CN112963203A - Intelligent robot for coal mine gas detection - Google Patents
Intelligent robot for coal mine gas detection Download PDFInfo
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- CN112963203A CN112963203A CN202110165355.6A CN202110165355A CN112963203A CN 112963203 A CN112963203 A CN 112963203A CN 202110165355 A CN202110165355 A CN 202110165355A CN 112963203 A CN112963203 A CN 112963203A
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- gas detection
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 239000003245 coal Substances 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 54
- 239000000428 dust Substances 0.000 claims abstract description 18
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- 239000007921 spray Substances 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000004880 explosion Methods 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract description 2
- 238000009825 accumulation Methods 0.000 abstract 1
- 239000002817 coal dust Substances 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000010959 steel Substances 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
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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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)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot for coal mine gas detection, which comprises a machine body, a control chamber, a controller, a through hole, a sleeve, a camera body, a gas detector body, a second through groove, a connecting pipe, a second accommodating groove, a water tank, a water pump, a water outlet pipe, a spray head, a power chamber, a motor, a first belt wheel, a transmission belt, a second belt wheel, a rotating shaft, wheels, a mounting seat and a bearing, compared with the existing gas detection robot, the invention uses a double-drive moving wheel to replace a track, can prevent sparks generated due to collision, is provided with a water spraying device, can reduce coal dust in the air, reduce the probability of dust explosion, and improve the air quality in a mine hole, is provided with an automatic camera cleaning device, can automatically clean a camera, and can prevent fuzzy monitoring video caused by dust accumulation, and is provided with a shockproof device, it is possible to prevent the detector from being deteriorated in accuracy or damaged due to vibration.
Description
Technical Field
The invention relates to the technical field of gas detection, in particular to an intelligent robot for coal mine gas detection.
Background
Gas is common gas in the colliery, when phase concentration reaches the certain degree, very easily explode, cause very big threat to operation personnel's life safety, current gas detection robot uses the track as moving mechanism mostly, but the track is steel product, easily with ore friction and collision produces the spark, detonate gas, current gas detection robot function is single, lack watering device, the buggy that wafts in the unable ore deposit hole of detaching, current gas detection robot's surveillance camera lacks the self-cleaning function, along with the gathering of dust, the image that returns can become vague, current gas detection robot lacks the anti-vibration device, make gas concentration detector damage easily.
Disclosure of Invention
The invention aims to provide an intelligent robot for coal mine gas detection, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent robot for coal mine gas detection comprises a machine body, a control chamber, a controller, a through hole, a sleeve, a camera body, a first through groove, a connecting shaft, a connecting ring, a gear, a dust cover, a cleaning block, a first support, an electric telescopic rod, a rack, a containing groove, a first containing groove, a second support, a first spring, a second spring, a gas detector body, a second through groove, a connecting pipe, a second containing groove, a water tank, a water pump, a water outlet pipe, a spray head, a power chamber, a motor, a first belt wheel, a driving belt, a second belt wheel, a rotating shaft, wheels, a mounting seat and a bearing, wherein the control chamber is arranged on the inner wall of the top end of the machine body, the through hole is formed in the inner wall of the top end of the control chamber, the sleeve is fixedly connected to the outer wall of the top end of the through hole, the camera body is fixedly connected to the outer wall of the top, a connecting shaft is fixedly connected to the inner wall of one side of the first through groove, a connecting ring is sleeved on the outer wall of one side of the connecting shaft, a gear is fixedly connected to the outer wall of one side of the connecting ring, the gear is sleeved on the outer wall of one side of the connecting shaft, a dust cover is fixedly connected to the outer wall of one side of the camera body, a cleaning block is arranged on the outer wall of one side of the dust cover, a first support is fixedly connected to the outer wall of one side of the cleaning block, the first support is fixedly connected to the outer wall of one side of the connecting ring, a first accommodating groove is formed in the outer wall of the top end of the camera body, a second support is sleeved on the inner wall of one side of the first accommodating groove, a first spring is fixedly distributed on the outer wall of the second support, one end of the first spring is fixedly connected to the inner wall of one side, one end of a second spring is fixedly connected to the inner wall at the bottom end of the first accommodating groove, a gas detector body is fixed on the inner wall at one side of the second support through a bolt, a second through groove is formed in the inner wall at one side of the machine body, a connecting pipe is sleeved on the inner wall at one side of the second through groove, second accommodating grooves are symmetrically formed in the outer walls at two sides of the second through groove, a water tank is fixedly connected to the inner wall at one side of the second accommodating groove, the connecting pipe is fixedly connected to the outer wall at one side of the water tank, a water pump is fixedly connected to the inner wall at the bottom end of the water tank, a water outlet pipe is fixedly connected to the outer wall at one side of the output end of the water pump, spray heads are fixedly connected to the outer wall at one side of the water outlet pipe, power chambers are symmetrically arranged on the inner walls at two sides, the improved power generation device is characterized in that a transmission belt is sleeved on the outer wall of one side of the first belt wheel, a second belt wheel is symmetrically sleeved on the inner wall of one side of the transmission belt, mounting seats are symmetrically fixed on the inner wall of the bottom end of the power chamber, bearings are fixedly connected to the inner wall of one side of the mounting seats, a rotating shaft is fixedly connected to the inner wall of one side of each bearing, the second belt wheel is fixedly connected to the outer wall of one side of the rotating shaft, and wheels are fixedly connected to the outer wall of one side of the rotating shaft.
According to the technical scheme, the electric telescopic rods are symmetrically fixed on the outer wall of the top end of the machine body, the rack is fixedly connected to the outer wall of one side of the output end of the electric telescopic rod, and the rack is connected to the outer wall of one side of the gear in a meshed mode.
According to the technical scheme, the accommodating groove is formed in the outer wall of the top end of the camera body.
According to the technical scheme, the controller is fixedly connected to the inner wall of the bottom end of the control chamber, the camera body is connected with the controller through a signal line, the electric telescopic rod is connected with the controller through a signal line, the gas detector body is connected with the controller through a signal line, and the water pump is connected with the controller through a signal line. According to the technical scheme, the screws are fixedly distributed on the outer wall of the top end of the gas detector body, and the screws are connected to the outer wall of the top end of the second support in a threaded connection mode.
According to the technical scheme, the outer wall of one side of the water tank is provided with the mounting hole, and one end of the water outlet pipe is fixedly connected to the inner wall of one side of the mounting hole.
According to the technical scheme, the inner wall of one side of the mounting seat is provided with the clamping groove, and the inner wall of one side of the clamping groove is sleeved with the elastic clamping ring.
Compared with the prior art, the invention has the following beneficial effects: compared with the existing gas detection robot, the gas concentration detector provided by the invention has the advantages that the double-drive moving wheels are used for replacing the track, so that sparks can be prevented from being generated due to collision, the water spraying device is designed, the pulverized coal in the air can be reduced, the dust explosion probability is reduced, and the air quality in a mine hole is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall front cut-away construction of the present invention;
FIG. 2 is an enlarged view of the structure of the area A in FIG. 1;
FIG. 3 is a schematic top sectional view of the camera body of the present invention;
FIG. 4 is a schematic perspective view of a cleaning block of the present invention;
FIG. 5 is a test cut-away configuration of the fuselage of the present invention;
FIG. 6 is a schematic view of a top cut-away configuration of the fuselage of the present invention;
in the figure: 1. a body; 2. a control room; 3. a controller; 4. a through hole; 5. a sleeve; 6. a camera body; 7. a first through groove; 8. a connecting shaft; 9. a connecting ring; 10. a gear; 11. a dust cover; 12. a cleaning block; 13. a first bracket; 14. an electric telescopic rod; 15. a rack; 16. a receiving groove; 17. a first accommodating groove; 18. a second bracket; 19. a first spring; 20. a second spring; 21. a gas detector body; 22. a second through groove; 23. a connecting pipe; 24. a second accommodating groove; 25. a water tank; 26. a water pump; 27. a water outlet pipe; 28. a spray head; 29. a power chamber; 30. a motor; 31. a first pulley; 32. a transmission belt; 33. a second pulley; 34. a rotating shaft; 35. a wheel; 36. a mounting seat; 37. and a bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: an intelligent robot for coal mine gas detection comprises a machine body 1, a control chamber 2, a controller 3, a through hole 4, a sleeve 5, a camera body 6, a first through groove 7, a connecting shaft 8, a connecting ring 9, a gear 10, a dust cover 11, a cleaning block 12, a first support 13, an electric telescopic rod 14, a rack 15, a containing groove 16, a first containing groove 17, a second support 18, a first spring 19, a second spring 20, a gas detector body 21, a second through groove 22, a connecting pipe 23, a second containing groove 24, a water tank 25, a water pump 26, a water outlet pipe 27, a spray head 28, a power chamber 29, a motor 30, a first belt wheel 31, a driving belt 32, a second belt wheel 33, a rotating shaft 34, a wheel 35, a mounting seat 36 and a bearing 37, wherein the control chamber 2 is arranged on the inner wall of the top end of the machine body 1, the through hole 4 is formed on the inner wall of the top end of the control chamber 2, the sleeve, the outer wall of the top end of the sleeve 5 is fixedly connected with a camera body 6, the outer wall of one side of the camera body 6 is symmetrically provided with a first through groove 7, the inner wall of one side of the first through groove 7 is fixedly connected with a connecting shaft 8, the outer wall of one side of the connecting shaft 8 is sleeved with a connecting ring 9, the outer wall of one side of the connecting ring 9 is fixedly connected with a gear 10, the gear 10 is sleeved on the outer wall of one side of the connecting shaft 8, the outer wall of one side of the camera body 6 is fixedly connected with a dust cover 11, the outer wall of one side of the dust cover 11 is provided with a cleaning block 12, the outer wall of one side of the cleaning block 12 is fixedly connected with a first bracket 13, the first bracket 13 is fixedly connected on the outer wall of one side of the connecting ring 9, the outer wall of the top end of the machine body 1 is provided with a first accommodating groove 17, the, one end of the first spring 19 is fixedly connected to one side inner wall of the first accommodating groove 17, the bottom end outer wall of the second support 18 is fixedly connected with the second spring 20, one end of the second spring 20 is fixedly connected to the bottom end inner wall of the first accommodating groove 17, a gas detector body 21 is fixed on one side inner wall of the second support 18 through a bolt, a second through groove 22 is formed on one side inner wall of the machine body 1, a connecting pipe 23 is sleeved on one side inner wall of the second through groove 22, second accommodating grooves 24 are symmetrically formed on two side outer walls of the second through groove 22, a water tank 25 is fixedly connected to one side inner wall of the second accommodating groove 24, the connecting pipe 23 is fixedly connected to one side outer wall of the water tank 25, a water pump 26 is fixedly connected to the bottom end inner wall of the water tank 25, a water outlet pipe 27 is fixedly connected to one side outer wall of an output end of the water pump, the power chambers 29 are symmetrically arranged on the inner walls of two sides of the machine body 1, the motor 30 is fixedly connected to the inner wall of one side of the power chamber 29, the first belt pulley 31 is fixedly connected to the outer wall of one side of the output end of the motor 30, the transmission belt 32 is sleeved on the outer wall of one side of the first belt pulley 31, the second belt pulley 33 is symmetrically sleeved on the inner wall of one side of the transmission belt 32, the mounting seats 36 are symmetrically fixed to the inner wall of the bottom end of the power chamber 29, the bearings 37 are fixedly connected to the inner wall of one side of the mounting seats 36, the rotating shaft 34 is fixedly connected to the inner wall of one side of the bearings 37, the second belt pulley 33 is fixedly connected to the outer wall of one side of; the electric telescopic rods 14 are symmetrically fixed on the outer wall of the top end of the machine body 1, a rack 15 is fixedly connected to the outer wall of one side of the output end of the electric telescopic rod 14, the rack 15 is meshed and connected to the outer wall of one side of the gear 10, and the electric telescopic rod 14 drives the gear 10 to rotate through the rack 15; the outer wall of the top end of the camera body 6 is provided with a storage groove 16, and the storage groove 16 is used for storing the cleaning block 12; the controller 3 is fixedly connected to the inner wall of the bottom end of the control chamber 2, the camera body 6 is connected with the controller 3 through a signal line, the electric telescopic rod 14 is connected with the controller 3 through a signal line, the gas detector body 21 is connected with the controller 3 through a signal line, the water pump 26 is connected with the controller 3 through a signal line, and the controller 3 is used for controlling the camera body 6, the electric telescopic rod 14, the gas detector body 21 and the water pump 26; screws are distributed and fixed on the outer wall of the top end of the gas detector body 21, the screws are connected to the outer wall of the top end of the second support 18 in a threaded manner, and the screws are used for fixing the gas detector body 21; a mounting hole is formed in the outer wall of one side of the water tank 25, one end of the water outlet pipe 27 is fixedly connected to the inner wall of one side of the mounting hole, and the mounting hole is used for mounting the water outlet pipe 27; a clamping groove is formed in the inner wall of one side of the mounting seat 36, an elastic clamping ring is sleeved on the inner wall of one side of the clamping groove, and the elastic clamping ring in the clamping groove is used for blocking the bearing 37; when the gas detection device is used for coal mine gas detection, firstly, a robot is placed in a region to be detected, the controller 3 in the control chamber 2 controls the motor 30 to rotate in the forward direction to drive the first belt pulley 31 to rotate, the first belt pulley 31 drives the second belt pulley 33 to rotate through the transmission belt 32, the second belt pulley 33 drives the rotating shaft 34 to rotate, the wheels 35 on the rotating shaft 34 rotate in the forward direction, the machine body 1 moves according to a set route, and when turning is needed, the motor 30 can be controlled by the controller 3 to rotate in different directions to enable the machine body 1 to rotate for a certain angle; the first spring 19 and the second spring 20 play a role in buffering the second bracket 18, so that the gas detector body 21 is prevented from being damaged due to vibration; when the dust removal function is started, the controller 3 controls the water pump 26 to be started, water is sprayed out through the water outlet pipe 27 and the spray head 28, dust in the mine hole is reduced, water in the two water tanks 25 is kept balanced through the connecting pipe 23, and meanwhile, the motor 30 is cooled; when dust accumulates on the dust cover 11 on the camera body 6, the controller 3 controls the electric telescopic rod 14 to stretch and retract in a reciprocating manner, the rack 15 is driven to slide up along the first through groove 7, the gear 10 is driven to rotate, the gear 10 drives the connecting ring 9 to rotate on the connecting shaft 8, the connecting ring 9 drives the first support 13, the cleaning block 12 on the first support 13 slides out of the accommodating groove 16, the dust cover 11 is cleaned, the sleeve 5 on the through hole 4 is used for accommodating a signal line, the first accommodating groove 17 is used for installing the second support 18, the second through groove 22 is used for accommodating the connecting pipe 23, the second accommodating groove 24 is used for accommodating the water tank 25, the installing seat 36 in the power chamber 29 is used for installing the bearing 37, and the bearing 37 is used for assisting the rotating shaft 34.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an intelligent robot for colliery gas detection, including fuselage (1), control room (2), controller (3), through-hole (4), sleeve (5), camera body (6), first logical groove (7), connecting axle (8), go-between (9), gear (10), dust cover (11), clean piece (12), first support (13), electric telescopic handle (14), rack (15), accomodate groove (16), first holding tank (17), second support (18), first spring (19), second spring (20), gas detector body (21), second logical groove (22), connecting pipe (23), second holding tank (24), water tank (25), water pump (26), outlet pipe (27), shower nozzle (28), power room (29), motor (30), first band pulley (31), drive belt (32), second band pulley (33), Pivot (34), wheel (35), mount pad (36) and bearing (37), its characterized in that: the novel multifunctional camera is characterized in that a control chamber (2) is arranged on the inner wall of the top end of the machine body (1), a through hole (4) is formed in the inner wall of the top end of the control chamber (2), a sleeve (5) is fixedly connected to the outer wall of the top end of the through hole (4), a camera body (6) is fixedly connected to the outer wall of the top end of the sleeve (5), first through grooves (7) are symmetrically formed in the outer wall of one side of the camera body (6), a connecting shaft (8) is fixedly connected to the inner wall of one side of each first through groove (7), a connecting ring (9) is sleeved on the outer wall of one side of each connecting shaft (8), a gear (10) is fixedly connected to the outer wall of one side of each connecting ring (9), the gear (10) is sleeved on the outer wall of one side of each connecting shaft (8), a dust cover (11) is fixedly connected to the outer wall of one, a first support (13) is fixedly connected to the outer wall of one side of the cleaning block (12), the first support (13) is fixedly connected to the outer wall of one side of the connecting ring (9), a first accommodating groove (17) is formed in the outer wall of the top end of the machine body (1), a second support (18) is sleeved on the inner wall of one side of the first accommodating groove (17), first springs (19) are fixedly distributed on the outer wall of the second support (18), one end of each first spring (19) is fixedly connected to the inner wall of one side of the first accommodating groove (17), a second spring (20) is fixedly connected to the outer wall of the bottom end of the second support (18), one end of each second spring (20) is fixedly connected to the inner wall of the bottom end of the first accommodating groove (17), a gas detector body (21) is fixedly bolted to the inner wall of one side of the second support (18), a second through groove (22) is formed in the inner wall of one side of the machine body (1), the connecting pipe (23) is sleeved on the inner wall of one side of the second through groove (22), the second accommodating grooves (24) are symmetrically formed in the outer walls of two sides of the second through groove (22), the water tank (25) is fixedly connected to the inner wall of one side of the second accommodating groove (24), the connecting pipe (23) is fixedly connected to the outer wall of one side of the water tank (25), the water pump (26) is fixedly connected to the inner wall of the bottom end of the water tank (25), the water outlet pipe (27) is fixedly connected to the outer wall of one side of the output end of the water pump (26), the spray head (28) is fixedly connected to the outer wall of one side of the water outlet pipe (27), the power chambers (29) are symmetrically arranged on the inner walls of two sides of the machine body (1), the motor (30) is fixedly connected to the inner wall of one side of the power chamber (29, drive belt (32) has been cup jointed on the one side outer wall of first band pulley (31), second band pulley (33) has been cup jointed to the symmetry on the one side inner wall of drive belt (32), the symmetry is fixed with mount pad (36) on the bottom inner wall of driver's cabin (29), fixedly connected with bearing (37) on the one side inner wall of mount pad (36), fixedly connected with pivot (34) on the one side inner wall of bearing (37), and second band pulley (33) fixed connection is on the one side outer wall of pivot (34), fixedly connected with wheel (35) on the one side outer wall of pivot (34).
2. The intelligent robot for coal mine gas detection according to claim 1, wherein: the electric telescopic handle is characterized in that electric telescopic handles (14) are symmetrically fixed on the outer wall of the top end of the machine body (1), a rack (15) is fixedly connected to the outer wall of one side of the output end of each electric telescopic handle (14), and the racks (15) are meshed and connected to the outer wall of one side of the gear (10).
3. The intelligent robot for coal mine gas detection according to claim 1, wherein: the outer wall of the top end of the camera body (6) is provided with a containing groove (16).
4. The intelligent robot for coal mine gas detection according to claim 1, wherein: fixedly connected with controller (3) on the bottom inner wall of control room (2), and camera body (6) are connected through the signal line with controller (3), and electric telescopic handle (14) are connected through the signal line with controller (3), and gas detector body (21) are connected through the signal line with controller (3), and water pump (26) are connected through the signal line with controller (3).
5. The intelligent robot for coal mine gas detection according to claim 1, wherein: the top outer wall of the gas detector body (21) is fixedly provided with screws in a distributed mode, and the screws are connected to the top outer wall of the second support (18) in a threaded mode.
6. The intelligent robot for coal mine gas detection according to claim 1, wherein: the water tank is characterized in that a mounting hole is formed in the outer wall of one side of the water tank (25), and one end of the water outlet pipe (27) is fixedly connected to the inner wall of one side of the mounting hole.
7. The intelligent robot for coal mine gas detection according to claim 1, wherein: a clamping groove is formed in the inner wall of one side of the mounting seat (36), and an elastic clamping ring is sleeved on the inner wall of one side of the clamping groove.
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| CN202110165355.6A CN112963203B (en) | 2021-02-06 | 2021-02-06 | Intelligent robot for coal mine gas detection |
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| CN202110165355.6A CN112963203B (en) | 2021-02-06 | 2021-02-06 | Intelligent robot for coal mine gas detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114280270A (en) * | 2021-12-22 | 2022-04-05 | 山西三合盛智慧科技股份有限公司 | Intelligent gas detection robot for coal mine based on image recognition |
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