CN110700874B - Mine self-propelled air purification equipment - Google Patents
Mine self-propelled air purification equipment Download PDFInfo
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- CN110700874B CN110700874B CN201910914937.2A CN201910914937A CN110700874B CN 110700874 B CN110700874 B CN 110700874B CN 201910914937 A CN201910914937 A CN 201910914937A CN 110700874 B CN110700874 B CN 110700874B
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- 238000004887 air purification Methods 0.000 title claims abstract description 15
- 239000000428 dust Substances 0.000 claims abstract description 55
- 239000007789 gas Substances 0.000 claims abstract description 22
- 231100000331 toxic Toxicity 0.000 claims abstract description 17
- 230000002588 toxic effect Effects 0.000 claims abstract description 17
- 238000000746 purification Methods 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 75
- 229910052760 oxygen Inorganic materials 0.000 claims description 66
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 65
- 239000001301 oxygen Substances 0.000 claims description 65
- 239000000446 fuel Substances 0.000 claims description 42
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 10
- 229910001416 lithium ion Inorganic materials 0.000 claims description 10
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical class [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 9
- 239000003792 electrolyte Substances 0.000 claims description 5
- 239000002253 acid Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 231100000614 poison Toxicity 0.000 claims description 4
- 230000007096 poisonous effect Effects 0.000 claims description 4
- 239000007864 aqueous solution Substances 0.000 claims description 3
- 239000010865 sewage Substances 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 238000009423 ventilation Methods 0.000 abstract description 21
- 238000005422 blasting Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 10
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 239000002341 toxic gas Substances 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 239000011435 rock Substances 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 4
- 238000005065 mining Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000003411 electrode reaction Methods 0.000 description 2
- 239000011810 insulating material Substances 0.000 description 2
- 238000005399 mechanical ventilation Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- GRYLNZFGIOXLOG-UHFFFAOYSA-N Nitric acid Chemical compound O[N+]([O-])=O GRYLNZFGIOXLOG-UHFFFAOYSA-N 0.000 description 1
- 230000002378 acidificating effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 229910017604 nitric acid Inorganic materials 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000002244 precipitate Substances 0.000 description 1
- 230000001376 precipitating effect Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- VWDWKYIASSYTQR-UHFFFAOYSA-N sodium nitrate Inorganic materials [Na+].[O-][N+]([O-])=O VWDWKYIASSYTQR-UHFFFAOYSA-N 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Classifications
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- 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
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/34—Chemical or biological purification of waste gases
- B01D53/46—Removing components of defined structure
- B01D53/54—Nitrogen compounds
- B01D53/56—Nitrogen oxides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D53/00—Separation of gases or vapours; Recovering vapours of volatile solvents from gases; Chemical or biological purification of waste gases, e.g. engine exhaust gases, smoke, fumes, flue gases, aerosols
- B01D53/34—Chemical or biological purification of waste gases
- B01D53/74—General processes for purification of waste gases; Apparatus or devices specially adapted therefor
- B01D53/77—Liquid phase processes
- B01D53/78—Liquid phase processes with gas-liquid contact
-
- 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
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D2257/00—Components to be removed
- B01D2257/40—Nitrogen compounds
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Biomedical Technology (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- Health & Medical Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Treating Waste Gases (AREA)
- Fuel Cell (AREA)
Abstract
The invention discloses mine self-propelled air purification equipment. The invention better solves the problems that the traditional underground mine dust removal and toxic gas removal equipment is time-consuming and labor-consuming to install; can simultaneously realize dust and NO in the air after mine blasting2The purification of toxic and harmful gases such as NO and CO; the self-circulation of the air of the blasting working face is realized, the construction environment is improved by purifying the blasted air, and the processes of ventilation, dust removal and toxic gas of the underground mine are simplified; the concentration of dust and toxic and harmful gases can be effectively monitored, and the quantitative judgment of the air purification degree can be realized; the self-walking device is matched with the ultrasonic ranging sensor, so that automatic walking, automatic deployment and automatic control of equipment are realized, and the monitoring and purification of the polluted air in the whole monitoring area are ensured; the equipment can real-time recording and store the operation process through the camera, and operating personnel can also check the environment where the equipment is located through the camera in real time.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to self-propelled air purification equipment for a mine.
Background
At present, the underground mining is mainly based on a rock drilling and blasting method, and a tunnel generates a large amount of dust in the tunneling process, wherein rock drilling, blasting and rock loading are main dust generation sources. Meanwhile, the mechanical degree of the single-head tunnel is improved in the tunneling process, and the dust concentration in the air of the tunnel is increased due to the use of equipment such as a high-power tunneling machine. A large amount of fine and free minerals and rock particles generated in the tunneling process are mine dust; simultaneously, a great deal of CO, NO and NO are generated in the blasting process2And the like. Engineering practices at home and abroad show that ventilation and dust removal are one of the most effective measures for reducing the concentration of dust and toxic and harmful gases on the working face of the machine digging.
The ventilation mode can be divided into natural ventilation and mechanical ventilation according to the power division of ventilation. Natural ventilation is rarely used because it is greatly affected and limited by natural conditions. Mechanical ventilation can be divided into pipeline ventilation and roadway ventilation, and can be divided into three types, namely extraction type ventilation, press-in type ventilation and mixed ventilation according to different installation positions of main ventilators. The pipeline type ventilation and the roadway type ventilation greatly increase the construction workload; secondly, both of these forms of ventilation present a risk of leakage of the dirty wind. If the ventilation capacity is not enough, local ventilation equipment needs to be added, and the ventilation workload is large. In a tunnel tunneled at one end, the longest ventilation time after blasting can reach 2h, and dirty wind in a blind corner area of a working face cannot be discharged.
Because ventilation and dust removal have the defects, along with the development of the technology, more and more underground mines use mine air purification equipment to quickly reduce the concentration of dust and toxic and harmful gases after blasting and reduce the ventilation time. Most of the existing equipment removes dust by a spraying method or an electrostatic method, and although the dust concentration of the working surface of the underground mine after blasting can be quickly reduced, the existing equipment has the following difficulties:
(1) the existing equipment cannot be automatically moved and needs manual deployment;
(2) the existing equipment needs to be arranged on a working face in advance, and the equipment is possibly damaged by vibration, flying stones and the like generated by blasting;
(3) the existing equipment can only purify dust, but can not purify CO, NO and NO2And the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a self-circulation dust-purifying device which has high purification efficiency and good purification effect and can purify dust, CO, NO and NO at the same time2The mine self-propelled air purification equipment is suitable for underground mining and tunnel excavation of metal and nonmetal mines.
In order to achieve the purpose, the invention provides mine self-propelled air purification equipment, which is characterized in that:
comprises a sensing system, an outer box body with an air inlet at the top of the front wall, a dust and toxic and harmful gas purifying device and a self-walking mechanism;
the sensing system is positioned at the top of the outer box body, the dust and toxic and harmful gas purifying device is positioned in the outer box body, and the self-walking mechanism is positioned at the bottom of the outer box body;
the dust and toxic and harmful gas are purifiedThe device comprises a closed water tank, an oxygen tank and CO-O2A fuel cell and an exhaust blower;
the closed water tank is arranged on the right side in the outer box body and welded on the inner wall of the outer box body; an oxygen tank is further arranged inside the outer box body, the oxygen tank is arranged on the left side of the closed water tank, and two rows of oxygen tank supports are mounted at the top end and the bottom end of the oxygen tank and connected with the outer box body;
saturated NaOH aqueous solution with the total volume of 90 percent is filled in the closed water tank; a stirrer is also arranged in the closed water tank; a water pump and a filtering device with a filter element arranged inside are arranged on the lower wall surface of the closed water tank;
an air inlet pipe is arranged at the top of the left side of the closed water tank, and an air outlet pipe is arranged at the top of the right side of the closed water tank; one end of the air inlet pipe is communicated with the air inlet, and the other end of the air inlet pipe is positioned below the liquid level on one side of the closed water tank; the air outlet pipe is positioned on the liquid level at one side of the closed water tank; a sewage discharge pipe is arranged on the right side of the bottom of the closed water tank, and a water return pipe is arranged on the left wall surface of the closed water tank;
the CO-O2The fuel cell is arranged at the lower end of the oxygen tank; the CO-O2The fuel cell comprises CO-O2Fuel cell cathode, acid electrolyte and CO-O2A fuel cell anode;
the dust and poisonous and harmful gas purification device also comprises an air inlet end oxygen pipe and a fuel cell oxygen pipe; the oxygen tank is connected with the air inlet pipe through an oxygen inlet end oxygen pipe, and the oxygen tank is connected with the CO-O through a fuel cell oxygen pipe2The fuel cell cathode is connected; the exhaust fan is arranged on the CO-O2One end of the air outlet pipe is connected with the closed water tank, and the other end of the air outlet pipe is connected with the exhaust fan;
the bottom of the outer box body is also provided with a lithium ion storage battery, and the lithium ion storage battery is arranged in CO-O2The fuel cell and the lower part of the exhaust fan; a charging port is arranged at the lower part of the rear wall of the outer box body and is connected with a lithium ion storage battery;
the self-walking mechanism comprises 4 wheels and 4 walking motors; the 4 wheels are all arranged at the lower part of the outer box body, wherein 2 wheels form a group, and 2 groups of wheels are respectively and symmetrically arranged at two sides of the lower part of the outer box body; the shafts of the 4 traveling motors respectively and directly penetrate through the circle centers of the 4 wheels and are arranged on the inner sides of the 4 wheels;
the sensing system comprises a control device, a CO concentration sensor and NO2The device comprises a concentration sensor, a dust concentration sensor and 4 ultrasonic ranging sensors; the control device comprises a charging interface and a main controller internally adopting a singlechip; the 4 ultrasonic ranging sensors are respectively arranged on the tops of the front wall, the rear wall, the left wall and the right wall of the outer box body 1; the charging interface device is arranged on the back of the outer box body; the CO concentration sensor and NO2Concentration sensor and dust concentration sensor all install in outer box top surface.
Preferably, the CO-O2The left side and the right side of the fuel cell are provided with 2 semicircular porous electrodes; the 2 semicircular porous electrodes are spliced into a cylinder, and insulating materials for isolation are arranged at the splicing positions of the 2 semicircular porous electrodes; acid electrolyte is arranged in the 2 semicircular porous electrodes.
Furthermore, 4 cameras are also arranged; the 4 cameras are also respectively arranged at the tops of the front wall, the rear wall, the left wall and the right wall of the outer box body, and the cameras are arranged on the left side of the ultrasonic ranging sensor.
Furthermore, 2 electromagnetic valves are arranged above the oxygen tank, and the 2 electromagnetic valves are respectively positioned at the left side and the right side above the oxygen tank; wherein, the electromagnetic valve positioned at the left side above the oxygen tank is connected with the oxygen pipe of the fuel cell for controlling the direction of CO-O2The flow rate of oxygen delivered by the cathode electrode of the fuel cell; the electromagnetic valve positioned on the right side above the oxygen tank is connected with the oxygen pipe at the air inlet end to control the flow of oxygen delivered to the air inlet pipe.
Compared with the prior art, the invention has the following advantages:
1. the invention better solves the problems that the traditional underground mine dust removal and toxic gas removal equipment is time-consuming and labor-consuming to install;
2. the invention can simultaneously realize the air after mine blastingDust, NO2The purification of toxic and harmful gases such as NO and CO;
3. the invention realizes the self circulation of the air on the blasting working face, improves the construction environment by purifying the air after blasting, and simplifies the flow of ventilation, dust removal and toxic gas of underground mines;
4. the invention can effectively monitor the concentration of dust and toxic and harmful gases and can realize the quantitative judgment of the air purification degree;
5. the self-walking device is matched with the ultrasonic ranging sensor, so that automatic walking, automatic deployment and automatic control of equipment are realized, and the monitoring and purification of the polluted air in the whole monitoring area are ensured;
6. the equipment can real-time recording and store the operation process through the camera, and operating personnel can also check the environment where the equipment is located through the camera in real time.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a longitudinal sectional view of the toxic and harmful gas and dust cleaning apparatus;
FIG. 5 is a schematic view of the appearance of the closed water tank;
FIG. 6 is CO-O2A fuel cell top view;
FIG. 7 is CO-O2A front view of the fuel cell;
FIG. 8 is a top view of the oxygen tank support;
FIG. 9 is a top view of the travel mechanism;
FIG. 10 is a schematic view of a charging interface;
FIG. 11 is a top view of the master controller.
2In the figure: 1. an outer case; 2. a CO concentration sensor; 3. a NO concentration sensor; 4. a dust concentration sensor; 5. ultrasound
A wave ranging sensor; 6. a camera; 7. a wheel; 8. an air inlet; 9. a dust and toxic and harmful gas purification device; 10. lithium ion
A storage battery; 11. self-walking mechanism(ii) a 12. An air outlet; 13. a charging port; 14. sealing the water tank; 15. an air inlet pipe; 16. an air outlet pipe; 17.
a blender; 18. a filtration device; 19. a blow-off pipe; 20. a water pump; 21. an exhaust fan; 22. an electromagnetic valve; 23. an oxygen pipe at the air inlet end; 24.
2a fuel cell oxygen tube; 25. an oxygen tank; 26. an oxygen tank support; 27. a water return pipe; 28. a CO-O fuel cell cathode electrode; 29.
2an acidic electrolyte; 30. a CO-O fuel cell anode electrode; 31. an insulating material; 32. a travel motor; 33. and a main controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The mine self-propelled air purification equipment comprises an outer box 1, a closed water tank 14, an oxygen tank 25 and CO-O2The fuel cell and the exhaust fan 21, also include the air inlet pipe 15, the air outlet pipe 16, the mixer 17, the filter equipment 18, the water pump 20, the blow off pipe 19, the return pipe 27, the oxygen fuel cell oxygen hose 24, the inlet end oxygen hose 23, the closed water tank 14 locates in the outer container 1, the closed water tank connects with atmosphere through the air inlet pipe 15, the left side of the closed water tank installs the oxygen tank support 26, install the oxygen tank 25 on the oxygen tank support, the oxygen tank connects with the air inlet pipe 15 through the inlet end oxygen hose 23, the oxygen tank connects with CO-O through the fuel cell oxygen hose2The cathode electrode 28 of the fuel cell is connected, and the lower part of the oxygen tank is provided with CO-O2Fuel cell, CO-O2The anode electrode 30 of the fuel cell is connected with the closed water tank 14 through an air outlet pipe 16, an exhaust fan 21 is arranged at the lower side of the closed water tank 14, and the exhaust fan 21 passes through the CO-O through the air outlet pipe 162The fuel cell anode electrode 30 is connected to the closed water tank 14.
A filtering device 18 is arranged between the closed water tank 14 and an exhaust fan 21, the filtering device 18 is connected with the closed water tank 14 through a sewage discharge pipe 19, a water pump 20 is arranged on the left side of the filtering device 18, and the left side of the water pump 20 is connected with the closed water tank 14 through a water return pipe 27. A self-walking device is arranged at the bottom of the outer box body and comprises a walking motor 32 and wheels 7, and a rotor of the walking motor 32 is connected with the axle center of the wheels. A lithium ion battery 10 is mounted on the upper part of the self-traveling device, a charging port 13 is mounted on the rear wall surface of the outer case, and the charging port 13 is connected to the lithium ion battery 10.
When the invention is implemented, firstly, the equipment is driven by a traveling motor 10 to automatically drive to a blasting working face, the distance between the equipment and the wall of a roadway is determined by an ultrasonic ranging sensor 5 to determine the position of the equipment, the equipment records the surrounding environment in real time by a camera 6, an operator can also monitor the running condition of the equipment in real time by the camera 6, when the equipment runs to the central point of the working face, an exhaust fan 21 starts to work, an electromagnetic valve 22 is opened, an oxygen tank 25 injects O into an air inlet pipe 15 through an oxygen pipe 23 at an air inlet end2The dirty air passes through the air inlet pipe 15 and the air inlet pipe O from the air inlet 82Mixing, introducing into a sealed water tank 14, and filling saturated NaOH aqueous solution, NO and O in the polluted air into the sealed water tank 142Reaction to form NO2，NO2、O2Reaction with water to form NHO3，NHO3Reacting with NaOH dissolved in water to generate NaNO3And H2O, thereby removing NO and NO in the polluted air2Dust in the dirty air is dissolved in water, the stirrer 17 stirs the water in the sealed water tank to prevent dust precipitation, the water with the dust dissolved flows into the filtering device 18 through the drain pipe 19 under the action of the water pump 20 to filter the dust dissolved in the water, the filtered water flows back to the sealed water tank 14 through the return pipe 27 to remove NO and NO2The dirty air with dust enters the CO-O through the air outlet pipe 162The CO in the polluted air is oxidized into CO at the anode electrode of the fuel cell2，CO-O2The anode electrode reaction of the battery is as follows: CO (g) + H2O(l)→CO2(g)+2e-+2H+(aq) oxygen tank 25 to CO-O through fuel cell oxygen line2Oxygen, CO-O, is supplied to the cathode of the fuel cell2The cathode electrode reaction formula of the fuel cell is: 1/2O2(g)+2e-+2H+(aq)→H2And O (l), so far, the main pollutants such as dust, NO2 and CO in the polluted air are completely removed, the purified clean air flows through the air outlet pipe 16 and is discharged into the atmosphere, when the concentration of the dust and toxic and harmful gases in the environment is reduced to be below a threshold value, the equipment stops working, and the equipment automatically returns. The invention consists of lithium ionsThe storage battery 10 is a CO concentration sensor 2 and NO2The concentration sensor 3, the dust concentration sensor 4, the ultrasonic distance measuring sensor 5, the camera 6, the stirrer 17, the exhaust fan 21, the water pump 20 and the traveling motor 32 are powered on, and the equipment is charged through the charging port 13 when the equipment does not work.
After blasting operation is carried out, self-propelled air purification equipment which is arranged near a blasting working surface in advance can automatically drive into the working surface under the action of a self-propelled mechanism 11, the distance between the self-propelled air purification equipment and the wall of a roadway and the working surface is measured through an ultrasonic ranging sensor 5 to determine the position of the equipment, after the equipment drives to a specified position, the equipment automatically starts to operate, air is mixed with oxygen provided by an oxygen tank 25 through an air inlet pipe 15 under the action of an exhaust fan 21 and then is injected into water in a closed water tank 14, dust can precipitate after entering the water, NO and NO2And O2The mixed gas of (2) reacts with water to form NHO3And reacting with NaOH dissolved in water to be neutralized and remove NO and NO2The air with dust flows into the CO-O through the air outlet pipe 162The fuel cell anode 30 is oxidized to CO2And the purified air is discharged into the atmosphere. When dust enters water, a stirrer 17 is used for stirring to prevent the dust from precipitating, polluted water is pumped out under the action of a water pump 20, the dust is filtered out through a filtering device 18, the filtered water is discharged into a closed water tank 14 again for recycling, a sensor is arranged in the closed water tank, and when the concentration of the dust or nitric acid in the water exceeds a threshold value, an alarm is given out to remind that a filter element of the filtering device is replaced. When the dust and toxic and harmful gas concentration in the environment drops below a threshold value, the equipment automatically stops working and returns to the initial position.
The distance between the ultrasonic ranging sensor 5 and the equipment and the roadway wall and the distance between the equipment and the working face are measured, the camera 6 monitors the surrounding environment of the equipment in real time, the ultrasonic ranging sensor 5 and the camera 6 transmit acquired data to the main controller 33, the main controller 33 controls the equipment to move by controlling the traveling motor 32 after processing the data, and the traveling speed of the equipment, the steering and the forward or backward movement of the equipment can be controlled by controlling the rotating speed and the steering of different motors.
When the equipment drives into the center of the working face, the equipment starts to operate, the ultrasonic ranging sensor 5 is combined with the SLAM technology to build a feature map of the working face, when the concentration of toxic and harmful gases and dust in the center area is reduced to be below a threshold value, the equipment starts to move, the equipment performs self-positioning according to position estimation and the feature map in the moving process, the feature map is perfected on the basis of self-positioning, the automatic positioning and navigation of the equipment are realized, the automatic movement strategy of the equipment is to enable the equipment to move to the nearest unexplored area along the shortest path and finally to cover all areas of the working face, and when the concentration of the dust and the toxic and harmful gases in all the areas driven by the equipment is reduced to be below the threshold value, the equipment automatically returns to the initial.
In the mine self-propelled air purification apparatus, power is supplied from the lithium ion storage battery 10, and the apparatus is charged through the charging port 13 when the apparatus is not in operation.
Dust concentration sensor 4CO concentration sensor 2, NO2The concentration sensor 3 and the ultrasonic distance measuring sensor 5 are connected with a main controller 33 and send signals to the main controller 33, and the main controller is connected with and controls the exhaust fan 21, the electromagnetic valve 22, the water pump 20, the stirrer 17 and the traveling motor 32.
When the invention is implemented, when the equipment drives into the center of the working face, the equipment starts to operate, the ultrasonic ranging sensor 5 combines with SLAM technology to build the characteristic map of the working face, when the CO concentration sensor 2, NO2 concentration sensor 3, dust concentration sensor 4 monitor that the CO, NO2 and dust concentrations in the central zone fall below the threshold, the device starts moving by driving the wheels 7 by the walking motors 32, during which the device positions itself according to the position estimation and the characteristic map, meanwhile, the characteristic map is perfected on the basis of self-positioning, the autonomous positioning and navigation of the equipment are realized, the main controller controls the equipment to reach the nearest unexplored area of the working surface along the shortest path and finally spread all the areas of the working surface, when the dust and toxic and harmful gases in all areas driven by the equipment are reduced to be below the threshold value, the equipment automatically returns to the initial position.
Claims (2)
1. The utility model provides a mine self-propelled air purification equipment which characterized in that:
comprises a sensing system, an outer box body (1) with an air inlet (8) arranged at the top of the front wall, a dust and poisonous and harmful gas purifying device (9) and a self-walking mechanism (11);
the sensing system is positioned at the top of the outer box body (1), the dust and toxic and harmful gas purifying device (9) is positioned inside the outer box body (1), and the self-walking mechanism (11) is positioned at the bottom of the outer box body (1);
the dust and poisonous and harmful gas purification device (9) comprises a closed water tank (14), an oxygen tank (25) and CO-O2A fuel cell and a suction fan (21);
the sealed water tank (14) is arranged on the right side inside the outer box body (1), and the sealed water tank (14) is welded on the inner wall of the outer box body (1); an oxygen tank (25) is further arranged inside the outer box body (1), the oxygen tank (25) is arranged on the left side of the closed water tank (14), and an oxygen discharging tank support (26) is respectively arranged at the top end and the bottom end of the oxygen tank (25) and connected with the outer box body (1);
saturated NaOH aqueous solution with the total volume of 90 percent is filled in the closed water tank (14); a stirrer (17) is also arranged in the closed water tank (14); a water pump (20) and a filtering device (18) with a filter element arranged inside are arranged on the lower wall surface of the closed water tank (14);
an air inlet pipe (15) is arranged at the top of the left side of the closed water tank (14), and an air outlet pipe (16) is arranged at the top of the right side of the closed water tank (14); one end of the air inlet pipe (15) is communicated with the air inlet (8), and the other end of the air inlet pipe (15) is positioned below the liquid level of one side of the closed water tank (14); the air outlet pipe (16) is positioned on the liquid level at one side of the closed water tank (14); a sewage discharge pipe (19) is arranged on the right side of the bottom of the closed water tank (14), and a water return pipe (27) is arranged on the left wall surface of the closed water tank (14);
the CO-O2The fuel cell is arranged at the lower end of the oxygen tank (25); the CO-O2The fuel cell comprises CO-O2A fuel cell cathode (28), an acid electrolyte (29) and CO-O2A fuel cell anode (30);
the dust and poisonous and harmful gas purification device (9) also comprises an air inlet end oxygen pipe (23) and a fuel cell oxygen pipe (24); the oxygen tank (25) is connected with the air inlet pipe (15) through an air inlet end oxygen pipe (23), and the oxygen tank (25) is connected with CO-O through a fuel cell oxygen pipe (24)2A fuel cell cathode (28); the exhaust fan (21) is arranged at CO-O2On the right side of the fuel cell, one end of the air outlet pipe (16) is connected with the closed water tank (14), and the other end of the air outlet pipe (16) is connected with an exhaust fan (21);
the bottom of the outer box body (1) is also provided with a lithium ion storage battery (10), and the lithium ion storage battery (10) is arranged in CO-O2The lower part of the fuel cell and the exhaust fan (21); a charging port (13) is formed in the lower portion of the rear wall of the outer box body (1), and the charging port (13) is connected with a lithium ion storage battery (10);
the self-walking mechanism (11) comprises 4 wheels (7) and 4 walking motors (32); the 4 wheels (7) are all arranged at the lower part of the outer box body (1), wherein 2 wheels (7) form a group, and 2 groups of wheels (7) are respectively and symmetrically arranged at two sides of the lower part of the outer box body (1); shafts of the 4 traveling motors (32) respectively and directly penetrate through the circle centers of the 4 wheels (7) and are arranged on the inner sides of the 4 wheels (7);
the sensing system comprises a control device, a CO concentration sensor (2) and NO2The device comprises a concentration sensor (3), a dust concentration sensor (4) and 4 ultrasonic ranging sensors (5); the control device comprises a charging interface and a main controller (33) internally adopting a singlechip; the 4 ultrasonic ranging sensors (5) are respectively arranged on the tops of the front wall, the rear wall, the left wall and the right wall of the outer box body (1); the charging interface device is arranged on the back of the outer box body (1); the CO concentration sensor (2) and NO2The concentration sensor (3) and the dust concentration sensor (4) are both arranged on the top surface of the outer box body (1);
the CO-O2The left side and the right side of the fuel cell are provided with 2 semicircular porous electrodes; the 2 semicircular porous electrodes are spliced into a cylinder, and the 2 semicircular porous electrodes are splicedInsulating materials (31) for isolation are arranged at the positions; acid electrolyte is arranged in the 2 semicircular porous electrodes;
4 cameras (6) are also arranged; the 4 cameras (6) are also respectively arranged at the tops of the front, the rear, the left and the right wall surfaces of the outer box body (1), and the camera (6) is arranged at the left side of the ultrasonic ranging sensor (5);
and the self-walking mechanism (11) is matched with the ultrasonic ranging sensor (5) and the SLAM technology to build a characteristic map of a working surface, so that the autonomous positioning, the autonomous navigation and the autonomous walking of the equipment are realized.
2. The mine self-propelled air purification apparatus of claim 1, wherein: 2 electromagnetic valves (22) are further arranged above the oxygen tank (25), and the 2 electromagnetic valves (22) are respectively positioned on the left side and the right side above the oxygen tank (25); wherein, an electromagnetic valve (22) positioned at the upper left side of the oxygen tank (25) is connected with the oxygen pipe (24) of the fuel cell for controlling to CO-O2A flow rate of oxygen delivered by the fuel cell cathode (28); an electromagnetic valve (22) positioned on the right side above the oxygen tank (25) is connected with the oxygen pipe (23) at the air inlet end to control the flow of oxygen conveyed to the air inlet pipe (15).
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| CN111946382B (en) * | 2020-08-26 | 2022-05-20 | 湖南核工业建设有限公司 | Metal mine underground ventilation device |
| CN112253216A (en) * | 2020-09-16 | 2021-01-22 | 燕山大学 | Method for dedusting tunnel |
| CN112495078A (en) * | 2020-10-09 | 2021-03-16 | 河南省公路工程局集团有限公司 | Self-suction type dust settling equipment with self-cleaning function |
| CN112459783B (en) * | 2020-12-23 | 2023-01-17 | 莱芜莱新铁矿有限责任公司 | Safety device for mining under filling body |
| CN113294197A (en) * | 2021-04-23 | 2021-08-24 | 武汉科技大学 | Unmanned dust collector that controls is used in mine |
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| JP4458795B2 (en) * | 2003-08-22 | 2010-04-28 | 理研計器株式会社 | Electrochemical gas detector |
| US20060210846A1 (en) * | 2005-03-17 | 2006-09-21 | Kabushiki Kaisha Toshiba | Carbon monoxide removing method, carbon monoxide removing apparatus, method for producing same, hydrogen generating apparatus using same, and fuel cell system using same |
| CN102505953A (en) * | 2011-11-03 | 2012-06-20 | 谢飞鸿 | Air purifier for removing harmful gas and dust in long tunnel |
| CN108119179B (en) * | 2016-11-26 | 2024-05-10 | 中铁四局集团有限公司 | Mobile dust and harm removing equipment and dust and harm removing method suitable for tunnel construction |
| CN107045040A (en) * | 2016-12-28 | 2017-08-15 | 汪家琳 | Indoor toxic gas automatic detection and purification air interchanger |
| CN108592216B (en) * | 2018-06-22 | 2023-08-29 | 中国三峡建设管理有限公司 | In-tunnel vehicle-mounted air purification system |
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