阅读说明：本技术 一种用于监测煤台阶上的煤自燃的监测设备及监测方法 (Monitoring equipment and monitoring method for monitoring spontaneous combustion of coal on coal bench ) 是由 孙俊东 吴云飞 石广洋 黄月军 陈树召 韩流 佘长超 肖兵 张海涛 于 2020-12-16 设计创作，主要内容包括：本发明公开了一种用于监测煤台阶上的煤自燃的监测设备及监测方法,包括底座、行走系统、箱体、控制器、红外成像仪、激光测距仪、卫星定位仪、报警器和驱动机构。本发明提供的用于监测煤台阶上的煤自燃的监测设备及监测方法,融合了红外成像、激光测距、卫星定位,实现了在全自动监测,能够在煤层自热期监测煤台阶上的煤自燃,可以有效防止煤层自燃的发生,提高了生产的安全性,并有利于避免经济和能源的损失。(The invention discloses a monitoring device and a monitoring method for monitoring spontaneous combustion of coal on a coal step. The monitoring equipment and the monitoring method for monitoring the spontaneous combustion of the coal on the coal step provided by the invention integrate infrared imaging, laser ranging and satellite positioning, realize full-automatic monitoring, can monitor the spontaneous combustion of the coal on the coal step in the self-heating period of the coal layer, can effectively prevent the spontaneous combustion of the coal layer, improve the production safety and are beneficial to avoiding the economic and energy losses.)

1. A monitoring device for monitoring spontaneous combustion of coal on a coal step is characterized by comprising a base, a traveling system, a box body, a controller, an infrared imager, a laser range finder, a satellite positioning instrument and an alarm;

the walking system comprises a walking crawler and a walking control device for controlling the running of the walking crawler;

the walking control device is arranged on the base, and the walking crawler is arranged on the side part of the base;

the box body is hinged with the base, and a driving mechanism for driving the box body to do pitching oscillation on the base is arranged between the base and the box body;

the controller, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively arranged in the box body;

the range finder lens of the laser range finder and the imager lens of the infrared imager are respectively arranged on the front side panel of the box body;

the walking control device, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively in signal connection with the controller.

2. The monitoring device for monitoring the spontaneous combustion of coal on a coal bench of claim 1, wherein the driving mechanism comprises a fixed gear, a rotating gear and a motor;

the fixed gear is fixedly connected with the base, and at least part of the fixed gear is positioned above the base;

a bottom plate opening for the fixed gear to enter the box body is formed in a bottom plate of the box body;

the motor is fixedly arranged on the box body and is connected with the controller;

the rotating gear is mounted on an output shaft of the motor, and the rotating gear is meshed with the fixed gear.

3. The monitoring equipment for monitoring the spontaneous combustion of coal on the coal step according to claim 1, wherein a power supply battery is arranged in the box body, and a solar panel is arranged on the outer side of the box body and connected with the power supply battery;

the walking control device, the controller, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively connected with the power supply battery.

4. The apparatus of claim 1, wherein an insulating layer is disposed on the outside of the box.

5. The apparatus according to claim 1, wherein a heating device is further provided in the box;

the heating device comprises a heating element and a temperature control switch arranged on a power supply circuit of the heating element;

when the temperature in the box body is higher than the preset temperature, the temperature control switch disconnects the power supply circuit, and the heating element is in a heating stop state;

when the temperature in the box body is lower than the preset temperature, the temperature control switch closes the power supply circuit, and the heating element is in a heating state.

6. The apparatus according to claim 5, wherein the temperature controlled switch is a heat sensitive metal sheet;

two ends of the thermosensitive metal sheet are fixed on the box body, and the thermosensitive metal sheet is attached to the box body in an initial state;

the power supply circuit is provided with a first contact and a second contact, and the first contact and the second contact are positioned on the box body and can be covered and pressed by the heat-sensitive metal sheet;

when the temperature in the box body is higher than the preset temperature, the heat-sensitive metal sheet is heated to expand and is in a swelling state, the heat-sensitive metal sheet is separated from the first contact and/or the second contact, and the power supply circuit is disconnected;

when the temperature in the box body is lower than the preset temperature, the heat-sensitive metal sheet contracts and resets and is in a state of being attached to the box body, the heat-sensitive metal sheet is simultaneously contacted with the first contact and the second contact, and the power supply circuit is conducted.

7. A method of monitoring coal spontaneous combustion on a coal bench using the monitoring device of any one of claims 1 to 6, comprising the steps of:

s1: planning a moving path of the monitoring equipment at the slope bottom of the slope surface of the coal step, and planning a monitoring point position;

s2: the monitoring equipment walks to the initial position;

s3: the pitching angle of the box body is adjusted through the driving mechanism, so that the lens of the imager is in a horizontal state and is aligned to the slope surface of the coal step;

s4: the monitoring equipment advances along a moving path, the pitching angle of the box body is adjusted through the driving mechanism, the infrared imager monitors the temperature of coal on a coal step and transmits the temperature to the controller, the satellite positioning instrument transmits the position of the monitoring equipment to the controller, and the laser range finder transmits the distance between the monitoring equipment and a datum line on a slope to the controller;

when the monitoring equipment travels to the position of a monitoring point, the monitoring equipment stays for a preset time, and the temperature of the position of the monitoring point is recorded;

when the temperature of the monitored point position exceeds the early warning temperature, the controller controls the alarm to send out a first alarm signal;

when the temperature difference of any two monitoring point positions exceeds a preset temperature difference value, the controller controls the alarm to send out a second alarm signal;

s5: when the monitoring device moves to the termination position, the driving mechanism adjusts the box body to be in an initial state.

8. The monitoring method according to claim 7, wherein the monitoring device monitors stepwise on the walking path, each monitoring being operated according to steps S2-S5.

9. The monitoring method according to claim 7, wherein when the monitoring device deviates from the walking path, the walking control device performs a deviation rectifying operation so that the monitoring device returns to the walking path.

10. The method of claim 7, wherein the heating element in the tank begins to heat when the temperature in the tank is below a predetermined temperature.

Technical Field

The invention relates to the technical field of monitoring spontaneous combustion of coal mines, in particular to monitoring equipment and a monitoring method for monitoring spontaneous combustion of coal on a coal step.

Background

In China, strip mines are mainly distributed in northern areas such as Shanxi, inner Mongolia and Xinjiang, a single-bucket-truck mining process is mainly adopted, but the northern cold period is long, the frozen soil phenomenon is serious, the working efficiency of equipment is easily influenced, the loss of machines is large, and the strip mine stripping work is not facilitated. In order to solve the problem, the northern open-pit mine carries out seasonal mining and discharging work, the stripping is carried out in advance in spring, summer and autumn, the stripping is stopped in winter, and only the coal mining work is carried out, so that a large number of coal steps are exposed for a long time, the coal is exposed in the air for a long time, the coal is contacted with the air for a long time, and the coal bed is easy to generate the spontaneous combustion phenomenon.

In the actual production process, the spontaneous combustion phenomenon of the coal seam is usually observed, and then the fire extinguishing treatment is carried out, so that the spontaneous combustion already occurs, the economic and energy losses are brought, and the potential safety hazard is increased.

Spontaneous combustion of the coal seam passes through three spontaneous combustion development processes, namely a latent period, a self-heating period and a combustion period. The change of external conditions can not be basically observed in the latent period, the spontaneous combustion phenomenon of the coal is monitored, the surface temperature of the coal bed in the spontaneous heating period can change mainly in the spontaneous heating period of the coal, the position where spontaneous combustion occurs can be predicted in advance by monitoring the abnormal point of the surface temperature, directional mining is carried out, and hidden dangers are eliminated in advance.

Disclosure of Invention

The invention aims to provide monitoring equipment and a monitoring method for monitoring coal spontaneous combustion on a coal step, which can monitor the spontaneous combustion of the coal step in the self-heating period of a coal bed, can effectively prevent the spontaneous combustion of the coal bed, improve the production safety and are beneficial to avoiding the economic and energy losses.

The technical scheme of the invention provides monitoring equipment for monitoring spontaneous combustion of coal on a coal step, which comprises a base, a traveling system, a box body, a controller, an infrared imager, a laser range finder, a satellite positioning instrument and an alarm;

the walking system comprises a walking crawler and a walking control device for controlling the running of the walking crawler;

the walking control device is arranged on the base, and the walking crawler is arranged on the side part of the base;

the box body is hinged with the base, and a driving mechanism for driving the box body to do pitching oscillation on the base is arranged between the base and the box body;

the controller, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively arranged in the box body;

the range finder lens of the laser range finder and the imager lens of the infrared imager are respectively arranged on the front side panel of the box body;

the walking control device, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively in signal connection with the controller.

In one optional technical scheme, the driving mechanism comprises a fixed gear, a rotating gear and a motor;

the fixed gear is fixedly connected with the base, and at least part of the fixed gear is positioned above the base;

a bottom plate opening for the fixed gear to enter the box body is formed in a bottom plate of the box body;

the motor is fixedly arranged on the box body and is connected with the controller;

the rotating gear is mounted on an output shaft of the motor, and the rotating gear is meshed with the fixed gear.

In one optional technical scheme, a power supply battery is arranged in the box body, a solar panel is arranged on the outer side of the box body, and the solar panel is connected with the power supply battery;

the walking control device, the controller, the infrared imager, the laser range finder, the satellite positioning instrument and the alarm are respectively connected with the power supply battery.

In one optional technical scheme, an insulating layer is arranged on the outer side of the box body.

In one optional technical scheme, a heating device is further arranged in the box body;

the heating device comprises a heating element and a temperature control switch arranged on a power supply circuit of the heating element;

when the temperature in the box body is higher than the preset temperature, the temperature control switch disconnects the power supply circuit, and the heating element is in a heating stop state;

when the temperature in the box body is lower than the preset temperature, the temperature control switch closes the power supply circuit, and the heating element is in a heating state.

In one optional technical scheme, the temperature control switch is a thermosensitive metal sheet;

two ends of the thermosensitive metal sheet are fixed on the box body, and the thermosensitive metal sheet is attached to the box body in an initial state;

the power supply circuit is provided with a first contact and a second contact, and the first contact and the second contact are positioned on the box body and can be covered and pressed by the heat-sensitive metal sheet;

when the temperature in the box body is higher than the preset temperature, the heat-sensitive metal sheet is heated to expand and is in a swelling state, the heat-sensitive metal sheet is separated from the first contact and/or the second contact, and the power supply circuit is disconnected;

when the temperature in the box body is lower than the preset temperature, the heat-sensitive metal sheet contracts and resets and is in a state of being attached to the box body, the heat-sensitive metal sheet is simultaneously contacted with the first contact and the second contact, and the power supply circuit is conducted.

The technical scheme of the invention also provides a monitoring method for monitoring the spontaneous combustion of coal on a coal step by adopting the monitoring equipment, which comprises the following steps:

s1: planning a moving path of the monitoring equipment at the slope bottom of the slope surface of the coal step, and planning a monitoring point position;

s2: the monitoring equipment walks to the initial position;

s3: the pitching angle of the box body is adjusted through the driving mechanism, so that the lens of the imager is in a horizontal state and is aligned to the slope surface of the coal step;

s4: the monitoring equipment advances along a moving path, the pitching angle of the box body is adjusted through the driving mechanism, the infrared imager monitors the temperature of coal on a coal step and transmits the temperature to the controller, the satellite positioning instrument transmits the position of the monitoring equipment to the controller, and the laser range finder transmits the distance between the monitoring equipment and a datum line on a slope to the controller;

when the monitoring equipment travels to the position of a monitoring point, the monitoring equipment stays for a preset time, and the temperature of the position of the monitoring point is recorded;

when the temperature of the monitored point position exceeds the early warning temperature, the controller controls the alarm to send out a first alarm signal;

when the temperature difference of any two monitoring point positions exceeds a preset temperature difference value, the controller controls the alarm to send out a second alarm signal;

s5: when the monitoring device moves to the termination position, the driving mechanism adjusts the box body to be in an initial state.

In one optional technical scheme, the monitoring device monitors in sections on the walking path, and each monitoring is operated according to the steps S2-S5.

In one optional technical scheme, when the monitoring equipment deviates from the walking path, the walking control device performs deviation rectifying operation, so that the monitoring equipment returns to the walking path.

In one alternative, the heating element in the tank starts heating when the temperature in the tank is lower than a preset temperature.

By adopting the technical scheme, the method has the following beneficial effects:

the monitoring equipment and the monitoring method for monitoring the spontaneous combustion of the coal on the coal step can monitor the spontaneous combustion of the coal on the coal step in the self-heating period of the coal bed, can effectively prevent the spontaneous combustion of the coal bed, improve the production safety and are beneficial to avoiding the loss of economy and energy.

Drawings

Fig. 1 is a schematic diagram of a monitoring device in a starting position of a moving path according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a monitoring device according to an embodiment of the present invention in an initial state;

fig. 3 is a schematic view of a box of a monitoring device according to an embodiment of the present invention, which is driven by a driving mechanism to swing upward;

FIG. 4 is a schematic diagram of the walking control device, the infrared imager, the laser range finder, the satellite positioning instrument, the alarm and the motor respectively connected with the controller;

FIG. 5 is a schematic view of the driving mechanism and the heating device;

FIG. 6 is a schematic view of a heat-sensitive metal sheet in an initial state;

FIG. 7 is a schematic view of the heat-sensitive metal sheet when it expands due to heat.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 1 to 5, a monitoring apparatus 100 for monitoring spontaneous combustion of coal on a coal bench 200 according to an embodiment of the present invention includes a base 1, a traveling system 2, a box 3, a controller 4, an infrared imager 5, a laser range finder 6, a satellite positioning device 7, and an alarm 8.

The traveling system 2 includes a traveling crawler 22 and a traveling control device 21 for controlling the traveling crawler 22.

The travel control device 21 is attached to the base 1, and the traveling crawler 22 is attached to a side portion of the base 1.

The box 3 is hinged with the base 1, and a driving mechanism 9 for driving the box 3 to do pitching oscillation on the base 1 is arranged between the base 1 and the box 3.

The controller 4, the infrared imager 5, the laser range finder 6, the satellite positioning instrument 7 and the alarm 8 are respectively arranged in the box body 1.

The range finder lens 61 of the laser range finder 6 and the imager lens 51 of the infrared imager 5 are respectively mounted on the front panel 32 of the cabinet 3.

The walking control device 21, the infrared imager 5, the laser range finder 6, the satellite positioning instrument 7 and the alarm 8 are respectively connected with the controller through signals 4.

The monitoring device 100 provided by the embodiment of the invention is mainly used for monitoring the temperature of coal on the open-air coal bench 200 so as to monitor the spontaneous combustion of the coal, and further, the spontaneous combustion of the coal can be prevented in advance.

The monitoring device 100 comprises a base 1, a traveling system 2, a box body 3, a controller 4, an infrared imager 5, a laser range finder 6, a satellite positioning instrument 7, an alarm 8 and a driving mechanism 9.

The base 1 is a base of the whole set of equipment and plays a role in bearing and supporting.

The traveling system 2 includes a traveling control device 21 and two traveling crawler belts 22. The travel control device 21 may be a hydraulic control system or a motor control system that provides power to the travel tracks 22 and is capable of controlling the operation or stop of the travel tracks 22. The traveling control device 21 is installed on the base 1, and two traveling crawlers 22 are installed on opposite sides of the base 1. Of course, the base 1 is provided with a driving wheel, a steering wheel, a driven wheel, a tension wheel and the like as required. The walking system 2 controls the running or stopping of the driving wheel by the user. For the structure, structure and operation principle of the walking system 2, please refer to the related art in the prior art, which is not described herein again.

The box body 3 includes a bottom plate 31, a front panel 32, a rear panel, side plates 33, and a top plate 34. In the present invention, the side facing the coal bench 200 is referred to as the front side, and the side facing away from the coal bench 200 is referred to as the rear side when the monitoring apparatus 100 is used.

The rear end of the bottom plate 31 is connected with the base 1 through a hinge or a pivot shaft, so that the box 3 is pivotally connected with the base 1, and the box 3 can tilt and swing relative to the base 1. The pitching oscillation in the present invention means that the box 3 oscillates up and down with respect to the base 1. In the initial state, the bottom plate 31 of the case 3 is attached to the base 1. When the box 3 is driven to make the box 3 swing upwards relative to the base 1, the included angle between the box 3 and the base 1 becomes larger, so that the front side panel 31 faces to the oblique upper side, and the operation process is the process of the box 3 swinging upwards. When the box 3 is driven to swing downward from the raised state to the initial state, the front panel 31 faces substantially directly forward, and the operation process is a process of the box 3 swinging downward.

The controller 4 is a chip processor integrated with a processing unit, a storage unit, a recording unit, a calculation unit, and the like. The controller 4 is installed in the box 3 and used for integrally controlling the operation of each electronic component.

The infrared imager 5 is an infrared thermal imager, and can image the target in real time according to the hot spot so as to obtain the current temperature of the coal by the controller 4.

The main body part of the infrared imager 5 is installed in the box 3, and the imager lens 51 of the infrared imager 5 is installed on the front side panel 32 of the box 3, and is used for acquiring real-time temperature data of a target coal seam. The infrared imager 5 transmits the temperature data to the controller 4, and the controller 4 processes the data.

The laser range finder 6 is used to detect whether the monitoring device 100 is traveling on the movement path 203 and is deviating from the planned route. Specifically, a reference line 202 is arranged in advance at the top of the slope surface 201 of the coal step 200, and the laser range finder 6 measures the distance between the monitoring device 100 and the reference line 202 in real time while the monitoring device 100 travels along the moving path 203. Because the distance between the moving path 203 and the reference line 202 is determined at any position, if the distance between the monitoring device 100 and the reference line 202 exceeds the error range, it is determined that the monitoring device 100 deviates from the moving path 203, and the walking control device 21 can control the speeds of the two walking crawlers 22 to realize deviation correction. When the speed of one walking track 22 is greater than the speed of the other walking track 22, the monitoring device 100 will turn toward the side where the track speed is low.

The laser range finder 6 is mounted in the cabinet 3 at a main body portion thereof, and the range finder lens 61 of the laser range finder 6 is mounted on the front panel 32 of the cabinet 3 to measure the distance between the monitoring device 100 and the reference line 202 in real time. The laser range finder 6 transmits the distance data to the controller 4, and the controller 4 performs data processing.

The satellite positioning instrument 7 is an instrument for positioning the monitoring device 100, and may be selected from a beidou positioning instrument or a GPS positioning instrument. According to the real-time data of the satellite positioning instrument 7, the real-time position of the monitoring device 100 can be obtained, and the real-time temperature data of the specific position can be obtained by combining the previous temperature data.

The alarm 8 is installed in the box body 3 and gives an alarm according to a signal sent by the controller 4.

The walking control device 21, the infrared imager 5, the laser range finder 6, the satellite positioning instrument 7 and the alarm 8 are respectively connected with the controller signal 4 through leads. In this embodiment, the power for each electronic component may be supplied from an external power source or a battery carried by the electronic component.

The driving mechanism 9 is connected between the base 1 and the box 3, and is used for driving the box 3 to do pitching oscillation on the base 1. The driving mechanism 9 is also connected to the controller 4 through a wire, and the controller 4 controls the operation and stop of the driving mechanism 9. The driving mechanism 9 can be a cylinder, an oil cylinder, a motor driving device, etc., as long as it can drive the box body 3 to swing up and down.

An operation panel 38 is mounted on the front panel 32, keys of the operation panel 38 are communicatively connected to the controller 4, and a user can operate the monitoring apparatus 100 through the operation panel 38.

When monitoring apparatus 100 is used to monitor the spontaneous combustion of coal on coal step 200, the following is used:

the first step is as follows: a moving path 203 of the monitoring device 100 is planned at the bottom of the slope surface 201 of the coal step 200, and a monitoring point position is planned.

The second step is that: the monitoring device 203 walks to the start position.

The third step: the pitching angle of the box 3 is adjusted by the driving mechanism 9, so that the imager lens 51 is in a horizontal state and aligned with the slope surface 201 of the coal step 200.

The fourth step: the monitoring apparatus 100 advances along the moving path 203 while adjusting the pitch angle of the housing 3 by the driving mechanism 9. The pitching angle is 0-45 degrees, and one group of pitching angles is measured after every time the pitching angle is adjusted. Preferably, each change of angle is 3 °.

The infrared imager 5 monitors the temperature of the coal on the coal step 200 and transmits the temperature to the controller 4, the satellite positioner 7 transmits the position of the monitoring device 100 to the controller 4, and the laser range finder 6 transmits the distance between the monitoring device 100 and the reference line 202 on the slope 201 to the controller 4.

The emissivity of the infrared imager 5 is 0.9, and the suitable temperature measuring material is coal.

When the monitoring device 100 travels to the monitoring point, it stays for a predetermined time and records the temperature at the monitoring point. In order to ensure the accuracy of the measurement, the dwell time of each monitoring point position is 10 s.

When the temperature of the monitored point position exceeds the early warning temperature, the controller 4 controls the alarm 8 to send out a first alarm signal. Assuming that the spontaneous combustion temperature of the coal is T0, the early warning temperature T is T0-n (n is more than 0). When the temperature at the monitoring point exceeds the pre-warning temperature, indicating that the coal may self-ignite, the alarm 8 emits an alarm signal, such as a prolonged sound, a whistle, or an audible and visual alarm.

When the temperature difference between any two monitoring point positions exceeds the preset temperature difference value, the controller 4 controls the alarm 8 to send out a second alarm signal.

For example, when the temperature difference between any two monitoring point positions is 3-4 degrees, the alarm is sounded 1; when the temperature difference between any two monitoring point positions is 5-6 degrees, giving an alarm for 3 sounds; when the temperature difference between any two monitoring point positions is 7-8 degrees, 5 alarms are given, and the like.

The fifth step: when the monitoring device 100 is moved to the end position, the driving mechanism 9 adjusts the case 3 to be in the initial state.

Therefore, the monitoring equipment for monitoring the spontaneous combustion of the coal on the coal step provided by the invention integrates infrared imaging, laser ranging and satellite positioning, realizes full-automatic monitoring, can monitor the spontaneous combustion of the coal on the coal step in the self-heating period of the coal layer, can effectively prevent the spontaneous combustion of the coal layer, improves the production safety, and is beneficial to avoiding the economic and energy losses.

In one of the embodiments, as shown in fig. 5, the driving mechanism 9 includes a fixed gear 91, a rotating gear 92, and a motor 93.

The fixed gear 91 is fixedly connected with the base 1, and at least part of the fixed gear 91 is positioned above the base 1.

The bottom plate 31 of the case 3 is provided with a bottom plate opening 311 for fixing the gear 91 into the case 3.

The motor 93 is fixedly arranged on the box body 3, and the motor 93 is connected with the controller 4.

A rotary gear 92 is mounted on an output shaft of the motor 93, and the rotary gear 92 is engaged with the fixed gear 91.

The motor 93 is mounted on the bottom plate 31 of the case 3 through a bracket 94, the fixed gear 91 is fixed on the base 1, and the rotating gear 92 is mounted on an output shaft of the motor 93.

A portion of the fixed gear 91 enters the casing 3 from the bottom opening 311, and the rotating gear 92 meshes with the fixed gear 91. The motor 93 is connected with the controller 4 through a wire, and the controller 93 can control the switch of the motor 93.

When the box 3 needs to be driven to swing upwards, the motor 93 rotates towards the first direction to drive the rotating gear 92 to rotate, and since the fixed gear 91 is fixed, the rotating gear 32 climbs upwards on the fixed gear 91, and the box 3 is driven to swing upwards through the motor 93 and the bracket 94. The box 3 and the electronic devices inside the box are all basically micro integrated components, the weight is not too heavy, and the motor 93 and the bracket 94 can bear corresponding weight completely to drive the box 3 to move.

When the box 3 needs to be driven to swing downwards, the motor 93 rotates towards the second direction, the rotating gear 32 climbs downwards on the fixed gear 91, and then the box 3 is driven to swing downwards through the motor 93 and the bracket 94 to return to the initial state.

Preferably, the center angle of any adjacent two teeth on the fixed gear 91 is 3 °, and the rotating gear 92 will drive the casing 3 to swing 3 ° every time it moves one tooth position on the fixed gear 91.

In one embodiment, as shown in fig. 2 and 5, the power supply battery 35 is disposed in the box 3, and the solar panel 37 is disposed on the outer side of the box 1, and the solar panel 37 is connected to the power supply battery 35.

The walking control device 21, the controller 4, the infrared imager 5, the laser range finder 6, the satellite positioning instrument 7 and the alarm 8 are respectively connected with a power supply battery.

The power supply battery 35 is a lithium battery. The walking control device 21, the controller 4, the infrared imager 5, the laser range finder 6, the satellite positioning instrument 7, the alarm 8 and the motor 93 are respectively connected with the power supply battery 35 through wires, and the power supply battery 35 supplies power to the above elements.

A solar panel 37 is mounted on the case 3 to convert solar energy into electricity, which is stored in the power supply battery 35. The power supply combination mode of the solar panel and the lithium battery is suitable for the open-pit mine in the north, and the open-pit mine in the north has the advantages of long day and night, high altitude and sufficient illumination.

The solar panels 37 may be laid on the top plate 34 of the box 3.

In one embodiment, as shown in FIG. 2, the exterior of the tank 3 is provided with insulation 36. The heat-insulating layer 36 may be a foam board or a vacuum heat-insulating layer, and insulates the box body 3, so that each component can normally work in a low-temperature environment.

In one embodiment, as shown in fig. 5, a heating device 10 is further disposed in the box body 3.

The heating device 10 comprises a heating element 101 and a temperature-controlled switch 103 arranged on a power supply circuit 102 of the heating element 101.

When the temperature in the box 3 is higher than the preset temperature, the temperature control switch 103 turns off the power supply circuit 102, and the heating element 101 is in a heating stop state.

When the temperature in the box 3 is lower than the preset temperature, the temperature control switch 103 closes the power supply circuit 102, and the heating element 101 is in a heating state.

The heating element 101 may be a resistance heating element, and the heating element 101 may be mounted in the case 3 by a bracket.

When the power supply circuit 102 supplies power to the heating element 101, the heating element 101 generates heat to raise the temperature in the cabinet 3. The power supply circuit 102 is connected to a power source or a power supply battery 35, and a temperature control switch 103 is mounted on the power supply circuit 102.

When the temperature in the box 3 is higher than a preset temperature (for example, 5 ℃), the temperature control switch 103 turns off the power supply circuit 102, the heating element 101 is in a heating stop state, and the temperature in the box 3 is substantially above 5 ℃.

When the temperature in the box 3 is lower than a preset temperature (e.g., 5 ℃), the temperature control switch 103 closes the power supply circuit 102, and the heating element 101 starts heating, raising the temperature in the box 3 above the preset temperature.

By arranging the heating device 10 in the box body 3, the temperature in the box body 3 can be ensured to be above the preset temperature, so that each component can normally work in a low-temperature environment.

In one embodiment, as shown in fig. 6-7, the temperature controlled switch 103 is a heat sensitive metal plate 1031.

Both ends of the heat sensitive metal piece 1031 are fixed to the case 3, and in an initial state, the heat sensitive metal piece 1031 is attached to the case 3.

The power supply circuit 102 has a first contact 1021 and a second contact 1022, and the first contact 1021 and the second contact 1022 are located on the case 3 and can be covered and pressed by the heat sensitive metal plate 1031.

When the temperature in the case 3 is higher than the preset temperature, the heat sensitive metal piece 1031 is thermally expanded and in a swollen state, the heat sensitive metal piece 1031 is separated from the first contact 1021 and/or the second contact 1022, and the power supply circuit 102 is disconnected.

When the temperature in the box body 3 is lower than the preset temperature, the heat-sensitive metal sheet 1031 contracts and resets and is in a state of being attached to the box body 3, the heat-sensitive metal sheet 1031 is simultaneously contacted with the first contact 1021 and the second contact 1022, and the power supply circuit 102 is conducted.

The temperature control switch 103 is made of a thermosensitive metal plate 1031, and can automatically expand or stretch according to the temperature to control the on/off of the power supply circuit 102.

Two contacts, a first contact 1021 and a second contact 1022, are provided on the power supply circuit 102.

The first contact 1021 and the second contact 1022 are arranged on the side plate 33 of the case 3. The heat-sensitive metal plate 1031 may be electrically conductive, and both ends thereof are fixed to the side plates 33, respectively, and an insulating gasket is interposed between the heat-sensitive metal plate 1031 and the side plates 33. The ends of the first contact 1021 and the second contact 1022 protrude outside the side plate 33. When the heat-sensitive metal sheet is in the initial state, it is attached to the case 3, covers the first contact 1021 and the second contact 1022, and simultaneously contacts the first contact 1021 and the second contact 1022, thereby turning on the power supply circuit 102.

When the temperature in the case 3 is higher than the preset temperature, the heat sensitive metal piece 1031 is thermally expanded and in a swollen state, and the heat sensitive metal piece 1031 is separated from the first contact 1021 and/or the second contact 1022, so that the power supply circuit 102 is disconnected.

The thermosensitive metal plate 1031 is a metal plate capable of expanding when heated, and may be a bimetallic plate formed by attaching two layers of metal plates having different expansion coefficients.

Referring to fig. 1-5, an embodiment of the present invention provides a monitoring method for monitoring spontaneous combustion of coal on a coal bench 200 by using the monitoring apparatus 100, including the following steps:

s1: a moving path 203 of the monitoring device 100 is planned at the bottom of the slope surface 201 of the coal step 200, and a monitoring point position is planned.

S2: the monitoring device 203 walks to the start position.

S3: the pitching angle of the box 3 is adjusted by the driving mechanism 9, so that the imager lens 51 is in a horizontal state and aligned with the slope surface 201 of the coal step 200.

S4: the monitoring device 100 advances along the moving path 203 while adjusting the pitch angle of the box body 3 by the driving mechanism 9, the infrared imager 5 monitors the temperature of the coal on the coal step 200 and transmits the temperature to the controller 4, the satellite positioner 7 transmits the position of the monitoring device 100 to the controller 4, and the laser range finder 6 transmits the distance between the monitoring device 100 and the reference line 202 on the slope surface 201 to the controller 4.

When the monitoring device 100 travels to the monitoring point, it stays for a predetermined time and records the temperature at the monitoring point.

When the temperature of the monitored point position exceeds the early warning temperature, the controller 4 controls the alarm 8 to send out a first alarm signal;

when the temperature difference between any two monitoring point positions exceeds the preset temperature difference value, the controller 4 controls the alarm 8 to send out a second alarm signal.

S5: when the monitoring device 100 is moved to the end position, the driving mechanism 9 adjusts the case 3 to be in the initial state.

When monitoring apparatus 100 is used to monitor the spontaneous combustion of coal on coal step 200, the following is used:

the first step is as follows: a moving path 203 of the monitoring device 100 is planned at the bottom of the slope surface 201 of the coal step 200, and a monitoring point position is planned.

The second step is that: the monitoring device 203 walks to the start position.

The third step: the pitching angle of the box 3 is adjusted by the driving mechanism 9, so that the imager lens 51 is in a horizontal state and aligned with the slope surface 201 of the coal step 200.

The fourth step: the monitoring apparatus 100 advances along the moving path 203 while adjusting the pitch angle of the housing 3 by the driving mechanism 9. The pitching angle is 0-45 degrees, and one group of pitching angles is measured after every time the pitching angle is adjusted. Preferably, each change of angle is 3 °.

The infrared imager 5 monitors the temperature of the coal on the coal step 200 and transmits the temperature to the controller 4, the satellite positioner 7 transmits the position of the monitoring device 100 to the controller 4, and the laser range finder 6 transmits the distance between the monitoring device 100 and the reference line 202 on the slope 201 to the controller 4.

The emissivity of the infrared imager 5 is 0.9, and the suitable temperature measuring material is coal.

When the monitoring device 100 travels to the monitoring point, it stays for a predetermined time and records the temperature at the monitoring point. In order to ensure the accuracy of the measurement, the dwell time of each monitoring point position is 10 s.

When the temperature of the monitored point position exceeds the early warning temperature, the controller 4 controls the alarm 8 to send out a first alarm signal. Assuming that the spontaneous combustion temperature of the coal is T0, the early warning temperature T is T0-n (n is more than 0). When the temperature at the monitoring point exceeds the pre-warning temperature, indicating that the coal may self-ignite, the alarm 8 emits an alarm signal, such as a prolonged sound, a whistle, or an audible and visual alarm.

When the temperature difference between any two monitoring point positions exceeds the preset temperature difference value, the controller 4 controls the alarm 8 to send out a second alarm signal.

For example, when the temperature difference between any two monitoring point positions is 3-4 degrees, the alarm is sounded 1; when the temperature difference between any two monitoring point positions is 5-6 degrees, giving an alarm for 3 sounds; when the temperature difference between any two monitoring point positions is 7-8 degrees, 5 alarms are given, and the like.

The fifth step: when the monitoring device 100 is moved to the end position, the driving mechanism 9 adjusts the case 3 to be in the initial state.

Therefore, the monitoring method provided by the invention integrates infrared imaging, laser ranging and satellite positioning, realizes full-automatic monitoring, can monitor the spontaneous combustion of coal on the coal step in the self-heating period of the coal bed, can effectively prevent the spontaneous combustion of the coal bed, improves the production safety, and is beneficial to avoiding the economic and energy losses.

In one embodiment, the monitoring apparatus 100 monitors the travel path 203 in stages, each monitoring operating in accordance with steps S2-S5, for longer coal steps 200.

In one embodiment, when the monitoring device 100 deviates from the walking path 203, the walking control device 21 performs a deviation rectifying operation so that the monitoring device 100 returns to the walking path 203.

Laser rangefinder 6 measures the distance between monitoring device 100 and reference line 202 in real time. Because the distance between the moving path 203 and the reference line 202 is determined at any position, if the distance between the monitoring device 100 and the reference line 202 exceeds the error range, it is determined that the monitoring device 100 deviates from the moving path 203, and the walking control device 21 can control the speeds of the two walking crawlers 22 to realize deviation correction. When the speed of one walking track 22 is greater than the speed of the other walking track 22, the monitoring device 100 will turn toward the side where the track speed is low.

In one embodiment, the heating element 101 in the tank 3 starts heating when the temperature in the tank 3 is lower than a preset temperature.

When the temperature in the box 3 is higher than a preset temperature (for example, 5 ℃), the temperature control switch 103 turns off the power supply circuit 102, the heating element 101 is in a heating stop state, and the temperature in the box 3 is substantially above 5 ℃.

When the temperature in the box 3 is lower than a preset temperature (e.g., 5 ℃), the temperature control switch 103 closes the power supply circuit 102, and the heating element 101 starts heating, raising the temperature in the box 3 above the preset temperature.

By arranging the heating device 10 in the box body 3, the temperature in the box body 3 can be ensured to be above the preset temperature, so that each component can normally work in a low-temperature environment.

According to the needs, the above technical schemes can be combined to achieve the best technical effect.

The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.