CN107816368A - Mine fire the condition of a disaster UAV Intelligent detection system and detection method - Google Patents
Mine fire the condition of a disaster UAV Intelligent detection system and detection method Download PDFInfo
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- CN107816368A CN107816368A CN201711094470.9A CN201711094470A CN107816368A CN 107816368 A CN107816368 A CN 107816368A CN 201711094470 A CN201711094470 A CN 201711094470A CN 107816368 A CN107816368 A CN 107816368A
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- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 239000000428 dust Substances 0.000 claims abstract description 15
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910002091 carbon monoxide Inorganic materials 0.000 claims abstract description 6
- 238000003384 imaging method Methods 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 238000004880 explosion Methods 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000003647 oxidation Effects 0.000 claims 1
- 238000007254 oxidation reaction Methods 0.000 claims 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract description 6
- 238000013480 data collection Methods 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 26
- 239000003245 coal Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 239000002817 coal dust Substances 0.000 description 1
- 239000003034 coal gas Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000002341 toxic gas Substances 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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Alarm Systems (AREA)
Abstract
Mine fire the condition of a disaster UAV Intelligent detection system and detection method, including unmanned aerial vehicle ground control system, Intelligent unattended machine, airborne device, independent wireless signal relay, airborne device carries airborne temperature sensor, airborne pressure sensor, airborne CO gas sensor, airborne gas sensor, airborne dust sensor, airborne high-definition camera system, airborne IR imaging system, airborne lidar instrument and onboard high-speed wireless transmitting system.The system can pass through the carbon monoxide and methane gas concentration, gas pressure, temperature, dust content, underground site picture after Intelligent unattended machine airborne equipment automatic data collection underground mine fire, and these data are passed into unmanned aerial vehicle ground control system via independent wireless signal relay by onboard high-speed wireless transmitting system and institute's gathered data is analyzed, the optimal escape route of trapped personnel and most preferably go into the well time and the route of going into the well of wrecking company 5 are determined according to institute's analysis result.
Description
Technical field
The invention belongs to safety of coal mines and intelligent disaster relief technical field, and in particular to a kind of mine fire the condition of a disaster is unmanned quick-witted
Can detection system and detection method.
Background technology
Mine fire is one of five big disasters of coal production.The main harm of mine fire includes：Generation largely has
Evil gas, high temperature is produced, causes gas and dust explosion, damage equipment and resource.For coal-mine fire once occurring, fire spread is fast
Degree is fast, it is difficult to controls, or even can cause coal dust and gas explosion, causes unpredicted loss.Concrete on fire occurs for mine, by coal
The narrow and small limitation of mine lane space, personnel's withdraws, hides and rescues that difficulty is very big, and the condition of a disaster for quickly grasping scene of fire is
Rescue, the important leverage of control fire.Each coal production unit formulates strict coal-mine fire precautionary measures, and colliery occurs
Concrete on fire can often control sprawling of the fire to other tunnels, but because mine fire produces substantial amounts of toxic gas and height
The warm speed in roadway diffusion is fast, distance, and this is to the very harmful of personnel in the pit, therefore, it is necessary to scene of fire and surrounding
Tunnel environment, which has, accurately to be grasped, and could ensure rescue personnel's safety, and promote the quick development of rescue work.It is however, current
Coal production unit, which lacks, realizes long-range, unwatched detection equipment, and this brings very big resistance for the rescue of mine fire
Power, in the case of uncomprehending to the condition of a disaster, it can only be forced to wait for rescue opportunity, make rescue work extremely passive.Asked based on more than
Topic, when live mine fire the condition of a disaster, analysis accident conditions can promptly and accurately be gathered and determine to rescue optimal by needing research and development one kind badly
Machine and the condition of a disaster intelligent detecting system for instructing rescue.
The content of the invention
It is an object of the invention to provide a kind of mine fire the condition of a disaster UAV Intelligent detection system and detection method, solves ore deposit
After well fire incident occurs, because rescue personnel is difficult in time to understand or understand not accurate enough to underground the condition of a disaster, cause to rescue work
Make slow progress, delay the problem of underground rescue Best Times.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
Mine fire the condition of a disaster UAV Intelligent detection system, including unmanned aerial vehicle ground control system, Intelligent unattended machine, airborne dress
Put, independent wireless signal relay, described unmanned aerial vehicle ground control system controls Intelligent unattended by wireless transmitting system
Machine；Intelligent unattended machine carries airborne device, and airborne device includes airborne temperature sensor, airborne pressure sensor, an airborne oxygen
Change carbon gas sensor, airborne gas sensor, airborne dust sensor, airborne high-definition camera system, Airborne IR into
As system, airborne lidar instrument and onboard high-speed wireless transmitting system；Independent wireless signal relay is with being used for unmanned plane
The reception and transmission of signal between face control system and Intelligent unattended machine.
Mine fire the condition of a disaster UAV Intelligent detection system, described unmanned aerial vehicle ground control system are grasped including Intelligent flight
Make module, wireless signal transmission receiving module, data processing module, image display；Intelligent flight operation module passes through hair
Penetrate the flight of wireless signal control Intelligent unattended machine；Wireless signal transmission receiving module is controlled output and the unmanned plane of signal
The reception of transmission signal；Data processing module includes database subsystem module and processing submodule, well of the processing submodule to reception
Lower volume of data carries out Treatment Analysis and obtained a result, and it is compared with database subsystem module, it is determined that now underground is pacified
Full situation；Image display is used for showing the video pictures that Intelligent unattended machine airborne equipment transmits.
Mine fire the condition of a disaster UAV Intelligent detection system, described airborne temperature sensor are used for gas temperature under detecting shaft
Degree, airborne pressure sensor are used for gas pressure under detecting shaft, and airborne CO gas sensor is used for the next oxygen of detecting shaft
Change carbon gas concentration, airborne gas sensor is used for methane gas concentration under detecting shaft, and airborne dust sensor is used for visiting
The lower dust concentration of well logging.
Mine gas explosion the condition of a disaster intelligent detecting system, described airborne high-definition camera system, airborne IR imaging system
It is imaged with airborne lidar instrument for lane space.
Mine gas explosion the condition of a disaster intelligent detecting system, described onboard high-speed wireless transmitting system are used to airborne set each
The standby downhole data gathered is sent to the data processing module of unmanned aerial vehicle ground control system.
The detection method of mine fire the condition of a disaster UAV Intelligent detection system, visited using mine fire the condition of a disaster UAV Intelligent
Examining system, comprise the following steps：
（1）Into visual intelligent report control platform, start Intelligent unattended machine, system carries out every airborne equipment debugging mode automatically
And the debugging of each module, failure alarm signal is automatically generated if there is problem in debugging process；
（2）When confirming airborne equipment and normal each module, Intelligent unattended machine sets out, and goes to accident well head, along pit shaft by certainly
Dynamic navigation system navigation is quick to reach underground, after reaching underground, activates each airborne equipment, proceeds by detection and information passes
It is defeated；
（3）Intelligent unattended machine corresponds to one piece of independent wireless signal relay of down well placement throwing in well head, straight in tunnel afterwards
Line segment corner and has signal to obstruct position every 150 ~ 200 m throwings, one piece of independent wireless signal relay, in tunnel
Every 100 ~ 150 m throwings, one piece of independent wireless signal relay, all independent wireless signal relays are cast out certainly
Start；
（4）Intelligent unattended machine advances to conflagration area, and temperature, pressure, the device in Gas under mine are detected using each airborne equipment
Bulk concentration, carbon monoxide gas concentration, dust concentration, while the live view of underground is transmitted by airborne high-definition camera system
To the image display on ground；
（5）The downhole data that each airborne equipment is gathered is sent to unmanned aerial vehicle ground control system by wireless transmitting system
Data processing module；
（6）Each data of receiving are handled by data processing module and are compared with database, by final data
Shown by image display, so as to judge the environment after underground fire, it is determined that optimal rescue time, rescue road
Line and rescue mode；
（7）After a detection mission is completed, maked a return voyage automatically under conditions of ensureing that electricity can make a return voyage to ground；
（8）When carrying out second of detection mission, repeat step（1）、（2）、（3）、（4）、（5）、（6）、（7）.
Brief description of the drawings
If Fig. 1 is mine fire the condition of a disaster UAV Intelligent detection system of the present invention；
If Fig. 2 is unmanned aerial vehicle control system workflow diagram in ground of the present invention；
If Fig. 3 is wireless transmitting system workflow diagram of the present invention.
Embodiment
As shown in FIG. 1 to 3, mine fire the condition of a disaster UAV Intelligent detection system, including unmanned aerial vehicle ground control system
1st, Intelligent unattended machine 2, airborne device 4, independent wireless signal relay 5, described unmanned aerial vehicle ground control system 1 pass through nothing
Line Transmission system control Intelligent unattended machine 2；Intelligent unattended machine 2 carries airborne device 4, and airborne device 4 includes airborne TEMP
Device 10, airborne pressure sensor 11, airborne CO gas sensor 12, airborne gas sensor 13, airborne dust
Sensor 14, airborne high-definition camera system 15, airborne IR imaging system 16, airborne lidar instrument 17 and onboard high-speed are wireless
Transmission system 18；Independent wireless signal relay 5 is used for signal between unmanned aerial vehicle ground control system 1 and Intelligent unattended machine 2
Reception and transmission.
Mine fire the condition of a disaster UAV Intelligent detection system, described unmanned aerial vehicle ground control system 1 include Intelligent flight
Operation module 19, wireless signal transmission receiving module 20, data processing module 21, image display 22；Intelligent flight operates
Module 19 controls the flight of Intelligent unattended machine 2 by launching wireless signal；Wireless signal transmission receiving module 20 is controlled letter
Number output and unmanned plane transmission signal reception；Data processing module 21 includes database subsystem module and processing submodule, place
Reason submodule carries out Treatment Analysis to the underground volume of data of reception and obtained a result, and itself and database subsystem module are compared
It is right, it is determined that now downhole safety situation；Image display 22 is used for showing that what Intelligent unattended machine airborne equipment transmitted regards
Frequency picture.
Mine fire the condition of a disaster UAV Intelligent detection system, described airborne temperature sensor 10 are used for detecting mine gas
Temperature, airborne pressure sensor 11 are used for gas pressure under detecting shaft, and airborne CO gas sensor 12 is used for detecting shaft
Lower carbon monoxide gas concentration, airborne gas sensor 13 are used for methane gas concentration under detecting shaft, airborne dust sensing
Device 14 is used for dust concentration under detecting shaft.
Mine gas explosion the condition of a disaster intelligent detecting system, described airborne high-definition camera system 15, airborne ir imaging system
System 16 and airborne lidar instrument 17 are imaged for lane space.
Mine gas explosion the condition of a disaster intelligent detecting system, described onboard high-speed wireless transmitting system 18 is used for will be each airborne
The downhole data that equipment is gathered is sent to the data processing module 21 of unmanned aerial vehicle ground control system 1.
The detection method of mine fire the condition of a disaster UAV Intelligent detection system, visited using mine fire the condition of a disaster UAV Intelligent
Examining system, comprise the following steps：
（1）Into visual intelligent report control platform, start Intelligent unattended machine 2, system carries out every airborne equipment debugging shape automatically
The debugging of state and each module, failure alarm signal is automatically generated if there is problem in debugging process；
（2）When confirming airborne equipment and normal each module, Intelligent unattended machine sets out, and goes to accident well head, along pit shaft 3 by certainly
Dynamic navigation system navigation is quick to reach underground, after reaching underground, activates each airborne equipment, proceeds by detection and information passes
It is defeated；
（3）Intelligent unattended machine corresponds to the independent wireless signal relay 5 of one piece of down well placement throwing in well head, straight in tunnel afterwards
Line segment corner and has signal to obstruct position every 150 ~ 200 m throwings, one piece of independent wireless signal relay 5, in tunnel
Every 100 ~ 150 m throwings, one piece of independent wireless signal relay 5, all independent wireless signal relays 5 are cast certainly
Go out and start；
（4）Intelligent unattended machine advances to conflagration area, and temperature, pressure, the device in Gas under mine are detected using each airborne equipment
Bulk concentration, carbon monoxide gas concentration, dust concentration, while the live view of underground is passed by airborne high-definition camera system 15
The defeated image display 22 to ground；
（5）The downhole data that each airborne equipment is gathered is sent to unmanned aerial vehicle ground control system 1 by wireless transmitting system
Data processing module；
（6）Each data of receiving are handled by data processing module and are compared with database, by final data
Shown by image display 22, so as to judge the environment after underground fire, it is determined that optimal rescue time, rescue
Route and rescue mode；
（7）After a detection mission is completed, maked a return voyage automatically under conditions of ensureing that electricity can make a return voyage to ground；
（8）When carrying out second of detection mission, repeat step（1）、（2）、（3）、（4）、（5）、（6）、（7）.
Claims (6)
1. mine fire the condition of a disaster UAV Intelligent detection system, including unmanned aerial vehicle ground control system, Intelligent unattended machine, airborne dress
Put, independent wireless signal relay, it is characterised in that：Described unmanned aerial vehicle ground control system passes through wireless transmitting system control
Intelligent unattended machine processed；Intelligent unattended machine carries airborne device, and airborne device includes airborne temperature sensor, airborne pressure sensing
Device, airborne CO gas sensor, airborne gas sensor, airborne dust sensor, airborne high-definition camera system,
Airborne IR imaging system, airborne lidar instrument and onboard high-speed wireless transmitting system；Independent wireless signal relay is used
The reception and transmission of signal between unmanned aerial vehicle ground control system and Intelligent unattended machine.
2. mine fire the condition of a disaster UAV Intelligent detection system according to claim 1, it is characterised in that：Described nobody
Machine ground control system includes Intelligent flight operation module, wireless signal transmission receiving module, data processing module, image and shown
Module；Intelligent flight operation module controls the flight of Intelligent unattended machine by launching wireless signal；Wireless signal transmission receives mould
Block is controlled the output of signal and the reception of unmanned plane transmission signal；Data processing module includes database subsystem module and processing
Submodule, processing submodule carry out Treatment Analysis to the underground volume of data of reception and obtained a result, and by itself and database subsystem
Module is compared, it is determined that now downhole safety situation；Image display is used for showing that Intelligent unattended machine airborne equipment transmits
The video pictures to come over.
3. mine fire the condition of a disaster UAV Intelligent detection system according to claim 1, it is characterised in that：Described is airborne
Temperature sensor is used for gas temperature under detecting shaft, and airborne pressure sensor is used for gas pressure under detecting shaft, an airborne oxidation
Carbon gas sensor is used for carbon monoxide gas concentration under detecting shaft, and airborne gas sensor is used for device in Gas under detecting shaft
Bulk concentration, airborne dust sensor are used for dust concentration under detecting shaft.
4. mine gas explosion the condition of a disaster intelligent detecting system according to claim 1, it is characterised in that：Described airborne height
Clear camera system, airborne IR imaging system and airborne lidar instrument are imaged for lane space.
5. mine gas explosion the condition of a disaster intelligent detecting system according to claim 1, it is characterised in that：Described airborne height
Fast wireless transmitting system is used for the data that the downhole data that each airborne equipment is gathered is sent to unmanned aerial vehicle ground control system
Processing module.
6. the detection method of mine fire the condition of a disaster UAV Intelligent detection system, using mine fire as claimed in claim 1
The condition of a disaster UAV Intelligent detection system, it is characterised in that：Comprise the following steps：
（1）Into visual intelligent report control platform, start Intelligent unattended machine, system carries out every airborne equipment debugging mode automatically
And the debugging of each module, failure alarm signal is automatically generated if there is problem in debugging process；
（2）When confirming airborne equipment and normal each module, Intelligent unattended machine sets out, and goes to accident well head, along pit shaft by certainly
Dynamic navigation system navigation is quick to reach underground, after reaching underground, activates each airborne equipment, proceeds by detection and information passes
It is defeated；
（3）Intelligent unattended machine corresponds to one piece of independent wireless signal relay of down well placement throwing in well head, straight in tunnel afterwards
Line segment corner and has signal to obstruct position every 150 ~ 200 m throwings, one piece of independent wireless signal relay, in tunnel
Every 100 ~ 150 m throwings, one piece of independent wireless signal relay, all independent wireless signal relays are cast out certainly
Start；
（4）Intelligent unattended machine advances to conflagration area, and temperature, pressure, the device in Gas under mine are detected using each airborne equipment
Bulk concentration, carbon monoxide gas concentration, dust concentration, while the live view of underground is transmitted by airborne high-definition camera system
To the image display on ground；
（5）The downhole data that each airborne equipment is gathered is sent to unmanned aerial vehicle ground control system by wireless transmitting system
Data processing module；
（6）Each data of receiving are handled by data processing module and are compared with database, by final data
Shown by image display, so as to judge the environment after underground fire, it is determined that optimal rescue time, rescue road
Line and rescue mode；
（7）After a detection mission is completed, maked a return voyage automatically under conditions of ensureing that electricity can make a return voyage to ground；
（8）When carrying out second of detection mission, repeat step（1）、（2）、（3）、（4）、（5）、（6）、（7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094470.9A CN107816368A (en) | 2017-11-09 | 2017-11-09 | Mine fire the condition of a disaster UAV Intelligent detection system and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711094470.9A CN107816368A (en) | 2017-11-09 | 2017-11-09 | Mine fire the condition of a disaster UAV Intelligent detection system and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107816368A true CN107816368A (en) | 2018-03-20 |
Family
ID=61604248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711094470.9A Pending CN107816368A (en) | 2017-11-09 | 2017-11-09 | Mine fire the condition of a disaster UAV Intelligent detection system and detection method |
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| CN (1) | CN107816368A (en) |
Cited By (4)
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| CN108985163A (en) * | 2018-06-11 | 2018-12-11 | 视海博（中山）科技股份有限公司 | The safe detection method of restricted clearance based on unmanned plane |
| CN108999639A (en) * | 2018-08-17 | 2018-12-14 | 宁波敬业控股集团有限公司 | A kind of transport alarm system of underground self-navigation |
| GB2583466A (en) * | 2019-04-22 | 2020-11-04 | Haider Al Lami | Skyline corridors: Drones passage, scanning and charging system |
| CN113756856A (en) * | 2021-08-03 | 2021-12-07 | 河北工业大学 | Intelligent fire fighting system for tunnel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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