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Inspection robot for underground coal mine

A technology for inspection robots and coal mines, applied in the field of inspection robots, can solve the problems of reducing the safety of inspection robots, low wheel grip, slippage, etc., and achieve the effects of easy disassembly, improved grip performance, and easy cleaning.

Inactive Publication Date: 2019-06-11
安徽玄离智能科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] An existing inspection robot used in coal mines has certain disadvantages in use. First, the existing inspection robot can realize autonomous navigation but cannot flexibly realize autonomous switching when the machine fails, and perform manual operation. If the robot's wheels have low grip or when it encounters ditches, it is prone to slipping or rolling over, thereby reducing the safety of the inspection robot, and the intelligence of the robot needs to be improved. For this reason, We propose an inspection robot used in underground coal mines

Method used

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  • Inspection robot for underground coal mine
  • Inspection robot for underground coal mine
  • Inspection robot for underground coal mine

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Such as Figure 1-6 As shown, a patrol robot used in underground coal mines includes a lower body 1 and an upper body 2. Four-wheel drive modules are provided on the left and right sides of the lower body 1, and the four-wheel drive module includes four wheels 3, The motor and the built-in power supply, the drive motor and the built-in power supply are installed in the lower body 1, the front side of the lower body 1 is installed with an anti-collision mechanism 5, and the top of the lower body 1 is installed on the side of the upper body 2 with a multifunctional sensor 13. A communication module is installed on the other side. The communication module includes an antenna 12. A circuit main board 19 is installed inside the lower body 1 and the multi-function sensor 13 and the communication module are electrically connected to the circuit main board 19.

[0030] A navigation module and a pickup 11 are respectively installed around the surface of the upper body 2, and the na...

Embodiment 2

[0035] Such as Figure 1-6 As shown, a patrol robot used in underground coal mines. On the basis of embodiment 1, baffles 16 are installed on both sides of the lower body 1 through bolts, and the part of the baffle 16 directly above the wheel 3 is arc-shaped Structure of plastic sheet.

[0036] Such as figure 1 As shown, the wheel surface of the wheel 3 is uniformly provided with arrow-shaped anti-skid patterns 4, and the radial surface of the wheel 3 is evenly provided with an annular groove 17 at the position surrounding the axle, and a number of rolling balls are embedded in the annular groove 17 18.

[0037] Such as image 3 As shown, the anti-collision mechanism 5 is made of rubber with a triangular cross-section, and the anti-collision mechanism 5 extends 4-6cm from the lower body on the horizontal plane, and is located inside the anti-collision mechanism 5 and corresponding to the rear side of the lower body 1 A number of radiating holes 6 are opened, and under the autonom...

Embodiment 3

[0040] Such as Figure 1-6 As shown, on the basis of Embodiment 1, the front side of the lower body 1 is provided with a groove at a position directly above the collision avoidance mechanism 5, and an ultrasonic module 20 is installed in the groove. The ultrasonic module 20 includes two sets of ultrasonic probes. , One of them is parallel to the ground, and the other is 45 degrees with the ground and is set toward the ground. The ultrasonic module 20 is electrically connected to the circuit main board 19.

[0041] By setting the ultrasonic module 20 and the multi-function sensor 13, the two ultrasonic probes use the principle of ultrasonic positioning to ultrasonically locate the area directly in front of the robot and the area on the ground where the robot is traveling, which respectively play the role of autonomous obstacle avoidance and groove detection. Ultrasound detects the location of potholes and ditches. Under the control of the single-chip microcomputer, the four-wheel ...

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Abstract

The invention discloses an inspection robot for an underground coal mine. The inspection robot comprises a lower car body and an upper car body, wherein a four-wheel driving module is matched and arranged on the left and right sides of the lower car body, the four-wheel driving module comprises four wheels, a driving motor and a built-in power supply, and both the driving motor and the built-in power supply are installed in the lower car body. According to the inspection robot, a navigation module is arranged, and a laser radar is constructed, so that an underground environment is scanned, anda three-dimensional image is obtained; then a map is independently constructed by virtue of an LNM module board, and a walking route is independently planned, so that railless autonomous navigation is realized; images are collected in real time by a visible light camera and an infrared thermal imager, and if fog is generated on a lens of the visible light camera, a windscreen wiper independentlyslides, so that the clear images are collected; and if the navigation module fails, manual operation can be switched at a remote monitoring station by virtue of a WIFI control module, and a guaranteeis provided for the use of the whole robot.

Description

Technical field [0001] The invention relates to the field of robots, in particular to an inspection robot used in coal mines. Background technique [0002] A robot is a mechanical device that automatically performs work. It can accept human commands, run pre-arranged programs, or act according to principles and programs formulated with artificial intelligence technology. Its task is to assist or replace human jobs, such as production, construction, or dangerous work. [0003] The existing inspection robot used in coal mines has certain drawbacks when used. First, the existing inspection robot can realize autonomous navigation but cannot flexibly realize autonomous switching and manual operation when the machine fails. If the robot’s wheels have low grip or when it encounters a ditch, it is prone to slip or roll over, thereby reducing the safety of the inspection robot. The robot’s intelligence needs to be improved. For this reason, We propose a patrol robot used in coal mines. ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J5/00B25J19/06G01N33/00G01S15/06G01S15/93
Inventor 郭延达
Owner 安徽玄离智能科技股份有限公司
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