阅读说明：本技术 全隧道气体成分监测方法及系统 (Method and system for monitoring gas components in whole tunnel ) 是由 胡阳 董海颖 于 2021-06-10 设计创作，主要内容包括：本申请涉及一种全隧道气体成分监测方法及系统,属于隧道环境监测的技术领域,其包括安装在隧道内的轨道钢缆、安装于钢缆轨道上的钢缆轨道机器人、安装于钢缆轨道机器人上的检测系统和安装于主机上的控制系统,所述检测系统包括气体检测模块、位置检测模块、移动控制模块和机器人无线模块；所述控制系统包括主机无线模块、存储模块、启动模块、点阵图生成模块、曲线图生成模块和数据显示模块,本发明具有能够通过钢缆轨道机器人实现全隧道气体成分的自动监测,节省人力物力的效果。(The application relates to a method and a system for monitoring gas components of a whole tunnel, belonging to the technical field of tunnel environment monitoring and comprising a rail steel cable arranged in the tunnel, a steel cable rail robot arranged on a steel cable rail, a detection system arranged on the steel cable rail robot and a control system arranged on a host, wherein the detection system comprises a gas detection module, a position detection module, a mobile control module and a robot wireless module; the control system comprises a host wireless module, a storage module, a starting module, a dot-matrix diagram generation module, a curve diagram generation module and a data display module.)

1. A full-tunnel gas composition monitoring method is characterized by comprising the following steps:

building a track: building a track steel cable (1) along the tunnel in the tunnel;

installing a robot: a gas selection detection device (21) for selecting gas to be detected according to the need, the gas selection device is installed on the cable rail robot (2), and the cable rail robot (2) is installed on the cable rail;

and (3) detection starting: after receiving the input starting signal, controlling the steel cable track robot (2) to circularly move along the steel cable track, and simultaneously starting the gas detection device (21);

and (3) data recording: the position information of the steel cable track robot (2) and the concentration value of each gas detected by the gas detection device (21) are acquired at regular time;

data arrangement: generating each gas concentration dot-matrix diagram of the tunnel according to the received position information and each gas concentration value, and fitting each gas concentration dot-matrix diagram to obtain each gas concentration curve graph;

and (3) displaying data: each gas concentration profile is shown.

2. The full tunnel gas composition monitoring method according to claim 1, wherein the data arrangement is specifically set as:

single-curve generation: generating a gas concentration dot-matrix diagram of each gas according to the gas concentration value of each gas and the received position information, and fitting the gas concentration dot-matrix diagram to obtain a gas concentration curve graph;

graph integration: all gas concentration profiles are superimposed on one graph to form each gas concentration profile.

3. The full tunnel gas composition monitoring method according to claim 1, further comprising the steps of:

automatic warning: and detecting the curvature of each section of each curve in each gas concentration curve graph, and if the curvature of a certain section of curve exceeds a preset value, marking the curve at the end.

4. The full tunnel gas composition monitoring method according to claim 1, further comprising the steps of:

leading in a steel cable orbit plan view, wherein a plurality of steel cable orbit robots (2) are arranged and are all arranged on the orbit steel cable (1);

arranging the steel cable track robots (2) on the steel cable track at equal intervals, obtaining the track length between the adjacent steel cable track robots (2), and recording the standard track length;

acquiring the position of each steel cable track robot (2) in a steel cable track plan, intercepting the steel cable track between adjacent steel cable track robots (2), calculating the length of the steel cable track, and comparing the length of the steel cable track with the length of a standard track;

if the length of the steel cable track is different from the length of the standard track, the moving speed of the steel cable track robot (2) at the two ends of the length of the steel cable track is adjusted until the length of the steel cable track is equal to the length of the standard track.

5. The whole tunnel gas composition monitoring method according to claim 4, wherein the position of each wire rope orbit robot (2) in the wire rope orbit plan is obtained by setting specifically:

install UWB emitter (22) and UWB receiving arrangement (23) at every cable rail robot (2), every UWB emitter (22) all sends the narrow pulse of non-sinusoidal wave, UWB receiving arrangement (23) of every cable rail robot (2) receive the narrow pulse of non-sinusoidal wave that nearest UWB emitter (22) sent, calculate the straight-line distance between adjacent cable rail robot (2) according to the narrow pulse signal of non-sinusoidal wave received, calculate the position of cable rail robot (2) in cable rail plane drawing according to straight-line distance.

6. The utility model provides a gaseous composition monitoring system in full tunnel which characterized in that: the system comprises a track steel cable (1) arranged in a tunnel, a steel cable track robot (2) arranged on a steel cable track, a detection system (3) arranged on the steel cable track robot (2) and a control system (4) arranged on a host, wherein the detection system (3) comprises a gas detection module (31), a position detection module (32), a mobile control module (33) and a robot wireless module (34);

the gas detection module (31) comprises a plurality of gas detection devices (21) arranged on the cable track robot (2), the gas detection devices (21) detect corresponding gas concentration values, and the gas detection module (31) transmits all the gas concentration values to the robot wireless module (34);

the position detection module (32) detects the position information of the steel cable rail robot (2) and sends the position information to the robot wireless module (34);

the movement control module (33) receives the starting signal and then controls the steel cable track robot (2) to circularly move along the steel cable track;

the robot wireless module (34) sends the received gas concentration value and the position information to the control system (4), and the robot wireless module (34) transmits the received starting signal to the mobile control module (33);

the control system (4) comprises a host wireless module (41), a storage module (43), a starting module (42), a dot-matrix diagram generating module (45), a graph generating module (46) and a data display module (48);

the host wireless module (41) receives the gas concentration value and the position information sent by the robot wireless module (34) and transmits the gas concentration value and the position information to the storage module (43), and the host wireless module (41) transmits the received starting signal to the robot wireless module (34);

the storage module (43) receives and stores the input information;

the starting module (42) receives the input instruction and transmits a starting signal to the host wireless module (41);

the dot-matrix generating module (45) calls the gas concentration values and the position information stored by the storage module (43), generates each gas concentration dot-matrix of the tunnel according to the gas concentration values and the position information, and transmits each gas concentration dot-matrix of the tunnel to the curve chart generating module (46) by the dot-matrix generating module (45);

the graph generation module (46) fits the received gas concentration dot-matrix maps of the tunnels to obtain gas concentration graphs, and the graph generation module (46) transmits the gas concentration graphs to the data display module (48);

the data display module (48) displays the received gas concentration profiles.

7. The full tunnel gas composition monitoring system of claim 6, wherein: the dot-matrix chart generation module (45) generates a gas concentration dot-matrix chart of each gas according to the gas concentration values and the position information of different gases;

the graph generation module (46) receives the gas concentration dot-matrix of the dot-matrix generation module (45), fits the gas concentration dot-matrix to obtain a gas concentration graph, and superposes all the gas concentration graphs to obtain each gas concentration graph;

the data display module (48) displays a gas concentration profile for each gas and a respective gas concentration profile.

8. The full tunnel gas composition monitoring system of claim 6, wherein: the control system (4) further comprises an automatic warning module (47), the automatic warning module (47) calls each gas concentration curve graph of the curve graph generating module (46), the curvature of each section of each curve in each gas concentration curve graph is detected, if the curvature of a certain section of curve exceeds a preset value, the end curve is marked, and the automatic warning module (47) transmits each marked gas concentration curve graph to the data display module (48) for display.

9. The full tunnel gas composition monitoring system of claim 6, wherein: the plurality of the steel cable rail robots (2) are arranged and are all arranged on the rail steel cable (1); the detection system (3) further comprises a standard acquisition module (35), and the control system (4) further comprises a spacing control module (44);

the storage module (43) stores a plan view of a wire rope track;

the standard acquisition module (35) receives the input standard track length and transmits the standard track length to the robot wireless module (34), the robot wireless module (34) transmits the standard track length to the host wireless module (41), and the host wireless module (41) transmits the standard track length to the storage module (43) for storage;

spacing control module (44) call positional information and the standard orbit length of storage module (43) storage, spacing control module (44) confirm every steel cable track robot (2) in the position of steel cable track plan according to positional information, steel cable track between the adjacent steel cable track robot (2) of intercepting calculates steel cable track length, compare steel cable track length in standard track length, if steel cable track length is inequality in standard track length, then adjust the moving speed of steel cable track robot (2) at this section steel cable track length both ends, until steel cable track length equals standard track length.

10. The full tunnel gas composition monitoring system of claim 9, wherein: the position detection module (32) comprises a UWB transmitting device (22) and a UWB receiving device (23) which are installed on the steel cable rail robot (2), each UWB transmitting device (22) sends out a non-sine wave narrow pulse, the UWB receiving device (23) of each steel cable rail robot (2) receives the non-sine wave narrow pulse sent by the nearest UWB transmitting device (22), the position detection module (32) calculates the linear distance between the adjacent steel cable rail robots (2) according to the received UWB signals, and the position detection module (32) converts the linear distance into position information;

the distance control module (44) calculates the position of the cable track robot (2) on the cable track plan based on the linear distance and the cable track plan.

Technical Field

The invention relates to the technical field of tunnel environment monitoring, in particular to a method and a system for monitoring gas components of a whole tunnel.

Background

At present, the inspection mode of the tunnel mainly uses manual inspection as a main mode, inspection personnel regularly inspect, the inspection work content is single, and the inspection work efficiency is low. Inspection is usually performed mainly to monitor the presence or absence of obstacles and the concentration of various gases in the tunnel. According to the monitoring of various gas concentrations in the tunnel, the position of toxic gas gathering in the tunnel can be judged, and the disaster occurrence conditions such as fire disasters can also be judged according to the gas concentrations. In order to realize real-time monitoring in a tunnel, there is a method of monitoring by installing a plurality of cameras, sensors, and the like in the tunnel in the related art.

The above prior art solutions have the following drawbacks: because the tunnel volume is generally not small, the current monitoring method needs either a large amount of manpower or a large amount of sensors, and a large amount of manpower and material resources can be wasted.

Disclosure of Invention

In order to save manpower and material resources, the application provides a method and a system for monitoring gas components in a whole tunnel.

On one hand, the method for monitoring the gas components in the whole tunnel adopts the following technical scheme:

a full-tunnel gas composition monitoring method comprises the following steps:

building a track: building a track steel cable along the tunnel in the tunnel;

installing a robot: selecting a gas detection device according to gas to be detected, installing the gas selection device on a steel cable track robot, and installing the steel cable track robot on a steel cable track;

and (3) detection starting: after receiving an input starting signal, controlling the steel cable track robot to circularly move along the steel cable track, and starting the gas detection device;

and (3) data recording: the method comprises the steps of obtaining position information of the steel cable rail robot and gas concentration values detected by a gas detection device at regular time;

data arrangement: generating each gas concentration dot-matrix diagram of the tunnel according to the received position information and each gas concentration value, and fitting each gas concentration dot-matrix diagram to obtain each gas concentration curve graph;

and (3) displaying data: each gas concentration profile is shown.

Through adopting above-mentioned scheme, can detect the gaseous composition in full tunnel through steel cable track robot, steel cable track robot is automatic to be removed in the tunnel, need not manual operation, and the sensor also only need set up on steel cable track robot can, can save a large amount of manpower and materials. And can automatically generate each gas concentration curve chart, facilitate the observation of the user.

Preferably, the data arrangement is specifically set as:

single-curve generation: generating a gas concentration dot-matrix diagram of each gas according to the gas concentration value of each gas and the received position information, and fitting the gas concentration dot-matrix diagram to obtain a gas concentration curve graph;

graph integration: all gas concentration profiles are superimposed on one graph to form each gas concentration profile.

By adopting the scheme, different gas generating gas concentration curves can be generated, and the observation by a user is more convenient.

Preferably, the method further comprises the following steps:

automatic warning: and detecting the curvature of each section of each curve in each gas concentration curve graph, and if the curvature of a certain section of curve exceeds a preset value, marking the curve at the end.

By adopting the scheme, the curve with possible problems can be automatically detected, and the user can be helped to quickly find the area with the problems.

Preferably, the method further comprises the following steps:

leading in a steel cable track plan, wherein a plurality of steel cable track robots are arranged and are all arranged on a track steel cable;

arranging the steel cable track robots on the steel cable track at equal intervals, acquiring the track length between the adjacent steel cable track robots, and recording the length of a standard track;

acquiring the position of each cable track robot in a cable track plan, intercepting the cable tracks between adjacent cable track robots, calculating the length of the cable tracks, and comparing the length of the cable tracks with the length of a standard track;

if the length of the steel cable track is different from the length of the standard track, the moving speed of the steel cable track robot at the two ends of the length of the steel cable track is adjusted until the length of the steel cable track is equal to the length of the standard track.

Through adopting above-mentioned scheme, if the tunnel is very big, can set up a plurality of steel cable track robots and monitor, interval automatic control between the steel cable track robot can not receive the tunnel shape influence moreover.

Preferably, the position of each cable track robot in the cable track plan is specifically set as follows:

install UWB emitter and UWB receiving arrangement at every steel cable track robot, every UWB emitter all sends non-sine wave narrow pulse, and the UWB receiving arrangement of every steel cable track robot receives the non-sine wave narrow pulse that the nearest UWB emitter sent, calculates the straight-line distance between the adjacent steel cable track robot according to the UWB signal of receipt, calculates the position of steel cable track robot at steel cable track plane according to straight-line distance.

Through adopting above-mentioned scheme, can accurately calculate the straight-line distance between the steel cable track robot through UWB emitter and UWB receiving arrangement, then can calculate the concrete position of steel cable track robot through steel cable track plan.

On the other hand, the whole tunnel gas component monitoring system provided by the application adopts the following technical scheme:

a full-tunnel gas composition monitoring system comprises a rail steel cable arranged in a tunnel, a steel cable rail robot arranged on a steel cable rail, a detection system arranged on the steel cable rail robot and a control system arranged on a host, wherein the detection system comprises a gas detection module, a position detection module, a movement control module and a robot wireless module;

the gas detection module comprises a plurality of gas detection devices arranged on the steel cable rail robot, the gas detection devices detect corresponding gas concentration values, and the gas detection module sends all the gas concentration values to the robot wireless module;

the position detection module detects the position information of the steel cable track robot and sends the position information to the robot wireless module;

the movement control module receives a starting signal and then controls the steel cable track robot to circularly move along the steel cable track;

the robot wireless module sends the received gas concentration value and the position information to the control system, and transmits the received starting signal to the mobile control module;

the control system comprises a host wireless module, a storage module, a starting module, a dot-matrix diagram generating module, a curve diagram generating module and a data display module;

the host wireless module receives the gas concentration value and the position information sent by the robot wireless module and transmits the gas concentration value and the position information to the storage module, and the host wireless module transmits the received starting signal to the robot wireless module;

the storage module receives and stores the input information;

the starting module receives an input instruction and transmits a starting signal to the host wireless module;

the dot-matrix diagram generation module calls the gas concentration values and the position information stored by the storage module, generates each gas concentration dot-matrix diagram of the tunnel according to the gas concentration values and the position information, and transmits each gas concentration dot-matrix diagram of the tunnel to the curve chart generation module;

the graph generation module fits the received dot-matrix graphs of the concentrations of the gases in the tunnel to obtain graphs of the concentrations of the gases, and transmits the graphs of the concentrations of the gases to the data display module;

and the data display module displays the received concentration curve graphs of the gases.

Through adopting above-mentioned scheme, detecting system and control system can detect the gaseous composition of full tunnel through steel cable rail robot, and steel cable rail robot removes in the tunnel automatically, need not manual operation, and the sensor also only need set up on steel cable rail robot can, can save a large amount of manpower and materials. And can automatically generate each gas concentration curve chart, facilitate the observation of the user.

Preferably, the dot-matrix chart generation module generates a gas concentration dot-matrix chart of each gas according to the gas concentration values and the position information of different gases;

the graph generation module receives the gas concentration dot-matrix diagram of the dot-matrix diagram generation module, fits the gas concentration dot-matrix diagram to obtain a gas concentration graph, and superposes all the gas concentration graphs to obtain each gas concentration graph;

the data display module displays a gas concentration profile for each gas and the gas concentration profiles.

By adopting the scheme, the control system can generate gas concentration curves according to different gases, and is more convenient for a user to observe.

Preferably, the control system further comprises an automatic warning module, the automatic warning module calls each gas concentration curve graph of the curve graph generation module, the curvature of each section of each curve in each gas concentration curve graph is detected, if the curvature of a certain section of curve exceeds a preset value, the end curve is labeled, and the automatic warning module transmits each labeled gas concentration curve graph to the data display module for display.

By adopting the scheme, the automatic warning module can automatically detect the curve which is possibly problematic, and help the user to quickly find the problematic area.

Preferably, the plurality of cable rail robots are arranged and all mounted on the rail cable; the detection system further comprises a standard acquisition module, and the control system further comprises a spacing control module;

the storage module stores a steel cable track plan;

the standard acquisition module receives the input standard track length and transmits the standard track length to the robot wireless module, the robot wireless module sends the standard track length to the host wireless module, and the host wireless module transmits the standard track length to the storage module for storage;

the spacing control module calls the position information and the standard track length that storage module stored, spacing control module confirms every steel cable track robot in the position of steel cable track plan according to position information, the steel cable track between the adjacent steel cable track robot of intercepting calculates steel cable track length, compare steel cable track length in standard track length, if steel cable track length is inequality in standard track length, then adjust the moving speed of the steel cable track robot at this section steel cable track length both ends, until steel cable track length equals standard track length.

Through adopting above-mentioned scheme, if the tunnel is very big, can set up a plurality of steel cable track robots and monitor, interval automatic control between the steel cable track robot can not receive the tunnel shape influence moreover.

Preferably, the position detection module comprises a UWB transmitting device and a UWB receiving device which are installed on the cable rail robot, each UWB transmitting device sends a non-sine wave narrow pulse, the UWB receiving device of each cable rail robot receives the non-sine wave narrow pulse sent by the nearest UWB transmitting device, the position detection module calculates the linear distance between adjacent cable rail robots according to the received UWB signal, and the position detection module converts the linear distance into position information;

the spacing control module calculates the position of the cable track robot on the cable track plan based on the linear distance and the cable track plan.

Through adopting above-mentioned scheme, position detection module can accurately calculate the linear distance between the steel cable track robot through UWB emitter and UWB receiving arrangement, then can calculate the concrete position of steel cable track robot through steel cable track plan.

In conclusion, the invention has the following beneficial effects:

1. the gas composition of the whole tunnel can be detected through the steel cable track robot, the steel cable track robot automatically moves in the tunnel without manual operation, and the sensor only needs to be arranged on the steel cable track robot, so that a large amount of manpower and material resources can be saved;

2. the method can automatically detect the curves which may have problems, and help the user to quickly find the areas with problems;

3. if the tunnel is very big, can set up a plurality of steel cable track robots and monitor, interval automatic control between the steel cable track robot can not receive the tunnel shape influence moreover.

Drawings

FIG. 1 is an overall logic diagram of a method for monitoring the gas composition of a whole tunnel according to an embodiment of the present invention;

FIG. 2 is an overall system block diagram of a full tunnel gas composition monitoring system according to an embodiment of the present application;

FIG. 3 is an overall block diagram of a full tunnel gas composition monitoring system according to an embodiment of the present application.

In the figure, 1, a rail cable; 2. a cable track robot; 21. a gas detection device; 22. a UWB transmitting device; 23. a UWB receiving device; 3. a detection system; 31. a gas detection module; 32. a position detection module; 33. a mobile control module; 34. a robot wireless module; 35. a standard acquisition module; 4. a control system; 41. a host wireless module; 42. a starting module; 43. a storage module; 44. a spacing control module; 45. a dot-matrix generating module; 46. a graph generation module; 47. an automatic warning module; 48. and a data display module.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses a method for monitoring gas components in a whole tunnel, which comprises the following specific steps as shown in figure 1:

as shown in fig. 1, a track is built: inside the tunnel a track wire rope 1 is built up along the tunnel.

As shown in fig. 1, the robot is installed: the gas detection device 21 is selected according to the gas to be detected, the gas selection device is installed on the wire rope rail robot 2, the wire rope rail robot 2 is provided in plurality, and all the gas detection devices are installed on the rail steel rope 1. Lead-in wireline orbit plan view. With steel cable track robot 2 equidistance range on the steel cable track, obtain the track length between the adjacent steel cable track robot 2, record standard track length.

As shown in fig. 1, the detection starts: and after receiving the input starting signal, the cable track robot 2 is controlled to circularly move along the cable track, and the gas detection device 21 is started. Install UWB emitter 22 and UWB receiving arrangement 23 at every cable rail robot 2, every UWB emitter 22 all sends out the narrow pulse of non-sinusoidal wave, UWB receiving arrangement 23 of every cable rail robot 2 receives the narrow pulse of non-sinusoidal wave that the UWB emitter 22 that is nearest, calculates the straight-line distance between the adjacent cable rail robot 2 according to the UWB signal of receipt, calculates the position of cable rail robot 2 in the cable rail plane according to straight-line distance. And intercepting the steel cable track between the adjacent steel cable track robots 2, calculating the length of the steel cable track, and comparing the length of the steel cable track with the length of a standard track. If the length of the steel cable track is different from the standard track, the moving speed of the steel cable track robot 2 at the two ends of the length of the steel cable track is adjusted until the length of the steel cable track is equal to the standard track. If the tunnel is very big, can set up a plurality of steel cable track robots 2 and monitor, interval automatic control between steel cable track robot 2 can not receive the tunnel shape influence moreover. The linear distance between the wire rope rail robots 2 can be accurately calculated by the UWB transmitting device 22 and the UWB receiving device 23, and then the specific position of the wire rope rail robot 2 can be calculated by the wire rope rail plan.

As shown in fig. 1, data recording: the positional information of the wire-rope orbit robot 2 and the respective gas concentration values detected by the gas detection device 21 are acquired at regular time.

As shown in fig. 1, data collation: and generating each gas concentration dot-matrix diagram of the tunnel according to the received position information and each gas concentration value, and fitting each gas concentration dot-matrix diagram to obtain each gas concentration curve graph. The data arrangement is specifically set as single curve diagram generation and curve diagram integration. Single-curve generation: and generating a gas concentration dot-matrix diagram of each gas according to the gas concentration value of each gas and the received position information, and fitting the gas concentration dot-matrix diagram to obtain a gas concentration curve graph. Graph integration: all gas concentration profiles are superimposed on one graph to form each gas concentration profile.

As shown in fig. 1, the data shows: each gas concentration profile is shown.

As shown in fig. 1, automatic warning: and detecting the curvature of each section of each curve in each gas concentration curve graph, and if the curvature of a certain section of curve exceeds a preset value, marking the curve at the end. The method can automatically detect the curves which may have problems, and help the user to quickly find the areas with problems.

The implementation principle of the full-tunnel gas composition monitoring method in the embodiment of the application is as follows: can detect the gaseous composition of full tunnel through steel cable track robot 2, steel cable track robot 2 is automatic to be removed in the tunnel, need not manual operation, the sensor also only need on steel cable track robot 2 set up can, can save a large amount of manpower and materials. And can automatically generate each gas concentration curve chart, facilitate the observation of the user.

The embodiment of the application discloses a whole tunnel gas composition monitoring system, as shown in fig. 2, including installing track steel cable 1 in the tunnel, installing steel cable track robot 2 on the steel cable track, installing detecting system 3 on steel cable track robot 2 and installing control system 4 on the host computer. The wire rope orbit robot 2 is provided in plurality and is all installed on the orbit wire rope 1.

As shown in fig. 2 and 3, the detection system 3 includes a gas detection module 31, a position detection module 32, a movement control module 33, a robot wireless module 34, and a standard acquisition module 35. The control system 4 includes a host wireless module 41, a storage module 43, a start module 42, a dot-matrix diagram generation module 45, a graph generation module 46, a data display module 48, a spacing control module 44, and an automatic warning module 47.

As shown in fig. 2 and 3, the gas detection module 31 includes a plurality of gas detection devices 21 attached to the cable-track robot 2, the gas detection devices 21 detect corresponding gas concentration values, and the gas detection module 31 transmits all the gas concentration values to the robot wireless module 34. The gas detection device 21 includes a CO2 sensor, a NO sensor, a CO sensor, a NO2 sensor, a H2S sensor, a SO2 sensor, an O2 sensor, an NH3 sensor, an O3 sensor, a PH3 sensor, and an EX sensor.

As shown in fig. 2 and 3, the position detection module 32 includes a UWB transmitting device 22 and a UWB receiving device 23 installed in the cable track robot 2, each UWB transmitting device 22 transmits a non-sinusoidal narrow pulse, the UWB receiving device 23 of each cable track robot 2 receives the non-sinusoidal narrow pulse transmitted from the nearest UWB transmitting device 22, the position detection module 32 calculates a linear distance between adjacent cable track robots 2 according to the received UWB signal, and the position detection module 32 converts the linear distance into position information. The position detection module 32 sends the position information to the robot wireless module 34. The spacing control module 44 calculates the position of the wireline orbit robot 2 in the wireline orbit plan based on the linear distance and the wireline orbit plan. The UWB transmitting device 22 can transmit nanosecond non-sine wave narrow pulses, and then the nanosecond non-sine wave narrow pulses are received by the UWB receiving device 23, so that accurate calculation of the distance between the two devices is achieved.

As shown in fig. 3, the standard acquisition module 35 receives the input standard track length and transmits the standard track length to the robot wireless module 34.

As shown in fig. 3, the movement control module 33 receives the start signal and controls the cable-track robot 2 to move cyclically along the cable track. The robot wireless module 34 transmits the received gas concentration value, the position information and the standard track length to the control system 4, and the robot wireless module 34 transmits the received start signal to the mobile control module 33.

As shown in fig. 3, the host wireless module 41 receives the gas concentration value, the position information and the standard track length transmitted by the robot wireless module 34 and transmits the gas concentration value and the position information to the storage module 43, and the host wireless module 41 transmits the received start signal to the robot wireless module 34. The start module 42 receives the input command and transmits a start signal to the host wireless module 41.

As shown in fig. 3, the storage module 43 receives and stores the input information. The storage module 43 stores a plan view of the wire rope track.

As shown in fig. 3, the distance control module 44 calls the position information and the standard track length stored in the storage module 43, the distance control module 44 calculates the position of the cable track robot 2 in the cable track plan based on the linear distance and the cable track plan, cuts the cable tracks between the adjacent cable track robots 2 and calculates the cable track length, and compares the cable track length with the standard track length. If the length of the steel cable track is different from the standard track, the moving speed of the steel cable track robot 2 at the two ends of the length of the steel cable track is adjusted until the length of the steel cable track is equal to the standard track. If the tunnel is very big, can set up a plurality of steel cable track robots 2 and monitor, interval automatic control between steel cable track robot 2 can not receive the tunnel shape influence moreover. The position detection module 32 can accurately calculate the linear distance between the cable track robots 2 by the UWB transmission device 22 and the UWB reception device 23, and then can calculate the specific positions of the cable track robots 2 by the cable track plan.

As shown in fig. 3, the dot-matrix diagram generation module 45 calls the gas concentration values and the position information stored in the storage module 43, the dot-matrix diagram generation module 45 generates a gas concentration dot-matrix diagram of each gas and each gas concentration dot-matrix diagram of the tunnel according to the gas concentration values and the position information of different gases, and the dot-matrix diagram generation module 45 transmits each gas concentration dot-matrix diagram of the tunnel and each gas concentration dot-matrix diagram of the tunnel to the graph generation module 46. The graph generation module 46 fits the gas concentration dot-matrix graph to obtain a gas concentration graph, and superimposes all the gas concentration graphs to obtain each gas concentration graph. The graph generation module 46 may also fit the received gas concentration dot-matrix maps of the tunnels to obtain gas concentration graphs, and the graph generation module 46 transmits the gas concentration graphs to the data display module 48.

As shown in FIG. 3, the data display module 48 displays a gas concentration profile for each gas and the gas concentration profiles. The automatic warning module 47 calls each gas concentration curve graph of the curve graph generation module 46, detects the curvature of each section of each curve in each gas concentration curve graph, and marks the curve at the end if the curvature of a certain section of the curve exceeds a preset value. And (3) detecting the curvature of each section of each curve in each gas concentration curve graph, if the curvature of a certain section of curve exceeds a preset value, marking the curve at the end, and transmitting each marked gas concentration curve graph to a data display module 48 by an automatic warning module 47 for displaying.

The implementation principle of the whole tunnel gas composition monitoring system in the embodiment of the application is as follows: detecting system 3 and control system 4 can detect the gaseous composition of full tunnel through steel cable rail robot 2, and steel cable rail robot 2 is automatic to be removed in the tunnel, need not manual operation, and the sensor also only need set up on steel cable rail robot 2 can, can save a large amount of manpower and materials. And can automatically generate each gas concentration curve chart, facilitate the observation of the user.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.