera is used for acquiring a body mark of the detection unmanned aerial vehicle, the airborne processing unit is further used for controlling the detection unmanned aerial vehicle to be aligned with the wireless charging coil according to the body mark, the wireless charging coil is used for charging a battery of the detection unmanned aerial vehicle, the battery health monitoring module is used for monitoring the voltage and the temperature of the battery, the charging control unit is used for controlling the starting and stopping of wireless charging, and the dust cleaning device is used for purging the detection unmanned aerial vehicle and the telescopic multi-parameter detection module through compressed air.
9. The intelligent gas emission detection device as defined in claim 1, wherein the LoRa gateway comprises a wireless transceiver unit, a data aggregation unit and a power management unit; The data aggregation unit is respectively connected with the wireless receiving and transmitting unit and the fixed sensor, and the wireless receiving and transmitting unit and the data aggregation unit are both connected with the power management unit; The wireless receiving and transmitting unit is used for receiving the gas data acquired by the data aggregation unit and sending the gas data to the airborne processing unit, and the power management unit is used for providing electric energy for the wireless receiving and transmitting unit and the data aggregation unit.
10. An intelligent gas emission detection method, which is applied to the intelligent gas emission detection device of any one of claims 1 to 9, and comprises the following steps: acquiring gas data acquired by a fixed sensor arranged in a coal mine tunnel through a LoRa gateway; judging whether the gas data is larger than a set threshold value or not; If yes, determining the area where the fixed sensor is located as an abnormal area, and controlling the unmanned aerial vehicle to fly from the current position to the abnormal area; when the detection unmanned aerial vehicle reaches the abnormal area, the telescopic mechanism is controlled to enable the multifunctional detector integrated probe to extend out of the detection module mounting cavity, and the multifunctional detector integrated probe is controlled to detect mine environment parameters of the abnormal area.

Description

Intelligent gas emission detection equipment and method Technical Field The application relates to the technical field of underground coal mine safety monitoring, in particular to intelligent gas emission detection equipment and method. Background The coal mine gas disaster is a core hidden trouble for restricting the safe production of the coal mine, and the difficulty of gas control continuously rises along with the increase of the mining depth of a large number of high-gas mines and protruding mines. T0, T1, T2 series solid sensors that lay in the pit are installed in tunnel roof, upper corner, mining working face etc. gas key point that gathers easily according to standardizing interval for monitor gas concentration, are the basic perception node of safety monitoring in the pit. The underground environment presents extreme characteristics of high dust, narrow space, explosive gas and the like, and because of low manual inspection efficiency and high risk, unmanned aerial vehicle inspection has become a mainstream technical direction, but in some cases, the following problems still exist. Firstly, in terms of detection precision, the multi-parameter detector is exposed outside, is easily interfered by wing airflow of the unmanned aerial vehicle, lacks effective protection design, is fast in detection precision attenuation in a high-dust environment, cannot form accurate section monitoring data, and is difficult to reflect spatial distribution characteristics of environmental parameters, and secondly, in terms of system coordination, sensors such as underground T0, T1 and T2 cannot be communicated with the unmanned aerial vehicle, only collected data can be uploaded to a rear-end data platform, and the collected data is retransmitted to the unmanned aerial vehicle by the rear-end data platform, so that abnormal data detected by the sensors cannot be timely sent to the unmanned aerial vehicle, and a rapid closed loop of discovery-check-disposal cannot be formed due to long early warning response period of the unmanned aerial vehicle. In summary, due to inaccuracy of the detection data and untimely uploading of the detection data, safety accidents are easily caused by exceeding of local concentration. Disclosure of Invention The application aims to provide intelligent gas emission detection equipment and method, which can improve the accuracy of gas emission detection and further improve the underground safety of a coal mine. In order to achieve the above object, the present application provides the following. The application provides intelligent gas emission detection equipment, which comprises a detection unmanned aerial vehicle and a LoRa gateway, wherein the detection unmanned aerial vehicle comprises a machine body, a telescopic multi-parameter detection module arranged on the machine body, an airborne processing unit and a LoRaWAN module arranged in the machine body, wherein the telescopic multi-parameter detection module comprises a detection module mounting cavity, a telescopic mechanism arranged in the detection module mounting cavity, a multifunctional detector integrated probe and an angle adjusting mechanism; The machine-mounted processing unit is respectively connected with the telescopic mechanism, the multifunctional detector integrated probe, the angle adjusting mechanism and the LoRaWAN module; The telescopic mechanism is used for controlling the multifunctional detector integrated probe to extend or retract to the detection module mounting cavity, the angle adjusting mechanism is used for controlling the rotation angle of the telescopic mechanism, the LoRa gateway is used for acquiring gas data acquired by a fixed sensor arranged in a coal mine tunnel, the LoRaWAN module is used for transmitting the gas data to the airborne processing unit, the airborne processing unit is used for determining an area where the fixed sensor is located as an abnormal area when the gas data is greater than a set threshold value, controlling the detection unmanned aerial vehicle to fly from the current position to the abnormal area, controlling the telescopic mechanism to enable the multifunctional detector integrated probe to extend out of the detection module mounting cavity after the detection unmanned aerial vehicle reaches the abnormal area, and controlling the multifunctional detector integrated probe to detect mine environment parameters of the abnormal area. In a second aspect, the present application provides an intelligent gas emission detection method, including: acquiring the current position of the unmanned aerial vehicle and gas data acquired by a fixed sensor arranged in a coal mine tunnel; judging whether the gas data is larger than a set threshold value, if so, determining the area where the fixed sensor is positioned as an abnormal area, and generating a flight track according to the current position and the abnormal area; judging whether the unmanned aerial vehicle reaches an abnormal area o