Intelligent mapping system with downhole inspection robot

An inspection robot and intelligent technology, applied in radio wave measurement systems, instruments, manipulators, etc., can solve problems such as failure to find problems, deviations between detected position information and actual position information, and the impact of harsh environments, to improve Accuracy, extended service life, and damage-avoidance effects

Active Publication Date: 2019-06-14
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

The vision system of traditional inspection robots mostly relies on RGB image acquisition equipment for environment perception, map construction, path planning, and target recognition. Some inspection robots did not give an alarm to the occurrence of this situation, and the staff at the ground control station could not find the problem in time. In addition, the inspection robot needs to use lidar for obstacle detection during the map building process, but the lidar is usually exposed in the Inspect the surface of the robot. When it is not in use, it is easily affected by the harsh external environment, which will affect the service life of the laser radar.

Method used

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  • Intelligent mapping system with downhole inspection robot
  • Intelligent mapping system with downhole inspection robot
  • Intelligent mapping system with downhole inspection robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Such as Figure 1-6 As shown, an intelligent mapping system of an underground inspection robot 1 includes an inspection robot 1, a wireless communication module 2, a depth camera 4 and a laser radar 8. The central processing unit on the inspection robot 1 is connected with a motion system, an inertial navigation System, route planning module, wireless communication module 2 and data acquisition module, the central processor is ARM11 main control chip, the line communication module 2 adopts SX1278 chip, and the data acquisition module includes depth camera 4, infrared thermal imager 5 and laser ranging Instrument 6, the central processor of inspection robot 1 is connected with an alarm module, and inspection robot 1 is also equipped with a mapping and positioning module, which is connected to a point cloud map, and the mapping and positioning module is connected with a comparison module, an obstacle detection module, etc. The module and the inertial measurement module, t...

Embodiment 2

[0030] Such as Figure 1-4 As shown, the laser radar 8 is fixed on the mounting block 11, and the bottom of the mounting block 11 is integrally formed with two sliders 12, and the bottom of the laser radar protective case 7 is fixed with two slide rails 10, and the slide rail 10 is in phase with the slide block 12. Correspondingly, the radar protection shell 7 is provided with a door body 13 near the front end of the inspection robot 1, and the side of the installation block 11 away from the door body 13 is fixedly connected with an electric telescopic rod-9, and the other end of the electric telescopic rod-9 is fixed to the radar protection case by bolts 7 on the inner wall.

[0031] By adopting the above-mentioned technical scheme, by placing the laser radar 8 inside the radar protective shell 7, the laser radar 8 can be protected, and the damage to the laser radar 8 by the external harsh environment can be avoided when it is not working. Rod one 9 pushes the laser radar 8 ...

Embodiment 3

[0033] Such as Figure 1-4 As shown, the radar protective case 7 is fixed with two slide rails 14 at the upper and lower ends of the side close to the door body 13, and the side where the door body 13 contacts with the radar protective case 7 is provided with a chute 15 corresponding to the slide rail two 14, and the door body 13 is fixed with fixed plate 17 by screw near one end of side of radar protective case 7, and electric telescopic rod 2 18 is fixedly connected between fixed plate 17 and radar protective case 7 sidewalls.

[0034] The door body 13 is provided with a groove 19 on the inner side away from the fixed plate 17, and a cleaning brush 16 is fixed by screws in the groove 19, and the cleaning brush 16 is a soft brush.

[0035] A miner's lamp 3 is installed on the top of the inspection robot 1 .

[0036] By adopting the above-mentioned technical scheme, through the setting of the cleaning brush 16, during the opening process of the door body 13 of the radar prote...

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Abstract

The invention discloses an intelligent mapping system with a downhole inspection robot. The intelligent mapping system comprises the downhole inspection robot, a wireless communication module, a depthcamera and a laser radar, a data collection module comprises the depth camera, an thermal infrared imager and a laser distance-measuring instrument, a central processor of the inspection robot is connected with an alarming module, a mapping positioning module is connected with a comparison module, an obstacle detecting module and an inertia measuring module, the laser radar servers as the obstacle detecting module and is mounted inside a radar protecting shell, and the radar protecting shell is fixed to the top of the inspection robot. According to the intelligent mapping system with the downhole inspection robot, when the mapping positioning module finds the large deviation between position information collected in real time and action position information on a point cloud map during mapping positioning, alarming information is sent to a ground control station to remind workers of the ground control station, the laser radar is placed inside the radar protecting shell, and thus damageof the outside severe environment to the laser radar in the non-working process can be avoided.

Description

technical field [0001] The invention relates to the field of underground inspection robots, in particular to an intelligent mapping system for an underground inspection robot. Background technique [0002] Coal mines are high-risk areas. If there are loopholes in supervision, mine accidents are very likely to occur, and miners will work deep underground. The risk factor is extremely high. Therefore, it is necessary to monitor and understand the situation inside the mine in a timely manner, so as to eliminate potential dangers as much as possible. In order to ensure the safety of underground workers and the normal operation of production, existing enterprises will arrange inspection personnel to conduct real-time monitoring inspections. However, in some jobs with harsh environments and complex and dangerous conditions, it is difficult to guarantee the safety of inspection personnel, such as rain Snow weather, high temperature, high cold, underground mines and high voltage pow...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): E21F17/18G01S17/89G01S17/93G01S7/48B25J11/00B25J19/00B08B1/00
Inventor郭延达
Owner安徽玄离智能科技股份有限公司