CN103072600A - Building system and method of wireless communication network for emergency rescue in underground coal mine - Google Patents

Abstract

The invention discloses a building system and method of a wireless communication network for emergency rescue in an underground coal mine. The system comprises a rescue commanding center computer and a rescue robot system. The rescue robot system comprises a carrying robot, a probe robot placed in a robot storage cabin, and a wireless communication relay placing system which places a communication network robot and is placed in a placing system storage cabin. The wireless communication relay placing system comprises a wireless communication relay placing device and a wireless communication relay. The method comprises the steps that first, the carrying robot detects and processes signals, the placing device in the placing system storage cabin casts the wireless communication relay and draws an emergency rescue wireless communication network link map; then, the communication network robot is placed to detect and process the signals and the wireless communication relay is cast to update the map till the underground emergency wireless communication network is built. The system and the method are reasonable in design, strong in practicality and high in popularization and application value.

Description

Colliery downhole emergency rescuing cordless communication network is built system and method

Technical field

The present invention relates to wireless communication technology field, especially relate to a kind of colliery downhole emergency rescuing cordless communication network and independently build system and method.

Background technology

After the accident such as gas explosion occurs under the coal mine, generally speaking, electric power, communication system are with havoc, can't normally use, cause very big difficulty to salvage work, bring serious bottleneck also for research and the application of colliery rescue robot, cause between rescue robot and rescue command center, rescue robot and the rescue robot to keep good communicating by letter.At present, the wire communication mode is mostly adopted in communicating by letter of the coal mine rescue detection robot that has used and rescue group, causes the behavior of robot and go deep into the distance of the scene of the accident limited, more can't use in multistage rescue robot system.Therefore, solve the communication issue between rescue robot and rescue command center, each robot of rescue robot system, Rapid Establishment failure-free emergent radio communication system has become one of key technical problem that the coalmine rescue robot applies.

Summary of the invention

Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, and a kind of compact conformation, rationally novel in design is provided, and it is convenient to realize, the colliery downhole emergency rescuing cordless communication network that intelligent degree is high is independently built system.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: comprise the rescue command central computer with the wireless connections of rescue command central computer and the rescue robot system of communicating by letter, described rescue robot system comprise along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process synchronously to the relevant environment information in the coal mine down-hole tunnel detect in real time carrying robot, described carrying robot is the wheel type robot, described carrying robot comprises robot body one, be arranged on the robot storage compartment and the laying system storage compartment that is arranged on robot body one rear side of robot body one front side, the bottom of described robot storage compartment and laying system storage compartment is provided with support wheel, be equipped with on the door of described robot storage compartment be used to the door driving mechanism for switches that drives described door switch, traveling gear one for the existing transport channel walking of laying along coal mine down-hole tunnel is installed in the described robot body one, the driver train one that traveling gear one is driven, environmental information monitoring means one, autonomous navigation unit one and range cells one, automatic troubleshooting mechanism is installed on the described robot body one, wireless communication unit one and with environmental information monitoring means one, the control system one that range cells one and autonomous navigation unit one all join, described door driving mechanism for switches, automatically troubleshooting mechanism and driver train one is controlled by control system one and the three is all joined with control system one, described wireless communication unit one and control system one are joined;

Described robot storage compartment internal memory is placed with for the sniffing robot that relevant environment information under the coal mine is detected in real time and is used for following that sniffing robot communicates the networking lays the communication network robot, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two, in the described robot body two traveling gear two is installed, the driver train two that traveling gear two is driven, environmental information monitoring means two, autonomous navigation unit two, range cells two, wireless communication unit two and with environmental information monitoring means two, the control system two that autonomous navigation unit two and range cells two are all joined, described driver train two is controlled by control system two and itself and control system two are joined, described wireless communication unit two joins with control system two, carry out two way communication by wireless communication unit one and wireless communication unit two between described control system one and the control system two, and described control system one is carried out two way communication by wireless communication unit one and rescue command central computer, and described control system two is carried out two way communication by wireless communication unit two and rescue command central computer; The described communication network robot that lays comprises the 3rd robot body and the repeater outlet two that is arranged on the 3rd robot body, on described the 3rd robot body traveling gear three is installed, the driver train three that traveling gear three is driven is installed in described the 3rd robot body, environmental information monitoring means three, wireless communication unit three and the control system three of joining with environmental information monitoring means three, described driver train three is controlled by control system three and itself and control system three are joined, described wireless communication unit three joins with control system three, and described control system three is carried out two way communication by wireless communication unit three and rescue command central computer; Described laying is equipped with the wireless communication relay laying system on the communication network robot;

Described laying system storage compartment internal memory is placed with the wireless communication relay laying system, described wireless communication relay laying system comprises wireless communication relay arranging device and the wireless communication relay that leaves on the wireless communication relay arranging device, and an end of described laying system storage compartment is open end and is provided with the repeater outlet one of delivering from godown for wireless communication relay; The wireless communication relay arranging device and the described control system one that are positioned at described robot storage compartment are joined, and the wireless communication relay arranging device and the described control system three that are positioned at described laying system storage compartment are joined.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: described traveling gear three is crawler type walking mechanism, described the 3rd robot body comprises that inside is provided with the uncovered base and the top cover that is fixedly connected on the base top of cavity and top, be provided with the first depressed part on the described base, be provided with the second depressed part on the described top cover, described the first depressed part matches with the second depressed part and has consisted of repeater outlet two, the quantity of described crawler type walking mechanism is the both sides that two and two described crawler type walking mechanisms are symmetricly set on described base, be provided with a plurality of breather ports on the sidewall of described base connecting band track formula traveling gear, described driver train three, environmental information monitoring means three, wireless communication unit three and control system three all are arranged in the base internal cavities, are provided with between described top cover and the base be used to covering described driver train three, environmental information monitoring means three, the Explosion-proof cap of wireless communication unit three and control system three.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: described wireless communication relay arranging device comprises the arranging device housing and is arranged in the arranging device housing and is used for arranging device housing inner chamber is separated into the dividing plate one of power bin and wireless communication relay storage compartment, the top of described arranging device housing is equipped with upper cover plate, and the bottom of described arranging device housing is provided with repeater outlet three; Be provided with the slip rail of captiveing joint with dividing plate one and the supporting rail that parallels with the slip rail in the described wireless communication relay storage compartment, space between described slip rail and the described supporting rail is that wireless communication relay is deposited track, an end is provided with the cloth Electrical Discharge Machine in the described power bin, described cloth Electrical Discharge Machine joins with described control system one or described control system three, the output shaft of described cloth Electrical Discharge Machine passes described dividing plate one and the slip rail has extend in the described wireless communication relay storage compartment, be arranged on the output shaft of cloth Electrical Discharge Machine of described wireless communication relay storage compartment the first belt wheel is installed, the other end is provided with the driven shaft fixed way in the described power bin, be rotatably connected to driven shaft on the described driven shaft fixed way, described driven shaft passes described dividing plate one and the slip rail has extend in the described wireless communication relay storage compartment, be arranged on the driven shaft of described wireless communication relay storage compartment the second belt wheel is installed, being provided with wireless communication relay in the described wireless communication relay storage compartment pushes away and puts assembly, described wireless communication relay pushes away to be put assembly and comprises that the slip that is slidingly connected on the slip rail is pullover, be rotatably connected on the slide shaft that slides on pullover, be installed in the 3rd belt wheel and the push pedal that lays that is fixedly connected on the slide shaft on the slide shaft, described slide shaft and described supporting rail sliding block joint, described the first belt wheel, be connected with synchronous cog belt on the second belt wheel and the 3rd belt wheel.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: the quantity of described dividing plate one is two, the quantity of corresponding described power bin is that the quantity of two and described wireless communication relay storage compartment is one, two described power bins lay respectively at the both sides of described wireless communication relay storage compartment, the quantity that described slip rail, supporting rail and wireless communication relay are deposited track is two, and it is two groups that described wireless communication relay pushes away the quantity of putting assembly.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: an end that is provided with the cloth Electrical Discharge Machine in the described power bin is provided with cloth Electrical Discharge Machine erecting bed, be fixedly connected with the motor mounting clamp on the described cloth Electrical Discharge Machine erecting bed, described cloth Electrical Discharge Machine is installed on the cloth Electrical Discharge Machine erecting bed by the motor mounting clamp; Be provided with laying motor bearings and being used for installing the driven bearing that supports driven shaft for the output shaft that the supports cloth Electrical Discharge Machine is installed on described dividing plate one and the slip rail; Captive joint is useful on laying the motor bearings cover plate and being used for the driven bearing cover of fixing driven bearing of stationary cloth Electrical Discharge Machine bearing on the described slip rail; Be provided be used to the plain bearing that is rotationally connected described slide shaft on described slip is pullover.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: described wireless communication relay comprises the tumbler base and is connected to the tumbler housing on tumbler base top, be provided with gravity block in the described tumbler base, be provided with wireless communication module in the described tumbler housing and be used for power module to wireless communication module power supply, described tumbler housing top is connected with the antenna clamping head, and clamping has the antenna that joins by antenna connection wire and wireless communication module on the described antenna clamping head.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: described tumbler base be shaped as semisphere; Described tumbler housing connects the storehouse housing by the communication storehouse housing that is connected with the tumbler base with the antenna that is connected with communication storehouse housing and consists of, and described antenna clamping head is connected to the top that antenna connects the storehouse housing; Being shaped as of described communication storehouse housing is horn-like, and it is cylindric that described antenna connects being shaped as of storehouse housing.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: be provided with the mine intrinsic safety connection box in the housing of described communication storehouse, described wireless communication module and power module are installed in the mine intrinsic safety connection box, are provided with on the described mine intrinsic safety connection box for antenna to connect the antenna connecting bore that wire passes; The top of described tumbler base is fixedly connected with dividing plate two, is provided with the yielding rubber pad on the described dividing plate two, and described mine intrinsic safety set of terminal box is being fixedly connected on the described dividing plate two on the described yielding rubber pad and with described yielding rubber pad.

Above-mentioned colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: described mine intrinsic safety connection box by base plate, be fixedly connected on the box body on the base plate and the lid that is movably connected on the box body consists of, be provided with tapped bore on the described base plate, described antenna connecting bore is arranged on the box side wall.

The present invention provides also that a kind of data processing speed is fast, data-handling capacity is strong, and real-time is good, and functional reliability is high, realizes the easily autonomous building method of colliery downhole emergency rescuing cordless communication network, it is characterized in that the method may further comprise the steps:

Step 1, carrying robot carry the sniffing robot in the described robot storage compartment and lay the communication network robot, and the wireless communication relay laying system in the described laying system storage compartment enters the coal mining accident down-hole, wherein, lay and be equipped with the wireless communication relay laying system on the communication network robot;

Step 2, environmental information under the coal mine, the detection of communication signal strength and geography information and uploading: carrying robot is along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process, detect in real time by environmental information under a pair of coal mine of environmental information monitoring means, and detect in real time by a pair of Mine Communication signal strength of wireless communication unit, simultaneously, geography information by autonomous navigation unit one and place, a pair of carrying robot of range cells present position detects in real time, control system one gathers environmental information and wireless communication unit one detected Mine Communication signal strength a under the environmental information monitoring means one detected coal mine, and geography information under autonomous navigation unit one and the range cells one detected coal mine, and be transferred to the rescue command central computer by wireless communication unit one;

Step 3, the analyzing and processing of environmental information and communication signal strength under the coal mine: control system one transfer environment information and communication signal strength data processing module carry out analyzing and processing to environmental information under the coal mine and Mine Communication signal strength a, first Mine Communication signal strength a is compared with the normal operational communications signal strength of predefined equipment b, as a＜b, judge again whether environmental information can reach wireless communication relay normal operation requirement under the coal mine, when environmental information under the coal mine can reach wireless communication relay normal operation and requires, the wireless communication relay arranging device that control system one control is positioned at described laying system storage compartment lays a wireless communication relay under coal mine, simultaneously, the wireless communication relay arranging device feeds back its run signal to control system one, and control system one is transferred to the rescue command central computer with the run signal of wireless communication relay arranging device by wireless communication unit one; Otherwise, when a ﹥ b, but or when environmental information can not reach wireless communication relay normal operation and requires under a＜b coal mine, all return step 2;

The detection of step 4, the wireless communication relay present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to the rescue command central computer;

The drafting of step 5, colliery downhole emergency rescuing cordless communication network link map: at first, the run signal of geography information and wireless communication relay arranging device under environmental information, Mine Communication signal strength a, the coal mine under the coal mine of rescue command central computer receiving control system one transmission, and wireless communication signals intensity, MAC Address, IP address and the communication information amount of wireless communication relay transmission and store; Then, the rescue command central computer calls colliery downhole emergency rescuing cordless communication network link mapping module, above reception and canned data are plotted on the pre-stored mine laneway map in the rescue command central computer, and the map of drawing out is colliery downhole emergency rescuing cordless communication network link map;

Step 6, circulation step one is to step 4, until the volume residual that the rescue command central computer is judged the wireless communication relay that carries in the laying system storage compartment according to the run signal of the wireless communication relay arranging device of control system one transmission is zero, or according to the transport channel that geography information under the coal mine of control system one transmission is judged carrying robot interruption has occured, at this moment, send the signal of warning by the rescue command central computer, the staff sees behind the signal of warning by the rescue command central computer and inputs the control signal that control signal that the door of described robot storage compartment opens and sniffing robot deliver from godown, described control system one receives the control signal that door that the rescue command central computer sends opens by wireless communication unit one and controls the door that the door driving mechanism for switches drives described robot storage compartment and open, described control system two receives control signal that sniffing robot that the rescue command central computers send delivers from godown and drives traveling geaies two by driver train two by wireless communication unit two and drives described sniffing robot and deliver from godown and enter coal mine down-hole tunnel, control system three detect signal that sniffing robot delivered from godown by environmental information monitoring means three and the signal real-time Transmission that environmental information monitoring means three detected by wireless communication unit three to the rescue command central computer, the data that the staff uploads according to the environmental information monitoring means three that is presented on the described rescue command central computer, the corresponding walking of output control signal is given the described communication network robot that lays, the described control system three that lays in the communication network robot receives the walking control signal of rescue command central computer transmission and drives traveling gear three by driver train three by wireless communication unit three, so that lay the walking path walking that the communication network robot is followed sniffing robot;

The secondary detection of step 7, Mine Communication signal strength and uploading: described laying in the communication network robot ambulation process, detect in real time by three pairs of Mine Communication signal strengties of wireless communication unit, control system three gathers wireless communication unit three detected Mine Communication signal strength c, and is transferred to the rescue command central computer by wireless communication unit three;

Step 8, the analyzing and processing of the Mine Communication signal strength of secondary detection: control system three communication signal strength data processing modules are carried out analyzing and processing to the Mine Communication signal strength c of secondary detection, the Mine Communication signal strength c of secondary detection is compared with the normal operational communications signal strength of predefined equipment b, as c＜b, control system three controls are carried and are laid a wireless communication relay under coal mine at the described wireless communication relay arranging device that lays on the communication network robot, simultaneously, the wireless communication relay arranging device feeds back its run signal to control system three, and control system three is transferred to the rescue command central computer with the run signal of wireless communication relay arranging device by wireless communication unit three; Otherwise, as c〉and during b, return step 7;

The detection of step 9, the wireless communication relay present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to the rescue command central computer;

The renewal of step 10, colliery downhole emergency rescuing cordless communication network link map: at first, the Mine Communication signal strength c of rescue command central computer receiving control system three transmission and the run signal of wireless communication relay arranging device, and wireless communication signals intensity, MAC Address, IP address and the communication information amount of wireless communication relay transmission and store; Then, the rescue command central computer calls colliery downhole emergency rescuing cordless communication network link map update module, above reception and canned data are plotted on the colliery downhole emergency rescuing cordless communication network link map that step 4 draws, finish the renewal of colliery downhole emergency rescuing cordless communication network link map;

Step 11, circulation step seven are to step 10, until finish building of colliery downhole emergency rescuing cordless communication network.

The present invention compared with prior art has the following advantages:

1, the present invention is rationally novel in design, and it is convenient to realize, uses simple operation.

2, the present invention can be so that each robot in the rescue robot system carries out reliable true communication with the ground staff, sniffing robot is transported to assigned address fast and accurately, and the rescue information data security stable transfer that subsurface environment information, robot work state information, underground communica tion system running state information etc. are important is to the rescue command center.

3, the present invention can realize portable in complex environment, the easy throwing of wireless communication relay in the wireless communication system, easily keeps the optimal communication attitude.

4, the present invention is on two-stage robot system basis, independently build for the emergency management and rescue wireless communication network system of two-stage robot system in the unmanned environment in down-hole, by wireless communication technology in the application of down-hole and for two-stage robot system employing wireless communication network monitoring, determine underground communica tion network operation present situation, running state information is applied to wireless communication relay lays analysis, the autonomous wireless communication relay scheme that lays of formulating, drive the wireless communication relay arranging device or lay the communication network robot, the wireless communication relay that carries is positioned over assigned address according to laying scheme of nodes, finish covering and the extension of communication network, and communication system is built in the Real Time Monitoring monitoring, with the two-stage robot system problem that communication system occurs in the underground work process, share method (when namely laying communication network robot real-world operation by using colliery downhole emergency rescuing cordless communication network link map and down-hole path planning, controlling by the ground control center computing machine, walk along the route that sniffing robot was walked before), driving lays the communication network robot to be carried out recovering the underground communica tion network from master program, thereby without the normal operation in the down-hole of the assurance two-stage robot at dead angle.

5, the present invention has realized that the down-hole sniffing robot is in unmanned environment, communication environment situation of change under the Real Time Monitoring monitor well, build decision-making from the master program communication network, overcome the limitation of the emergent wire communication in present down-hole and local wireless communication, for realizing reliable, stable internet, down-hole communication, and it is significant fast, accurately to build the emergency management and rescue wireless communication network system of two-stage robot system.

6, the present invention proposes the method for independently building wireless communication system of two-stage rescue robot system (carrying robot and sniffing robot) in the unmanned environment in down-hole, be that carrying robot is in transporting the process of sniffing robot, lay communication repeating while advancing, the radio communication good with the maintenance of rescue command center; Sniffing robot is after leaving carrying robot, laying the communication network robot follows sniffing robot and lays wireless communication relay while advancing, the radio communication good with the carrying robot maintenance, thereby make up the emergency management and rescue communication system of carrying robot and rescue command center, carrying robot and sniffing robot, enforcement is to effective detection at down-hole accident scene, and carrying out scientific and effective rescue for the rescue command center provides the firsthand information.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Description of drawings

Fig. 1 is structural representation of the present invention.

Fig. 2 is circuit block diagram of the present invention.

Fig. 3 is the inner structure schematic diagram of two-stage coalmine rescue robot of the present invention.

Fig. 4 is the block diagram that the present invention lays the communication network robot.

Fig. 5 is the integral structure schematic diagram of the present invention's the 3rd robot body.

Fig. 6 is the decomposition texture schematic diagram of the present invention's the 3rd robot body.

Fig. 7 is the structural representation of wireless communication relay arranging device of the present invention.

Fig. 8 is the A-A view of Fig. 7.

Fig. 9 is the annexation schematic diagram of synchronous cog belt of the present invention and other each parts.

Figure 10 is that wireless communication relay of the present invention pushes away the structural representation of putting assembly.

Figure 11 is the block diagram of wireless communication relay of the present invention.

Figure 12 is the inner structure schematic diagram of wireless communication relay of the present invention.

Figure 13 is the structural representation of mine intrinsic safety connection box of the present invention.

Figure 14 is the method flow diagram of the autonomous building method of colliery downhole emergency rescuing cordless communication network of the present invention.

Description of reference numerals:

1-1-robot body one; 1-2-robot storage compartment; 1-3-laying system storage compartment;

1-4-door driving mechanism for switches; 1-5-traveling gear one; 1-6-driver train one;

1-7-environmental information monitoring means one; 1-8-autonomous navigation unit one;

1-9-range cells one; 1-10-automatic troubleshooting mechanism;

1-11-wireless communication unit one; 1-12-control system one; 1-13-support wheel;

2-1-robot body two; 2-2-traveling gear two; 2-3-driver train two;

2-4-environmental information monitoring means two; 2-5-autonomous navigation unit two;

2-6-range cells two; 2-7-wireless communication unit two; 2-8-control system two;

3-1-base; 3-2-top cover; 3-3-breather port;

The 3-4-Explosion-proof cap; The 3-5-crawler type walking mechanism; 3-6-driver train three;

3-7-environmental information monitoring means three; 3-8-control system three;

3-9-wireless communication unit three; 4-1-arranging device housing; 4-2-dividing plate one;

4-3-slip rail; 4-4-supporting rail; 4-5-wireless communication relay is deposited track;

4-6-cloth Electrical Discharge Machine; 4-7-first belt wheel; 4-8-driven shaft fixed way;

4-9-driven shaft; 4-10-second belt wheel; 4-11-slip is pullover;

4-12-slide shaft; The 13-the three belt wheel; 4-14-lay push pedal;

4-15-synchronous cog belt; 4-16-cloth Electrical Discharge Machine erecting bed; 4-17-lay motor bearings;

4-18-driven bearing; 4-19-lay motor bearings cover plate;

4-20-driven bearing cover; 4-21-plain bearing; 4-22-upper cover plate;

4-23-motor mounting clamp; 4-24-power bin; 4-25-wireless communication relay storage compartment;

5-1-tumbler base; 5-2-communication storehouse housing; 5-3-antenna connects the storehouse housing;

5-4-antenna clamping head; 5-5-antenna; 5-6-gravity block;

5-7-wireless communication module; 5-8-power module; 5-9-mine intrinsic safety connection box;

5-91-antenna connecting bore; 5-92-base plate; 5-93-box body;

5-94-lid; 5-95-tapped bore; 5-10-dividing plate two;

5-11-yielding rubber pad; 5-12-antenna connects wire; 5-13-first bolt;

5-14-first nut; 5-15-second bolt; 5-16-second nut;

6-rescue command central computer; 7-1-repeater outlet one;

7-2-repeater outlet two; 7-3-repeater outlet three; 8-U-shaped stirrup.

The specific embodiment

Such as Fig. 1, Fig. 2 and shown in Figure 3, Underground Wireless Communication in Coal Mine network of the present invention is independently built system, comprise rescue command central computer 6 with 6 wireless connections of rescue command central computer and the rescue robot system of communicating by letter, described rescue robot system comprise along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process synchronously to the relevant environment information in the coal mine down-hole tunnel detect in real time carrying robot, described carrying robot is the wheel type robot, described carrying robot comprises robot body one 1-1, be arranged on the robot storage compartment 1-2 and the laying system storage compartment 1-3 that is arranged on robot body one 1-1 rear side of robot body one 1-1 front side, the bottom of described robot storage compartment 1-2 and laying system storage compartment 1-3 is provided with support wheel 1-13, be equipped with on the door of described robot storage compartment 1-2 be used to the door driving mechanism for switches 1-4 that drives described door switch, traveling gear one 1-5 for the existing transport channel walking of laying along coal mine down-hole tunnel is installed in described robot body one 1-1, driver train one 1-6 that traveling gear one 1-5 is driven, environmental information monitoring means one 1-7, autonomous navigation unit one 1-8 and range cells one 1-9, the automatic troubleshooting 1-10 of mechanism is installed on described robot body one 1-1, wireless communication unit one 1-11 and with environmental information monitoring means one 1-7, control system one 1-12 that range cells one 1-9 and autonomous navigation unit one 1-8 all join, described door driving mechanism for switches 1-4, automatically the 1-10 of troubleshooting mechanism and driver train one 1-6 controls by control system one 1-12 and the three is all joined with control system one 1-12, described wireless communication unit one 1-11 and control system one 1-12 join;

During implementation, having adopted the applying date in the described carrying robot is on 09 27th, 2010, application number is the carrying robot in 201010295904.3 the disclosed two-stage coalmine rescue of the Chinese patent robot system, except being changed, robot storage compartment 1-2 has been located at robot body one 1-1 front side, set up laying system storage compartment 1-3 at robot body one 1-1 rear side, and the bottom of robot storage compartment 1-2 and laying system storage compartment 1-3 is provided with support wheel 1-13, the end of laying system storage compartment 1-3 is open end and is provided with the repeater that delivers from godown for wireless communication relay 5 and exports outside the 7-1 all the other structures, shape, annexation is all identical with published carrying robot with principle of work.In the actual use procedure, described existing transport channel is the track that the rail by two parallel layings forms.Described laying system storage compartment 1-3, robot body one 1-1 and robot storage compartment 1-2 have formed an integral type cube car body from back to front, after described integral type cube car body inside is divided into by dividing plate, in, first three part, its rear portion is that robot storage compartment 1-2, middle part are robot body one 1-1, anterior are laying system storage compartment 1-3.

Described robot storage compartment 1-2 internal memory is placed with for the sniffing robot that relevant environment information under the coal mine is detected in real time and is used for following that sniffing robot communicates the networking lays the communication network robot, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two 2-1, in described robot body two 2-1 traveling gear two 2-2 are installed, driver train two 2-3 that traveling gear two 2-2 are driven, environmental information monitoring means two 2-4, autonomous navigation unit two 2-5, range cells two 2-6, wireless communication unit two 2-7 and with environmental information monitoring means two 2-4, control system two 2-8 that autonomous navigation unit two 2-5 and range cells two 2-6 all join, described driver train two 2-3 are controlled by control system two 2-8 and itself and control system two 2-8 join, described wireless communication unit two 2-7 and control system two 2-8 join, carry out two way communication by wireless communication unit one 1-11 and wireless communication unit two 2-7 between described control system one 1-12 and control system two 2-8, and described control system one 1-12 carries out two way communication by wireless communication unit one 1-11 and rescue command central computer 6, and described control system two 2-8 carry out two way communication by wireless communication unit two 2-7 and rescue command central computer 6; During implementation, it is that on 09 27th, 2010, application number are the sniffing robot in 201010295904.3 the disclosed two-stage coalmine rescue of the Chinese patent robot system that described sniffing robot has adopted the applying date, and its structure, shape, annexation and principle of work are all identical with published sniffing robot.

In conjunction with Fig. 4, the described communication network robot that lays comprises that the 3rd robot body and the repeater that is arranged on the 3rd robot body export two 7-2, on described the 3rd robot body traveling gear three is installed, driver train three 3-6 that traveling gear three is driven are installed in described the 3rd robot body, environmental information monitoring means three 3-7, wireless communication unit three 3-9 and control system three 3-8 that join with environmental information monitoring means three 3-7, described driver train three 3-6 are controlled by control system three 3-8 and itself and control system three 3-8 join, described wireless communication unit three 3-9 and control system three 3-8 join, and described control system three 3-8 carry out two way communication by wireless communication unit three 3-9 and rescue command central computer 6; Described laying is equipped with the wireless communication relay laying system on the communication network robot; Described laying system storage compartment 1-3 internal memory is placed with the wireless communication relay laying system, described wireless communication relay laying system comprises wireless communication relay arranging device 4 and leaves wireless communication relay 5 on the wireless communication relay arranging device 4 in, and the end of described laying system storage compartment 1-3 is open end and is provided with the repeater that delivers from godown for wireless communication relay 5 and exports a 7-1; The wireless communication relay arranging device 4 that is positioned at described robot storage compartment 1-2 joins with described control system one 1-12, and the wireless communication relay arranging device 4 that is positioned at described laying system storage compartment 1-3 joins with described control system three 3-8.

In conjunction with Fig. 5 and Fig. 6, in the present embodiment, described traveling gear three is crawler type walking mechanism 3-5, described the 3rd robot body comprises that inside is provided with cavity and the uncovered base 3-1 and the top cover 3-2 that is fixedly connected on base 3-1 top in top, be provided with the first depressed part on the described base 3-1, be provided with the second depressed part on the described top cover 3-2, described the first depressed part matches with the second depressed part and has consisted of repeater and export two 7-2, the quantity of described crawler type walking mechanism 3-5 is the both sides that two and two described crawler type walking mechanism 3-5 are symmetricly set on described base 3-1, be provided with a plurality of breather port 3-3 on the sidewall of described base 3-1 connecting band track formula traveling gear 3-5, described driver train three 3-6, environmental information monitoring means three 3-7, wireless communication unit three 3-9 and control system three 3-8 all are arranged in the base 3-1 internal cavities, are provided with between described top cover 3-2 and the base 3-1 be used to covering described driver train three 3-6, environmental information monitoring means three 3-7, the Explosion-proof cap 3-4 of wireless communication unit three 3-9 and control system three 3-8.

In the present embodiment, described traveling gear three is crawler type walking mechanism 3-5, can adapt to the uneven road surface of jolting under the coal mine, so that describedly lay that the communication network robot has stronger stability of motion, manoevreability, alerting ability and to the comformability of environment.In the actual use procedure, according to the actual state on road surface under the coal mine, described traveling gear three also can adopt wheel type traveling mechanism.Described environmental information monitoring means 3-7 comprises for the carbon monoxide transducer that the environment carbon monoxide gas concentration is detected in real time, for the oxygen concentration sensor that the environment oxygen concentration is detected in real time, for the firedamp sensor that the environment gas density is detected in real time, for the temperature sensor that the environment temperature is detected in real time with for the pick up camera that graphicinformation is carried out Real-time Collection.

In the actual mechanical process, the staff who rest on the ground can send remote control signal so that carrying robot is carried out remote control with wireless communication unit one 1-11 to control system one 1-12 by described ground control center computing machine 6, in the carrying robot operational process, by wireless communication unit one 1-11 its real-time institute detection signal is reached described ground control center computing machine 6 synchronously simultaneously.And, in the actual use procedure, carry out two way communication by wireless communication unit one 1-11 and wireless communication unit two 2-7 between carrying robot and the sniffing robot, realize the function that carrying robot is controlled automatically to sniffing robot, and control system two 2-8 of sniffing robot are with its mode of operation and real-time detected parameters synchronous driving control system one 1-12 to carrying robot.In addition, sniffing robot leaves carrying robot carry out autonomous operation after, the staff who rest on the ground can send remote control signal so that sniffing robot is carried out remote control with wireless communication unit two 2-7 to control system two 2-8 by described ground control center computing machine 6; Simultaneously, in the sniffing robot operational process, by wireless communication unit two 2-7 with its real-time institute detection signal synchronous driving to described ground control center computing machine 6.In addition, the staff who rest on the ground can also send remote control signal to carry out remote control to laying the communication network robot with wireless communication unit three 3-9 to control system three 3-10 by described ground control center computing machine 6, lay simultaneously in the communication network robot operational process, by wireless communication unit three 3-9 its real-time institute detection signal is reached described ground control center computing machine 6 synchronously.

In the described carrying robot actual moving process, the relevant environment parameter in the operation coal mine roadway is detected in real time and carries out synchronous recording, in case of necessity institute is detected information exchange and crossed wireless communication unit one 1-11 and be sent to described ground control center computing machine 6; When described carrying robot is stoped by obstacle or track when receiving that destruction can not continue to move forward, then open door, put down sniffing robot and lay the communication network robot, sniffing robot utilizes the functions such as the autonomous navigation, autonomous of himself to continue to move ahead, move to position that the down-hole occurs near accident and the relevant environment parameter of accident nidus is detected in real time and carries out synchronous recording, in case of necessity institute detection information exchange is crossed wireless communication unit two 2-7 and be sent to ground.Described when laying communication network robot real-world operation, be by the controlling of ground control center computing machine 6, the route of walking before the sniffing robot is walked, and has simplified the path planning problem of carrying robot.

In conjunction with Fig. 7, Fig. 8, Fig. 9 and Figure 10, in the present embodiment, described wireless communication relay arranging device 4 comprises arranging device housing 4-1 and is arranged in the arranging device housing 4-1 and is used for arranging device housing 4-1 inner chamber is separated into dividing plate one 4-2 of power bin 4-24 and wireless communication relay storage compartment 4-25, the top of described arranging device housing 4-1 is equipped with upper cover plate 4-22, and the bottom of described arranging device housing 4-1 is provided with repeater and exports three 7-3; Be provided with the slip rail 4-3 of captiveing joint with dividing plate one 4-2 and the supporting rail 4-4 that parallels with slip rail 4-3 in the described wireless communication relay storage compartment 4-25, space between described slip rail 4-3 and the described supporting rail 4-4 is that wireless communication relay is deposited track 4-5, an end is provided with cloth Electrical Discharge Machine 4-6 in the described power bin 4-24, described cloth Electrical Discharge Machine 4-6 and described control system one 1-12 or described control system three 3-8 join, the output shaft of described cloth Electrical Discharge Machine 4-6 passes described dividing plate one 4-2 and slip rail 4-3 has extend among the described wireless communication relay storage compartment 4-25, be arranged on the output shaft of cloth Electrical Discharge Machine 4-6 of described wireless communication relay storage compartment 4-25 the first belt wheel 4-7 is installed, the other end is provided with driven shaft fixed way 4-8 in the described power bin 4-24, be rotatably connected to driven shaft 4-9 on the described driven shaft fixed way 4-8, described driven shaft 4-9 passes described dividing plate one 4-2 and slip rail 4-3 has extend among the described wireless communication relay storage compartment 4-25, be arranged on the driven shaft 4-9 of described wireless communication relay storage compartment 4-25 the second belt wheel 4-10 is installed, being provided with wireless communication relay 5 in the described wireless communication relay storage compartment 4-25 pushes away and puts assembly, described wireless communication relay 5 pushes away to be put assembly and comprises the pullover 4-11 of slip that is slidingly connected on the slip rail 4-3, be rotatably connected on the slide shaft 4-12 on the pullover 4-11 that slides, be installed in the 3rd belt wheel 4-13 on the slide shaft 4-12 and be fixedly connected on and lay push pedal 4-14 on the slide shaft 4-12, described slide shaft 4-12 and described supporting rail 4-4 sliding block joint, described the first belt wheel 4-7, be connected with synchronous cog belt 4-15 on the second belt wheel 4-10 and the 3rd belt wheel 4-13.

In conjunction with Fig. 7, Fig. 8, Fig. 9 and Figure 10, in the present embodiment, the quantity of described dividing plate one 4-2 is two, the quantity of corresponding described power bin 4-24 is that the quantity of two and described wireless communication relay storage compartment 4-25 is one, two described power bin 4-24 lay respectively at the both sides of described wireless communication relay storage compartment 4-25, the quantity that described slip rail 4-3, supporting rail 4-4 and wireless communication relay are deposited track 4-5 is two, and it is two groups that described wireless communication relay 5 pushes away the quantity of putting assembly.An end that is provided with cloth Electrical Discharge Machine 4-6 in the described power bin 4-24 is provided with cloth Electrical Discharge Machine erecting bed 4-16, be fixedly connected with motor mounting clamp 4-23 on the described cloth Electrical Discharge Machine erecting bed 4-16, described cloth Electrical Discharge Machine 4-6 is installed on the cloth Electrical Discharge Machine erecting bed 4-16 by motor mounting clamp 4-23; Be provided with laying motor bearings 4-17 and being used for installing the driven bearing 4-18 that supports driven shaft 4-9 for the output shaft that supports cloth Electrical Discharge Machine 4-6 is installed on described dividing plate one 4-2 and the slip rail 4-3; The upper captive joint of described slip rail 4-3 is useful on laying motor bearings cover plate 4-19 and being used for the driven bearing cover 4-20 of fixing driven bearing 4-18 of stationary cloth Electrical Discharge Machine bearing 4-17; Be provided be used to the plain bearing 4-21 that is rotationally connected described slide shaft 4-12 on the pullover 4-11 of described slip.

In the present embodiment, described cloth Electrical Discharge Machine 4-6 is the DC machine from tape drive, just can directly control by control system one 1-12 or control system three 3-10, and with actuator the run signal of cloth Electrical Discharge Machine 4-6 can be fed back to control system one 1-12 or control system three 3-10.Described upper cover plate 4-22 is made of rubber plate and the outer field pressing plate of internal layer.During implementation, wireless communication relay arranging device 4 being fixedly connected on described the 3rd robot body by U-shaped stirrup 8, particularly, is that U-shaped stirrup 8 is captiveed joint with described top cover 3-2 by bolt.

When needs lay wireless communication relay, control system one 1-12 or control system three 3-10 control cloth Electrical Discharge Machine 4-6 rotate through suitable angle, cloth Electrical Discharge Machine 4-6 drives the first belt wheel 4-7 rotation, the first belt wheel 4-7 drives the second belt wheel 4-10 and the 3rd belt wheel 4-13 rotation by synchronous cog belt 4-15, the 3rd belt wheel 4-13 drives slide shaft 4-12 rotation, pullover 4-11 slides along slip rail 4-3 so that slide, thereby advance so that lay push pedal 4-14, promote wireless communication relay 5, exported near three 7-3 wireless communication relay 5 and export three 7-3 from repeater and fall so that originally be arranged in repeater.

In conjunction with Figure 11 and Figure 12, in the present embodiment, described wireless communication relay 5 comprises tumbler base 5-1 and is connected to the tumbler housing on tumbler base 5-1 top, be provided with gravity block 5-6 in the described tumbler base 5-1, the power module 5-8 that is provided with wireless communication module 5-7 in the described tumbler housing and is used for powering to wireless communication module 5-7, described tumbler housing top is connected with antenna clamping head 5-4, and the upper clamping of described antenna clamping head 5-4 has the antenna 5-5 that joins by antenna connection wire 5-12 and wireless communication module 5-7.

In conjunction with Figure 11 and Figure 12, in the present embodiment, described tumbler base 5-1 is shaped as semisphere; Described tumbler housing connects storehouse housing 5-3 by the communication storehouse housing 5-2 that is connected with tumbler base 5-1 with the antenna 5-5 that is connected with communication storehouse housing 5-2 and consists of, and described antenna clamping head 5-4 is connected to the top that antenna 5-5 connects storehouse housing 5-3; Being shaped as of described communication storehouse housing 5-2 is horn-like, and it is cylindric that described antenna 5-5 connects being shaped as of storehouse housing 5-3.Be provided with mine intrinsic safety connection box 5-9 in the housing 5-2 of described communication storehouse, described wireless communication module 5-7 and power module 5-8 are installed in the mine intrinsic safety connection box 5-9, are provided with on the described mine intrinsic safety connection box 5-9 for antenna to connect the antenna connecting bore 5-91 that wire 5-12 passes; The top of described tumbler base 5-1 is fixedly connected with dividing plate two 5-10, be provided with yielding rubber pad 5-11 on described dividing plate two 5-10, described mine intrinsic safety connection box 5-9 is arranged on described yielding rubber pad 5-11 upward and is fixedly connected on described dividing plate two 5-10 on described yielding rubber pad 5-11.Particularly, described dividing plate two 5-10 are fixedly connected on the top of described tumbler base 5-1 by the first bolt 5-13 and the first nut 5-14, described mine intrinsic safety connection box 5-9 and yielding rubber pad 5-11 are fixedly connected on described dividing plate two 5-10 by the second bolt 5-15 and the second nut 5-16.

In conjunction with Figure 13, in the present embodiment, described mine intrinsic safety connection box 5-9 by base plate 5-92, be fixedly connected on the box body 5-93 on the base plate 5-92 and the lid 5-94 that is movably connected on the box body 5-93 consists of, be provided with tapped bore 5-95 on the described base plate 5-92, described antenna connecting bore 5-91 is arranged on the box body 5-93 sidewall.

In conjunction with Figure 14, the autonomous building method of Underground Wireless Communication in Coal Mine network of the present invention may further comprise the steps:

Step 1, carrying robot carry the sniffing robot in the described robot storage compartment 1-2 and lay the communication network robot, and the wireless communication relay laying system in the described laying system storage compartment 1-3 enters the coal mining accident down-hole, wherein, lay and be equipped with the wireless communication relay laying system on the communication network robot;

Step 2, environmental information under the coal mine, the detection of communication signal strength and geography information and uploading: carrying robot is along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process, one 1-7 detects in real time to environmental information under the coal mine by the environmental information monitoring means, and by wireless communication unit one 1-11 the Mine Communication signal strength is detected in real time, simultaneously, the geography information of the carrying robot present position being located by autonomous navigation unit one 1-8 and range cells one 1-9 detects in real time, control system one 1-12 gathers environmental information and the detected Mine Communication signal strength of wireless communication unit one 1-11 a under the detected coal mine of environmental information monitoring means one 1-7, and geography information under autonomous navigation unit one 1-8 and the detected coal mine of range cells one 1-9, and be transferred to rescue command central computer 6 by wireless communication unit one 1-11;

Step 3, the analyzing and processing of environmental information and communication signal strength under the coal mine: control system one 1-12 transfer environment information and communication signal strength data processing module carry out analyzing and processing to environmental information under the coal mine and Mine Communication signal strength a, first Mine Communication signal strength a is compared with the normal operational communications signal strength of predefined equipment b, as a＜b, judge again whether environmental information can reach wireless communication relay 5 normal operation requirements under the coal mine, when environmental information under the coal mine can reach wireless communication relay 5 normal operation and requires, the wireless communication relay arranging device 4 that control system one 1-12 control is positioned at described laying system storage compartment 1-3 lays a wireless communication relay 5 under coal mine, simultaneously, wireless communication relay arranging device 4 its run signal of feedback are to control system one 1-12, and control system one 1-12 is transferred to rescue command central computer 6 with the run signal of wireless communication relay arranging device 4 by wireless communication unit one 1-11; Otherwise, when a ﹥ b, but or when environmental information can not reach wireless communication relay 5 normal operation and requires under a＜b coal mine, all return step 2;

The detection of step 4, the wireless communication relay 5 present positions places wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay 5 that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer 6;

The drafting of step 5, colliery downhole emergency rescuing cordless communication network link map: at first, the run signal of geography information and wireless communication relay arranging device 4 under environmental information, Mine Communication signal strength a, the coal mine under the coal mine of rescue command central computer 6 receiving control systems one 1-12 transmission, and wireless communication signals intensity, MAC Address, I P address and the communication information amount of wireless communication relay 5 transmission and store; Then, rescue command central computer 6 calls colliery downhole emergency rescuing cordless communication network link mapping module, above reception and canned data are plotted on the pre-stored mine laneway map in rescue command central computer 6, and the map of drawing out is colliery downhole emergency rescuing cordless communication network link map;

Step 6, circulation step one is to step 4, until the volume residual that rescue command central computer 6 is judged the wireless communication relay 5 that carries in the laying system storage compartment 1-3 according to the run signal of the wireless communication relay arranging device 4 of control system one 1-12 transmission is zero, or according to the transport channel that geography information under the coal mine of control system one 1-12 transmission is judged carrying robot interruption has occured, at this moment, send the signal of warning by rescue command central computer 6, the staff sees the control signal that the control signal opened by the door of the described robot storage compartment 1-2 of rescue command central computer 6 inputs behind the signal of warning and sniffing robot deliver from godown, described control system one 1-12 receives the control signal that door that rescue command central computer 6 sends opens by wireless communication unit one 1-11 and controls the door that door driving mechanism for switches 1-4 drives described robot storage compartment 1-2 and open, described control system two 2-8 receive control signal that sniffing robot that rescue command central computer 6 sends delivers from godown and drive traveling gear two 2-2 by driver train two 2-3 by wireless communication unit two 2-7 and drive described sniffing robot and deliver from godown and enter coal mine down-hole tunnel, control system three 3-8 detect signal that sniffing robot delivered from godown by environmental information monitoring means three 3-7 and the signal real-time Transmission that environmental information monitoring means three 3-7 detected by wireless communication unit three 3-9 to rescue command central computer 6, the data that the staff uploads according to environmental information monitoring means three 3-7 that are presented on the described rescue command central computer 6, the corresponding walking of output control signal is given the described communication network robot that lays, described control system three 3-8 that lay in the communication network robot receive the walking control signal of rescue command central computer 6 transmissions and drive traveling gear three by driver train three 3-6 by wireless communication unit three 3-9, so that lay the walking path walking that the communication network robot is followed sniffing robot;

The secondary detection of step 7, Mine Communication signal strength and uploading: described laying in the communication network robot ambulation process, three 3-9 detect in real time to the Mine Communication signal strength by wireless communication unit, control system three 3-8 gather the detected Mine Communication signal strength of wireless communication unit three 3-9 c, and are transferred to rescue command central computer 6 by wireless communication unit three 3-9;

Step 8, the analyzing and processing of the Mine Communication signal strength of secondary detection: control system three 3-8 communication signal strength data processing modules carry out analyzing and processing to the Mine Communication signal strength c of secondary detection, the Mine Communication signal strength c of secondary detection is compared with the normal operational communications signal strength of predefined equipment b, as c＜b, control system three 3-8 control is carried and is laid a wireless communication relay 5 under coal mine at the described wireless communication relay arranging device 4 that lays on the communication network robot, simultaneously, wireless communication relay arranging device 4 its run signal of feedback are to control system three 3-8, and control system three 3-8 are transferred to rescue command central computer 6 with the run signal of wireless communication relay arranging device 4 by wireless communication unit three 3-9; Otherwise, as c〉and during b, return step 7;

The detection of step 9, the wireless communication relay 5 present positions places wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay 5 that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer 6;

The renewal of step 10, colliery downhole emergency rescuing cordless communication network link map: at first, the Mine Communication signal strength c of rescue command central computer 6 receiving control systems three 3-8 transmission and the run signal of wireless communication relay arranging device 4, and wireless communication signals intensity, MAC Address, IP address and the communication information amount of wireless communication relay 5 transmission and store; Then, rescue command central computer 6 calls colliery downhole emergency rescuing cordless communication network link map update module, above reception and canned data are plotted on the colliery downhole emergency rescuing cordless communication network link map that step 4 draws, finish the renewal of colliery downhole emergency rescuing cordless communication network link map;

Step 11, circulation step seven are to step 10, until finish building of colliery downhole emergency rescuing cordless communication network.

The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, every any simple modification, change and equivalent structure of above embodiment being done according to the technology of the present invention essence changes, and all still belongs in the protection domain of technical solution of the present invention.

Claims (10)

1. a colliery downhole emergency rescuing cordless communication network is independently built system, it is characterized in that: comprise rescue command central computer (6) with rescue command central computer (6) wireless connections and the rescue robot system of communicating by letter, described rescue robot system comprise along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process synchronously to the relevant environment information in the coal mine down-hole tunnel detect in real time carrying robot, described carrying robot is the wheel type robot, described carrying robot comprises robot body one (1-1), be arranged on the robot storage compartment (1-2) of robot body one (1-1) front side and be arranged on the laying system storage compartment (1-3) of robot body one (1-1) rear side, the bottom of described robot storage compartment (1-2) and laying system storage compartment (1-3) is provided with support wheel (1-13), be equipped with on the door of described robot storage compartment (1-2) be used to the door driving mechanism for switches (1-4) that drives described door switch, traveling gear one (1-5) for the existing transport channel walking of laying along coal mine down-hole tunnel is installed in the described robot body one (1-1), the driver train one (1-6) that traveling gear one (1-5) is driven, environmental information monitoring means one (1-7), autonomous navigation unit one (1-8) and range cells one (1-9), automatic troubleshooting mechanism (1-10) is installed on the described robot body one (1-1), wireless communication unit one (1-11) and with environmental information monitoring means one (1-7), the control system one (1-12) that range cells one (1-9) and autonomous navigation unit one (1-8) all join, described door driving mechanism for switches (1-4), automatically troubleshooting mechanism (1-10) and driver train one (1-6) is controlled by control system one (1-12) and the three is all joined with control system one (1-12), described wireless communication unit one (1-11) and control system one (1-12) are joined;

Described robot storage compartment (1-2) internal memory is placed with for the sniffing robot that relevant environment information under the coal mine is detected in real time and is used for following that sniffing robot communicates the networking lays the communication network robot, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two (2-1), traveling gear two (2-2) is installed in the described robot body two (2-1), the driver train two (2-3) that traveling gear two (2-2) is driven, environmental information monitoring means two (2-4), autonomous navigation unit two (2-5), range cells two (2-6), wireless communication unit two (2-7) and with environmental information monitoring means two (2-4), the control system two (2-8) that autonomous navigation unit two (2-5) and range cells two (2-6) are all joined, described driver train two (2-3) is controlled by control system two (2-8) and itself and control system two (2-8) are joined, described wireless communication unit two (2-7) joins with control system two (2-8), carry out two way communication by wireless communication unit one (1-11) and wireless communication unit two (2-7) between described control system one (1-12) and the control system two (2-8), and described control system one (1-12) is carried out two way communication by wireless communication unit one (1-11) and rescue command central computer (6), and described control system two (2-8) is carried out two way communication by wireless communication unit two (2-7) and rescue command central computer (6); The described communication network robot that lays comprises the 3rd robot body and repeater outlet two (7-2) that are arranged on the 3rd robot body, on described the 3rd robot body traveling gear three is installed, the driver train three (3-6) that traveling gear three is driven is installed in described the 3rd robot body, environmental information monitoring means three (3-7), wireless communication unit three (3-9) and the control system three (3-8) of joining with environmental information monitoring means three (3-7), described driver train three (3-6) is controlled by control system three (3-8) and itself and control system three (3-8) are joined, described wireless communication unit three (3-9) joins with control system three (3-8), and described control system three (3-8) is carried out two way communication by wireless communication unit three (3-9) and rescue command central computer (6); Described laying is equipped with the wireless communication relay laying system on the communication network robot;

Described laying system storage compartment (1-3) internal memory is placed with the wireless communication relay laying system, described wireless communication relay laying system comprises wireless communication relay arranging device (4) and leaves wireless communication relay (5) on the wireless communication relay arranging device (4) in, and an end of described laying system storage compartment (1-3) is open end and is provided with repeater outlet one (7-1) that delivers from godown for wireless communication relay (5); The wireless communication relay arranging device (4) that is positioned at described robot storage compartment (1-2) joins with described control system one (1-12), and the wireless communication relay arranging device (4) that is positioned at described laying system storage compartment (1-3) joins with described control system three (3-8).

2. independently build system according to colliery claimed in claim 1 downhole emergency rescuing cordless communication network, it is characterized in that: described traveling gear three is crawler type walking mechanism (3-5), described the 3rd robot body comprises that inside is provided with the uncovered base (3-1) in cavity and top and is fixedly connected on the top cover (3-2) on base (3-1) top, be provided with the first depressed part on the described base (3-1), be provided with the second depressed part on the described top cover (3-2), described the first depressed part matches with the second depressed part and has consisted of repeater outlet two (7-2), the quantity of described crawler type walking mechanism (3-5) is the both sides that two and two described crawler type walking mechanisms (3-5) are symmetricly set on described base (3-1), be provided with a plurality of breather ports (3-3) on the sidewall of described base (3-1) connecting band track formula traveling gear (3-5), described driver train three (3-6), environmental information monitoring means three (3-7), wireless communication unit three (3-9) and control system three (3-8) all are arranged in base (3-1) internal cavities, are provided with between described top cover (3-2) and the base (3-1) be used to covering described driver train three (3-6), environmental information monitoring means three (3-7), the Explosion-proof cap (3-4) of wireless communication unit three (3-9) and control system three (3-8).

3. independently build system according to claim 1 or 2 described colliery downhole emergency rescuing cordless communication networks, it is characterized in that: described wireless communication relay arranging device (4) comprises arranging device housing (4-1) and is arranged in the arranging device housing (4-1) and is used for arranging device housing (4-1) inner chamber is separated into the dividing plate one (4-2) of power bin (4-24) and wireless communication relay storage compartment (4-25), the top of described arranging device housing (4-1) is equipped with upper cover plate (4-22), and the bottom of described arranging device housing (4-1) is provided with repeater outlet three (7-3); Be provided with the slip rail (4-3) of captiveing joint with dividing plate one (4-2) and the supporting rail (4-4) that parallels with slip rail (4-3) in the described wireless communication relay storage compartment (4-25), space between described slip rail (4-3) and the described supporting rail (4-4) is that wireless communication relay is deposited track (4-5), an end is provided with cloth Electrical Discharge Machine (4-6) in the described power bin (4-24), described cloth Electrical Discharge Machine (4-6) joins with described control system one (1-12) or described control system three (3-8), the output shaft of described cloth Electrical Discharge Machine (4-6) passes described dividing plate one (4-2) and slip rail (4-3) has extend in the described wireless communication relay storage compartment (4-25), be arranged on the output shaft of cloth Electrical Discharge Machine (4-6) of described wireless communication relay storage compartment (4-25) the first belt wheel (4-7) is installed, the interior other end of described power bin (4-24) is provided with driven shaft fixed way (4-8), be rotatably connected to driven shaft (4-9) on the described driven shaft fixed way (4-8), described driven shaft (4-9) passes described dividing plate one (4-2) and slip rail (4-3) has extend in the described wireless communication relay storage compartment (4-25), be arranged on the driven shaft (4-9) of described wireless communication relay storage compartment (4-25) the second belt wheel (4-10) is installed, being provided with wireless communication relay (5) in the described wireless communication relay storage compartment (4-25) pushes away and puts assembly, described wireless communication relay (5) pushes away to be put assembly and comprises the slip that is slidingly connected on the slip rail (4-3) pullover (4-11), be rotatably connected on the slide shaft (4-12) on slide pullover (4-11), be installed in the 3rd belt wheel (4-13) on the slide shaft (4-12) and be fixedly connected on and lay push pedal (4-14) on the slide shaft (4-12), described slide shaft (4-12) and described supporting rail (4-4) sliding block joint, described the first belt wheel (4-7), be connected with synchronous cog belt (4-15) on the second belt wheel (4-10) and the 3rd belt wheel (4-13).

4. independently build system according to colliery claimed in claim 3 downhole emergency rescuing cordless communication network, it is characterized in that: the quantity of described dividing plate one (4-2) is two, the quantity of corresponding described power bin (4-24) is that the quantity of two and described wireless communication relay storage compartment (4-25) is one, two described power bins (4-24) lay respectively at the both sides of described wireless communication relay storage compartment (4-25), described slip rail (4-3), the quantity that supporting rail (4-4) and wireless communication relay are deposited track (4-5) is two, and it is two groups that described wireless communication relay (5) pushes away the quantity of putting assembly.

5. independently build system according to colliery claimed in claim 3 downhole emergency rescuing cordless communication network, it is characterized in that: an end that is provided with cloth Electrical Discharge Machine (4-6) in the described power bin (4-24) is provided with cloth Electrical Discharge Machine erecting bed (4-16), be fixedly connected with motor mounting clamp (4-23) on the described cloth Electrical Discharge Machine erecting bed (4-16), described cloth Electrical Discharge Machine (4-6) is installed on the cloth Electrical Discharge Machine erecting bed (4-16) by motor mounting clamp (4-23); Be provided with laying motor bearings (4-17) and being used for installing the driven bearing (4-18) that supports driven shaft (4-9) for the output shaft that supports cloth Electrical Discharge Machine (4-6) is installed on described dividing plate one (4-2) and the slip rail (4-3); The upper captive joint of described slip rail (4-3) is useful on laying motor bearings cover plate (4-19) and being used for the driven bearing cover (4-20) of fixing driven bearing (4-18) of stationary cloth Electrical Discharge Machine bearing (4-17); Be provided be used to the plain bearing that is rotationally connected described slide shaft (4-12) (4-21) in the described slip pullover (4-11).

6. independently build system according to colliery claimed in claim 1 downhole emergency rescuing cordless communication network, it is characterized in that: described wireless communication relay (5) comprises tumbler base (5-1) and is connected to the tumbler housing on tumbler base (5-1) top, be provided with gravity block (5-6) in the described tumbler base (5-1), the power module (5-8) that is provided with wireless communication module (5-7) in the described tumbler housing and is used for powering to wireless communication module (5-7), described tumbler housing top is connected with antenna clamping head (5-4), and the upper clamping of described antenna clamping head (5-4) has the antenna (5-5) that joins by antenna connection wire (5-12) and wireless communication module (5-7).

7. independently build system according to colliery claimed in claim 6 downhole emergency rescuing cordless communication network, it is characterized in that: described tumbler base (5-1) be shaped as semisphere; Described tumbler housing connects storehouse housing (5-3) by the communication storehouse housing (5-2) that is connected with tumbler base (5-1) with the antenna (5-5) that is connected with communication storehouse housing (5-2) and consists of, and described antenna clamping head (5-4) is connected to the top that antenna (5-5) connects storehouse housing (5-3); Being shaped as of described communication storehouse housing (5-2) is horn-like, and it is cylindric that described antenna (5-5) connects being shaped as of storehouse housing (5-3).

8. independently build system according to colliery claimed in claim 6 downhole emergency rescuing cordless communication network, it is characterized in that: be provided with mine intrinsic safety connection box (5-9) in the described communication storehouse housing (5-2), described wireless communication module (5-7) and power module (5-8) are installed in the mine intrinsic safety connection box (5-9), are provided with on the described mine intrinsic safety connection box (5-9) for antenna to connect the antenna connecting bore (5-91) that wire (5-12) passes; The top of described tumbler base (5-1) is fixedly connected with dividing plate two (5-10), be provided with yielding rubber pad (5-11) on the described dividing plate two (5-10), described mine intrinsic safety connection box (5-9) is arranged on described yielding rubber pad (5-11) upward and is fixedly connected on the described dividing plate two (5-10) on described yielding rubber pad (5-11).

9. independently build system according to colliery claimed in claim 8 downhole emergency rescuing cordless communication network, it is characterized in that: described mine intrinsic safety connection box (5-9) by base plate (5-92), be fixedly connected on the box body (5-93) on the base plate (5-92) and the lid (5-94) that is movably connected on the box body (5-93) consists of, be provided with tapped bore (5-95) on the described base plate (5-92), described antenna connecting bore (5-91) is arranged on box body (5-93) sidewall.

10. one kind is utilized the as claimed in claim 1 autonomous building method of colliery downhole emergency rescuing cordless communication network of system, it is characterized in that the method may further comprise the steps:

Step 1, carrying robot carry the sniffing robot in the described robot storage compartment (1-2) and lay the communication network robot, and the wireless communication relay laying system in the described laying system storage compartment (1-3) enters the coal mining accident down-hole, wherein, lay and be equipped with the wireless communication relay laying system on the communication network robot;

Step 2, environmental information under the coal mine, the detection of communication signal strength and geography information and uploading: carrying robot is along in the existing transport channel operation of laying in the coal mine down-hole tunnel and the operational process, (1-7) detects in real time to environmental information under the coal mine by environmental information monitoring means one, and by wireless communication unit one (1-11) the Mine Communication signal strength is detected in real time, simultaneously, the geography information of the carrying robot present position being located by autonomous navigation unit one (1-8) and range cells one (1-9) detects in real time, control system one (1-12) gathers environmental information and the detected Mine Communication signal strength of wireless communication unit one (1-11) a under the detected coal mine of environmental information monitoring means one (1-7), and geography information under autonomous navigation unit one (1-8) and the detected coal mine of range cells one (1-9), and be transferred to rescue command central computer (6) by wireless communication unit one (1-11);

Step 3, the analyzing and processing of environmental information and communication signal strength under the coal mine: control system one (1-12) transfer environment information and communication signal strength data processing module carry out analyzing and processing to environmental information under the coal mine and Mine Communication signal strength a, first Mine Communication signal strength a is compared with the normal operational communications signal strength of predefined equipment b, as a＜b, judge again whether environmental information can reach wireless communication relay (5) normal operation requirement under the coal mine, when environmental information under the coal mine can reach wireless communication relay (5) normal operation and requires, the wireless communication relay arranging device (4) that control system one (1-12) control is positioned at described laying system storage compartment (1-3) lays a wireless communication relay (5) under coal mine, simultaneously, wireless communication relay arranging device (4) feeds back its run signal to control system one (1-12), and control system one (1-12) is transferred to rescue command central computer (6) with the run signal of wireless communication relay arranging device (4) by wireless communication unit one (1-11); Otherwise, when a ﹥ b, but or when environmental information can not reach wireless communication relay (5) normal operation and requires under a＜b coal mine, all return step 2;

The detection of step 4, wireless communication relay (5) the present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay (5) that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer (6);

The drafting of step 5, colliery downhole emergency rescuing cordless communication network link map: at first, the run signal of geography information and wireless communication relay arranging device (4) under environmental information, Mine Communication signal strength a, the coal mine under the coal mine of rescue command central computer (6) receiving control system one (1-12) transmission, and wireless communication signals intensity, MAC Address, IP address and the communication information amount of wireless communication relay (5) transmission and store; Then, rescue command central computer (6) calls colliery downhole emergency rescuing cordless communication network link mapping module, above reception and canned data are plotted on the pre-stored mine laneway map in rescue command central computer (6), and the map of drawing out is colliery downhole emergency rescuing cordless communication network link map;

Step 6, circulation step one is to step 4, until the volume residual that rescue command central computer (6) is judged the wireless communication relay (5) that carries in the laying system storage compartment (1-3) according to the run signal of the wireless communication relay arranging device (4) of control system one (1-12) transmission is zero, or according to the transport channel that geography information under the coal mine of control system one (1-12) transmission is judged carrying robot interruption has occured, at this moment, send the signal of warning by rescue command central computer (6), the staff sees the control signal that the control signal opened by the door of rescue command central computer (6) the described robot storage compartment of input (1-2) behind the signal of warning and sniffing robot deliver from godown, described control system one (1-12) receives the control signal that door that rescue command central computer (6) sends opens by wireless communication unit one (1-11) and controls the door that door driving mechanism for switches (1-4) drives described robot storage compartment (1-2) and open, the control signal that the sniffing robot that described control system two (2-8) sends by wireless communication unit two (2-7) reception rescue command central computer (6) delivers from godown also delivers from godown by the described sniffing robot of driver train two (2-3) driving traveling gear two (2-2) drive and enters coal mine down-hole tunnel, control system three (3-8) detect signal that sniffing robot delivered from godown by environmental information monitoring means three (3-7) and the signal real-time Transmission that environmental information monitoring means three (3-7) detected by wireless communication unit three (3-9) to rescue command central computer (6), the data that the staff uploads according to the environmental information monitoring means three (3-7) that is presented on the described rescue command central computer (6), the corresponding walking of output control signal is given the described communication network robot that lays, the described control system three (3-8) that lays in the communication network robot receives the walking control signal of rescue command central computer (6) transmission and drives traveling gear three by driver train three (3-6) by wireless communication unit three (3-9), so that lay the walking path walking that the communication network robot is followed sniffing robot;

The secondary detection of step 7, Mine Communication signal strength and uploading: described laying in the communication network robot ambulation process, (3-9) detects in real time to the Mine Communication signal strength by wireless communication unit three, control system three (3-8) gathers the detected Mine Communication signal strength of wireless communication unit three (3-9) c, and is transferred to rescue command central computer (6) by wireless communication unit three (3-9);

Step 8, the analyzing and processing of the Mine Communication signal strength of secondary detection: control system three (3-8) communication signal strength data processing module carries out analyzing and processing to the Mine Communication signal strength c of secondary detection, the Mine Communication signal strength c of secondary detection is compared with the normal operational communications signal strength of predefined equipment b, as c＜b, control system three (3-8) control is carried and is laid a wireless communication relay (5) under coal mine at the described wireless communication relay arranging device (4) that lays on the communication network robot, simultaneously, wireless communication relay arranging device (4) feeds back its run signal to control system three (3-8), and control system three (3-8) is transferred to rescue command central computer (6) with the run signal of wireless communication relay arranging device (4) by wireless communication unit three (3-9); Otherwise, as c〉and during b, return step 7;

The detection of step 9, wireless communication relay (5) the present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay (5) that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer (6);

The renewal of step 10, colliery downhole emergency rescuing cordless communication network link map: at first, the Mine Communication signal strength c of rescue command central computer (6) receiving control system three (3-8) transmission and the run signal of wireless communication relay arranging device (4), and wireless communication signals intensity, MAC Address, IP address and the communication information amount of wireless communication relay (5) transmission and store; Then, rescue command central computer (6) calls colliery downhole emergency rescuing cordless communication network link map update module, above reception and canned data are plotted on the colliery downhole emergency rescuing cordless communication network link map that step 4 draws, finish the renewal of colliery downhole emergency rescuing cordless communication network link map;

Step 11, circulation step seven are to step 10, until finish building of colliery downhole emergency rescuing cordless communication network.

Images