CN-122018029-A - A target nanometer robot for colliery goaf fire source location and situation evaluation

CN122018029ACN 122018029 ACN122018029 ACN 122018029ACN-122018029-A

Abstract

The invention belongs to the technical field of coal mine safety, and particularly relates to an intelligent fire source positioning and fire situation assessment system based on a nano robot, which is particularly suitable for real-time monitoring, accurate positioning and development situation assessment of coal spontaneous combustion fire sources in a coal mine goaf. The invention combines micro-nano electromechanical system, environment sensing technology and wireless communication technology to realize active detection and dynamic analysis of fire sources in complex enclosed space, and provides technical support for coal mine safety production.

Inventors

CHENG CHAOFENG
ZHANG ZHAO
ZHANG DONGXIN
JI ZIWEI
Chang Maomao
DING ZIWEI
ZHANG YUTAO
SONG HANG

Assignees

陕西小保当矿业有限公司
西安科技大学

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. A target nanometer robot for goaf fire source location and situation assessment, characterized by comprising: the sensing module is integrated with a temperature sensor and a carbon monoxide sensor and is used for monitoring environmental parameters in real time; the control module is electrically connected with the sensing module and is configured to output a trigger signal when the following conditions are simultaneously met: (1) The temperature value exceeds a preset temperature threshold and the carbon monoxide concentration exceeds a preset concentration threshold; (2) The temperature change rate and the carbon monoxide concentration change rate are both larger than a preset change rate threshold value; the energy module is electrically connected with the control module and activates power supply after receiving the trigger signal; the driving module is electrically connected with the energy module and generates directional thrust in a power supply state, so that the nano robot is separated from the constraint of wind flow and actively moves along the direction of carbon monoxide concentration gradient or higher temperature; the positioning module is configured to acquire the current position coordinate after reaching the target area; and the communication module is electrically connected with the positioning module and the sensing module and is used for uploading the coordinate data, the temperature value and the carbon monoxide concentration value to an external server.
2. The targeted nanomachining robot of claim 1, wherein the trigger logic of the control module comprises a dynamic compensation mechanism: The preset temperature threshold value and the preset concentration threshold value are dynamically adjusted according to the ambient wind speed; the threshold is set to a lower range when the ambient wind speed is low and to a higher range when the ambient wind speed is high.
3. The targeted nanomachining robot of claim 1, wherein the targeted movement process of the drive module comprises: the control module periodically collects the concentration and temperature value of carbon monoxide and calculates the concentration gradient change; the driving module dynamically adjusts the moving direction according to the concentration gradient direction, so that the robot continuously approaches to the concentration rising area; And when the concentration gradient change or the temperature gradient change is lower than a preset threshold value and the temperature value is higher than a preset high-temperature threshold value, judging that the fire source central area is reached.
4. The targeted nanomotor of claim 1, wherein the linkage mechanism of the energy module and the drive module is: the energy module supplies power in stages under the action of the trigger signal; If no effective concentration gradient change is detected, entering a dormant state and attempting reactivation; when the accumulated power supply duration reaches the upper limit or the energy source is exhausted, the operation of the driving module is forcibly terminated.
5. A fire source positioning and situation assessment method based on the targeted nano robot of any one of claims 1-4, characterized by comprising the following staged operation flow: S1, wind flow diffusion stage: the nano robot is thrown into wind flow from an air inlet corner of the coal face; The robot diffuses to the deep part of the goaf along with wind flow, the sensing module continuously monitors environmental parameters, and the control module is in a low-power consumption state; s2, a double-parameter cooperative triggering stage: When the temperature value and the carbon monoxide concentration synchronously exceed the dynamic threshold value and the change rate of the temperature value and the carbon monoxide concentration meet the preset condition, the control module outputs a trigger signal; The trigger signal is filtered by time delay to eliminate instantaneous interference; S3, targeting movement stage: after the driving module is activated, the robot moves against the wind flow direction and tracks the area with the highest carbon monoxide concentration in real time; dynamically adjusting the advancing direction in the moving process until reaching a fire source core area with stable concentration gradient; s4, a positioning uploading stage: the positioning module acquires the current position coordinates, and the communication module encrypts and uploads coordinate data, a temperature value and a carbon monoxide concentration value; s5, situation assessment: the cloud server uploads data based on multiple robots: (1) Determining the accurate position of a fire source through coordinate clustering; (2) And judging the fire development stage according to the combined characteristic interval of the temperature and the carbon monoxide concentration.
6. The method according to claim 5, wherein the targeted movement phase in step S3 comprises a lost protection mechanism: When the moving distance exceeds a preset safety distance, the robot automatically adjusts a direction return airflow reverse path; when the positioning signal strength is lower than the threshold value, switching to the standby driving mode continues approaching the target area.
7. The method according to claim 5, wherein the situation assessment phase in step S5 includes an early warning dynamic upgrade mechanism: if the continuous monitoring data reflect the accelerated change of fire parameters, the early warning level is improved; When the parameter change rate exceeds a critical threshold, an open fire phase is forcibly determined and an emergency response is triggered.
8. A fire source positioning and situation assessment method based on the targeted nano robot of any one of claims 1-7, characterized by comprising the following steps: The nano robot is thrown into wind flow from an air inlet corner of the coal face, so that the nano robot is diffused to a goaf along with the wind flow; Continuously monitoring the temperature and the carbon monoxide concentration through a sensing module, and activating an energy module and driving the nano robot to move in a targeted manner to an abnormal area when the double parameters synchronously exceed a preset threshold value; after moving to the center of the abnormal area, acquiring position coordinates through a positioning module, and uploading the position coordinates to a cloud server through a communication module; And the cloud server determines the position of the fire source based on the uploaded data and judges the fire development stage according to the temperature-carbon monoxide concentration mapping model.
9. The method of claim 8, wherein the temperature threshold is 50-70 ℃, the carbon monoxide concentration threshold is 30-80 ppm, and the double parameters are triggered by synchronous abnormality.
10. The method of claim 7, wherein the fire development stage judgment model comprises: Incubation period at a temperature <60 ℃ and carbon monoxide concentration <50 ppm; The acceleration period is that the temperature is 60 ℃ less than or equal to 100 ℃ and the concentration of carbon monoxide is 50 ppm less than or equal to 200 ppm; open flame period: the temperature is more than or equal to 100℃ the concentration of carbon monoxide is more than or equal to 200 ppm.

Description

A target nanometer robot for colliery goaf fire source location and situation evaluation Technical Field The invention belongs to the technical field of coal mine safety, and particularly relates to an intelligent fire source positioning and fire situation assessment system based on a nano robot, which is particularly suitable for real-time monitoring, accurate positioning and development situation assessment of coal spontaneous combustion fire sources in a coal mine goaf. The invention combines micro-nano electromechanical system, environment sensing technology and wireless communication technology to realize active detection and dynamic analysis of fire sources in complex enclosed space, and provides technical support for coal mine safety production. Background In the coal mining process, the goaf is easy to cause spontaneous combustion fire due to the oxidation heat of the coal body, has the characteristics of strong concealment, rapid development, difficult suppression and the like, and seriously threatens the life safety and production order of miners. At present, the main stream fire source positioning method in the industry mainly depends on the following technology: The fixed sensor network is characterized in that sensors such as temperature, carbon monoxide (CO) and the like are pre-buried in a goaf, but the sensor network is limited by low layout density and limited coverage range, the dynamic migration process of a fire source is difficult to capture, the sensors are easily damaged due to the fact that rocks collapse in the goaf, and the data reliability is poor. And the manual inspection and thermal imaging are carried by miners to enter the goaf edge detection through portable equipment or a thermal infrared imager, but dangerous environments such as high gas, low oxygen, high dust and the like exist in the goaf, so that the risk of manual intervention is extremely high, and the goaf cannot go deep into complex areas. The gas tracing method is to inject trace gas and analyze the trace gas through sampling points, but the positioning accuracy is low, the response is lagged, and the fire development stage cannot be judged in real time. The above-mentioned technology has significant drawbacks: the positioning is inaccurate, namely the fixed sensor can only provide regional alarm and can not accurately position the fire source points; The situation assessment is lacking, namely the existing system focuses on fire source detection and lacks quantitative assessment (such as low-temperature oxidation period, accelerated oxidation period and open flame period) of the fire development stage; the air current of the goaf is disturbed, the space is closed, and the traditional equipment is difficult to actively enter or dynamically track the fire source. Therefore, an innovative technical solution capable of automatically entering the goaf, intelligently responding to environmental changes, and realizing high-precision positioning and situation analysis is needed. Although the nano-robot technology has application in the biomedical field (such as targeted drug delivery), the nano-robot technology is not adapted to special environments (high humidity, high dust and strong wind current) of a coal mine goaf, and particularly lacks a cooperative mechanism of wind current driving and targeted movement. Disclosure of Invention The invention has the core that the nano robot is designed into a dynamic monitoring system integrating wind flow driving, intelligent triggering and targeting positioning. The method specifically comprises the following innovation points: 1. the wind flow passive diffusion mechanism is that the nano robot has small size, can naturally enter the deep part of the goaf along with the wind flow of the wind inlet corner of the coal face, does not need extra power, and solves the problem that the traditional equipment cannot cover the blind area. 2. And the dual-parameter cooperative triggering mechanism integrates a temperature sensor and a carbon monoxide (CO) sensor, and activates subsequent actions only when the temperature sensor and the CO sensor exceed a preset threshold value, so that single-parameter false alarm (such as CO possibly coming from blasting operation) is avoided, and the detection reliability is remarkably improved. 3. And after triggering, the micro battery supplies power to drive the module to enable the robot to move directionally to an abnormal area along the concentration gradient, so as to realize breakthrough from 'passive monitoring' to 'active tracking'. 4. And the cloud situation analysis system is used for uploading coordinates and sensor data through the positioning module after reaching a fire source, and the cloud server is combined with the temperature-CO concentration model to quantify the fire development stage and guide an emergency decision. Drawings Fig. 1 is a front view of a targeted nano-robot provided by an embodiment of the present application; fig