CN114235480B - Negative pressure fixed-point sampling method for gas content in coal bed - Google Patents
Negative pressure fixed-point sampling method for gas content in coal bed Download PDFInfo
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- CN114235480B CN114235480B CN202111570523.6A CN202111570523A CN114235480B CN 114235480 B CN114235480 B CN 114235480B CN 202111570523 A CN202111570523 A CN 202111570523A CN 114235480 B CN114235480 B CN 114235480B
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- 238000005070 sampling Methods 0.000 title claims abstract description 111
- 239000003245 coal Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 64
- 238000005553 drilling Methods 0.000 claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000003993 interaction Effects 0.000 claims description 13
- 238000013500 data storage Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003795 desorption Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention belongs to the technical field of coal mine gas detection, and particularly relates to a coal seam gas content negative pressure fixed-point sampling method, which comprises the following steps: the method comprises the steps that a walking detection unit is utilized to scan an underground roadway, scanning information is sent to a remote control device in a wireless communication mode to construct a roadway three-dimensional space model, and the remote control device remotely controls the walking detection unit in the wireless communication mode; planning a sampling path and sampling coordinates on a roadway three-dimensional space model through a remote control device, and setting sampling parameters; the walking sampling unit is utilized to walk according to a planned sampling path, drilling and fixed-point sampling are carried out according to sampling parameters set by the remote control device after the walking sampling unit reaches sampling coordinates, and the remote control device is used for remotely controlling the walking sampling unit in a wireless communication mode. The invention has high degree of automation and convenient operation, can reduce the operation intensity of staff and improve the working efficiency, and is suitable for popularization and application.
Description
Technical Field
The invention belongs to the technical field of coal mine gas detection, and particularly relates to a coal bed gas content negative pressure fixed-point sampling method.
Background
The coal seam gas content test is a basic work in coal mine gas disaster prevention and control, not only restricts the accuracy of predicting the mine gas hazard degree, but also influences the reliability of subsequent gas prevention and control measures. At present, a direct determination method of the gas content of a coal seam mainly adopts a desorption method, and mainly comprises three steps, wherein the first step is to drill and collect coal samples on newly exposed coal walls, rocks or rock tunnels; the second step is the determination of the desorption gas amount of the coal sample; the third step is the laboratory residual gas content measurement. The existing coal seam gas sampling method is mostly remained in an experimental stage, and has the disadvantages of low automation level, inconvenient operation, high operation strength, low working efficiency and unsuitable popularization and application, so that improvement is needed.
Disclosure of Invention
In order to solve the technical problems, the negative pressure fixed-point sampling method for the gas content of the coal seam provided by the invention comprises the following steps:
s1, scanning geographical position data (such as coordinate information), coal seam data (such as coal seam distribution) and roadway environment data (such as the size, position and the like of obstacles in a roadway) of an underground roadway by using a walking detection unit, and transmitting scanning information to a remote control device in a wireless communication mode to construct a roadway three-dimensional space model, wherein the remote control device remotely controls the walking detection unit in the wireless communication mode;
s2, planning a sampling path and sampling coordinates on the roadway three-dimensional space model through a remote control device, and setting sampling parameters (such as drilling depth of a sampling point, sampling time and the like);
and S3, walking by using the walking sampling unit according to the planned sampling path, drilling and fixed-point sampling according to sampling parameters set by a remote control device after the walking sampling unit reaches the sampling coordinates, wherein the remote control device remotely controls the walking sampling unit in a wireless communication mode.
Preferably, the remote control device includes: the system comprises a central processing unit, a data storage device, a third wireless data transceiver and a man-machine interaction device, wherein the data storage device, the third wireless data transceiver and the man-machine interaction device are respectively and electrically connected with the central processing unit. The staff inputs control command to the remote control device through the man-machine interaction device, and then the walking detection unit and the walking sampling unit are remotely controlled through the data storage device and the third wireless data transceiver.
Preferably, the walking detection unit comprises a first remote control trolley and a detection mechanical arm, the bottom of the detection mechanical arm is fixed on the first remote control trolley, the top of the detection mechanical arm is provided with a detection head, the detection head comprises a detection data processor, a distance sensor, a scanner, a gyroscope and a detection head angle positioning control driving mechanism, and the detection head angle positioning control driving mechanism at least comprises an A coordinate rotation driving mechanism which is rotationally moved along a central axis along a left horizontal direction and a right horizontal direction and a B coordinate rotation driving mechanism which is rotationally moved along a front horizontal direction and a rear horizontal direction; the first remote control trolley comprises a first wireless data receiving and transmitting device and is in wireless communication connection with the remote control device through the first wireless data receiving and transmitting device so as to realize that a worker can control the first remote control trolley to walk in an underground roadway; the distance sensor, the scanner and the gyroscope are respectively and electrically connected with the detection data processor, the detection data processor and the detection head angle positioning control driving mechanism are respectively and electrically connected with the first wireless data transceiver, and the remote control device can conduct data collection and angle control on the detection head through the first wireless data transceiver.
Preferably, the walking sampling unit comprises a second remote control trolley, a drilling mechanical arm and a negative pressure sampling device, wherein the bottom of the drilling mechanical arm is fixed on the second remote control trolley, the drilling mechanical arm comprises a drilling mechanical arm driving mechanism, and the drilling mechanical arm driving mechanism comprises an X coordinate driving mechanism for controlling the horizontal movement of the drilling mechanical arm, a Y coordinate driving mechanism for controlling the horizontal movement of the drilling mechanical arm in the front-back direction, a Z coordinate driving mechanism for controlling the vertical movement of the drilling mechanical arm, a C coordinate rotation driving mechanism for rotating and moving along the horizontal direction in the left-right direction in the central axis and a D coordinate rotation driving mechanism for rotating and moving along the horizontal direction in the front-back direction in the central axis; the drilling machine is characterized in that a drilling device is arranged at the top end of the drilling mechanical arm, a second wireless data transceiver is further arranged on the second trolley, the second wireless data transceiver is connected with the remote control device in a wireless communication mode, so that staff can control the second remote control trolley to walk and sample along a preset sampling path and sampling parameters in an underground roadway, the driving mechanism of the drilling mechanical arm is electrically connected with the second wireless data transceiver, and the remote control device can accurately adjust the position of the drilling device on the drilling mechanical arm through the second wireless data transceiver.
Preferably, the drilling device comprises an explosion-proof motor and a hollow drill rod, the hollow drill rod is rotationally connected with an output shaft of the explosion-proof motor, a drill bit is installed at the front end of the hollow drill rod, a first air port is formed in the drill bit end of the hollow drill rod, a second air port is formed in the hollow drill rod, which is close to the explosion-proof motor end, an annular fan housing is connected to a shell of the explosion-proof motor through a support, the annular fan housing is sleeved outside the second air port of the hollow drill rod and is rotationally and sealingly connected with the hollow drill rod, a compressed air hose and a sampling hose are connected to the annular fan housing, a compressed air solenoid valve and a sampling solenoid valve are respectively arranged on the compressed air hose and the sampling hose, the compressed air solenoid valve and the sampling solenoid valve are both explosion-proof solenoid valve, the negative pressure sampling device comprises a compressed air fan and a coal sample collector arranged on a second remote control trolley, an air outlet end of the compressed air fan is connected with the compressed air hose, a sampling port of the coal sample collector is connected with a negative pressure pump, and a negative pressure motor is connected with the negative pressure pump through a wireless data transceiver and a wireless data transceiver device, and the negative pressure data transceiver is wirelessly controlled by the wireless transceiver device.
Preferably, the travelling mechanisms of the first remote control trolley and the second remote control trolley are all-terrain crawler travelling mechanisms, so that the travelling stability is good and the operation is convenient.
Preferably, the man-machine interaction device comprises a touch display screen, so that high-efficiency and convenient man-machine interaction can be realized.
Preferably, the walking detection unit, the remote control device and the walking sampling unit are respectively provided with a power supply device, and the power supply device comprises a power storage device and a charger and is used for ensuring the power supply of corresponding equipment.
Preferably, the underground roadway is further internally provided with a wireless data repeater, the walking detection unit and the walking sampling unit can be connected with the remote control device in a wireless communication manner through the wireless data repeater, and when the distance between the walking detection unit and the walking sampling unit is far away from the remote control device, the remote control device can realize the remote stable control of the walking detection unit and the walking sampling unit by taking the wireless data repeater as a transfer station in order to prevent the signal from weakening and influence the operation range.
The undefined devices and components in the present invention all adopt conventional technical means in the art, and a person skilled in the art can select the model and the installation mode of the corresponding devices and components according to actual use requirements, so that how to install and control the devices and components specifically is clearly known, and will not be described in detail herein.
The working principle of the invention is that a mature remote control design method in the prior art is organically combined with the requirement of coal mine underground coal seam gas fixed-point sampling, the geographical position data, the coal seam data and the roadway environment data of an underground roadway are detected and collected by using a walking detection unit and then sent to a remote control device to construct a roadway three-dimensional space model, a worker plans a sampling path and sampling coordinates on the roadway three-dimensional space model through the remote control device, sampling parameters are set, and the walking sampling unit walks, drills and samples according to working instructions generated by the remote control device.
The invention has the advantages of high degree of automation, convenient operation, reduced operation intensity of staff, improved working efficiency and suitability for popularization and application.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure of the present invention in the embodiment.
Fig. 2 is a schematic diagram of the overall structure of the walking sampling unit in fig. 1.
Fig. 3 is an overall control structure diagram of the present invention.
Fig. 4 is a control structure diagram of the remote control device of the present invention.
Fig. 5 is a control structure diagram of the walk detection unit of the present invention.
Fig. 6 is a control structure diagram of the walk sampling unit of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown, and in which embodiments of the invention are shown. All other embodiments, modifications, equivalents, improvements, etc., which are apparent to those skilled in the art without the benefit of this disclosure, are intended to be included within the scope of this invention.
Examples
Referring to fig. 1 to 3, the invention provides a method for sampling the gas content of a coal bed at fixed points under negative pressure, which comprises the following steps:
s1, scanning geographical position data (such as coordinate information), coal seam data (such as coal seam distribution) and roadway environment data (such as the size, position and the like of obstacles in a roadway) of an underground roadway 2 by using a walking detection unit 1, and sending scanning information to a remote control device 3 in a wireless communication mode to construct a roadway three-dimensional space model, wherein the remote control device remotely controls the walking detection unit in the wireless communication mode;
s2, planning a sampling path and sampling coordinates on the roadway three-dimensional space model through a remote control device, and setting sampling parameters (such as drilling depth of a sampling point, sampling time and the like);
and S3, walking by using the walking sampling unit 4 according to a planned sampling path, drilling and fixed-point sampling according to sampling parameters set by a remote control device after the sampling coordinates are reached, wherein the remote control device remotely controls the walking sampling unit in a wireless communication mode.
Referring to fig. 4, in this embodiment, the remote control device includes: the system comprises a central processing unit, a data storage device, a third wireless data transceiver and a man-machine interaction device, wherein the data storage device, the third wireless data transceiver and the man-machine interaction device are respectively and electrically connected with the central processing unit. The staff inputs control command to the remote control device through the man-machine interaction device, and then the walking detection unit and the walking sampling unit are remotely controlled through the data storage device and the third wireless data transceiver.
Referring to fig. 1 and 5, in this embodiment, the walking detection unit includes a first remote control cart 1-1 and a detection mechanical arm 1-2, the bottom of the detection mechanical arm is fixed on the first remote control cart, the top of the detection mechanical arm is provided with a detection head 1-3, the detection head includes a detection data processor, a distance sensor, a scanner, a gyroscope and a detection head angle positioning control driving mechanism, and the detection head angle positioning control driving mechanism at least includes an a coordinate rotation driving mechanism that rotates along a central axis in a horizontal direction and a B coordinate rotation driving mechanism that rotates along a front-back horizontal direction; the first remote control trolley comprises first wireless data receiving and transmitting devices 1-4 and is in wireless communication connection with the remote control device through the first wireless data receiving and transmitting devices so as to realize that staff can control the first remote control trolley to walk in an underground roadway; the distance sensor, the scanner and the gyroscope are respectively and electrically connected with the detection data processor, the detection data processor and the detection head angle positioning control driving mechanism are respectively and electrically connected with the first wireless data transceiver, and the remote control device can conduct data collection and angle control on the detection head through the first wireless data transceiver.
Referring to fig. 1, 2 and 6, in this embodiment, the walking sampling unit includes a second remote control cart 4-1, a drilling mechanical arm 4-2 and a negative pressure sampling device, the bottom of the drilling mechanical arm is fixed on the second remote control cart, the drilling mechanical arm includes a drilling mechanical arm driving mechanism, and the drilling mechanical arm driving mechanism includes an X-coordinate driving mechanism that controls the drilling mechanical arm to move in a horizontal direction, a Y-coordinate driving mechanism that controls the drilling mechanical arm to move in a front-back horizontal direction, a Z-coordinate driving mechanism that controls the drilling mechanical arm to move in a vertical direction, a C-coordinate rotation driving mechanism that rotates along a left-right horizontal direction with a central axis, and a D-coordinate rotation driving mechanism that rotates along a front-back horizontal direction with a central axis; the drilling machine is characterized in that a drilling device is arranged at the top end of the drilling mechanical arm, a second wireless data transceiver 4-3 is further arranged on the second trolley and is in wireless communication connection with the remote control device through the second wireless data transceiver, so that a worker can control the second remote control trolley to walk and sample along a preset sampling path and sampling parameters in an underground roadway, the driving mechanism of the drilling mechanical arm is electrically connected with the second wireless data transceiver, and the position of the drilling device on the drilling mechanical arm can be accurately adjusted through the second wireless data transceiver by the remote control device.
Referring to fig. 2 and 6, in this embodiment, the drilling device includes an explosion-proof motor 4-4 and a hollow drill rod 4-5, the hollow drill rod is rotationally connected with an output shaft of the explosion-proof motor, a drill bit is installed at the front end of the hollow drill rod, a first air port is provided at the drill bit end of the hollow drill rod, a second air port is provided at the hollow drill rod near the explosion-proof motor end, an annular fan housing 4-6 is connected to a housing of the explosion-proof motor through a bracket, the annular fan housing is sleeved outside the second air port of the hollow drill rod and is rotationally and sealingly connected with the hollow drill rod, a compressed air hose 4-7 and a sampling hose 4-8 are connected to the annular fan housing, a compressed air electromagnetic valve and a sampling electromagnetic valve are respectively provided on the compressed air hose and the sampling hose, the compressed air electromagnetic valve and the sampling electromagnetic valve are all explosion-proof electromagnetic valves, the negative pressure sampling device includes a compressed air fan 4-9 and a coal sample collector 4-10 provided on the second remote control trolley, and the structure of the coal sample collector is the same as that disclosed in patent document CN 201310749625.3. The air outlet end of the air pressure fan is connected with an air pressure hose, the sampling port of the coal sample collector is connected with a sampling hose, the air outlet of the coal sample collector is connected with a negative pressure pump 4-11, the explosion-proof motor, the air pressure electromagnetic valve, the sampling electromagnetic valve, the air pressure fan and the negative pressure pump are respectively and electrically connected with a second wireless data transceiver, and the remote control device can remotely control the drilling device and the negative pressure sampling device through the second wireless data transceiver.
Referring to fig. 1, in this embodiment, the travelling mechanisms of the first remote control trolley and the second remote control trolley all adopt all-terrain crawler travelling mechanisms, so that the travelling stability is good and the operation is convenient.
In this embodiment, the man-machine interaction device includes a touch display screen (not shown in the figure), so that efficient and convenient man-machine interaction can be realized.
In this embodiment, the walking detection unit, the remote control device, and the walking sampling unit are respectively provided with a power supply device (not shown in the figure), where the power supply device includes a power storage device and a charger, and is used to ensure power supply of the corresponding devices.
Referring to fig. 1 and 3, in this embodiment, a wireless data relay 5 is further disposed in the underground roadway, the walking detection unit and the walking sampling unit can be connected with the remote control device through the wireless data relay in a wireless communication manner, and when the walking detection unit and the walking sampling unit are far away from the remote control device, in order to prevent the signal from weakening and affecting the operation range, the wireless data relay is used as a relay station to realize the remote stable control of the remote control device on the walking detection unit and the walking sampling unit.
The working principle of the invention is that a mature remote control design method in the prior art is organically combined with the requirement of coal mine underground coal seam gas fixed-point sampling, the geographical position data, the coal seam data and the roadway environment data of an underground roadway are detected and collected by using a walking detection unit and then sent to a remote control device to construct a roadway three-dimensional space model, a worker plans a sampling path and sampling coordinates on the roadway three-dimensional space model through the remote control device, sampling parameters are set, and the walking sampling unit walks, drills and samples according to working instructions generated by the remote control device.
The embodiments of the present invention have been described above, the description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (5)
1. The negative pressure fixed-point sampling method for the gas content of the coal bed is characterized by comprising the following steps of:
s1, scanning geographical position data, coal seam data and roadway environment data of an underground roadway by using a walking detection unit, and sending scanning information to a remote control device in a wireless communication mode to construct a roadway three-dimensional space model, wherein the remote control device remotely controls the walking detection unit in the wireless communication mode;
the remote control device includes: the system comprises a central processing unit, a data storage device, a third wireless data transceiver and a man-machine interaction device, wherein the data storage device, the third wireless data transceiver and the man-machine interaction device are respectively and electrically connected with the central processing unit;
the walking detection unit comprises a first remote control trolley and a detection mechanical arm, the bottom of the detection mechanical arm is fixed on the first remote control trolley, the top of the detection mechanical arm is provided with a detection head, the detection head comprises a detection data processor, a distance sensor, a scanner, a gyroscope and a detection head angle positioning control driving mechanism, and the detection head angle positioning control driving mechanism at least comprises an A coordinate rotation driving mechanism which is rotationally moved along the left-right horizontal direction and a B coordinate rotation driving mechanism which is rotationally moved along the front-back horizontal direction and is rotationally moved along the central axis; the first remote control trolley comprises a first wireless data receiving and transmitting device and is in wireless communication connection with the remote control device through the first wireless data receiving and transmitting device so as to realize that a worker can control the first remote control trolley to walk in an underground roadway; the distance sensor, the scanner and the gyroscope are respectively and electrically connected with the detection data processor, the detection data processor and the detection head angle positioning control driving mechanism are respectively and electrically connected with the first wireless data transceiver, and the remote control device can collect data and control angles of the detection head through the first wireless data transceiver;
s2, planning a sampling path and sampling coordinates on the roadway three-dimensional space model through a remote control device, and setting sampling parameters;
s3, walking by using a walking sampling unit according to a planned sampling path, drilling and fixed-point sampling according to sampling parameters set by a remote control device after the walking sampling unit reaches sampling coordinates, wherein the remote control device remotely controls the walking sampling unit in a wireless communication mode;
the walking sampling unit comprises a second remote control trolley, a drilling mechanical arm and a negative pressure sampling device, wherein the bottom of the drilling mechanical arm is fixed on the second remote control trolley, the drilling mechanical arm comprises a drilling mechanical arm driving mechanism, and the drilling mechanical arm driving mechanism comprises an X coordinate driving mechanism for controlling the drilling mechanical arm to move in the left-right horizontal direction, a Y coordinate driving mechanism for controlling the drilling mechanical arm to move in the front-back horizontal direction, a Z coordinate driving mechanism for controlling the drilling mechanical arm to move in the vertical direction, a C coordinate rotation driving mechanism for rotating and moving along the left-right horizontal direction as a central axis and a D coordinate rotation driving mechanism for rotating and moving along the front-back horizontal direction as the central axis; the drilling machine arm driving mechanism is electrically connected with the second wireless data transceiver, and the remote control device can accurately adjust the position of the drilling device on the drilling machine arm through the wireless data transceiver;
the drilling device comprises an explosion-proof motor and a hollow drill rod, the hollow drill rod is rotationally connected with an output shaft of the explosion-proof motor, a drill bit is installed at the front end of the hollow drill rod, a first air port is arranged at the drill bit end of the hollow drill rod, a second air port is arranged at the hollow drill rod near the explosion-proof motor end, an annular fan housing is connected to a shell of the explosion-proof motor through a support, the annular fan housing is sleeved outside the second air port of the hollow drill rod and is rotationally and sealingly connected with the hollow drill rod, a compressed air hose and a sampling hose are connected to the annular fan housing, the compressed air hose and the sampling hose are respectively provided with the compressed air solenoid valve and the sampling solenoid valve, the compressed air solenoid valve and the sampling solenoid valve are respectively arranged on the compressed air hose, the negative pressure sampling device comprises a compressed air fan and a coal sample collector arranged on a second remote control trolley, an air outlet end of the compressed air fan is connected with the compressed air hose, a sampling port of the coal sample collector is connected with a negative pressure pump, and an air outlet of the sample collector is connected with a negative pressure pump, and the explosion-proof motor, the compressed air solenoid valve, the sampling solenoid valve and the negative pressure pump are respectively connected with a second wireless data transceiver and a wireless data transceiver device through a remote control device.
2. The method for negative pressure fixed-point sampling of gas content in coal bed according to claim 1, wherein the method comprises the following steps: the travelling mechanisms of the first remote control trolley and the second remote control trolley are all-terrain crawler travelling mechanisms.
3. The method for negative pressure fixed-point sampling of gas content in coal bed according to claim 1, wherein the method comprises the following steps: the man-machine interaction device comprises a touch display screen.
4. The method for negative pressure fixed-point sampling of the gas content of the coal bed according to any one of claims 1 to 3, which is characterized by comprising the following steps: the walking detection unit, the remote control device and the walking sampling unit are respectively provided with a power supply device, and the power supply device comprises a power storage device and a charger.
5. The method for negative pressure fixed-point sampling of gas content in coal seam according to claim 4, wherein the method comprises the following steps: the underground roadway is internally provided with a wireless data relay, and the walking detection unit and the walking sampling unit can be connected with a remote control device in a wireless communication manner through the wireless data relay.
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