Research On Path Planning Of Unmanned Detection Equipment For Harmful Gases In Abandoned Mines

Smart mines are an important trend in current mining development.In production scenarios with low safety factors,unmanned applications can greatly reduce the possibility of exposure to manual operations,such as the detection of abandoned mine tunnels.In the history,there have been many casualties involving harmful gases in abandoned roadways.At present,the unmanned application of underground testing equipment is mainly based on the track type or the mode of pre-setting the route.Unmanned inspection equipment capable of autonomous path planning does not require manual intervention during operation.It can autonomously complete the entire process from start to end after setting the start point,end point and constraint conditions.Compared with traditional inspection equipment,which has greatly improved the level of intelligence.This paper studies the path planning of unmanned inspection equipment,which can significantly improve the intelligence level of unmanned inspection equipment and can provide solutions and ideas for other similar problems of solving optimal solutions.This article focuses on the study of path planning for unmanned detection equipment in abandoned mines.It is divided into the following three steps.Each step can be divided into two processes.The details are as follows: First,it is single-target path planning,that is,unmanned detection equipment.The specific path planning process in the process from the starting point to the gas leak point.In the singleobjective path planning process,firstly,the A* algorithm is selected as the basic pointto-point path planning algorithm;secondly,the heuristic function is optimized based on the point-to-point path planning implemented by the A* algorithm to achieve compliance with the abandoned mine tunnel Specific optimization for specific environments.The second is multi-objective path planning,that is,when there are multiple gas leaks that need to be reached,start from the starting point,pass halfway and return after passing through each position only once,and need to achieve the shortest path and optimal efficiency in this process.That is to solve the optimal solution problem.In the process of multi-objective path planning,firstly,the simulated annealing algorithm is selected as the basic algorithm for solving the optimal solution;secondly,the values of variables and coefficients are discussed for the specific research process of this article to meet the specific conditions of abandoned mines.The third is the application of the comprehensive path planning algorithm of unmanned inspection equipment for specific situations.First,the working environment of the abandoned roadway is proposed,and Fluent software is used to obtain the distribution and diffusion of gas leakage in the roadway under different conditions according to different gas leak rate and location of the leak point and obtain the inside of the abandoned mine roadway.The distribution law of harmful gas diffusion;secondly,based on the Python platform,using the previously proposed and optimized algorithm,the algorithm simulation application is carried out for the unmanned detection equipment in the tunnel under the above working conditions.The unmanned detection equipment proposed in this paper abandons the traditional schemes of orbitalization,designated route and time,and combines computer algorithm theory to make the detection equipment obtain data independently and conduct independent analysis as much as possible,so that the unmanned detection equipment of abandoned mine.The level is further improved,reducing labor while improving safety.Therefore,it can be further promoted to more application scenarios.The paper has 60 pictures and 100 references.