CN112730760A - Method for measuring gas distribution of underground coal mine goaf - Google Patents
Method for measuring gas distribution of underground coal mine goaf Download PDFInfo
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- CN112730760A CN112730760A CN202110131265.5A CN202110131265A CN112730760A CN 112730760 A CN112730760 A CN 112730760A CN 202110131265 A CN202110131265 A CN 202110131265A CN 112730760 A CN112730760 A CN 112730760A
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- 239000003245 coal Substances 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 24
- 238000005065 mining Methods 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009472 formulation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/0057—Warfare agents or explosives
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Pathology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a method for measuring gas distribution in a coal mine underground goaf, which comprises the following steps: s1, measuring the shape and size of the gob based on a snake-shaped manipulator, and constructing a three-dimensional stereogram of the gob; s2, compiling a goaf gas sensor arrangement map based on the measurement results of the goaf shape and size; s3, arranging goaf gas sensor nodes based on a snake-shaped manipulator according to a preset gas sensor arrangement map; s4, synchronously awakening all gas sensors, monitoring the gas concentration in the goaf based on the gas sensor nodes, and feeding back the collected gas concentration data to the intelligent terminal through a wireless network by the gas sensor nodes; and S5, receiving and completing the processing and analysis of the gas concentration data by the intelligent terminal, and outputting a corresponding goaf gas concentration distribution map. The method can realize the accurate measurement of the gas distribution condition in the coal mine underground goaf and draw the corresponding goaf gas concentration distribution map.
Description
Technical Field
The invention relates to the field of coal mine safety, in particular to a method for measuring gas distribution in a coal mine underground goaf.
Background
The gas accident is a disaster outburst of a coal mine, the number of the gas accident and death accounts for more than 50% of the total number of the accidents, and how to prevent and eliminate the gas accident is a very important research topic.
In the coal mining process under a coal mine, gas in a coal seam is released, a part of gas is discharged along with coal transportation and underground ventilation, a part of gas is left in a goaf and is stored and accumulated in the goaf, the concentration of the gas is increased, great potential safety hazards exist, and the distribution of the gas in the goaf is the basis for making gas control measures in the goaf, so that how to measure the gas distribution in the goaf is very important.
Because underground goaf personnel can not reach, the gas distribution measurement of the underground goaf of the coal mine is very difficult, the existing measurement method is less, the problem of poor measurement accuracy exists, the real gas distribution rule can not be mastered, and the difficulty is brought to the control of the gas in the goaf.
Disclosure of Invention
In order to solve the problems, the invention provides a method for measuring gas distribution in a coal mine underground goaf, which can realize accurate measurement of gas distribution in the coal mine underground goaf, draw a corresponding goaf gas concentration distribution diagram and provide a basis for making goaf gas control measures.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for measuring gas distribution in a coal mine underground goaf comprises the following steps:
s1, measuring the shape and size of the gob based on a snake-shaped manipulator, and constructing a three-dimensional stereogram of the gob;
s2, compiling a goaf gas sensor arrangement map based on the measurement results of the goaf shape and size;
s3, arranging goaf gas sensor nodes based on a snake-shaped manipulator according to a preset gas sensor arrangement map;
s4, synchronously awakening all gas sensors, monitoring the gas concentration in the goaf based on the gas sensor nodes, and feeding back the collected gas concentration data to the intelligent terminal through a wireless network by the gas sensor nodes;
and S5, receiving and completing the processing and analysis of the gas concentration data by the intelligent terminal, and outputting a corresponding goaf gas concentration distribution map.
Further, the mining vehicle or machine is provided with a mounting seat for mounting the serpentine manipulator.
Furthermore, each gas sensor node is connected with the intelligent terminal in an ad hoc network mode through a Zigbee module to form an effective internal network; the gas sensor node transmits collected gas concentration data to the intelligent terminal in a wireless mode through the internal network, the intelligent terminal receives and completes processing and analysis of the gas concentration data, and a corresponding goaf gas concentration distribution map is output.
Further, the gas sensor node includes the cylindricality shell of fretwork form, carries the gas sensor node in the cylindricality shell in and with cylindricality shell integrated into one piece's threaded rod and U-shaped drag hook, the gas sensor node passes through the threaded rod and installs on the inner wall in collecting space area.
Further, still include the step that realizes the recovery of gas sensor node through serpentine manipulator, during the recovery, through serpentine manipulator centre gripping group U-shaped drag hook, then rotate gas sensor node, until the threaded rod breaks away from completely with the inner wall in collecting space area.
Further, serpentine manipulator comprises serpentine manipulator and the centre gripping manipulator of installing at serpentine manipulator head end through the roating seat, serpentine manipulator comprises a plurality of mechanical unit that are end to end connection and the steering wheel subassembly that is located between the mechanical unit, and centre gripping manipulator, every mechanical unit all carry three-dimensional attitude sensor in, realize the location of current centre gripping manipulator position based on the attitude data that three-dimensional attitude sensor gathered.
Further, install infrared camera on the centre gripping manipulator, install infrared light curtain group on the roating seat, realize the measurement of collecting space area shape, size based on infrared light curtain. During measurement, the rotating seat rotates to drive the infrared light curtain to rotate so as to realize all-dimensional detection of the goaf.
The invention can realize the accurate measurement of the gas distribution condition in the coal mine underground goaf, draw the corresponding goaf gas concentration distribution diagram, provide basis for the formulation of goaf gas control measures, and simultaneously, the whole arrangement and recovery process is completed by the snake-shaped manipulator, so the safety is high.
Drawings
Fig. 1 is a flowchart of a method for measuring gas distribution in a mined-out area of a coal mine according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of a method for measuring gas distribution in a goaf in a coal mine according to embodiment 2 of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for measuring gas distribution in a coal mine underground goaf, including the following steps:
s1, measuring the shape and size of the gob based on a snake-shaped manipulator, and constructing a three-dimensional stereogram of the gob;
s2, compiling a goaf gas sensor arrangement map based on the measurement results of the goaf shape and size; when in compilation, marking the arrangement position of the gas sensor on the three-dimensional stereogram of the goaf according to a preset threshold value to obtain a gas sensor arrangement map;
s3, arranging goaf gas sensor nodes based on a snake-shaped manipulator according to a preset gas sensor arrangement map; the intelligent terminal firstly plans a walking path of the snake-shaped manipulator according to a gas sensor arrangement map, and then drives the snake-shaped manipulator to realize the one-to-one arrangement of the gas sensor nodes according to the walking path obtained by planning;
s4, synchronously awakening all gas sensors, monitoring the gas concentration in the goaf based on the gas sensor nodes, and feeding back the collected gas concentration data to the intelligent terminal through a wireless network by the gas sensor nodes; each gas sensor node is internally provided with a timing module, and the awakening operation of the gas sensor is realized based on the timing module;
and S5, receiving and completing the processing and analysis of the gas concentration data by the intelligent terminal, and outputting a corresponding goaf gas concentration distribution map, wherein the goaf gas concentration distribution map comprises a goaf three-dimensional stereogram and a gas concentration value acquired by each gas sensor node.
In this embodiment, the mining vehicle or the mining machine is provided with a mounting seat for mounting the serpentine manipulator, and the serpentine manipulator is mounted on the mining vehicle or the mining machine through the mounting seat.
In the embodiment, each gas sensor node is connected with an intelligent terminal in an ad hoc network mode through a Zigbee module to form an effective internal network; the gas sensor node transmits collected gas concentration data to the intelligent terminal in a wireless mode through the internal network, the intelligent terminal receives and completes processing and analysis of the gas concentration data, and a corresponding goaf gas concentration distribution map is output.
In this embodiment, the gas sensor node includes the cylindricality shell of fretwork form, carries the gas sensor node in the cylindricality shell in and with cylindricality shell integrated into one piece's threaded rod and U-shaped drag hook, the gas sensor node passes through the threaded rod and installs on the inner wall in collecting space area. When the device is arranged, the U-shaped drag hook of the group is clamped by the snake-shaped manipulator, then the gas sensor node is rotated until the threaded rod is completely rotated to the inner wall of the goaf, and then the installation is finished.
In this embodiment, serpentine manipulator comprises serpentine manipulator and installs the centre gripping manipulator at serpentine manipulator head end through the roating seat, serpentine manipulator comprises a plurality of mechanical unit that are end to end connection and the steering wheel subassembly that is located between the mechanical unit, and centre gripping manipulator, every mechanical unit all carry three-dimensional attitude sensor in, realize the location of current centre gripping manipulator position based on the attitude data that three-dimensional attitude sensor gathered.
In this embodiment, install infrared camera on the centre gripping manipulator, install infrared light curtain group on the roating seat, realize the measurement of collecting space area shape, size based on infrared light curtain. During measurement, the rotating seat rotates to drive the infrared light curtain to rotate so as to realize all-dimensional detection of the goaf.
In this embodiment, in order to avoid the gas sensor node of taking that serpentine manipulator makes a round trip, can dispose two serpentine manipulators, one of them is used for realizing the installation of gas sensor node, and another is used for realizing placing hanging of the storage basket of gas sensor node, adopts the tracking mode of operation for help accomplishing the installation of gas sensor node.
Example 2
As shown in fig. 2, an embodiment of the present invention provides a method for measuring gas distribution in a coal mine underground goaf, including the following steps:
s1, measuring the shape and size of the gob based on a snake-shaped manipulator, and constructing a three-dimensional stereogram of the gob;
s2, compiling a goaf gas sensor arrangement map based on the measurement results of the goaf shape and size;
s3, arranging goaf gas sensor nodes based on a snake-shaped manipulator according to a preset gas sensor arrangement map;
s4, synchronously awakening all gas sensors, monitoring the gas concentration in the goaf based on the gas sensor nodes, and feeding back the collected gas concentration data to the intelligent terminal through a wireless network by the gas sensor nodes;
s5, the intelligent terminal receives and completes processing and analysis of gas concentration data, and outputs a corresponding goaf gas concentration distribution map;
s6, the gas sensor node is recovered through the snake-shaped manipulator, and during recovery, the gas sensor node is rotated through the U-shaped drag hook of the snake-shaped manipulator clamping group until the threaded rod is completely separated from the inner wall of the goaf.
In this embodiment, the mining vehicle or the mining machine is provided with a mounting seat for mounting the serpentine manipulator, and the serpentine manipulator is mounted on the mining vehicle or the mining machine through the mounting seat.
In the embodiment, each gas sensor node is connected with an intelligent terminal in an ad hoc network mode through a Zigbee module to form an effective internal network; the gas sensor node transmits collected gas concentration data to the intelligent terminal in a wireless mode through the internal network, the intelligent terminal receives and completes processing and analysis of the gas concentration data, and a corresponding goaf gas concentration distribution map is output.
In this embodiment, the gas sensor node includes the cylindricality shell of fretwork form, carries the gas sensor node in the cylindricality shell in and with cylindricality shell integrated into one piece's threaded rod and U-shaped drag hook, the gas sensor node passes through the threaded rod and installs on the inner wall in collecting space area. When the device is arranged, the U-shaped drag hook of the group is clamped by the snake-shaped manipulator, then the gas sensor node is rotated until the threaded rod is completely rotated to the inner wall of the goaf, and then the installation is finished.
In this embodiment, serpentine manipulator comprises serpentine manipulator and installs the centre gripping manipulator at serpentine manipulator head end through the roating seat, serpentine manipulator comprises a plurality of mechanical unit that are end to end connection and the steering wheel subassembly that is located between the mechanical unit, and centre gripping manipulator, every mechanical unit all carry three-dimensional attitude sensor in, realize the location of current centre gripping manipulator position based on the attitude data that three-dimensional attitude sensor gathered.
In this embodiment, install infrared camera on the centre gripping manipulator, install infrared light curtain group on the roating seat, realize the measurement of collecting space area shape, size based on infrared light curtain. During measurement, the rotating seat rotates to drive the infrared light curtain to rotate so as to realize all-dimensional detection of the goaf.
In this embodiment, in order to avoid the gas sensor node of taking that serpentine manipulator makes a round trip, can dispose two serpentine manipulators, one of them is used for realizing the installation of gas sensor node, and another is used for realizing placing hanging of the storage basket of gas sensor node, adopts the tracking mode of operation for help accomplishing the installation of gas sensor node.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A method for measuring gas distribution in a coal mine underground goaf is characterized by comprising the following steps: the method comprises the following steps:
s1, measuring the shape and size of the gob based on a snake-shaped manipulator, and constructing a three-dimensional stereogram of the gob;
s2, compiling a goaf gas sensor arrangement map based on the measurement results of the goaf shape and size;
s3, arranging goaf gas sensor nodes based on a snake-shaped manipulator according to a preset gas sensor arrangement map;
s4, synchronously awakening all gas sensors, monitoring the gas concentration in the goaf based on the gas sensor nodes, and feeding back the collected gas concentration data to the intelligent terminal through a wireless network by the gas sensor nodes;
and S5, receiving and completing the processing and analysis of the gas concentration data by the intelligent terminal, and outputting a corresponding goaf gas concentration distribution map.
2. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 1, wherein: the mining vehicle or machine is provided with a mounting seat for mounting the serpentine manipulator.
3. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 1, wherein: each gas sensor node is connected with an intelligent terminal in an ad hoc network mode through a Zigbee module to form an effective internal network; the gas sensor node transmits collected gas concentration data to the intelligent terminal in a wireless mode through the internal network, the intelligent terminal receives and completes processing and analysis of the gas concentration data, and a corresponding goaf gas concentration distribution map is output.
4. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 1, wherein: the gas sensor node comprises a hollowed cylindrical shell, a gas sensor node loaded in the cylindrical shell, a threaded rod and a U-shaped drag hook, wherein the threaded rod and the U-shaped drag hook are integrally formed with the cylindrical shell, and the gas sensor node is installed on the inner wall of the goaf through the threaded rod.
5. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 1, wherein: still include the step of realizing gas sensor node recovery through snake-shaped manipulator, during the recovery, through snake-shaped manipulator centre gripping group U-shaped drag hook, then rotate gas sensor node, break away from completely with the inner wall in collecting space area until the threaded rod.
6. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 1, wherein: the snakelike manipulator comprises snakelike arm and the centre gripping manipulator of installing at snakelike arm head end through the roating seat, snakelike arm comprises a plurality of mechanical unit that are end to end connection and the steering wheel subassembly that is located between the mechanical unit, and centre gripping manipulator, every mechanical unit all carry three-dimensional attitude sensor in, realize the location of current centre gripping manipulator position based on the attitude data that three-dimensional attitude sensor gathered.
7. The method for measuring the gas distribution in the coal mine underground goaf as claimed in claim 6, wherein: the clamping mechanical arm is provided with an infrared camera, the rotating seat is provided with an infrared light curtain group, and the measurement of the shape and the size of the goaf is realized based on the infrared light curtain; during measurement, the rotating seat rotates to drive the infrared light curtain to rotate so as to realize all-dimensional detection of the goaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110131265.5A CN112730760A (en) | 2021-01-30 | 2021-01-30 | Method for measuring gas distribution of underground coal mine goaf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110131265.5A CN112730760A (en) | 2021-01-30 | 2021-01-30 | Method for measuring gas distribution of underground coal mine goaf |
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| Publication Number | Publication Date |
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| CN112730760A true CN112730760A (en) | 2021-04-30 |
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| CN202110131265.5A Withdrawn CN112730760A (en) | 2021-01-30 | 2021-01-30 | Method for measuring gas distribution of underground coal mine goaf |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117588265A (en) * | 2024-01-17 | 2024-02-23 | 中国矿业大学 | Risk early warning method for comprehensive treatment of coal mine gas disasters |
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2021
- 2021-01-30 CN CN202110131265.5A patent/CN112730760A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117588265A (en) * | 2024-01-17 | 2024-02-23 | 中国矿业大学 | Risk early warning method for comprehensive treatment of coal mine gas disasters |
| CN117588265B (en) * | 2024-01-17 | 2024-04-09 | 中国矿业大学 | Risk early warning method for comprehensive treatment of coal mine gas disasters |
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Application publication date: 20210430 |