Patent Application
20240141788
The present invention relates to the field of measuring environmental information. Specifically, the present invention provides a system and a method of measuring mine tunnel environmental information.
Recently, there has been an integration of coal resources and the construction of large-scale mines in China. This has led to both mining intensity and depth increasing, and thus, mine production is becoming more dangerous due to a greater number of considerations and increasingly complex mining conditions. Therefore, mine ventilation systems play a more significant role in mine production. To satisfy the needs of the mining environment, safe production, and mine disaster prevention, it is necessary to ensure stability and control of the mine ventilation system. For this purpose, related national departments have specially formulated relevant regulations on the measurement of mine air volume.
Currently, coal mining is becoming larger-scale, more intensive, and more intelligent through using larger tunnel sections. However, the methods and means for measuring air volume of the tunnel are relatively outdated. Specifically, the air volume is currently measured through a manual mechanical air meter, which is vulnerable to both external and human factors. Limited by their own conditions, personnel can only measure the air volume in the middle and lower portions of the mine tunnel, where the measured air volume may differ significantly from the actual air volume. Furthermore, outdated data recording and processing systems and methods create difficulties in saving and analyzing data accumulated at the various air measurement sites, which further results in a poor comprehensive evaluation ability for air volume in a. mine tunnel.
Additionally, there are problems of high labor intensity for the air measurement personnel and low accuracy in this air measurement. Thus, traditional air measurement devices fail to meet the needs of safe production in large-scale mines, and it is imperative that a system and method capable of intelligent, intensive, and efficient measurements be created. The systems and methods disclosed herein seek to solve these shortcomings in the prior art.
The present disclosure includes a measurement system for mine tunnel environmental information comprises a computer. According to some examples, the measurement system comprises a data communication module configured to communicate data via a transmission mode selected from the group consisting of a wired transmission mode, a wireless transmission mode, and combinations thereof. The measurement system may comprise a central control platform communicatively coupled, via a transmission selected from the group consisting of wired transmission, wireless transmission, and combinations thereof, to the computer. In some examples, the measurement system comprises a data acquisition module communicatively coupled, via wired transmission, to the central control platform. According to some examples, the measurement system comprises a multi-parameter monitor communicatively coupled, via wired transmission, to the data acquisition module. The measurement system may comprise at least one flexible manipulator having a fixed end and a free end opposite the fixed end, the fixed end coupled to a spud pile of an underground air measurement chamber, the at least one flexible manipulator communicatively coupled, via wired transmission, to the central control platform. In some examples, the measurement system comprises an ultrasonic anemometer coupled to the free end of each at least one flexible manipulator, the ultrasonic anemometer communicatively coupled, via wired transmission, to the data acquisition module. According to some examples, the measurement system comprises a display and alarm module communicatively coupled, via wired transmission, to the central control platform. The measurement system may comprise a power conversion module configured to supply power to the ultrasonic anemometer, the multi-parameter monitor, the central control platform, each at least one flexible manipulator, and the display and alarm module.
In some examples, the multi-parameter monitor comprises a component selected from the group consisting of an infrared detector, a GIL gas sensor, a CO gas sensor, an O2 gas sensor, a CO2 gas sensor, a temperature sensor, a humidity sensor, and combinations thereof. According to some examples, a component selected from the group consisting of a CH4 gas sensor, a CO gas sensor, an O2 gas sensor, a CO2 gas sensor, a temperature sensor, a humidity sensor, and combinations thereof is coupled to an explosion-proof enclosure inside of the explosion-proof enclosure. The infrared detector may be coupled to the explosion-proof enclosure outside of the explosion-proof enclosure. In some examples, the explosion-proof enclosure is suspended from and fixedly coupled to a roof of an air inlet end of a tunnel.
According to some examples, a component selected from the group consisting of the central control platform, the data acquisition module, the power conversion module, the display and alarm module, and combinations thereof is coupled to an explosion-proof enclosure inside of the explosion-proof enclosure. The explosion-proof enclosure may be coupled to a bottom of a tunnel. In some examples, the explosion-proof enclosure is at least 50 meters away from each at least one flexible manipulator.
According to some examples, each at least one flexible manipulator comprises a multi-axis manipulator. The multi-axis manipulator may further comprise at least one manipulator. In some examples, the multi-axis manipulator further comprises a rubber pressure air hose coupled to the end of each manipulator. According to some examples, the multi-axis manipulator comprises three micro pneumatic cylinders coupled to the end of each manipulator via the rubber pressure air hose. Each at least one flexible manipulator may include a plurality of solenoid valves coupled to the spud pile inside of the spud pile, the plurality of solenoid valves configured to control the at least one flexible manipulator by controlling the micro pneumatic cylinder via regulating air pressure in the rubber pressure air hose.
In some examples, each manipulator is flexibly coupled through a spherical hinge. According to some examples, the multi-axis manipulator is configured to have a cross-sectional profile to facilitate a reduction in interference on an air volume of a tunnel section.
Also included in this disclosure is a method of measuring environmental information of a mine tunnel comprising using a measurement system. In some examples, the measurement system includes a computer. According to some examples, the measurement system includes a data communication module configured to communicate data via a transmission mode selected from the group consisting of a wired transmission mode, a wireless transmission mode, and combinations thereof. The measurement system may include a central control platform communicatively coupled, via a transmission selected from the group consisting of wired transmission, wireless transmission, and combinations thereof, to the computer. In some examples, the measurement system includes a data acquisition module communicatively coupled, via wired transmission, to the central control platform. According to some examples, the measurement system includes a multi-parameter monitor communicatively coupled, via wired transmission, to the data acquisition module. The measurement system may include at least one flexible manipulator having a fixed end and a free end opposite the fixed end, the fixed end coupled to a spud pile of an underground air measurement chamber, the at least one flexible manipulator communicatively coupled, via wired transmission, to the central control platform. In some examples, the measurement system includes an ultrasonic anemometer coupled to the free end of each at least one flexible manipulator, the ultrasonic anemometer communicatively coupled, via wired transmission, to the data acquisition module. According to some examples, the measurement system includes a display and alarm module communicatively coupled, via wired transmission, to the central control platform. The measurement system may include a power conversion module configured to supply power to the ultrasonic anemometer, the multi-parameter monitor, the central control platform, each at least one flexible manipulator, and the display and alarm module. In some examples, the method comprises testing environmental parameters via the multi-parameter monitor. According to some examples, the method includes adjusting the environmental parameters via the multi-parameter monitor.
The method may further comprise controlling, via the central control platform, a working time and an opening size of solenoid valves connecting each at least one flexible manipulator. In some examples, the method further comprises scanning the tunnel via an infrared detector. According to some examples, the method further comprises notifying an operator, via the display and alarm module, of a scanned object.
The method may further comprise measuring, via the ultrasonic anemometer, an air volume in the tunnel. In some examples, the method further comprises obtaining, via the ultrasonic anemometer, an uncorrected air volume of a section in the tunnel. According to some examples, the method further comprises calibrating the air volume for storage.
The method may further comprise calculating a calibrated air volume. In some examples, the method further comprises comparing the calibrated air volume to a reliable threshold value. According to some examples, the method further includes determining if the calibrated air volume is within the reliable threshold value.
The calibrated air volume may be outside of the reliable threshold value. In some examples, the method further comprises remeasuring, via the ultrasonic anemometer, the air volume in the tunnel. According to some examples, the method further includes obtaining, via the ultrasonic anemometer, an additional uncorrected air volume of a section in the tunnel.
The calibrated air volume may be within the reliable threshold value. In some examples, the method further comprises transmitting data about the air volume to the computer through a connection selected from the group consisting of a cable, a 5G network, and combinations thereof.
According to some examples, the method further comprises establishing a rectangular coordinate system, the rectangular coordinate system configured such that a lower left corner of a windward end of the mine tunnel is an origin, a width of the mine tunnel is an x-axis, and a height of the mine tunnel is a y-axis. The method may further comprise dividing the mine tunnel, according to the width and the height of the mine tunnel, into even and isometrical segments in both a direction of the width and a direction of the height.
In some examples, the method further comprises determining, based on the division of the mine tunnel, an air measurement route of the ultrasonic anemometer. According to some examples, the method further comprises setting the central control platform according to a piece-wise function equation of a movement of the ultrasonic anemometer. The method may further include controlling, via the central control platform, each at least one flexible manipulator.
In some examples, the method further comprises testing environmental parameters via the multi-parameter monitor. According to some examples, the method further comprises determining if the environmental parameters exceed a threshold of the mine tunnel. The method may further comprise monitoring the environmental parameters for at least 24 hours.
In some examples, the environmental parameters exceed the threshold of the mine tunnel. According to some examples, the method further comprises sending a notification to the display and alarm module. The method may further include adjusting the environmental parameters simultaneously with sending the notification.
Features, aspects, and advantages are described below with reference to the drawings, which are intended to illustrate, hut not to limit, the invention. In the drawings, like reference characters denote corresponding features consistently throughout similar examples.
Although specific examples are disclosed below, inventive subject matter extends beyond the specifically disclosed examples to alternative examples and/or uses and modifications and equivalents thereof. Thus, the scope of the claims appended hereto is not limited by any of the particular examples described below. For example, in any method or process disclosed herein, the acts or operations of the method or process may be performed in any suitable sequence and are not necessarily limited to any particular disclosed sequence. Various operations may be described as multiple discrete operations, in turn, in a manner that may help understand specific examples; however, the description order should not be construed to imply that these operations are order-dependent. Additionally, the structures, systems, and/or devices described herein may be embodied as integrated or separate components.
For comparisons of various examples, certain aspects and advantages of these examples are described. Not necessarily all such aspects or advantages are achieved by any particular example. Thus, for example, various examples may be carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages as may also be taught or suggested herein.
The invention described herein provides several benefits that overcome the shortcomings in the prior art. For instance, adopting flexible manipulators for cross-sectional air measurement may satisfy the requirements for large-section air measurement and realize remote air measurement. This is in line with the intelligent development trend of modern large-scale mines.
The flexible manipulator, as shown in
The multi-parameter monitor may enable 24-hour real-time monitoring and timely reflect environmental parameters in the underground tunnel in the case of a disaster, providing quick, accurate data for those responsible for decision-making above ground.
In general, the systems and methods provided herein enable the measurement of environmental parameters in underground coal mines while saving considerable human and material resources. During normal mining, the system does not necessitate human intervention. The system can automatically patrol and measure the air volume data in a tunnel section based on 5G wireless data transmission technology and automatic control from solenoid valves.
Additionally, the system can remote measurement of underground airflow, the collection of gas information in a disaster area, and visualization of tunnel conditions, which is useful in the case of underground disasters. In this way, the present invention provides data for rescue workers (again, in the case of underground disasters), improves the ability of mine disaster response and relief, and may ensure the safety of emergency rescue personnel.
In some examples, the ultrasonic anemometer 402 is installed on the free end of the flexible manipulator 216. The opposite end of the flexible manipulator 216 may be fixed on a spud pile 208 in the underground air measurement chamber 206. As shown in
The data communication module has two modes: a wired transmission mode and a wireless transmission mode. The ultrasonic anemometer 402 and the multi-parameter monitor 212 may be communicatively coupled to the data acquisition module through wired transmission. Additionally, the central control platform 210 may be communicatively coupled with the flexible manipulator 216, the data acquisition module, and the display and alarm module through wired transmission. In some examples, the central control platform 210 is communicatively coupled to the computer 304 through either wired or wireless transmission.
The multi-parameter monitor 212 may be included at the entrance of the mine tunnel or in an area of operation within the mine tunnel to display information garnered by the ultrasonic anemometer 402.
According to some examples, the power conversion module supplies power to the ultrasonic anemometer 402, the multi-parameter monitor 212, the central control platform 210, the flexible manipulator 216, and the display and alarm module.
In some examples, the multi-parameter monitor 212 further comprises an infrared detector, a CH4 gas sensor, a CO gas sensor, an O2 gas sensor, a CO2 gas sensor, a temperature and humidity sensor, or any combination thereof.
In some examples, the CH4 gas sensor, the CO gas sensor, the O2 gas sensor, and the CO2. gas sensor, if any or all are present, are installed in an explosion-proof enclosure. If present, the infrared detector may be installed in an explosion-proof enclosure that is suspended and fixed on the tunnel roof at the air inlet end 214. The central control platform 210, the data acquisition module, the power conversion module, and the display and alarm module may similarly be installed in an explosion-proof enclosure fixed at the bottom of the tunnel, at least 50 meters away from the flexible manipulator 216.
The flexible manipulator 216 may comprise a multi-axis manipulator 406, a plurality of solenoid valves, a rubber pressure air hose 502, a micro pneumatic cylinder 504, or any combination thereof. In some examples, the multi-axis manipulator 406 includes a hollow structure, and the end of each manipulator may be fixed with three micro pneumatic cylinder 504s about their circumference. According to some examples, the micro pneumatic cylinder 504 has one of its ends coupled to the rubber pressure air hose 502 of the multi-axis manipulator 406. The solenoid valves may be installed in the spud pile 208 of the underground air measurement chamber 206 to control the micro pneumatic cylinder 504 by regulating the air pressure in the rubber pressure air hose 502. This, in turn, permits control of the flexible manipulator 216. Additionally, the manipulators of the multi-axis manipulator 406 may be flexibly connected through a spherical hinge 404.
If the wind speed value is not within a reliable threshold value, the wind speed value is corrected. Then the air volume program is called, and the collected data is stored. If the wind speed value is within a reliable threshold value, the collected data is stored without the need for correction to the wind speed value. The process of gathering the uncorrected wind speed value may use a flexible robot arm homing program.
Once the data has been stored, the program may be run again for additional data points or ended if no further data is needed. The steps of
According to some examples, the method of measuring mine tunnel environmental information comprises testing environmental parameters (at step 1002). This testing may occur via the multi-parameter monitor. The method of measuring mine tunnel environmental information may include adjusting the environmental parameters step 1004). This adjustment may also occur via the multi-parameter monitor.
In some examples, the method of measuring mine tunnel environmental information comprises controlling a working time and an opening size of the solenoid valves connecting each at least one flexible manipulator (at step 1006). This control may occur via the central control platform.
The method of obtaining information about an air volume in a tunnel may comprise measuring an air volume in the tunnel (at step 1104). This measurement may occur via the ultrasonic anemometer. In some examples, the method of obtaining information about an air volume in a tunnel comprises obtaining an uncorrected air volume of a section in the tunnel (at step 1106). This procurement may likewise occur via the ultrasonic anemometer.
If the calibrated air volume is within the reliable threshold value, in some examples, the method of obtaining information about calibrated air volumes comprises transmitting data about the air volume to the computer through a connection selected from the group consisting of a cable, a 5G network, and combinations thereof (at step 1206a).
If the calibrated air volume is outside of the reliable threshold value, according to some examples, the method of obtaining information about calibrated air volumes comprises remeasuring the air volume in the tunnel (at step 1206b). This remeasurement may occur via the ultrasonic anemometer. The method of obtaining information about calibrated air volumes may comprise obtaining an additional uncorrected air volume of a section in the tunnel (at step 1208b). This procurement may likewise occur via the ultrasonic anemometer.
The method of controlling flexible manipulators may comprise determining an air measurement route of the ultrasonic anemometer (at step 1304). This determination may occur based on the division of the mine tunnel. In some examples, the method of controlling flexible manipulators comprises setting the central control platform according to a piece-wise function equation of a movement of the ultrasonic anemometer (at step 1306). According to some examples, the method of controlling flexible manipulators comprises controlling each at least one flexible manipulator (at step 1308). This control may occur via the central control platform.
In some examples, adjusting environmental parameters involves sending a notification to the display and alarm module (at step 1406). According to some examples, the method of adjusting environmental parameters comprises adjusting the environmental parameters simultaneously with sending the notification (at step 1408).
None of the steps described herein are essential or indispensable. Any of the steps can be adjusted or modified. Other or additional steps can be used. Any portion of any of the steps, processes, structures, and/or devices disclosed or illustrated in one embodiment, flowchart, or example in this specification can be combined or used with or instead of any other portion of any of the steps, processes, structures, and/or devices disclosed or illustrated in a different embodiment, flowchart, or example. The embodiments and examples provided herein are not intended to be discrete and separate from each other.
The section headings and subheadings provided herein are nonlimiting. The section headings and subheadings do not represent or limit the full scope of the embodiments described in the sections to which the headings and subheadings pertain. For example, a section titled “Topic 1” may include embodiments that do not pertain to Topic 1, and embodiments described in other sections may apply to and be combined with embodiments described within the “Topic 1” section.
Other features are not labeled in each figure to increase the clarity of various features.
The various features and processes described above may be used independently of one another or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of this disclosure. In addition, certain method, event, state, or process blocks may be omitted in some implementations. The methods, steps, and processes described herein are also not limited to any particular sequence. The blocks, steps, or states relating thereto can be performed in other appropriate sequences. For example, described tasks or events may be performed in an order other than the order specifically disclosed. Multiple steps may be combined in a single block or state. The example tasks or events may be performed in serial, parallel, or some other manner. Tasks or events may be added or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.
Conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” Unless expressly stated otherwise or understood within the context as used, the like is generally intended to convey that certain embodiments in other embodiments do not include certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without author input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. The terms “comprising,” “including,” “having,” and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Also, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term “or” means one, some, or all of the elements in the list. Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless expressly stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc., may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require at least one of X, at least one of Y, and at least one of Z to each be present.
The term “and/or” means that “and” applies to some embodiments, and “or” applies to some embodiments. Thus, A, B, and/or C can be replaced with A, B, and C written in one sentence and A, B, or C written in another sentence, A, B, and/or C means that some embodiments can include A and B, some embodiments can include A and C, some embodiments can include B and C, some embodiments can only include A, some embodiments can include only B, some embodiments can include only C, and some embodiments can include A, B, and C. The term “and/or” is used to avoid unnecessary redundancy.
While certain example embodiments have been described, these embodiments have been presented by example only and are not intended to limit the scope of the inventions disclosed herein. Thus, nothing in the foregoing description implies that any particular feature, characteristic, step, module, or block is necessary or indispensable. indeed, the novel methods and systems described herein may be embodied in various forms; furthermore, various omissions, substitutions, and changes in the form of the methods and systems described herein may be made without departing from the spirit of the inventions disclosed herein.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202210057813.9 | Feb 2022 | CN | national |
