CN107313801A - Formula robot system is protected in a kind of self-regulation for underground inspection - Google Patents
Formula robot system is protected in a kind of self-regulation for underground inspection Download PDFInfo
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- CN107313801A CN107313801A CN201710727491.3A CN201710727491A CN107313801A CN 107313801 A CN107313801 A CN 107313801A CN 201710727491 A CN201710727491 A CN 201710727491A CN 107313801 A CN107313801 A CN 107313801A
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- 238000007689 inspection Methods 0.000 title claims abstract description 38
- 239000007789 gas Substances 0.000 claims abstract description 46
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 21
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 21
- 239000001301 oxygen Substances 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 34
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 17
- 239000001569 carbon dioxide Substances 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 13
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 10
- 239000000779 smoke Substances 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000012546 transfer Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000505 pernicious effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 241000790917 Dioxys <bee> Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003197 catalytic effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 239000004408 titanium dioxide Substances 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Emergency Management (AREA)
- Pulmonology (AREA)
- Emergency Alarm Devices (AREA)
- Manipulator (AREA)
Abstract
Formula robot system is protected the invention discloses a kind of self-regulation for underground inspection, is related to robot system technical field.Including microprocessor and monitoring center system, microprocessor receives video, image, distance, humidity, temperature, smog, gas density, oxygen concentration, gas concentration lwevel information；Microprocessor draws positional information by rail contact module；Microprocessor exports alarm command to alarm；Microprocessor is exported to power failure protection module to be powered off and telegram in reply order；Microprocessor is carried out data transmission with monitoring center system by wireless transport module；Advance, retrogressing and the stopping of the module control machine people of motor one；The expansion of the module of motor two control cover plate module robot and closure.The present invention possesses the collection of the parameters such as image, temperature, humidity, gas density, and can transfer data to long-range Surveillance center by wireless wifi modes, solves the manual measurement time and does not fix, the problem of data are reported not in time.
Description
Technical field
The invention belongs to robot system technical field, formula is protected in more particularly to a kind of self-regulation for underground inspection
Robot system.
Background technology
In recent years, with the continuous improvement of safety of coal mines equipment, commonly used, the pernicious gas of methane monitoring system
Detection means be also gradually improved, each large and medium-sized mine has formd artificial fixed point, timing detection and has been combined with monitoring automatically
Detection architecture.In artificial detection method, in addition to sampling analysis method, most popular at present or quick measure
Method.In getting working face air intake, calculate by volume, oxygen concentration is not less than 20%；Gas concentration lwevel is no more than 0.5%.
During mine total return air lane or a wing return airway are distinguished and admirable, when carbon dioxide is more than 0.75%, it is necessary to ascertain the reason immediately, located
Reason.When the distinguished and admirable middle carbon dioxide of exploiting field return airway, getting working face return airway is more than 1.5%, the distinguished and admirable middle dioxy of getting working face
When change concentration of carbon reaches 1.5%, it is necessary to be stopped, withdraw from personnel, handled.Therefore, it is all daily in exploiting colliery
Monitoring gas and harmful gas concentration change are necessarily required, two kinds of knots are monitored using live artificial mobile monitoring and equipment fixing point
Conjunction mode.
A kind of self-regulation protection formula robot system for underground inspection is directed to existing detection technique means, mainly according to
Rely artificial flow acquisitions and the collection of stationary monitoring point, face and main roadway region carry out artificial flow acquisitions gas sample,
Working environment is complicated, and more danger is operated near big machinery, and artificial collection can be because individual's work and rest influence detection time, pole
Easily there is missing inspection and phenomenon of leaving post in it.And also easily there is the randomness of test point in artificial detection, causes detection error and leakage
Inspection.Therefore, the artificial gas in underground and pernicious gas detection means existing defects and deficiency.
The present invention is that formula robot system is protected in a kind of self-regulation for underground inspection, possess image, temperature, humidity,
The collection of the parameters such as gas density, and long-range Surveillance center, downhole intelligent can be transferred data to by wireless wifi modes
Crusing robot carries out inspection back and forth according to set circuit, and polling period can be configured according to circumstances.So as to solve
Manual measurement time is not fixed, the problem of data are reported not in time.Moreover, enormously simplify the workload manually gathered.It is right
Testing result accomplishes reasonable, and crusing robot has that monitoring cost is low, simple in construction, performance is good, easy to use and production
The features such as quality is high.Respective country robot subtracts people's development main trend and direction.Also the defect of manual inspection has effectively been prevented,
The scientific basis of the digital mine safety production of lifting.
The content of the invention
Formula robot system is protected it is an object of the invention to provide a kind of self-regulation for underground inspection, passes through underground
Intelligent inspection robot carries out inspection back and forth according to set circuit, and polling period can be configured according to circumstances, solves
Existing manual measurement time is not fixed, the problem of data are reported not in time.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is protected in formula robot system, including microprocessor and monitoring for a kind of self-regulation for underground inspection
System is felt concerned about, the microprocessor receives the video information and image information of all-directional infrared camera；The microprocessor is received
The range data information of infrared distance measuring sensor；The microprocessor receives the humidity data information of humidity sensor；It is described
Microprocessor receives the temperature data information of temperature sensor；The microprocessor receives the smog information of Smoke Sensor；Institute
State the gas density data message that microprocessor receives gas acquisition module；The microprocessor receives the oxygen of oxygen acquisition module
Gas concentration data information；The microprocessor receives the gas concentration lwevel data message of carbon dioxide acquisition module；It is described micro-
Processor receives the data message of rail contact module；The microprocessor carries out data transmission with data memory module；It is described
Microprocessor is rotated forward to the output of the module of motor one, inverted and shutdown command；The microprocessor is believed to speech ciphering equipment output voice
Breath；The microprocessor is rotated forward to the output of the module of motor two, inverted and shutdown command；The microprocessor is defeated to LED lamp module
Go out switch command；The microprocessor exports alarm command to alarm；The microprocessor exports disconnected to power failure protection module
Electricity and telegram in reply order；The microprocessor is carried out data transmission with monitoring center system by wireless transport module；The motor
Advance, retrogressing and the stopping of one module control machine people；The expansion of the module of the motor two control cover plate module robot is with closing
Close.
Further, when the microprocessor receives the distance of infrared distance measuring sensor less than 1m, the microprocessor
Device exports shutdown command to the module of motor one, and the robot stop motion, the microprocessor is exported to monitoring center system
Obstacle waits processing information；The microprocessor receive humidity sensor humidity be more than 95% when, the microprocessor to
Monitoring center system exports the too high prompt message of humidity；The microprocessor receive temperature sensor temperature be less than 20 ° or
During more than 70 °, the microprocessor is to monitoring center system output temperature is too low or too high prompt message；The microprocessor connects
When receiving the smog information of Smoke Sensor, the microprocessor exports smog prompt message to monitoring center system, described micro-
Processor exports alarm command to alarm；The oxygen concentration that the microprocessor receives oxygen acquisition module is less than 20%
When, the microprocessor exports the not enough information of oxygen to monitoring center system, and the microprocessor is ordered to alarm output alarm
Order；When the gas density that the microprocessor receives gas acquisition module is more than 0.75%, the microprocessor is into monitoring
System output is felt concerned about to ascertain the reason information；It is described when the gas density that the microprocessor receives gas acquisition module is more than 1%
Microprocessor exports emergent management information to monitoring center system, and the microprocessor exports alarm command to alarm, described
Microprocessor exports power off command to power failure protection module, carries out power down process, is stopped and removes human action；The microprocessor
When the gas concentration lwevel that device receives carbon dioxide acquisition module is more than 0.5%, the microprocessor is to monitoring center system
Export the information that ascertains the reason；The gas concentration lwevel that the microprocessor receives carbon dioxide acquisition module is more than 0.75%
When, the microprocessor exports emergent management information to monitoring center system；The microprocessor receives carbon dioxide collection
When the gas concentration lwevel of module is more than 1.5%, the microprocessor exports alarm command to alarm, is stopped and removes people
Action；When the microprocessor is to alarm output alarm command, the microprocessor is former to the speech ciphering equipment output alarm
Because of voice messaging.
Further, the monitoring center system is set by the module of microprocessor controlled motor one, the module of motor two, voice
Standby, power failure protection module, LED lamp device and warning device；The monitoring center system receives the data message of microprocessor.
Further, the rail contact module is uniformly arranged on the track of robot ride；Each track is touched
Point module exports different data messages to microprocessor；The microprocessor judges robot according to different data messages
Position.
Further, the speech ciphering equipment exports voice messaging to microprocessor.
Further, the battery module is to all-directional infrared camera, infrared distance measuring sensor, humidity sensor
Device, temperature sensor, Smoke Sensor, firedamp sensor, oxygen sensor, carbon dioxide sensor, rail contact module, electricity
The module of machine one, the module of motor two, speech ciphering equipment, power-off modular, LED lamp device, warning device are powered；The battery module breaks
When electric, powered by backup batteries；The output voltage of the battery module and backup batteries is 12V, and capacity is
7Ah。
Further, while the module control machine people of motor one moves forward and backward, the microprocessor is to cover plate
Order is opened in module output, and the microprocessor opens order to LED lamp module output；The module control machine people of motor one
While stopping, the microprocessor exports shutdown command to cover plate module.
Further, the monitoring center system passes through microprocessor control machine people's inspection；The monitoring center system
Every four hours export inspection order to microprocessor；The robot inspection distance 1km；The polling period is 4h, one day 6
It is secondary；It is 30min the time required to the inspection once.
The invention has the advantages that：
The present invention is that formula robot system is protected in a kind of self-regulation for underground inspection, possess image, temperature, humidity,
The collection of the parameters such as gas density, and long-range Surveillance center, downhole intelligent can be transferred data to by wireless wifi modes
Crusing robot carries out inspection back and forth according to set circuit, and polling period can be configured according to circumstances.So as to solve
Manual measurement time is not fixed, the problem of data are reported not in time.Moreover, enormously simplify the workload manually gathered.It is right
Testing result accomplishes reasonable, and crusing robot has that monitoring cost is low, simple in construction, performance is good, easy to use and production
The features such as quality is high.Respective country robot subtracts people's development main trend and direction.Also the defect of manual inspection has effectively been prevented,
The scientific basis of the digital mine safety production of lifting.
Certainly, any product for implementing the present invention it is not absolutely required to while reaching all the above advantage.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, used required for being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is to disclose a kind of self-regulation for underground inspection to protect formula robot system figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, the present invention protects formula robot system for a kind of self-regulation for underground inspection, including micro-
Processor and monitoring center system, microprocessor receive the video information and image information of all-directional infrared camera；Microprocessor
The range data information of device receiving infrared-ray distance measuring sensor；Microprocessor receives the humidity data information of humidity sensor；It is micro-
Processor receives the temperature data information of temperature sensor；Microprocessor receives the smog information of Smoke Sensor；Microprocessor
Receive the gas density data message of gas acquisition module；Microprocessor receives the oxygen concentration data letter of oxygen acquisition module
Breath；Microprocessor receives the gas concentration lwevel data message of carbon dioxide acquisition module；Microprocessor receives rail contact mould
The data message of block；Microprocessor carries out data transmission with data memory module；Microprocessor to the module of motor one output rotate forward,
Reversion and shutdown command；Microprocessor exports voice messaging to speech ciphering equipment；Microprocessor is rotated forward, instead to the output of the module of motor two
Turn and shutdown command；Microprocessor is to LED lamp module output switch order；Microprocessor exports alarm command to alarm；It is micro-
Processor is exported to power failure protection module to be powered off and telegram in reply order；Microprocessor passes through wireless transport module with monitoring center system
Carry out data transmission；Advance, retrogressing and the stopping of the module control machine people of motor one；The module of motor two controls cover plate module machine
The expansion of people and closure.
Wherein, when microprocessor receives the distance of infrared distance measuring sensor and is less than 1m, microprocessor is to the mould of motor one
Block exports shutdown command, and robot stop motion, microprocessor waits processing information to monitoring center system output obstacle；Micro- place
When the humidity that reason device receives humidity sensor is more than 95%, microprocessor exports the too high prompting of humidity to monitoring center system to be believed
Breath；When microprocessor receives the temperature of temperature sensor less than 20 ° or more than 70 °, microprocessor is defeated to monitoring center system
Go out that temperature is too low or too high prompt message；When microprocessor receives the smog information of Smoke Sensor, microprocessor is to monitoring
Centring system exports smog prompt message, and microprocessor exports alarm command to alarm；Microprocessor receives oxygen collection
When the oxygen concentration of module is less than 20%, microprocessor exports the not enough information of oxygen to monitoring center system, and microprocessor is to report
Alert device output alarm command；Microprocessor receive gas acquisition module gas density be more than 0.75% when, microprocessor to
Monitoring center system exports the information that ascertains the reason；It is micro- when the gas density that microprocessor receives gas acquisition module is more than 1%
Processor to monitoring center system export emergent management information, microprocessor to alarm export alarm command, microprocessor to
Power failure protection module exports power off command, carries out power down process, is stopped and removes human action；Microprocessor receives titanium dioxide
When the gas concentration lwevel of carbon acquisition module is more than 0.5%, microprocessor exports the information that ascertains the reason to monitoring center system；It is micro-
When the gas concentration lwevel that processor receives carbon dioxide acquisition module is more than 0.75%, microprocessor is to monitoring center system
Export emergent management information；When the gas concentration lwevel that microprocessor receives carbon dioxide acquisition module is more than 1.5%, micro- place
Manage device and export alarm command to alarm, be stopped and remove human action；It is micro- when microprocessor is to alarm output alarm command
Processor exports warning reason voice messaging to speech ciphering equipment.
Wherein, monitoring center system passes through the module of microprocessor controlled motor one, the module of motor two, speech ciphering equipment, power-off
Protection module, LED lamp device and warning device；Monitoring center system receives the data message of microprocessor.
Wherein, rail contact module is uniformly arranged on the track of robot ride；Each rail contact module is to micro- place
Manage device and export different data messages；Microprocessor judges the position of robot according to different data messages.
Wherein, speech ciphering equipment exports voice messaging to microprocessor.
Wherein, battery module is passed to all-directional infrared camera, infrared distance measuring sensor, humidity sensor, temperature
Sensor, Smoke Sensor, firedamp sensor, oxygen sensor, carbon dioxide sensor, rail contact module, the module of motor one,
The module of motor two, speech ciphering equipment, power-off modular, LED lamp device, warning device are powered；When battery module is powered off, stored by backup
It is battery-powered；The output voltage of battery module and backup batteries is 12V, and capacity is 7Ah.
Wherein, while the module control machine people of motor one moves forward and backward, microprocessor is exported to cover plate module and opened
Order, microprocessor opens order to LED lamp module output；While the module control machine people of motor one stops, microprocessor
Shutdown command is exported to cover plate module.
Wherein, monitoring center system passes through microprocessor control machine people's inspection；Monitoring center system every four hours to
Microprocessor exports inspection order；Robot inspection distance 1km；Polling period is 4h, six times a day；The time required to inspection once
For 30min.
Wherein, microprocessor receives inspection order, and microprocessor opens order, microprocessor control to cover plate module output
All-directional infrared camera processed, infrared distance measuring sensor, humidity sensor, temperature sensor, Smoke Sensor, oxygen collection
Module, carbon dioxide acquisition module, rail contact module, gas acquisition module, LED lamp device are open mode, microprocessor
The module of controlled motor one carries out forward travel；Robot running track is arranged on the top of passage；When robot runs into barrier,
The module of microprocessor controlled motor one carries out halted state, and the module of motor two controls the artificial closure state of cover plate module machine, when
When barrier is moved out of, the module of microprocessor controlled motor one carries out forward travel；Detection device is detected once per 30s；Monitoring
Centring system shows the dump energy data message of battery module；Ground is provided with charging pile automatic charging；When electricity is low, arrange
Workman is charged；Monitoring center system enters patrol mode and non-patrol mode by microprocessor control machine people.
Wherein, major parameter is as follows：Pixel：2000000 pixels, form：The image of jpeg format, resolution ratio：1920×
1080, communication modes：485 communications, visual angle：70 °, distance of taking pictures：It is clear within 50 meters, operating voltage：DC12V ± 15%, work
Make temperature：- 20 DEG C~70 DEG C, working relative humidity：≤ 95% (40 DEG C).
Wherein, formula robot system temperature acquisition is protected in a kind of self-regulation for underground inspection：Surrounding ring is gathered in real time
The temperature in border.Temperature acquisition precision is not more than 0.5 DEG C, and resolving power is not more than 0.3 DEG C, and quiescent current is not more than 8mA, wide power supply model
Enclose：Supply voltage is 10V~36V, and acquisition range is：- 40 DEG C~85 DEG C.
Wherein, formula robot system humidity collection is protected in a kind of self-regulation for underground inspection, in real time collection surrounding ring
The humidity in border.Humidity collection precision is not more than ± 3%RH, and quiescent current is not more than 8mA, wide supply district：Supply voltage is 10V
~36V.Acquisition range is：0%~100%RH.
Wherein, a kind of self-regulation protection formula robot system gas collection for underground inspection：Surrounding ring is gathered in real time
The gas density in border.The key technical indexes is as follows：Measurement range:0~4.00%CH4, fundamental measurement error:0.00~1.00%
CH4 ± 0.10%CH4,1.00~2.00%CH4 ± 0.20%CH4,2.00~4.00%CH4 ± 0.30%CH4, sampling side
Formula：Diffusion type is gathered；Element testing reaction speed：≤ 30S, heat catalytic element life-span：More than 1 year, intrinsic safety parameter：a)Ui：
18VDC Ii：70mA, b) Ci：0.08μF Ii：0mA, operating voltage:DC9-24V；Operating current:≤ 85mA, explosion-proof mark:
ExibdI, type of explosion proof construc tion：Mining intrinsic safety and flame-proof type.
Wherein, formula robot system data transfer mode is protected in a kind of self-regulation for underground inspection：Using technical grade
Wireless WIFI equipment carry out data transmission.Wifi parameters are as follows：Standard:802.11b/g/n, network mode:AP/Station,
Ap mode number of access terminals:1, frequency range:2.412GHz~2.484GHz.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example are described
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can be closed in any one or more embodiments or example
Suitable mode is combined.
Present invention disclosed above preferred embodiment is only intended to help and illustrates the present invention.Preferred embodiment is not detailed
All details of narration, it is only described embodiment that the invention is not limited yet.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (6)
1. formula robot system is protected in a kind of self-regulation for underground inspection, it is characterised in that：Including including microprocessor and
Monitoring center system,
The microprocessor receives the video information and image information of all-directional infrared camera；The microprocessor receives infrared
The range data information of line distance measuring sensor；The microprocessor receives the humidity data information of humidity sensor；Micro- place
Manage the temperature data information that device receives temperature sensor；The microprocessor receives the smog information of Smoke Sensor；It is described micro-
Processor receives the gas density data message of gas acquisition module；The oxygen that the microprocessor receives oxygen acquisition module is dense
Degrees of data information；The microprocessor receives the gas concentration lwevel data message of carbon dioxide acquisition module；The microprocessor
Device receives the data message of rail contact module；The microprocessor carries out data transmission with data memory module；Micro- place
Device is managed to rotate forward, invert and shutdown command to the output of the module of motor one；The microprocessor exports voice messaging to speech ciphering equipment；Institute
Microprocessor is stated to rotate forward, invert and shutdown command to the output of the module of motor two；The microprocessor is to LED lamp module output switch
Order；The microprocessor exports alarm command to alarm；The microprocessor is exported to power failure protection module to be powered off and multiple
Electricity order；
The microprocessor is carried out data transmission with monitoring center system by wireless transport module；
Advance, retrogressing and the stopping of the module control machine people of motor one；
The expansion of the module of the motor two control cover plate module robot and closure.
2. formula robot system is protected in a kind of self-regulation for underground inspection according to claim 1, it is characterised in that
When the distance that the microprocessor receives infrared distance measuring sensor is less than 1m, the microprocessor is exported to the module of motor one
Shutdown command, the robot stop motion, the microprocessor waits processing information to monitoring center system output obstacle；Institute
State microprocessor receive humidity sensor humidity be more than 95% when, the microprocessor to monitoring center system export humidity
Too high prompt message；When the microprocessor receives the temperature of temperature sensor less than 20 ° or more than 70 °, the microprocessor
Device is to monitoring center system output temperature is too low or too high prompt message；The microprocessor receives the smog of Smoke Sensor
During information, the microprocessor exports smog prompt message to monitoring center system, and the microprocessor is exported to alarm and reported
Alert order；When the oxygen concentration that the microprocessor receives oxygen acquisition module is less than 20%, the microprocessor is to monitoring
Information that centring system output oxygen is not enough, the microprocessor exports alarm command to alarm；The microprocessor is received
When the gas density of gas acquisition module is more than 0.75%, the microprocessor exports the letter that ascertains the reason to monitoring center system
Breath；When the gas density that the microprocessor receives gas acquisition module is more than 1%, the microprocessor is to Surveillance center
System output emergent management information, the microprocessor exports alarm command to alarm, and the microprocessor is to power-off protection mould
Block exports power off command, carries out power down process, is stopped and removes human action；The microprocessor receives carbon dioxide collection
When the gas concentration lwevel of module is more than 0.5%, the microprocessor exports the information that ascertains the reason to monitoring center system；It is described
When the gas concentration lwevel that microprocessor receives carbon dioxide acquisition module is more than 0.75%, the microprocessor is into monitoring
Feel concerned about system output emergent management information；The gas concentration lwevel that the microprocessor receives carbon dioxide acquisition module is more than
When 1.5%, the microprocessor exports alarm command to alarm, is stopped and removes human action；The microprocessor is to report
During alert device output alarm command, the microprocessor exports the warning reason voice messaging to speech ciphering equipment.
3. formula robot system is protected in a kind of self-regulation for underground inspection according to claim 1, it is characterised in that
The monitoring center system by the module of microprocessor controlled motor one, the module of motor two, speech ciphering equipment, power failure protection module,
LED lamp device and warning device；The monitoring center system receives the data message of microprocessor.
4. formula robot system is protected in a kind of self-regulation for underground inspection according to claim 1, it is characterised in that
The rail contact module is uniformly on the track of robot ride；Each rail contact module is defeated to microprocessor
Go out different data messages；The microprocessor judges the position of robot according to different data messages.
5. formula robot system is protected in a kind of self-regulation for underground inspection according to claim 1, it is characterised in that
The speech ciphering equipment exports voice messaging to microprocessor.
6. formula robot system is protected in a kind of self-regulation for underground inspection according to claim 1, it is characterised in that
The battery module is to all-directional infrared camera, infrared distance measuring sensor, humidity sensor, temperature sensor, smog
Sensor, firedamp sensor, oxygen sensor, carbon dioxide sensor, rail contact module, the module of motor one, the mould of motor two
Block, speech ciphering equipment, power-off modular, LED lamp device, warning device are powered；During the battery module power-off, by backup battery
Group power supply；The output voltage of the battery module and backup batteries is 12V, and capacity is 7Ah.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710727491.3A CN107313801A (en) | 2017-08-23 | 2017-08-23 | Formula robot system is protected in a kind of self-regulation for underground inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710727491.3A CN107313801A (en) | 2017-08-23 | 2017-08-23 | Formula robot system is protected in a kind of self-regulation for underground inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107313801A true CN107313801A (en) | 2017-11-03 |
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Cited By (8)
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| CN108104878A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for underground |
| CN109595037A (en) * | 2019-01-28 | 2019-04-09 | 肥城矿业集团矿业管理服务有限公司 | A kind of security system of coal mining |
| CN110727223A (en) * | 2019-10-22 | 2020-01-24 | 西安科技大学 | Ring-type track intelligent inspection robot based on underground coal face and application thereof |
| CN112796834A (en) * | 2021-01-13 | 2021-05-14 | 临沂矿业集团菏泽煤电有限公司 | Fully-mechanized mining face underground online safety intelligent monitoring system |
| CN112901254A (en) * | 2021-03-05 | 2021-06-04 | 郑州煤矿机械集团股份有限公司 | Intelligent equipment train system used in underground coal mine |
| CN114060092A (en) * | 2021-11-16 | 2022-02-18 | 陕西陕煤陕北矿业有限公司 | Wisdom mining area safe operation is with operation equipment management system |
| CN114183198A (en) * | 2021-12-03 | 2022-03-15 | 北京龙德时代技术服务有限公司 | Cluster system based on multiple gas inspection robots |
| CN115922745A (en) * | 2022-12-13 | 2023-04-07 | 北京龙德时代技术服务有限公司 | Detection method and system of movable lifting gas inspection robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108104878A (en) * | 2018-02-05 | 2018-06-01 | 刘春梅 | A kind of intelligent inspection system for underground |
| CN108104878B (en) * | 2018-02-05 | 2024-02-20 | 西藏谦诚信息科技有限公司 | Intelligent inspection system for underground |
| CN109595037A (en) * | 2019-01-28 | 2019-04-09 | 肥城矿业集团矿业管理服务有限公司 | A kind of security system of coal mining |
| CN110727223A (en) * | 2019-10-22 | 2020-01-24 | 西安科技大学 | Ring-type track intelligent inspection robot based on underground coal face and application thereof |
| CN112796834A (en) * | 2021-01-13 | 2021-05-14 | 临沂矿业集团菏泽煤电有限公司 | Fully-mechanized mining face underground online safety intelligent monitoring system |
| CN112901254A (en) * | 2021-03-05 | 2021-06-04 | 郑州煤矿机械集团股份有限公司 | Intelligent equipment train system used in underground coal mine |
| CN114060092A (en) * | 2021-11-16 | 2022-02-18 | 陕西陕煤陕北矿业有限公司 | Wisdom mining area safe operation is with operation equipment management system |
| CN114183198A (en) * | 2021-12-03 | 2022-03-15 | 北京龙德时代技术服务有限公司 | Cluster system based on multiple gas inspection robots |
| CN115922745A (en) * | 2022-12-13 | 2023-04-07 | 北京龙德时代技术服务有限公司 | Detection method and system of movable lifting gas inspection robot |
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