CN103072600B - 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

Underground coal mine emergency management and rescue cordless communication network builds system and method

Technical field

The present invention relates to wireless communication technology field, especially relate to a kind of underground coal mine emergency management and rescue cordless communication network and build system and method.

Background technology

After the accidents such as underground coal mine generation gas explosion, generally, electric power, communication system are by heavy damage, cannot normally use, extreme difficulties is caused to rescue work, bring severe bottleneck also to the investigation and application of colliery rescue robot, cause rescue robot and rescue command center, between rescue robot and rescue robot, good communication can not be kept.At present, the coal mine rescue detection robot used mostly adopts wire communication mode with communicating of rescue personnel, the behavior causing robot and the distance going deep into the scene of the accident limited, more cannot apply in multistage rescue robot system.Therefore, solve the communication issue between rescue robot and rescue command center, each robot of rescue robot system, set up reliable emergent radio communication system fast, become one of key technical problem that coalmine rescue robot applies.

Summary of the invention

Technical problem to be solved by this invention is for above-mentioned deficiency of the prior art, provides a kind of compact conformation, modern design rationally, and it is convenient to realize, and the underground coal mine emergency management and rescue cordless communication network that intelligence degree is high builds system.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: the rescue robot system comprising rescue command central computer and also communicate with the wireless connections of rescue command central computer, described rescue robot system comprise along the existing transport channel laid in coal mine down-hole tunnel run and in running synchronously to the relevant context information in coal mine down-hole tunnel carry out detecting in real time carrying robot, the artificial wheel type robot of described carrying machine, described carrying robot comprises robot body one, the laying system storage compartment being arranged on the robot storage compartment on front side of robot body one and being arranged on rear side of robot body one, the bottom of described robot storage compartment and laying system storage compartment is provided with support wheel, the door of described robot storage compartment is provided with the door driving mechanism for switches for driving described door switch, be provided with for the walking mechanism one along the existing transport channel walking of laying in coal mine down-hole tunnel in described robot body one, to the driving mechanism one that walking mechanism one drives, environmental information monitoring means one, independent navigation unit one and range cells one, described robot body one is provided with automatic troubleshooting mechanism, wireless communication unit one and with environmental information monitoring means one, the control system one that range cells one and independent navigation unit one all connect, described door driving mechanism for switches, automatic troubleshooting mechanism and driving mechanism one are undertaken controlling by control system one and three all connects with control system one, described wireless communication unit one connects with control system one,

Described robot storage compartment internal memory is placed with for carrying out the sniffing robot that detects in real time to underground coal mine relevant context information and laying communication network robot for what follow that sniffing robot carries out that communication network builds, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two, in described robot body two, walking mechanism two is installed, to the driving mechanism two that walking mechanism two drives, environmental information monitoring means two, independent navigation unit two, range cells two, wireless communication unit two and with environmental information monitoring means two, the control system two that independent navigation unit two and range cells two all connect, described driving mechanism two is undertaken controlling by control system two and it connects with control system two, described wireless communication unit two connects with control system two, two-way communication is carried out by wireless communication unit one and wireless communication unit two between described control system one and control system two, and described control system one carries out two-way communication by wireless communication unit one and rescue command central computer, described control system two carries 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 is arranged on the repeater outlet two on the 3rd robot body, described 3rd robot body is provided with walking mechanism three, in described 3rd robot body, the driving mechanism three driven walking mechanism three is installed, environmental information monitoring means three, wireless communication unit three and the control system three connected with environmental information monitoring means three, described driving mechanism three is undertaken controlling by control system three and it connects with control system three, described wireless communication unit three connects with control system three, described control system three carries out two-way communication by wireless communication unit three and rescue command central computer, described laying in communication network robot is equipped with the first wireless communication relay laying system,

Described laying system storage compartment internal memory is placed with the second wireless communication relay laying system, described first wireless communication relay laying system and the second wireless communication relay laying system include wireless communication relay arranging device and leave the wireless communication relay on wireless communication relay arranging device in, and one end of described laying system storage compartment is openend and is provided with the repeater outlet one of delivering from godown for wireless communication relay; The wireless communication relay arranging device being positioned at described robot storage compartment connects with described control system one, and the wireless communication relay arranging device being positioned at described laying system storage compartment connects with described control system three.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: described walking mechanism three is crawler type walking mechanism, described 3rd robot body comprises inside and is provided with cavity and the uncovered base in top and be fixedly connected on the top cover on base top, described base is provided with the first depressed part, described top cover is provided with the second depressed part, described first depressed part matches with the second depressed part and constitutes repeater and export two, the quantity of described crawler type walking mechanism is two and two described crawler type walking mechanisms are symmetricly set on the both sides of described base, the sidewall of described base connecting band track formula walking mechanism is provided with multiple gravity vent, described driving mechanism three, environmental information monitoring means three, wireless communication unit three and control system three are all arranged in chassis interior cavity, be provided with for covering described driving mechanism three between described top cover and base, environmental information monitoring means three, the Explosion-proof cap of wireless communication unit three and control system three.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: the wireless communication relay arranging device being positioned at described robot storage compartment and the wireless communication relay arranging device being positioned at described laying system storage compartment include arranging device housing and be arranged on arranging device housing and dividing plate one for arranging device housing cavity being separated into power bin and wireless communication relay storage compartment, the top of described arranging device housing is provided with upper cover plate, and the bottom of described arranging device housing is provided with repeater outlet three, the supporting rail being provided with the slip rail be fixedly connected with dividing plate one in described wireless communication relay storage compartment and paralleling with slip rail, space between described slip rail and described supporting rail is that wireless communication relay deposits track, in described power bin, one end is provided with cloth Electrical Discharge Machine, described cloth Electrical Discharge Machine connects with described control system one or described control system three, the output shaft of described cloth Electrical Discharge Machine has extend in described wireless communication relay storage compartment through described dividing plate one and slip rail, the output shaft being arranged in the cloth Electrical Discharge Machine of described wireless communication relay storage compartment is provided with the first belt wheel, in described power bin, the other end is provided with driven shaft fixed station, described driven shaft fixed station is rotatably connected to driven shaft, described driven shaft has extend in described wireless communication relay storage compartment through described dividing plate one and slip rail, the driven shaft being arranged in described wireless communication relay storage compartment is provided with the second belt wheel, be provided with wireless communication relay in described wireless communication relay storage compartment to push away and put assembly, described wireless communication relay pushes away to be put assembly to comprise the slip be slidably connected on slip rail pullover, be rotatably connected on slide pullover on sliding axle, be arranged on the 3rd belt wheel on sliding axle and be fixedly connected on and sliding axle lays push pedal, described sliding axle and described supporting rail are slidably connected, described first belt wheel, second belt wheel and the 3rd belt wheel are connected with synchronous cog belt.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: the quantity of described dividing plate one is two pieces, the quantity of corresponding described power bin is two and the quantity of 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 deposit track is two, and it is two groups that described wireless communication relay pushes away the quantity of putting assembly.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: the one end being provided with cloth Electrical Discharge Machine in described power bin is provided with cloth Electrical Discharge Machine erecting bed, described cloth Electrical Discharge Machine erecting bed is fixedly connected with motor mounting clamp, and described cloth Electrical Discharge Machine is arranged on cloth Electrical Discharge Machine erecting bed by motor mounting clamp; Described dividing plate one and slip rail are provided with the output shaft for installing supports cloth Electrical Discharge Machine lay motor bearings and for installing the driven bearing supporting driven shaft; Described slip rail is fixedly connected with and lays motor bearings cover plate and the driven bearing cover for fixing driven bearing for stationary cloth Electrical Discharge Machine bearing; The sliding bearing for being rotationally connected described sliding axle is provided with on described slip is pullover.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: described wireless communication relay comprises tumbler base and is connected to the tumbler housing on tumbler base top, gravity block is provided with in described tumbler base, wireless communication module is provided with and for the power module of wireless communication module power supply in described tumbler housing, described tumbler housing tip is connected with antenna clamping head, described antenna clamping head is clamped with the antenna connected with wireless communication module by antenna connection wire.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: the shape of described tumbler base is hemispherical; Described tumbler housing connects storehouse housing by the communication storehouse housing be connected with tumbler base and the antenna that is connected with communication storehouse housing and forms, and described antenna clamping head is connected to the top of antenna connection storehouse housing; The shape of described communication storehouse housing is horn-like, and the shape that described antenna connects storehouse housing is cylindric.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: in the housing of described communication storehouse, be provided with mine intrinsic safety junction box, described wireless communication module and power module are installed in mine intrinsic safety junction box, described mine intrinsic safety junction box are provided with the antenna connecting hole passed for antenna connection wire; The top of described tumbler base is fixedly connected with dividing plate two, and described dividing plate two is provided with yielding rubber pad, and described mine intrinsic safety set of terminal box is on described yielding rubber pad and be fixedly connected on described dividing plate two together with on described yielding rubber pad.

Above-mentioned underground coal mine emergency management and rescue cordless communication network builds system, it is characterized in that: described mine intrinsic safety junction box by base plate, be fixedly connected on the box body on base plate and the lid be movably connected on box body is formed, described base plate is provided with screwed hole, and described antenna connecting hole is arranged on box side wall.

Present invention also offers that a kind of data processing speed is fast, data-handling capacity is strong, real-time is good, and functional reliability is high, realizes the cordless communication network of underground coal mine emergency management and rescue easily building method, it is characterized in that the method comprises the following steps:

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

Step 2, underground coal mine environmental information, the detection of communication signal strength and geography information and uploading: carrying robot to run and in running along the existing transport channel laid in coal mine down-hole tunnel, detected in real time by environmental information monitoring means a pair underground coal mine environmental information, and detected in real time by wireless communication unit a pair Mine Communication signal strength signal intensity, simultaneously, detected in real time by the geography information at independent navigation unit one and range cells a pair carrying robot present position place, control system one gathers the underground coal mine environmental information detected by environmental information monitoring means one and the Mine Communication signal strength signal intensity a detected by wireless communication unit one, and independent navigation unit one and the underground coal mine geography information detected by range cells one, and be transferred to rescue command central computer by wireless communication unit one,

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

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

The drafting of step 5, underground coal mine emergency management and rescue cordless communication network link map: first, the run signal of the underground coal mine environmental information of rescue command central computer receiving control system one transmission, Mine Communication signal strength signal intensity a, underground coal mine geography information and wireless communication relay arranging device, and the wireless communication signals intensity of wireless communication relay transmission, MAC Address, IP address and communication information amount store; Then, rescue command central computer calls underground coal mine emergency management and rescue cordless communication network link map drawing module, to receive above and the information stored is plotted on the mine laneway map that is stored in advance in rescue command central computer, the map drawn out is underground coal mine emergency management and rescue cordless communication network link map;

Step 6, circulation step one is to step 4, until the run signal of wireless communication relay arranging device that rescue command central computer transmits according to control system one judges that the volume residual of the wireless communication relay carried in laying system storage compartment is zero, or judge that the transport channel of carrying robot there occurs interruption according to the underground coal mine geography information that control system one is transmitted, now, warning signal is sent by rescue command central computer, the control signal that the door inputting described robot storage compartment by rescue command central computer after staff sees warning signal is opened and the control signal that sniffing robot delivers from godown, described control system one is received the control signal opened of door that rescue command central computer sends by wireless communication unit one and is controlled door driving mechanism for switches and drives the door of described robot storage compartment to open, described control system two is received the control signal that delivers from godown of sniffing robot that rescue command central computer sends by wireless communication unit two and is driven walking mechanism two to drive described sniffing robot to deliver from godown by driving mechanism two and enters coal mine down-hole tunnel, control system three detect by environmental information monitoring means three signal that sniffing robot has delivered from godown and signal real-time Transmission environmental information monitoring means three detected by wireless communication unit three to rescue command central computer, the data that staff uploads according to the environmental information monitoring means three be presented on described rescue command central computer, export corresponding travelling control signal to described in lay communication network robot, the described control system three laid in communication network robot receives the travelling control signal of rescue command central computer transmission by wireless communication unit three and drives walking mechanism three by driving mechanism three, make to lay the walking path walking that communication network robot follows sniffing robot,

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

Step 8, the analyzing and processing of the Mine Communication signal strength signal intensity of secondary detection: the control system three Mine Communication signal strength signal intensity c of signal strength data processing module to secondary detection that communicate carries out analyzing and processing, by the Mine Communication signal strength signal intensity c of secondary detection compared with the normal operational communications signal strength signal intensity b of the equipment preset, work as c<b, described in control system three control is mounted in, the wireless communication relay arranging device laid in communication network robot lays a wireless communication relay to underground coal mine, simultaneously, wireless communication relay arranging device feeds back its run signal to control system three, the run signal of wireless communication relay arranging device is transferred to rescue command central computer by wireless communication unit three by control system three, otherwise, as c>b, return step 7,

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

The renewal of step 10, underground coal mine emergency management and rescue cordless communication network link map: first, the Mine Communication signal strength signal intensity c of rescue command central computer receiving control system three transmission and the run signal of wireless communication relay arranging device, and the wireless communication signals intensity of wireless communication relay transmission, MAC Address, IP address and communication information amount store; Then, rescue command central computer calls underground coal mine emergency management and rescue cordless communication network link map rejuvenation module, to receive above and the information stored is plotted on the underground coal mine emergency management and rescue cordless communication network link map that step 4 draws, complete the renewal of underground coal mine emergency management and rescue cordless communication network link map;

Step 11, circulation step seven arrive step 10, until complete building of underground coal mine emergency management and rescue 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, and uses simple operation.

2, the present invention can make each robot in rescue robot system and ground staff carry out reliably true communication, sniffing robot is transported to assigned address fast and accurately, and by rescue information data security stable transfer important to subsurface environment information, robot work state information, underground communication system running state information etc. to rescue command center.

3, the present invention can realize wireless communication relay in wireless communication system portable in complex environment, easily throw, easily keep 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 and lays analysis, autonomous formulation lays wireless communication relay scheme, drive wireless communication relay arranging device or lay communication network robot, the wireless communication relay carried is positioned over assigned address according to laying scheme of nodes, complete covering and the extension of communication network, and purpose monitoring builds communication system in real time, by two-stage robot system communication system produced problem in underground work process, method is shared (when namely laying communication network robot actual motion by application underground coal mine emergency management and rescue cordless communication network link map and down-hole path planning, it is the manipulation by ground control centre computer, walk along the route of walking before sniffing robot), driving lays communication network robot and carries out contexture by self recovery underground communica tion network, thus without the normal work of guarantee two-stage robot in down-hole at dead angle.

5, present invention achieves down-hole sniffing robot in unmanned environment, real-time purpose monitoring underground communica tion environmental change situation, contexture by self communication network builds decision-making, overcome current down-hole to meet an urgent need the limitation of wire communication and local wireless communication, for realizing reliable, stable internet, down-hole communication, and the emergency management and rescue wireless communication network system fast, accurately building two-stage robot system is significant.

6, the present invention proposes two-stage rescue robot system (carrying robot and the sniffing robot) method of independently building wireless communication system in the unmanned environment in down-hole, namely carrying robot is in the process of transporting sniffing robot, advance while lay communication relaying, keep good radio communication with rescue command center; Sniffing robot is after leaving carrying robot, lay communication network robot to follow sniffing robot and advance while lay wireless communication relay, good radio communication is kept with carrying robot, thus build the emergency management and rescue communication system of carrying robot and rescue command center, carrying robot and sniffing robot, implement the effective detection to down-hole accident scene, carrying out scientific and effective rescue for rescue command center provides the firsthand information.

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

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

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

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

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

Fig. 5 is the overall structure schematic diagram of the present invention the 3rd robot body.

Fig. 6 is the decomposition texture schematic diagram of the present invention 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 putting assembly.

Figure 11 is the stereogram of wireless communication relay of the present invention.

Figure 12 is the internal construction schematic diagram of wireless communication relay of the present invention.

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

Figure 14 is the method flow diagram of the autonomous building method of underground coal mine emergency management and rescue 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-walking mechanism one; 1-6-driving mechanism one;

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

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

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

2-1-robot body two; 2-2-walking mechanism two; 2-3-driving mechanism two;

2-4-environmental information monitoring means two; 2-5-independent 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-gravity vent;

3-4-Explosion-proof cap; 3-5-crawler type walking mechanism; 3-6-driving mechanism 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 deposits track;

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

4-9-driven shaft; 4-10-the second belt wheel; 4-11-slide pullover;

4-12-sliding axle; 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-sliding 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 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 junction box;

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

5-94-lid; 5-95-screwed hole; 5-10-dividing plate two;

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

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

Detailed description of the invention

As Fig. 1, shown in Fig. 2 and Fig. 3, Underground Wireless Communication in Coal Mine network of the present invention independently builds system, the rescue robot system comprising rescue command central computer 6 and also communicate with rescue command central computer 6 wireless connections, described rescue robot system comprise along the existing transport channel laid in coal mine down-hole tunnel run and in running synchronously to the relevant context information in coal mine down-hole tunnel carry out detecting in real time carrying robot, the artificial wheel type robot of described carrying machine, described carrying robot comprises robot body one 1-1, the laying system storage compartment 1-3 being arranged on the robot storage compartment 1-2 on front side of robot body one 1-1 and being arranged on rear side of robot body one 1-1, the bottom of described robot storage compartment 1-2 and laying system storage compartment 1-3 is provided with support wheel 1-13, the door of described robot storage compartment 1-2 is provided with the door driving mechanism for switches 1-4 for driving described door switch, be provided with for walking mechanism one 1-5 along the existing transport channel walking of laying in coal mine down-hole tunnel in described robot body one 1-1, to driving mechanism one 1-6 that walking mechanism one 1-5 drives, environmental information monitoring means one 1-7, independent navigation unit one 1-8 and range cells one 1-9, described robot body one 1-1 is provided with automatic troubleshooting mechanism 1-10, 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 independent navigation unit one 1-8 all connects, described door driving mechanism for switches 1-4, automatic troubleshooting mechanism 1-10 and driving mechanism one 1-6 is undertaken controlling by control system one 1-12 and three all connects with control system one 1-12, described wireless communication unit one 1-11 connects with control system one 1-12,

During concrete enforcement, have employed the applying date in described carrying robot is on 09 27th, 2010, carrying robot in application number two-stage coalmine rescue robot system disclosed in the Chinese patent of 201010295904.3, be located on front side of robot body one 1-1 except robot storage compartment 1-2 is changed, laying system storage compartment 1-3 has been set up on rear side of robot body one 1-1, and the bottom of robot storage compartment 1-2 and laying system storage compartment 1-3 is provided with support wheel 1-13, one end of laying system storage compartment 1-3 is openend and is provided with the repeater delivered from godown for wireless communication relay 5 to export outside a 7-1, all the other structures, shape, annexation and operating principle are all identical with published carrying robot.In actual use procedure, described existing transport channel is the track be made up of the rail of two parallel layings.Described laying system storage compartment 1-3, robot body one 1-1 and robot storage compartment 1-2 define a monolithic cube car body from back to front, after described monolithic cube vehicle body is divided into by dividing plate, in, first three part, its rear portion is robot storage compartment 1-2, middle part is robot body one 1-1, anterior be laying system storage compartment 1-3.

Described robot storage compartment 1-2 internal memory is placed with for carrying out the sniffing robot that detects in real time to underground coal mine relevant context information and laying communication network robot for what follow that sniffing robot carries out that communication network builds, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two 2-1, in described robot body two 2-1, walking mechanism two 2-2 is installed, to driving mechanism two 2-3 that walking mechanism two 2-2 drives, environmental information monitoring means two 2-4, independent 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 independent navigation unit two 2-5 and range cells two 2-6 all connects, described driving mechanism two 2-3 is undertaken controlling by control system two 2-8 and it connects with control system two 2-8, described wireless communication unit two 2-7 connects with control system two 2-8, two-way communication is carried out 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, described control system two 2-8 carries out two-way communication by wireless communication unit two 2-7 and rescue command central computer 6, during concrete enforcement, described sniffing robot have employed the applying date be on 09 27th, 2010, sniffing robot in application number two-stage coalmine rescue robot system disclosed in the Chinese patent of 201010295904.3, and its structure, shape, annexation and operating principle are all identical with published sniffing robot.

Composition graphs 4, the described communication network robot that lays comprises the 3rd robot body and the repeater be arranged on the 3rd robot body and exports two 7-2, described 3rd robot body is provided with walking mechanism three, driving mechanism three 3-6 driven walking mechanism three is installed in described 3rd robot body, environmental information monitoring means three 3-7, wireless communication unit three 3-9 and control system three 3-8 connected with environmental information monitoring means three 3-7, described driving mechanism three 3-6 is undertaken controlling by control system three 3-8 and it connects with control system three 3-8, described wireless communication unit three 3-9 connects with control system three 3-8, described control system three 3-8 carries out two-way communication by wireless communication unit three 3-9 and rescue command central computer 6, described laying in communication network robot is equipped with the first wireless communication relay laying system, described laying system storage compartment 1-3 internal memory is placed with the second wireless communication relay laying system, the wireless communication relay 5 that described first wireless communication relay laying system and the second wireless communication relay laying system include wireless communication relay arranging device 4 and leave on wireless communication relay arranging device 4, one end of described laying system storage compartment 1-3 is openend and is provided with the repeater delivered from godown for wireless communication relay 5 to export a 7-1, the wireless communication relay arranging device 4 being positioned at described robot storage compartment 1-2 connects with described control system one 1-12, and the wireless communication relay arranging device 4 being positioned at described laying system storage compartment 1-3 connects with described control system three 3-8.

Composition graphs 5 and Fig. 6, in the present embodiment, described walking mechanism three is crawler type walking mechanism 3-5, described 3rd robot body comprises inside and is provided with cavity and the uncovered base 3-1 in top and be fixedly connected on the top cover 3-2 on base 3-1 top, described base 3-1 is provided with the first depressed part, described top cover 3-2 is provided with the second depressed part, described first depressed part matches with the second depressed part and constitutes repeater and export two 7-2, the quantity of described crawler type walking mechanism 3-5 is two and two described crawler type walking mechanism 3-5 are symmetricly set on the both sides of described base 3-1, the sidewall of described base 3-1 connecting band track formula walking mechanism 3-5 is provided with multiple gravity vent 3-3, described driving mechanism three 3-6, environmental information monitoring means three 3-7, wireless communication unit three 3-9 and control system three 3-8 is all arranged in base 3-1 internal cavities, be provided with for covering described driving mechanism three 3-6 between described top cover 3-2 and base 3-1, 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 walking mechanism three is crawler type walking mechanism 3-5, can adapt to underground coal mine and to jolt uneven road surface, lay communication network robot and have stronger kinetic stability, mobility, flexibility and the compliance to environment described in making.In actual use procedure, according to the actual state on underground coal mine road surface, described walking mechanism three also can adopt wheel type traveling mechanism.Described environmental information monitoring means 3-7 comprise carbon monoxide transducer for carrying out carbon monoxide gas concentration in environment detecting in real time, for carry out oxygen concentration in environment detecting in real time oxygen concentration sensor, for carry out gas density in environment detecting in real time firedamp sensor, for carrying out the temperature pick up that detects in real time and the video camera for carrying out Real-time Collection to image information to temperature in environment.

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

In described carrying robot actual moving process, the relevant environmental parameter in run coal mine roadway detected in real time and carries out synchronous recording, if desired institute's Detection Information being sent to described ground control centre computer 6 by wireless communication unit one 1-11; When described carrying robot to be stoped by obstruction or track receive destruction can not continue reach time, then open door, put down sniffing robot and lay communication network robot, sniffing robot utilizes the function such as independent navigation, autonomous of himself to continue to move ahead, move to down-hole detect in real time near the position that accident occurs and to the relevant environmental parameter of accident nidus and carry out synchronous recording, if desired institute's Detection Information is sent to ground by wireless communication unit two 2-7.Described when laying communication network robot actual motion, be the manipulation by ground control centre computer 6, walk along the route of walking before sniffing robot, simplify the path planning problem of carrying robot.

Composition graphs 7, Fig. 8, Fig. 9 and Figure 10, in the present embodiment, the wireless communication relay arranging device 4 being positioned at described robot storage compartment 1-2 and the wireless communication relay arranging device 4 being positioned at described laying system storage compartment 1-3 include arranging device housing 4-1 and are arranged on arranging device housing 4-1 and dividing plate one 4-2 for arranging device housing 4-1 inner chamber being separated into power bin 4-24 and wireless communication relay storage compartment 4-25, the top of described arranging device housing 4-1 is provided with upper cover plate 4-22, the bottom of described arranging device housing 4-1 is provided with repeater and exports three 7-3, the supporting rail 4-4 being provided with the slip rail 4-3 be fixedly connected with dividing plate one 4-2 in described wireless communication relay storage compartment 4-25 and paralleling with slip rail 4-3, space between described slip rail 4-3 and described supporting rail 4-4 is that wireless communication relay deposits track 4-5, in described power bin 4-24, one end is provided with cloth Electrical Discharge Machine 4-6, described cloth Electrical Discharge Machine 4-6 connects 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 has extend in described wireless communication relay storage compartment 4-25 through described dividing plate one 4-2 and slip rail 4-3, the output shaft being arranged in the cloth Electrical Discharge Machine 4-6 of described wireless communication relay storage compartment 4-25 is provided with the first belt wheel 4-7, in described power bin 4-24, the other end is provided with driven shaft fixed station 4-8, described driven shaft fixed station 4-8 is rotatably connected to driven shaft 4-9, described driven shaft 4-9 has extend in described wireless communication relay storage compartment 4-25 through described dividing plate one 4-2 and slip rail 4-3, the driven shaft 4-9 being arranged in described wireless communication relay storage compartment 4-25 is provided with the second belt wheel 4-10, be provided with wireless communication relay 5 in described wireless communication relay storage compartment 4-25 to push away and put assembly, described wireless communication relay 5 pushes away to be put assembly and comprises the pullover 4-11 of slip be slidably connected on slip rail 4-3, be rotatably connected on the sliding axle 4-12 slided on pullover 4-11, be arranged on the 3rd belt wheel 4-13 on sliding axle 4-12 and be fixedly connected on and sliding axle 4-12 lays push pedal 4-14, described sliding axle 4-12 and described supporting rail 4-4 is slidably connected, described first belt wheel 4-7, second belt wheel 4-10 and the 3rd belt wheel 4-13 is connected with synchronous cog belt 4-15.

Composition graphs 7, Fig. 8, Fig. 9 and Figure 10, in the present embodiment, the quantity of described dividing plate one 4-2 is two pieces, the quantity of corresponding described power bin 4-24 is two and the quantity of 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 deposit track 4-5 is two, and it is two groups that described wireless communication relay 5 pushes away the quantity of putting assembly.The one end being provided with cloth Electrical Discharge Machine 4-6 in described power bin 4-24 is provided with cloth Electrical Discharge Machine erecting bed 4-16, described cloth Electrical Discharge Machine erecting bed 4-16 is fixedly connected with motor mounting clamp 4-23, and described cloth Electrical Discharge Machine 4-6 is arranged on cloth Electrical Discharge Machine erecting bed 4-16 by motor mounting clamp 4-23; What described dividing plate one 4-2 and slip rail 4-3 is provided with the output shaft for installing supports cloth Electrical Discharge Machine 4-6 lays motor bearings 4-17 and the driven bearing 4-18 for installing support driven shaft 4-9; Described slip rail 4-3 is fixedly connected with and lays motor bearings cover plate 4-19 and the driven bearing cover 4-20 for fixing driven bearing 4-18 for stationary cloth Electrical Discharge Machine bearing 4-17; The pullover 4-11 of described slip is provided with the sliding bearing 4-21 for being rotationally connected described sliding axle 4-12.

In the present embodiment, described cloth Electrical Discharge Machine 4-6 is the direct current generator from tape drive, just can directly be controlled by control system one 1-12 or control system three 3-10, and with driver 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 up of the rubber tile of internal layer and outer field pressing plate.During concrete enforcement, being fixedly connected on described 3rd robot body by wireless communication relay arranging device 4 by U-shaped stirrup 8, specifically, is be fixedly connected with described top cover 3-2 by bolt by U-shaped stirrup 8.

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

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, gravity block 5-6 is provided with in described tumbler base 5-1, wireless communication module 5-7 and the power module 5-8 for powering to wireless communication module 5-7 is provided with in described tumbler housing, described tumbler housing tip is connected with antenna clamping head 5-4, described antenna clamping head 5-4 is clamped with the antenna 5-5 connected with wireless communication module 5-7 by antenna connection wire 5-12.

In conjunction with Figure 11 and Figure 12, in the present embodiment, the shape of described tumbler base 5-1 is hemispherical; Described tumbler housing is by the communication storehouse housing 5-2 be connected with tumbler base 5-1 and connect storehouse housing 5-3 with the antenna 5-5 that is connected of communication storehouse housing 5-2 and form, and described antenna clamping head 5-4 is connected to the top of antenna 5-5 connection storehouse housing 5-3; The shape of described communication storehouse housing 5-2 is horn-like, and the shape that described antenna 5-5 connects storehouse housing 5-3 is cylindric.Mine intrinsic safety junction box 5-9 is provided with in described communication storehouse housing 5-2, described wireless communication module 5-7 and power module 5-8 is installed in mine intrinsic safety junction box 5-9, described mine intrinsic safety junction box 5-9 is provided with the antenna connecting hole 5-91 passed for antenna connection wire 5-12; The top of described tumbler base 5-1 is fixedly connected with dividing plate two 5-10, described dividing plate two 5-10 is provided with yielding rubber pad 5-11, and described mine intrinsic safety junction box 5-9 to be arranged on described yielding rubber pad 5-11 and to be fixedly connected on described dividing plate two 5-10 together with on described yielding rubber pad 5-11.Particularly, described dividing plate two 5-10 is fixedly connected on the top of described tumbler base 5-1 by the first bolt 5-13 and the first nut 5-14, and described mine intrinsic safety junction box 5-9 and yielding rubber pad 5-11 is 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 junction box 5-9 by base plate 5-92, be fixedly connected on the box body 5-93 on base plate 5-92 and the lid 5-94 be movably connected on box body 5-93 and form, described base plate 5-92 is provided with screwed hole 5-95, and described antenna connecting hole 5-91 is arranged on box body 5-93 sidewall.

In conjunction with Figure 14, Underground Wireless Communication in Coal Mine networking method of the present invention, comprises the following steps:

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

Step 2, underground coal mine environmental information, the detection of communication signal strength and geography information and uploading: carrying robot to run and in running along the existing transport channel laid in coal mine down-hole tunnel, by environmental information monitoring means one 1-7, underground coal mine environmental information is detected in real time, and by wireless communication unit one 1-11, Mine Communication signal strength signal intensity is detected in real time, simultaneously, by independent navigation unit one 1-8 and range cells one 1-9, the geography information to carrying robot present position place detects in real time, control system one 1-12 gathers the underground coal mine environmental information detected by environmental information monitoring means one 1-7 and the Mine Communication signal strength signal intensity a detected by wireless communication unit one 1-11, and independent navigation unit one 1-8 and the underground coal mine geography information detected by 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 underground coal mine environmental information and communication signal strength: control system one 1-12 transfer environment information and communication signal strength data processing module carry out analyzing and processing to underground coal mine environmental information and Mine Communication signal strength signal intensity a, first by Mine Communication signal strength signal intensity a compared with the normal operational communications signal strength signal intensity b of the equipment preset, work as a<b, judge whether underground coal mine environmental information can reach the normal job requirement of wireless communication relay 5 again, when underground coal mine environmental information can reach the normal job requirement of wireless communication relay 5, the wireless communication relay arranging device 4 that control system one 1-12 controls to be positioned at described laying system storage compartment 1-3 lays a wireless communication relay 5 to underground coal mine, simultaneously, wireless communication relay arranging device 4 feeds back its run signal to control system one 1-12, the run signal of wireless communication relay arranging device 4 is transferred to rescue command central computer 6 by wireless communication unit one 1-11 by control system one 1-12, otherwise, as a ﹥ b, but or a<b underground coal mine environmental information can not reach wireless communication relay 5 normal job requirement time, all return step 2,

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

The drafting of step 5, underground coal mine emergency management and rescue cordless communication network link map: first, the run signal of the underground coal mine environmental information that rescue command central computer 6 receiving control system one 1-12 transmits, Mine Communication signal strength signal intensity a, underground coal mine geography information and wireless communication relay arranging device 4, and wireless communication relay 5 transmit wireless communication signals intensity, MAC Address, IP address and communication information amount store; Then, rescue command central computer 6 calls underground coal mine emergency management and rescue cordless communication network link map drawing module, to receive above and the information stored is plotted on the mine laneway map that is stored in advance in rescue command central computer 6, the map drawn out is underground coal mine emergency management and rescue cordless communication network link map;

Step 6, circulation step one is to step 4, until the run signal of wireless communication relay arranging device 4 that rescue command central computer 6 transmits according to control system one 1-12 judges that the volume residual of the wireless communication relay 5 carried in laying system storage compartment 1-3 is zero, or judge that the transport channel of carrying robot there occurs interruption according to the underground coal mine geography information that control system one 1-12 transmits, now, warning signal is sent by rescue command central computer 6, the control signal that the door inputting described robot storage compartment 1-2 by rescue command central computer 6 after staff sees warning signal is opened and the control signal that sniffing robot delivers from godown, described control system one 1-12 is received control signal that door that rescue command central computer 6 sends opens by wireless communication unit one 1-11 and is controlled door driving mechanism for switches 1-4 and drives the door of described robot storage compartment 1-2 to open, described control system two 2-8 is received control signal that sniffing robot that rescue command central computer 6 sends delivers from godown by wireless communication unit two 2-7 and is driven walking mechanism two 2-2 to drive described sniffing robot to deliver from godown by driving mechanism two 2-3 and enters coal mine down-hole tunnel, control system three 3-8 detect by environmental information monitoring means three 3-7 the signal that sniffing robot has delivered from godown and signal real-time Transmission environmental information monitoring means three 3-7 detected by wireless communication unit three 3-9 to rescue command central computer 6, the data that staff uploads according to environmental information monitoring means three 3-7 be presented on described rescue command central computer 6, export corresponding travelling control signal to described in lay communication network robot, described control system three 3-8 laid in communication network robot receives the travelling control signal of rescue command central computer 6 transmission by wireless communication unit three 3-9 and drives walking mechanism three by driving mechanism three 3-6, make to lay the walking path walking that communication network robot follows sniffing robot,

The secondary detection of step 7, Mine Communication signal strength signal intensity and uploading: described in lay in communication network robot ambulation process, by wireless communication unit three 3-9, Mine Communication signal strength signal intensity is detected in real time, control system three 3-8 gathers the Mine Communication signal strength signal intensity c detected by wireless communication unit three 3-9, 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 signal intensity of secondary detection: the Mine Communication signal strength signal intensity c of control system three 3-8 communication signal strength data processing module to secondary detection carries out analyzing and processing, by the Mine Communication signal strength signal intensity c of secondary detection compared with the normal operational communications signal strength signal intensity b of the equipment preset, work as c<b, described in control system three 3-8 control is mounted in, the wireless communication relay arranging device 4 laid in communication network robot lays a wireless communication relay 5 to underground coal mine, simultaneously, wireless communication relay arranging device 4 feeds back its run signal to control system three 3-8, the run signal of wireless communication relay arranging device 4 is transferred to rescue command central computer 6 by wireless communication unit three 3-9 by control system three 3-8, otherwise, as c>b, return step 7,

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

The renewal of step 10, underground coal mine emergency management and rescue cordless communication network link map: first, the Mine Communication signal strength signal intensity c that rescue command central computer 6 receiving control system three 3-8 transmits and the run signal of wireless communication relay arranging device 4, and wireless communication relay 5 transmit wireless communication signals intensity, MAC Address, IP address and communication information amount store; Then, rescue command central computer 6 calls underground coal mine emergency management and rescue cordless communication network link map rejuvenation module, to receive above and the information stored is plotted on the underground coal mine emergency management and rescue cordless communication network link map that step 4 draws, complete the renewal of underground coal mine emergency management and rescue cordless communication network link map;

Step 11, circulation step seven arrive step 10, until complete building of underground coal mine emergency management and rescue cordless communication network.

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

Claims (10)

1. a underground coal mine emergency management and rescue cordless communication network independently builds system, it is characterized in that: the rescue robot system comprising rescue command central computer (6) and also communicate with rescue command central computer (6) wireless connections, described rescue robot system comprise along the existing transport channel laid in coal mine down-hole tunnel run and in running synchronously to the relevant context information in coal mine down-hole tunnel carry out detecting in real time carrying robot, the artificial wheel type robot of described carrying machine, 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), the door of described robot storage compartment (1-2) is provided with the door driving mechanism for switches (1-4) for driving described door switch, be provided with for the walking mechanism one (1-5) along the existing transport channel walking of laying in coal mine down-hole tunnel in described robot body one (1-1), to the driving mechanism one (1-6) that walking mechanism one (1-5) drives, environmental information monitoring means one (1-7), independent navigation unit one (1-8) and range cells one (1-9), described robot body one (1-1) is provided with automatic troubleshooting mechanism (1-10), 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 independent navigation unit one (1-8) all connect, described door driving mechanism for switches (1-4), automatic troubleshooting mechanism (1-10) and driving mechanism one (1-6) are undertaken controlling by control system one (1-12) and three all connects with control system one (1-12), described wireless communication unit one (1-11) connects with control system one (1-12),

Described robot storage compartment (1-2) internal memory is placed with for carrying out the sniffing robot that detects in real time to underground coal mine relevant context information and laying communication network robot for what follow that sniffing robot carries out that communication network builds, described sniffing robot is caterpillar type robot, described sniffing robot comprises robot body two (2-1), in described robot body two (2-1), walking mechanism two (2-2) is installed, to the driving mechanism two (2-3) that walking mechanism two (2-2) drives, environmental information monitoring means two (2-4), independent 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 independent navigation unit two (2-5) and range cells two (2-6) all connect, described driving mechanism two (2-3) is undertaken controlling by control system two (2-8) and it connects with control system two (2-8), described wireless communication unit two (2-7) connects with control system two (2-8), two-way communication is carried out 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), described control system two (2-8) carries 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 is arranged on repeater outlet two (7-2) on the 3rd robot body, described 3rd robot body is provided with walking mechanism three, the driving mechanism three (3-6) driven walking mechanism three is installed in described 3rd robot body, environmental information monitoring means three (3-7), wireless communication unit three (3-9) and the control system three (3-8) connected with environmental information monitoring means three (3-7), described driving mechanism three (3-6) is undertaken controlling by control system three (3-8) and it connects with control system three (3-8), described wireless communication unit three (3-9) connects with control system three (3-8), described control system three (3-8) carries out two-way communication by wireless communication unit three (3-9) and rescue command central computer (6), described laying in communication network robot is equipped with the first wireless communication relay laying system,

Described laying system storage compartment (1-3) internal memory is placed with the second wireless communication relay laying system, described first wireless communication relay laying system and the second wireless communication relay laying system include wireless communication relay arranging device (4) and leave the wireless communication relay (5) on wireless communication relay arranging device (4) in, and one end of described laying system storage compartment (1-3) is openend and is provided with repeater outlet one (7-1) delivered from godown for wireless communication relay (5); The wireless communication relay arranging device (4) being positioned at described robot storage compartment (1-2) connects with described control system one (1-12), and the wireless communication relay arranging device (4) being positioned at described laying system storage compartment (1-3) connects with described control system three (3-8).

2. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 1, it is characterized in that: described walking mechanism three is crawler type walking mechanism (3-5), described 3rd robot body comprises inside and is provided with cavity and the uncovered base (3-1) in top and be fixedly connected on the top cover (3-2) on base (3-1) top, described base (3-1) is provided with the first depressed part, described top cover (3-2) is provided with the second depressed part, described first depressed part matches with the second depressed part and constitutes repeater and export two (7-2), the quantity of described crawler type walking mechanism (3-5) is two and two described crawler type walking mechanisms (3-5) are symmetricly set on the both sides of described base (3-1), the sidewall of described base (3-1) connecting band track formula walking mechanism (3-5) is provided with multiple gravity vent (3-3), described driving mechanism three (3-6), environmental information monitoring means three (3-7), wireless communication unit three (3-9) and control system three (3-8) are all arranged in base (3-1) internal cavities, be provided with for covering described driving mechanism three (3-6) between described top cover (3-2) and base (3-1), 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 the underground coal mine emergency management and rescue cordless communication network described in claim 1 or 2, it is characterized in that: the wireless communication relay arranging device (4) being positioned at described robot storage compartment (1-2) and the wireless communication relay arranging device (4) being positioned at described laying system storage compartment (1-3) include arranging device housing (4-1) and be arranged on arranging device housing (4-1) and dividing plate one (4-2) for arranging device housing (4-1) inner chamber being separated into power bin (4-24) and wireless communication relay storage compartment (4-25), the top of described arranging device housing (4-1) is provided with upper cover plate (4-22), the bottom of described arranging device housing (4-1) is provided with repeater outlet three (7-3), the supporting rail (4-4) being provided with the slip rail (4-3) be fixedly connected with dividing plate one (4-2) in described wireless communication relay storage compartment (4-25) and paralleling with slip rail (4-3), space between described slip rail (4-3) and described supporting rail (4-4) is that wireless communication relay deposits track (4-5), described power bin (4-24) interior one end is provided with cloth Electrical Discharge Machine (4-6), described cloth Electrical Discharge Machine (4-6) connects 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) has extend in described wireless communication relay storage compartment (4-25) through described dividing plate one (4-2) and slip rail (4-3), the output shaft being arranged in the cloth Electrical Discharge Machine (4-6) of described wireless communication relay storage compartment (4-25) is provided with the first belt wheel (4-7), described power bin (4-24) the interior other end is provided with driven shaft fixed station (4-8), described driven shaft fixed station (4-8) is rotatably connected to driven shaft (4-9), described driven shaft (4-9) has extend in described wireless communication relay storage compartment (4-25) through described dividing plate one (4-2) and slip rail (4-3), the driven shaft (4-9) being arranged in described wireless communication relay storage compartment (4-25) is provided with the second belt wheel (4-10), be provided with wireless communication relay (5) in described wireless communication relay storage compartment (4-25) to push away and put assembly, described wireless communication relay (5) pushes away to be put assembly and comprises the slip pullover (4-11) be slidably connected on slip rail (4-3), be rotatably connected on the sliding axle (4-12) slided on pullover (4-11), be arranged on the 3rd belt wheel (4-13) on sliding axle (4-12) and be fixedly connected on and sliding axle (4-12) lays push pedal (4-14), described sliding axle (4-12) and described supporting rail (4-4) are slidably connected, described first belt wheel (4-7), second belt wheel (4-10) and the 3rd belt wheel (4-13) are connected with synchronous cog belt (4-15).

4. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 3, it is characterized in that: the quantity of described dividing plate one (4-2) is two pieces, the quantity of corresponding described power bin (4-24) is two and the quantity of 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 deposit track (4-5) is two, it is two groups that described wireless communication relay (5) pushes away the quantity of putting assembly.

5. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 3, it is characterized in that: the one end being provided with cloth Electrical Discharge Machine (4-6) in described power bin (4-24) is provided with cloth Electrical Discharge Machine erecting bed (4-16), described cloth Electrical Discharge Machine erecting bed (4-16) is fixedly connected with motor mounting clamp (4-23), and described cloth Electrical Discharge Machine (4-6) is arranged on cloth Electrical Discharge Machine erecting bed (4-16) by motor mounting clamp (4-23); Described dividing plate one (4-2) and slip rail (4-3) are provided with the output shaft for installing supports cloth Electrical Discharge Machine (4-6) lay motor bearings (4-17) and for installing the driven bearing (4-18) supporting driven shaft (4-9); Described slip rail (4-3) is fixedly connected with and lays motor bearings cover plate (4-19) and the driven bearing cover (4-20) for fixing driven bearing (4-18) for stationary cloth Electrical Discharge Machine bearing (4-17); Described slip pullover (4-11) is provided with the sliding bearing (4-21) for being rotationally connected described sliding axle (4-12).

6. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 1, 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, gravity block (5-6) is provided with in described tumbler base (5-1), wireless communication module (5-7) and the power module (5-8) for powering to wireless communication module (5-7) is provided with in described tumbler housing, described tumbler housing tip is connected with antenna clamping head (5-4), described antenna clamping head (5-4) is clamped with and connects by antenna the antenna (5-5) that wire (5-12) connects with wireless communication module (5-7).

7. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 6, it is characterized in that: the shape of described tumbler base (5-1) is hemispherical; Described tumbler housing is by communication storehouse housing (5-2) be connected with tumbler base (5-1) and connect storehouse housing (5-3) with communication storehouse housing (5-2) antenna (5-5) that is connected and form, and described antenna clamping head (5-4) is connected to the top that antenna (5-5) connects storehouse housing (5-3); The shape of described communication storehouse housing (5-2) is horn-like, and the shape that described antenna (5-5) connects storehouse housing (5-3) is cylindric.

8. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 6, it is characterized in that: in described communication storehouse housing (5-2), be provided with mine intrinsic safety junction box (5-9), described wireless communication module (5-7) and power module (5-8) are installed in mine intrinsic safety junction box (5-9), described mine intrinsic safety junction box (5-9) are provided with the antenna connecting hole (5-91) passed for antenna connection wire (5-12); The top of described tumbler base (5-1) is fixedly connected with dividing plate two (5-10), described dividing plate two (5-10) is provided with yielding rubber pad (5-11), and described mine intrinsic safety junction box (5-9) is arranged on described yielding rubber pad (5-11) and goes up and be fixedly connected on described dividing plate two (5-10) together with on described yielding rubber pad (5-11).

9. independently build system according to underground coal mine emergency management and rescue cordless communication network according to claim 8, it is characterized in that: described mine intrinsic safety junction box (5-9) by base plate (5-92), be fixedly connected on the box body (5-93) on base plate (5-92) and the lid (5-94) be movably connected on box body (5-93) is formed, described base plate (5-92) is provided with screwed hole (5-95), described antenna connecting hole (5-91) is arranged on box body (5-93) sidewall.

10. utilize the autonomous building method of underground coal mine emergency management and rescue cordless communication network of system as claimed in claim 1, it is characterized in that the method comprises the following steps:

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

Step 2, underground coal mine environmental information, the detection of communication signal strength and geography information and uploading: carrying robot to run and in running along the existing transport channel laid in coal mine down-hole tunnel, by environmental information monitoring means one (1-7), underground coal mine environmental information is detected in real time, and by wireless communication unit one (1-11), Mine Communication signal strength signal intensity is detected in real time, simultaneously, by independent navigation unit one (1-8) and range cells one (1-9), the geography information to carrying robot present position place detects in real time, control system one (1-12) gathers the underground coal mine environmental information detected by environmental information monitoring means one (1-7) and the Mine Communication signal strength signal intensity a detected by wireless communication unit one (1-11), and independent navigation unit one (1-8) and the underground coal mine geography information detected by 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 underground coal mine environmental information and communication signal strength: control system one (1-12) transfer environment information and communication signal strength data processing module carry out analyzing and processing to underground coal mine environmental information and Mine Communication signal strength signal intensity a, first by Mine Communication signal strength signal intensity a compared with the normal operational communications signal strength signal intensity b of the equipment preset, work as a<b, judge whether underground coal mine environmental information can reach the normal job requirement of wireless communication relay (5) again, when underground coal mine environmental information can reach the normal job requirement of wireless communication relay (5), the wireless communication relay arranging device (4) that control system one (1-12) controls to be positioned at described laying system storage compartment (1-3) lays a wireless communication relay (5) to underground coal mine, simultaneously, wireless communication relay arranging device (4) feeds back its run signal to control system one (1-12), the run signal of wireless communication relay arranging device (4) is transferred to rescue command central computer (6) by wireless communication unit one (1-11) by control system one (1-12), otherwise, as a ﹥ b, but or a<b underground coal mine environmental information can not reach wireless communication relay (5) normal job requirement time, all return step 2,

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

The drafting of step 5, underground coal mine emergency management and rescue cordless communication network link map: first, the run signal of the underground coal mine environmental information that rescue command central computer (6) receiving control system one (1-12) transmits, Mine Communication signal strength signal intensity a, underground coal mine geography information and wireless communication relay arranging device (4), and wireless communication relay (5) transmit wireless communication signals intensity, MAC Address, IP address and communication information amount store; Then, rescue command central computer (6) calls underground coal mine emergency management and rescue cordless communication network link map drawing module, to receive above and the information stored is plotted on the mine laneway map that is stored in advance in rescue command central computer (6), the map drawn out is underground coal mine emergency management and rescue cordless communication network link map;

Step 6, circulation step one is to step 4, until the run signal of wireless communication relay arranging device (4) that rescue command central computer (6) transmits according to control system one (1-12) judges that the volume residual of the wireless communication relay (5) carried in laying system storage compartment (1-3) is zero, or judge that the transport channel of carrying robot there occurs interruption according to the underground coal mine geography information that control system one (1-12) is transmitted, now, warning signal is sent by rescue command central computer (6), the control signal that the door inputting described robot storage compartment (1-2) by rescue command central computer (6) after staff sees warning signal is opened and the control signal that sniffing robot delivers from godown, described control system one (1-12) is received control signal that door that rescue command central computer (6) sends opens by wireless communication unit one (1-11) and is controlled door driving mechanism for switches (1-4) and drives the door of described robot storage compartment (1-2) to open, described control system two (2-8) is received control signal that sniffing robot that rescue command central computer (6) sends delivers from godown by wireless communication unit two (2-7) and is driven walking mechanism two (2-2) to drive described sniffing robot to deliver from godown by driving mechanism two (2-3) and enters coal mine down-hole tunnel, control system three (3-8) detect by environmental information monitoring means three (3-7) signal that sniffing robot has delivered from godown and signal real-time Transmission environmental information monitoring means three (3-7) detected by wireless communication unit three (3-9) to rescue command central computer (6), the data that staff uploads according to the environmental information monitoring means three (3-7) be presented on described rescue command central computer (6), export corresponding travelling control signal to described in lay communication network robot, describedly lay control system three (3-8) in communication network robot and receive by wireless communication unit three (3-9) travelling control signal that rescue command central computer (6) sends and drive walking mechanism three by driving mechanism three (3-6), make to lay the walking path walking that communication network robot follows sniffing robot,

The secondary detection of step 7, Mine Communication signal strength signal intensity and uploading: described in lay in communication network robot ambulation process, by wireless communication unit three (3-9), Mine Communication signal strength signal intensity is detected in real time, control system three (3-8) gathers the Mine Communication signal strength signal intensity c detected by wireless communication unit three (3-9), 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 signal intensity of secondary detection: the Mine Communication signal strength signal intensity c of control system three (3-8) communication signal strength data processing module to secondary detection carries out analyzing and processing, by the Mine Communication signal strength signal intensity c of secondary detection compared with the normal operational communications signal strength signal intensity b of the equipment preset, work as c<b, described in control system three (3-8) control is mounted in, the wireless communication relay arranging device (4) laid in communication network robot lays a wireless communication relay (5) to underground coal mine, simultaneously, wireless communication relay arranging device (4) feeds back its run signal to control system three (3-8), the run signal of wireless communication relay arranging device (4) is transferred to rescue command central computer (6) by wireless communication unit three (3-9) by control system three (3-8), otherwise, as c>b, return step 7,

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

The renewal of step 10, underground coal mine emergency management and rescue cordless communication network link map: first, the run signal of the Mine Communication signal strength signal intensity c that rescue command central computer (6) receiving control system three (3-8) transmits and wireless communication relay arranging device (4), and wireless communication relay (5) transmit wireless communication signals intensity, MAC Address, IP address and communication information amount store; Then, rescue command central computer (6) calls underground coal mine emergency management and rescue cordless communication network link map rejuvenation module, to receive above and the information stored is plotted on the underground coal mine emergency management and rescue cordless communication network link map that step 4 draws, complete the renewal of underground coal mine emergency management and rescue cordless communication network link map;

Step 11, circulation step seven arrive step 10, until complete building of underground coal mine emergency management and rescue cordless communication network.