Explosion-proof traction inspection robot for mining

Abstract

A mining explosion-proof traction inspection robot comprises: a robot body, the robot body comprises: a shell, a pan-tilt camera, a control device arranged in the shell, a self-generating module, and an alarm device, the control device comprises: a power control circuit, a control module; the control module comprises: an acquisition unit, an analysis unit, a deviation judgment unit, an intrusion judgment unit, and an alarm prompt; the above-mentioned mining explosion-proof traction inspection robot is used to detect conveyor belt rollers and personnel in nearby areas, identify belt rollers and personnel in video streams or single-frame images, and draw targets corresponding to corresponding collected data in uploaded images: such as belt rollers and personnel areas, timely detect and analyze belt deviation through the deviation judgment unit, upload the identification results, and timely feedback to the monitoring center on the well, so that the staff can quickly correct the belt deviation, avoid the belt deviation shutdown, and cause the raw coal to be unable to be transported out in time, thereby improving the production efficiency of the mine.

Description

Technical Field

[0001] The invention relates to the field of mining robots, and in particular to an explosion-proof traction inspection robot for mining. Background Art

[0002] With the continuous development of robot technology, robots have been well applied in many fields. Rail inspection robots are widely used in industries such as electricity, coal mines, computer rooms, warehouses, etc. because they can replace manpower to complete repetitive tasks, ensure the normal operation of the inspected equipment, and effectively release manpower.

[0003] As one of the important infrastructures of coal mines, the belt conveyor must be inspected by the staff every day. Due to the monotonous and complicated inspection work and the uneven technical level of the staff, errors and omissions often occur during the inspection process, resulting in electrical equipment failures that cannot be handled in time, thus causing huge economic losses and major accidents. In addition, with the increase in the intensity of underground mining in coal mines, the number of underground belt conveyors is increasing, making the underground belt conveyors longer and longer, and the number of supporting equipment for the operation of belt conveyors is increasing. The overall operating environment has become more and more complex, and the traditional inspection method is difficult to meet the operation requirements of modern coal mine belt conveyors. In addition, although the environmental video monitoring system has been installed underground in coal mines, overall, the existing monitoring equipment has relatively single functions, and most of them only have the function of on-site environmental video monitoring. It is less able to identify the instruments, read the readings, and analyze the faults of on-site equipment. It usually requires manual post-processing of the video, and cannot truly replace manual inspection work.

[0004] Although the existing technology has solved the pain points of the current daily manual inspection in coal mines to a certain extent, in general, the following problems still exist:

[0005] Monitoring cameras with analysis functions require large investment and are difficult to construct. This solution uses fixed-point monitoring to implement monitoring and analysis. To achieve full coverage of all scenes underground, a large number of cameras and supporting communication and power supply equipment, such as base stations, power supplies, cables, etc., need to be installed underground. The overall investment cost is high and the construction is difficult.

[0006] With the improvement of the intelligence level of underground mines, inspection robots carrying cameras have been widely used underground. At present, the scenes where inspection robots have been applied include main conveyor belts, underground substations, underground pump rooms, comprehensive mining working faces, main and auxiliary transport tunnels. In these scenes, the existing inspection robots have alleviated the labor pressure of daily inspections of inspection workers to a certain extent. However, due to the defects of existing inspection robots in intelligent analysis, such as lack of in-depth recognition and analysis, and incomplete recognition and analysis, inspection robots cannot be widely promoted underground and cannot truly replace manual labor to complete daily underground inspections. In addition, most existing robots use batteries as an energy source, which has problems such as short battery life and heavy overall weight. More importantly, at present, there is no method that can well solve the problem of charging robot equipment underground. Summary of the invention

[0007] Based on this, it is necessary to provide a mining explosion-proof traction inspection robot that improves inspection efficiency.

[0008] A mining explosion-proof traction inspection robot, comprising: a robot body, the robot body comprising: a shell, a pan / tilt camera arranged outside the shell and placed at the bottom, a control device arranged in the shell, a self-generating module arranged in the shell and connected to the control device, an alarm device arranged in the shell and connected to the control device, the control device comprising: a power control circuit, and a control module; the control module comprising:

[0009] Collection unit: controls the image collection of the PTZ camera, and collects images of conveyor belt rollers and personnel in the set area;

[0010] Analysis unit: receives collected data for analysis and processing, and analyzes the number of rollers in each frame and the relative positions between rollers;

[0011] Deviation judgment unit: if the number of rollers in the continuous n-frame image is less than the set value i, a belt deviation alarm message is generated;

[0012] If there is only a single row of rollers in the detection and analysis image and the number of rollers is greater than i, fit a straight line at the center point of all roller positions and calculate the slope of the straight line. If the slope change before and after n consecutive frames is greater than the set value m, a belt deviation alarm message is generated;

[0013] If there are two rows of rollers in the detection and analysis image, the two rows of rollers are matched one by one in the left and one by the right or one up and one down combination. When the number of rollers that are not matched is greater than or equal to the set value j, a belt deviation alarm message is generated;

[0014] If there are two rows of rollers in the detection and analysis image, and the number of rollers in a single row is greater than or equal to the set value n, and they cannot be combined in a one-to-one correspondence, the single row slope is calculated, and the two row slopes are subtracted. If the difference between the two slopes is greater than the set value m, a belt deviation alarm message is generated;

[0015] Intrusion judgment unit: if the detection and analysis shows that a person is detected in the continuous n-frame image and the person is located in the warning area on both sides of the belt, a person intrusion alarm information is generated;

[0016] Alarm prompt: The alarm information is sent to the host computer, which controls the alarm information prompt and alarm image display and storage.

[0017] The mining explosion-proof traction inspection robot according to claim 1 is characterized in that n is 5, i is 2, m is 0.5, and j is 1.

[0018] In a preferred embodiment, the robot body further includes: a multi-parameter sensor arranged at the bottom, a pickup, and an audible and visual alarm for alarming according to whether the detection data exceeds the set value. The multi-parameter sensor includes: an all-in-one sensor for detecting methane exceeding the limit, a temperature and humidity sensor, and a smoke sensor. The control module also includes:

[0019] Reading unit: reads all-in-one sensor, temperature and humidity sensor, smoke sensor, BMS data for analysis and uploads to the host computer.

[0020] Gas concentration judgment unit: judge whether one or more of methane, oxygen, and carbon monoxide exceeds the limit according to the return data of the all-in-one sensor. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set alarm value, the sound and light alarm is controlled to alarm. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set power-off concentration value, a power-off command is issued to control the robot to power off.

[0021] Smoke judgment unit: judges whether there is smoke based on the return data of the smoke sensor. If it is judged that there is smoke, it will issue a power-off command to control the robot to cut off the power.

[0022] In a preferred embodiment, it further comprises: a track, the robot body is suspended and installed on the track, the robot body further comprises: a limit sensor installed on the top plate of the shell, an ultrasonic sensor arranged on the shell, the limit sensor comprises: a left limit sensor, a right limit sensor; explosion-proof traction motors are respectively installed at both ends of the track, including: a left traction motor and a right traction motor;

[0023] The control module also includes:

[0024] Position analysis unit: Analyzes the running direction, speed, and running position of the robot body according to the running conditions of the explosion-proof traction motor and the track layout.

[0025] Obstacle avoidance analysis unit: controls the ultrasonic sensor to detect distance data, analyzes the ultrasonic sensor return data, and if it is judged to be less than the set obstacle avoidance distance, controls the explosion-proof traction motor to stop and issues an alarm;

[0026] Upload unit: upload the robot's running direction, speed, whether there are obstacles, obstacle avoidance distance and whether the motion control system is powered off;

[0027] Operation analysis unit: reads the interrupt feedback data of the left and right limit sensors, receives the reverse command, reads the running direction of the explosion-proof traction motor to determine whether the reversal is successful, and controls the motor operation.

[0028] In a preferred embodiment, the self-generating module includes: a driving wheel partially extending out of the housing and driven to rotate by friction, a driving transmission mechanism connected to the driving wheel and driven by the driving wheel, and a generator connected to the driving transmission mechanism and driven by the transmission mechanism to generate electricity.

[0029] In a preferred embodiment, the drive transmission mechanism includes: a driving spindle that cooperates with the driving wheel and is driven to rotate by the driving wheel, a bevel gear set that cooperates with the driving spindle and is driven to rotate by the driving spindle, a universal joint that cooperates with the bevel gear set, and a synchronous pulley set that cooperates with the universal joint to drive the generator to rotate. The synchronous pulley set includes: a synchronous belt and a synchronous wheel that cooperate with each other.

[0030] In a preferred embodiment, the generator comprises: a multi-stage speed increaser and a generator body. The generator is installed in the housing via a mounting plate. A mounting frame is also provided in the housing.

[0031] In a preferred embodiment, it further comprises: an elastic member assembly for adjusting the driving wheel to be close to the track, wherein the elastic member assembly comprises: an adjusting shaft, an elastic member sleeved on the adjusting shaft, and an adjusting nut arranged on the adjusting shaft.

[0032] In a preferred embodiment, an explosion-proof traction motor, a wire winch connected to and driven by the explosion-proof traction motor, and a traction cable wound on the wire winch and pulling and moving the robot body are provided on the track, and the robot body is connected to the traction cable via a mounting seat.

[0033] In a preferred embodiment, it also includes: a driving wheel bearing seat supporting the driving main shaft, an auxiliary wheel assembly, and a driving wheel mounting seat arranged in the shell and partially extending out of the shell, the track is an I-section structure, and the shell is provided with a driving hole for the driving wheel to extend out at a position corresponding to the driving wheel, and the auxiliary wheel assembly includes: auxiliary wheels arranged outside the shell and rolling and sliding closely against the waists of the track, and the auxiliary wheels are mounted on the driving wheel mounting seat.

[0034] In a preferred embodiment, the driving wheel mounting seat includes: a seat body, a mounting plate formed by bending and extending the seat body, the auxiliary wheel is installed through the mounting plate, the mounting seat is installed on the upper surface of the top plate of the outer shell, the mounting seat is equipped with a load-bearing wheel hung on the end surface of the track, the load-bearing wheel is installed on the mounting seat through a load-bearing wheel fixing seat, the mounting seat includes: a mounting portion for fixed installation, a mounting body formed by bending and extending the mounting portion, a clamping portion arranged on the mounting body and clamping the traction steel cable, and the load-bearing wheel fixing seat is arranged on the other side of the mounting body relative to the clamping portion.

[0035] In a preferred embodiment, the track is provided with a horizontal curve and a vertical curve, a limiting pulley and a pulley mounting bracket for mounting the pulley are provided on the track, and the traction steel cable is guided and limited by the limiting pulley.

[0036] The above-mentioned explosion-proof traction inspection robot for mining detects the conveyor belt rollers and personnel in the vicinity, identifies the belt rollers and personnel in the video stream or single-frame image, and draws the objects corresponding to the corresponding collected data, such as the belt rollers and personnel areas, in the uploaded image. The deviation judgment unit timely detects and analyzes the belt deviation, uploads it, and gives timely feedback to control and correct the belt deviation, avoids transportation deviation, errors, or loss in mid-transportation, wastes resources and time, and improves the belt transmission efficiency. The intrusion judgment unit detects and analyzes the intrusion information of personnel, and corrects it in time to avoid personnel entering the warning area or danger area, causing misjudgment or personnel danger.

[0037] In addition, the charging circuit uses a constant current chip for charging. The characteristic of constant current charging is that it can quickly charge capacitors with a voltage of 0. As the capacitor voltage increases, the charging power will increase. Since the voltage across the supercapacitor cannot exceed its rated voltage, the final charging voltage is limited by the MCU voltage detection circuit and the detection judgment circuit, which greatly improves the stability and safety of the voltage across the supercapacitor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a mining explosion-proof traction inspection robot according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a mining explosion-proof traction inspection robot from another perspective according to an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of another perspective of the explosion-proof traction inspection robot for mining according to an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a portion of the structure of a robot body and a guide rail according to an embodiment of the present invention;

[0042] Figure 5 for Figure 4 A cross-sectional view of

[0043] Figure 6 A cross-sectional view of the robot body and the guide rail from another perspective according to an embodiment of the present invention;

[0044] Figure 7 A partial structural top view of a robot body and a guide rail according to an embodiment of the present invention;

[0045] Figure 8 A partial structural perspective view of a robot body and a guide rail according to an embodiment of the present invention;

[0046] Fig. 9 A cross-sectional view of the robot body and the guide rail from another perspective according to an embodiment of the present invention;

[0047] Fig.10 It is a partial structural exploded view of a robot body and a guide rail according to an embodiment of the present invention;

[0048] Fig.11 It is a partial structural schematic diagram of a driving wheel and an elastic member assembly according to an embodiment of the present invention;

[0049] Fig.12 is a schematic diagram of a power control circuit according to an embodiment of the present invention;

[0050] Fig.13 It is a partial circuit schematic diagram of a rectifier circuit and a DCDC voltage stabilizing circuit of a generator power conversion board according to an embodiment of the present invention;

[0051] Fig.14 It is a partial circuit schematic diagram of a capacitor charging circuit and an output circuit of a generator power conversion board according to an embodiment of the present invention;

[0052] Fig.15 A partial circuit schematic diagram of a first control unit of a generator power conversion board according to an embodiment of the present invention;

[0053] Fig.16 It is a partial circuit principle diagram of a capacitor voltage acquisition circuit of a generator power conversion board according to an embodiment of the present invention;

[0054] Fig.17 A partial circuit schematic diagram of a DCDC circuit of a generator power conversion board according to an embodiment of the present invention;

[0055] Fig.18 It is a partial circuit schematic diagram of a multi-channel DCDC circuit, a safety barrier circuit, a slow start circuit and a power output circuit of a power control board according to an embodiment of the present invention;

[0056] Fig.19 A partial circuit schematic diagram of a DCDC circuit of an MCU of a power control board according to an embodiment of the present invention;

[0057] Fig. 20 It is a partial circuit schematic diagram of a communication circuit and a second control unit of a power control board according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following examples are provided to facilitate a better understanding of the present invention, but are not intended to limit the present invention.

[0059] like Figures 1 to 20 As shown, a mining explosion-proof traction inspection robot 100 of the present invention comprises: a robot body 20, the robot body 20 comprises: a housing 22, a pan-tilt camera 24 whose main body is arranged outside the housing 22 and placed at the bottom, a control device 26 arranged in the housing, a self-generating module 28 arranged in the housing 22 and connected to the control device 26, and an alarm device 29 arranged in the housing 22 and connected to the control device. The pan-tilt camera 24 is mounted on the bottom plate 223 of the housing 22.

[0060] The control device 26 includes: a power control circuit 80 and a control module.

[0061] The control module includes:

[0062] Collection unit: controls the collection image of the pan / tilt camera 24, collects the conveyor belt rollers and personnel in the set area;

[0063] Analysis unit: receives collected data for analysis and processing, and analyzes the number of rollers in each frame and the relative positions between rollers;

[0064] Deviation judgment unit: if the number of rollers in the continuous n-frame image is less than the set value i, a belt deviation alarm message is generated;

[0065] If there is only a single row of rollers in the detection and analysis image and the number of rollers is greater than i, fit a straight line at the center point of all roller positions and calculate the slope of the straight line. If the slope change before and after n consecutive frames is greater than the set value m, a belt deviation alarm message is generated;

[0066] If there are two rows of rollers in the detection and analysis image, the two rows of rollers are matched one by one in the left and one by the right or one up and one down combination. When the number of rollers that are not matched is greater than or equal to the set value j, a belt deviation alarm message is generated;

[0067] If there are two rows of rollers in the detection and analysis image, and the number of rollers in a single row is greater than or equal to the set value n, and they cannot be combined in a one-to-one correspondence, the single row slope is calculated, and the two row slopes are subtracted. If the difference between the two slopes is greater than the set value m, a belt deviation alarm message is generated;

[0068] Intrusion judgment unit: if the detection and analysis shows that a person is detected in the continuous n-frame image and the person is located in the warning area on both sides of the belt, a person intrusion alarm information is generated;

[0069] Alarm prompt: The alarm information is sent to the host computer, which controls the alarm information prompt and alarm image display and storage.

[0070] The n, m, i, and j of the present invention are empirical values ​​set according to the site conditions and usage requirements during actual application. For example, the number of rollers i and j is generally about one-third of the total number of rollers within the camera field of view. The slope angle change m is the deviation warning threshold manually determined by the user under production conditions. Different production environments have different strictness of determination conditions, which may lead to deviations. This interface is provided for the manufacturer to set according to its own production conditions.

[0071] According to empirical values, preferably, n is 5, i is 2, m is 0.5, and j is 1.

[0072] The robot body 20 also includes: a multi-parameter sensor 202 arranged at the bottom, a microphone 204, and an audible and visual alarm 206 for alarming according to whether the detection data exceeds the set value. The multi-parameter sensor 202 includes: an all-in-one sensor for detecting methane exceeding the limit, a temperature and humidity sensor, and a smoke sensor.

[0073] The control module also includes:

[0074] Reading unit: reads all-in-one sensor, temperature and humidity sensor, smoke sensor, BMS data for analysis and uploads to the host computer.

[0075] Gas concentration judgment unit: judge whether one or more of methane, oxygen, and carbon monoxide exceeds the limit according to the return data of the all-in-one sensor. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set alarm value, the sound and light alarm is controlled to alarm. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set power-off concentration value, a power-off command is issued to control the robot to power off.

[0076] Smoke judgment unit: judges whether there is smoke based on the return data of the smoke sensor. If it is judged that there is smoke, it will issue a power-off command to control the robot to cut off the power.

[0077] The explosion-proof traction inspection robot for mining of this embodiment further includes a track 40 . The robot body 20 is suspended and installed on the track 40 .

[0078] The robot body 20 of this embodiment further includes: a limit sensor 208 installed on the top plate 227 of the shell 22 , and an ultrasonic sensor 209 arranged on the shell 22 .

[0079] The limit sensor 208 of this embodiment includes: a left limit sensor 2082 and a right limit sensor 2084 .

[0080] An explosion-proof traction motor 60 is installed at each end of the track 40, including a left traction motor 62 and a right traction motor 62. The explosion-proof traction motor 60 is powered by an underground substation providing alternating current, which is then rectified and reduced in a rectifier and voltage reduction circuit connected to the explosion-proof traction motor 60. The explosion-proof traction motor 60 communicates with the robot body 20 through a wireless communication module.

[0081] The control module also includes:

[0082] Position analysis unit: Analyzes the running direction, speed, and running position of the robot body according to the running conditions of the explosion-proof traction motor and the track layout;

[0083] Obstacle avoidance analysis unit: controls the ultrasonic sensor to detect distance data, analyzes the ultrasonic sensor return data, and if it is judged to be less than the set obstacle avoidance distance, controls the explosion-proof traction motor to stop and issues an alarm;

[0084] Upload unit: upload the robot's running direction, speed, whether there are obstacles, obstacle avoidance distance and whether the motion control system is powered off;

[0085] Operation analysis unit: reads the interrupt feedback data of the left and right limit sensors, receives the reverse command, reads the running direction of the explosion-proof traction motor to determine whether the reversal is successful, and controls the motor operation.

[0086] Furthermore, the self-generating module 28 of this embodiment includes: a driving wheel 282 that partially extends out of the outer shell 22 and is driven to rotate by friction, a driving transmission mechanism 284 connected to the driving wheel 282 and driven by the driving wheel 282, and a generator 286 connected to the driving transmission mechanism 284 and driven by the driving transmission mechanism 284 to generate electricity.

[0087] The driving transmission mechanism 284 includes: a driving main shaft 281 that cooperates with the driving wheel 282 and is driven to rotate by the driving wheel 282, a bevel gear set 283 that cooperates with the driving main shaft 281 and is driven to rotate by the driving main shaft 281, a universal joint 285 that cooperates with the bevel gear set 283, and a synchronous pulley set 287 that cooperates with the universal joint 285 to drive the generator 286 to rotate. The synchronous pulley set 287 includes: a synchronous belt 2872 and a synchronous wheel 2874 that cooperate with each other.

[0088] The generator 286 includes a multi-stage speed increaser 2862 and a generator body 2864. The generator 286 is installed in the housing 22 through a mounting plate 211. A mounting frame 213 is also provided in the housing 22. The mounting plate 211 is provided on the mounting frame 213.

[0089] The robot body 20 of this embodiment further includes: an elastic member assembly 23 for adjusting the driving wheel 282 to be close to the track 40. The elastic member assembly 23 includes: an adjusting shaft 232, an elastic member 234 sleeved on the adjusting shaft 232, and an adjusting nut 236 disposed on the adjusting shaft 232 to adjust the elastic member 234. By adjusting the adjusting nut 236, the elastic member 234 is adjusted to be compressed, such as a spring, so as to adjust the pressure of the driving wheel 282 on the track 40.

[0090] The explosion-proof traction inspection robot 100 for mining of this embodiment further includes: a wire winch 50 connected to and driven by the explosion-proof traction motor 60, and a traction cable 70 wound on the wire winch 50 and traction-moving the robot body 20. The robot body 20 is connected to the traction cable 70 via a mounting seat 25.

[0091] The robot body 20 of this embodiment further includes: a driving wheel bearing seat 272 supporting the driving main shaft 281, an auxiliary wheel assembly 274, and a driving wheel mounting seat 276 disposed in the shell 22 and partially extending out of the shell 22.

[0092] The track 40 of this embodiment has an I-shaped cross-section structure.

[0093] In this embodiment, the housing 22 is provided with a driving hole 213 at a position corresponding to the driving wheel 282 for the driving wheel 282 to extend out.

[0094] The auxiliary wheel assembly 274 of this embodiment includes auxiliary wheels 2742 arranged outside the housing 22 and rolling and sliding against both sides of the track 40. The auxiliary wheels 2742 are mounted on the driving wheel mounting seat 276.

[0095] The driving wheel mounting seat 276 of this embodiment includes a seat body 2762 and a mounting piece 2764 formed by bending and extending the seat body 2762. The auxiliary wheel 2742 is mounted through the mounting piece 2764.

[0096] The mounting seat 25 of this embodiment is mounted on the upper surface of the top plate 227 of the housing 22. The mounting seat 25 is equipped with a load-bearing wheel 251 hung on the end surface of the track 40. The load-bearing wheel 251 is mounted on the mounting seat 25 through a load-bearing wheel fixing seat 253. The mounting seat 25 includes: a mounting portion 252 for fixed installation, a mounting body 254 formed by bending and extending the mounting portion 252, and a clamping portion 256 disposed on the mounting body 254 and clamping the traction cable 70. The load-bearing wheel fixing seat 253 is disposed on the other side of the mounting body 254 relative to the clamping portion 256.

[0097] In order to adapt to the environment of the belt lane, pump house, substation and other areas in the mine, the track 40 is provided with a horizontal curve 42 and a vertical curve 44. A limit pulley 402 and a pulley mounting bracket 404 for mounting the limit pulley 402 are provided on the track 40. The traction cable 70 is guided and limited by the limit pulley 402.

[0098] like Figures 12 to 20 As shown, the power control circuit 80 of this embodiment includes: a generator power conversion board 82 connected to the generator output, and a power control board 84 connected to the generator power conversion board 82 to receive power from the generator power conversion board 84 for processing and then output to the back-end load for use. The generator power conversion board 82 includes: a rectifier circuit connected to the generator output, a DCDC voltage stabilizing circuit connected to the rectifier circuit, a capacitor charging circuit connected to the DCDC voltage stabilizing circuit, a power output circuit connected to the capacitor charging circuit, a DCDC circuit connected to the power output circuit for DCDC conversion, a first control unit U7 connected to the DCDC circuit to receive power, and a capacitor voltage acquisition circuit connected to the capacitor charging circuit and outputting the acquisition signal to the first control unit U7.

[0099] The capacitor charging circuit and the power supply output circuit include: a voltage comparator U40A, a switch chip Q71 whose gate is controlled by the output of the voltage comparator U40A, a constant current chip U20 connected to the switch chip Q71, an anti-reverse diode D98 connected to the constant current chip U20, a feedback resistor R65 connected to the constant current chip U20 and feeding back the sampled current to the constant current chip U20, a current sampling resistor R92 connected to the feedback resistor R65, a diode D99 connected in parallel at both ends of the current sampling resistor R92, and a switching relay K1 connected to the feedback resistor R65 and switching between the main power supply output of the DCDC voltage stabilization circuit and the supercapacitor power supply.

[0100] The 2nd and 5th pins of the switching relay K1 are connected to supply power to the main power supply output by the DCDC voltage stabilizing circuit. The 3rd and 5th pins of the switching relay K1 are connected to supply power to the back end by the super capacitor. The default state of the switch chip Q71 is off. The main power supply output by the DCDC voltage stabilizing circuit enters the constant current chip U20 after passing through the PMOS of the switch chip Q71. The constant current chip U20 is connected to the first control unit U7.

[0101] The second pin EN of the constant current chip U20 of this embodiment is connected to the FB13 terminal of the first control unit U7, and the control signal thereof controls whether the constant current chip U20 charges the rear-end capacitor. The capacitor charging circuit and the power supply output circuit also include: a voltage dividing resistor R78, a voltage stabilizing diode D92 connected to the voltage dividing resistor R18 and providing a 2.5V reference voltage to the in-phase input terminal of the voltage comparator U40A. The inverting input terminal of the voltage comparator U40A comes from the voltage sampling of the supercapacitor.

[0102] The DCDC voltage regulator circuit outputs 24V to power the back end. The second pin EN of the constant current chip U20 is connected to the FB13 terminal of the first control unit U7 through the transistor Q52 and the resistor R3. One end of the resistor R3 is connected to the FB13 terminal of the first control unit U7, and the other end is connected to the base of the transistor Q52. The emitter of the transistor Q52 is connected to the second pin EN of the constant current chip U20, and the other branch of its emitter is grounded through the resistor R8, and its collector is connected to the +3.3V voltage.

[0103] The fifth pin, the sixth pin and the ninth pin of the constant current chip U20 are connected to the ground through the diode D67, and the other branch is connected to the positive electrode of the anti-reverse diode D98 through the inductor L51.

[0104] A branch is drawn between the inductor L51 and the positive electrode of the anti-reverse diode D98 and then grounded through the capacitors C65 and C67 connected in parallel. The negative electrode of the anti-reverse diode D98 is connected to the fourth pin of the interface CN1, and its other branch is grounded through the capacitor C40. The first pin of the constant current chip U20 is grounded after passing through the resistor R65 and the current sampling resistor R92, the negative electrode of the diode D99 is connected between the resistor R65 and the current sampling resistor R92, the positive electrode of the diode D99 is grounded, the common end of the resistor R65 and the current sampling resistor R92 is connected to the third pin of the interface CN1, the second pin of the interface CN1 is grounded, and the first pin is output, and the other branch of the negative electrode of the diode D99 is connected to the PA6 end of the first control unit U7 through the resistor R69 and the resistor R62, and a branch is drawn from the common end of the resistor 69 and the resistor R62 and grounded through the capacitor C31. The third pin of the constant current chip U20 is grounded through resistor R64 and capacitor C57, and the fourth pin of the constant current chip U20 is grounded through capacitors C90 and C96 connected in parallel. The output end of the voltage comparator U40A is connected to the base of the transistor Q73 through resistor R70, and another branch of its output end is connected to the 24V voltage through resistor R59. The emitter of the transistor Q73 is grounded, and its collector is connected to the switch Q71 through resistor R79.

[0105] The capacitor voltage acquisition circuit includes: voltage-dividing resistors R84 and R87 connected to the supercapacitor, resistors R85 and R86 connected to the common end of the voltage-dividing resistors R84 and R87, a capacitor C89 connected in parallel at both ends of R87, and a voltage-stabilizing diode D109; the other end of the resistor R85 is connected to the PA5 end of the first control unit U7, and the other end of the resistor R86 is connected to the inverting input end of the voltage comparator U40A; the other end of the voltage-dividing resistor R87 is grounded, and the cathode of the voltage-stabilizing diode D109 is connected between the resistor R05 and the inverting input end of the voltage comparator U40A, and the positive electrode is grounded.

[0106] The DCDC circuit of the generator power conversion board includes: a three-terminal voltage regulator chip U80 for 5V output LDO, a two-stage voltage limiting circuit to limit the 5V voltage, voltage regulator diodes D107, D108, thyristors Q40, Q50, resistors R115, R116, R57, capacitors C48, C49, a fuse F3, a current limiting resistor R104, a three-terminal voltage regulator chip U81 for 3.3V output LDO, capacitors C121 and C49 connected in parallel with the three-terminal voltage regulator chip U81. 122, C123, C124, C128; the first pin of the three-terminal voltage regulator chip U80 is connected to the first pin of the interface CNI, and its other branch is grounded after being connected in parallel with capacitors C55 and C56, its second pin is grounded, and its third pin is grounded through capacitors C53, C54 and resistor R50 connected in parallel, and another branch of its third pin is connected to the third pin of the three-terminal voltage regulator chip U81 through fuse F3 and resistor R104, and a branch of the common end of fuse F3 and resistor R104 is connected to the controllable The anode of silicon Q40 and another branch are connected to the cathode of voltage stabilizing diode D107. The anode of voltage stabilizing diode D107 is grounded through resistor R57. The control electrode of thyristor Q40 is connected to the common end of the anode of voltage stabilizing diode D107 and resistor R57 through resistor R115. Another branch is grounded through capacitor C48. The cathode of thyristor Q40 is grounded. One branch of the common end of resistor R104 and the third foot of three-terminal voltage stabilizing chip U81 is connected to the anode of thyristor Q50 and the other branch is connected to the voltage stabilizing diode. The cathode of the voltage regulator diode D108 is connected to the ground, and the anode of the voltage regulator diode D108 is grounded through the resistor R58. The control electrode of the thyristor Q50 is connected to the common end of the anode of the voltage regulator diode D108 and the resistor R58 through the resistor R116. The other branch of the control electrode of the thyristor Q50 is grounded through the capacitor C49 and its cathode is grounded. The common end of the fuse F3 and the resistor R50 is connected to the +5V voltage. The first pin of the three-terminal voltage regulator chip U81 is grounded, and its second pin is connected to the fourth pin and is grounded through the capacitors C121, C122, C123, C124, and C128 connected in parallel. One end of the common end of the capacitors C122 and C123 is grounded, and the other end is connected to the +3.3V voltage.

[0107] The rectifier circuit includes: diodes D71, D72, D73, D74, D75, D76 that form a three-phase rectifier bridge to rectify the three-phase electricity emitted by the generator into direct current, and filter capacitors C71, C72, C73, C74, C75, C76, C77, C78 connected in parallel; the DCDC voltage stabilizing circuit includes: an isolated DCDC module U1, and filter capacitors C79, C80, C81, C82 connected in parallel.

[0108] The power control board includes: multi-channel DCDC circuit, safety gate circuit, slow start circuit and power output circuit, DCDC circuit of MCU, second control unit U15 and communication circuit.

[0109] The multi-channel DCDC circuit, the safety barrier circuit, the slow start circuit and the power output circuit include: a first DCDC circuit, a first safety barrier circuit connected to the first DCDC circuit, a first slow start circuit connected to the first safety barrier circuit and a first power output circuit connected to the first slow start circuit, a second DCDC circuit, a second safety barrier circuit connected to the second DCDC circuit, a second slow start circuit connected to the second safety barrier circuit and a second power output circuit connected to the second slow start circuit, a third DCDC circuit, a third safety barrier circuit connected to the third DCDC circuit, a third slow start circuit connected to the third safety barrier circuit and a third power output circuit connected to the third slow start circuit.

[0110] The first DCDC circuit includes: an optocoupler U5 that isolates the signal from the MCU, and an isolated DCDC module U6 that outputs a 12V voltage. The first safety gate circuit includes: a safety gate module U3 that is connected to the isolated DCDC module U6 and is used to limit voltage and current. The first slow start circuit includes: a slow start module U4 that is connected to the safety gate module U3. The first power output circuit includes: an inductor L1 that is connected to the slow start module U4 and connected to the load circuit, a bidirectional TVS transient voltage suppression diode D5 connected to the inductor L1, and a gas discharge tube TV1 connected to the bidirectional TVS transient voltage suppression diode D5.

[0111] The second DCDC circuit includes: an optocoupler U9 that isolates the signal from the MCU, and an isolated DCDC module U10 that outputs a 12V voltage. The second safety gate circuit includes: a safety gate module U7 that is connected to the isolated DCDC module U10 and is used to limit voltage and current. The second slow start circuit includes: a slow start module U8 that is connected to the safety gate module U7. The second power supply output circuit includes: an inductor L2 connected to the slow start module U8, a bidirectional TVS transient voltage suppression diode D6 connected to the inductor L2, and a gas discharge tube TV2 connected to the bidirectional TVS transient voltage suppression diode D6.

[0112] The third DCDC circuit includes: an optocoupler U13 that isolates the signal from the MCU, and an isolated DCDC module U14 that outputs a 12V voltage. The third safety gate circuit includes: a safety gate module U11 that is connected to the isolated DCDC module U14 and is used for voltage and current limiting. The third slow start circuit includes: a slow start module U12 that is connected to the safety gate module U11. The third power supply output circuit includes: an inductor L3 connected to the slow start module U12, a bidirectional TVS transient voltage suppression diode D7 connected to the inductor L3, and a gas discharge tube TV3 connected to the bidirectional TVS transient voltage suppression diode D7.

[0113] The DCDC circuit of the MCU includes: a 5V isolated DCDC module U1, a two-stage voltage limiting circuit to limit the 5V voltage of the voltage regulator diodes D1, D2, thyristors Q2, Q3, a three-terminal voltage regulator chip U2 for a 3.3V output LDO, a two-stage voltage limiting circuit to limit the 3.3V voltage of the voltage regulator tubes D3, D4, thyristors Q1, Q4. The first pin of the isolated DCDC module U1 is grounded, and its second pin is connected to the first pin of the interface J1 through the inductor BL1 and the fuse F1. The second pin and the common end of the inductor BLI are grounded through the capacitor C1, and the common end of the inductor BL1 and the fuse F1 are grounded through the capacitors C3 and C5 connected in parallel, and the second pin of the interface J1 is grounded. The third pin of the isolated DCDC module U1 is connected to the VSS_1 terminal of the second control unit U15 and then to the ground. The fourth pin of the isolated DCDC module U1 is connected to the ground terminal of the second control unit U15 through the capacitors C6 and C4 connected in parallel. The other branch of the fourth pin is connected to the third pin of the three-terminal voltage regulator chip U2 through the fuse F2 and the inductor BL2. The cathode of the voltage regulator diode D1 is connected to the common terminal of the fuse F2 and the inductor BL2, and the anode thereof is connected to the ground terminal of the second control unit U15 through the resistor R2. The resistor R3 is connected to the capacitor C9 and then connected in parallel to the two ends of the resistor R2.

[0114] The anode of the thyristor Q2 is connected to the common end of the fuse F2 and the inductor BL2, the cathode is connected to the ground end of the second control unit U15, and the control electrode is connected to the common end of the resistor R3 and the capacitor C9. The cathode of the voltage stabilizing diode D2 is connected to the common end of the fuse F2 and the inductor BL2, and the anode is connected to the ground end of the second control unit U15 through the resistor R1. The resistor R4 is connected to the capacitor C10 and then connected in parallel to the two ends of the resistor R1.

[0115] The anode of the thyristor Q3 is connected to the common end of the fuse F2 and the inductor BL2, the cathode is connected to the ground end of the second control unit U15, and its control electrode is connected to the common end of the resistor R4 and the capacitor C10; the common end of the inductor BL2 and the common end of the third foot of the three-terminal voltage stabilizing chip U2 are connected to a 5V voltage, and its other branch is connected to the ground end of the second control unit U15 through the capacitor C2; the second foot of the three-terminal voltage stabilizing chip U2 is connected to its first foot and the ground end of the second control unit U15 through the capacitors C7 and C8 connected in parallel, and the second foot of the three-terminal voltage stabilizing chip U2 is connected to a 3.3V voltage. The cathode of the voltage stabilizing diode D3 is connected to the second foot of the three-terminal voltage stabilizing chip U2, and its anode is connected to the ground end of the second control unit U15 through the resistor R5. The resistor R6 is connected to the capacitor C11 and then connected in parallel to the two ends of the resistor R5.

[0116] The anode of the thyristor Q4 is connected to the second pin of the three-terminal voltage regulator chip U2, its cathode is connected to the ground terminal of the second control unit U15, and its control electrode is connected to the common end of the resistor R6 and the capacitor C11; the cathode of the voltage regulator diode D4 is connected to the second pin of the three-terminal voltage regulator chip U2, and its anode is connected to the ground terminal of the second control unit U15 through the resistor R7, and the resistor R8 is connected to the capacitor C12 in parallel at both ends of the resistor R7, and the anode of the thyristor Q1 is connected to the second pin of the three-terminal voltage regulator chip U2, its cathode is connected to the ground terminal of the second control unit U15, and its control electrode is connected to the common end of the resistor R8 and the capacitor C12.

[0117] The communication circuit includes: isolation optocouplers U17 and U18 connected to the second control unit U15 for isolating serial communication transmitted from the generator power conversion board, an isolation 485 module U16 connected to the second control unit U15, current limiting resistors R21, R22, R25, and R26 on the bus connected to the isolation 485 module U16, voltage limiting diodes D12, D13, D14, and D15, bidirectional TVS transient voltage suppression diodes D10, D16, and D17 for electromagnetic compatibility protection, an inductor L4, a gas discharge tube D11, and a terminal resistor R24 ​​for electromagnetic compatibility protection, the third pin of the isolation optocoupler U17 is connected to the PB10 terminal of the second control unit U15, the fifth pin of the isolation 485 module U16 is connected to the PA4 terminal of the second control unit U15, and its fourth pin is connected to the second control unit U1 5, its third pin is connected to the PA3 end of the second control unit U15, its second pin is connected to the ground end of the second control unit U15, its first pin is connected to the 3.3V voltage, its tenth pin is grounded, its ninth pin is connected to the second pin of the inductor L4 through the resistors R25 and R26 connected in series, its eighth pin is connected to the first pin of the inductor L4 through the resistors R21 and R22 connected in series, the cathode of the Zener diode D12 is connected to the first pin of the inductor L4, and its positive electrode is grounded through the capacitor C33, and the two ends of the capacitor C33 are connected in parallel with a resistor R27, the cathode of the Zener diode D13 is connected to the first pin of the inductor L4, and its positive electrode is grounded through the capacitor C33, the cathode of the Zener diode D14 is connected to the second pin of the inductor L4, and its positive electrode is grounded through the capacitor C33, and the cathode of the Zener diode D15 is connected to the second pin of the inductor L4, and its positive electrode is grounded through the capacitor C33.

[0118] One end of the bidirectional TVS transient voltage suppression diode D10 is connected to the first pin of the inductor L4, and the other end is connected to the second pin of the inductor L4. One end of the bidirectional TVS transient voltage suppression diode D17 is connected to the first pin of the inductor L4, and the other end is connected to one end of the capacitor C33. One end of the bidirectional TVS transient voltage suppression diode D16 is connected to the second pin of the inductor L4, and the other end is connected to the positive electrode of the voltage regulator D15.

[0119] The first control unit U7 is the main control of the generator power conversion board, and the second control unit U15 is the main control of the power control board. They communicate with each other through UART.

[0120] The models of the first control unit U7 and the second control unit U15 are preferably GD32F103CBT6.

[0121] The PA10 end of the first control unit U7 is connected to the PA10 end of the second control unit U15, the PA11 end of the first control unit U7 is connected to the PA11 end of the second control unit U15, the PA2 end of the first control unit U7 is connected to the PA2 end of the second control unit U15, and the PA3 end of the first control unit U7 is connected to the PA3 end of the second control unit U15. The PD0_OSC_IN end of the first control unit U7 is connected to the third pin of the crystal oscillator Y2, and its other branch is grounded through the capacitor C53, the PD1_OSC_OUT end of the first control unit U7 is connected to the first pin of the crystal oscillator Y2, and its other branch is grounded through the capacitor C52, and the second and fourth pins of the crystal oscillator Y2 are grounded.

[0122] The PD0_OSC_IN terminal of the second control unit U15 is connected to the third pin of the crystal oscillator Y1, and its other branch is grounded through capacitor C32. The PD1_OSC_OUT terminal of the second control unit U15 is connected to the first pin of the crystal oscillator Y1, and its other branch is grounded through capacitor C31. The second and fourth pins of the crystal oscillator Y1 are grounded.

[0123] The model of the isolated RS485 module U1 is preferably RSM(3)485CHT. The model of the DCDC isolation module is preferably B1205S. The models of the isolation modules U10, U6, and U14 are preferably VRB1212YMD. The model of the three-terminal voltage regulator chip U80 is preferably 7805. The model of the constant current chip U20 is preferably FP7103.

[0124] The motor of the present invention drives the steel cable winch by rotating, thereby driving the traction steel cable to move, and further pulling the robot body to move along the track. At this time, the friction between the driving wheel and the track is too large, thereby driving the driving wheel to rotate and transmitting the power to the generator through the transmission between the bevel gear set and the synchronous belt. The generator increases the speed through the speed increaser to drive the permanent magnet rotor to rotate, so that the coil continuously cuts the magnetic lines of force to generate induced electromotive force, thereby realizing the conversion of mechanical energy into electrical energy.

[0125] The track 40 is installed on one side or the top of the wall, connected by angle steel, one side of the angle steel is fixed to the wall by anchor rods or expansion screws, and the other side is fixed to the upper surface of the track 40, so that the track is not less than 0.5m from the nearest wall and about 1.5m from the ground. The specific installation method depends on the site conditions.

[0126] The three-phase power output by the generator is converted into a stable voltage 24V output through the DCDC module after the sorting circuit. The output voltage is used to power the MCU and the external power control board after DCDC conversion. On the other hand, the remaining power generation capacity is used to charge the supercapacitor. The MCU collects the capacitor voltage and the voltage acquisition circuit to double judge whether the supercapacitor is charged to the rated capacity. After it is full, the charging circuit is turned off. After the supercapacitor capacity drops to a certain level, the charging circuit is restarted to charge the capacitor. The capacitor charging circuit and the DCDC voltage stabilization circuit are switched through the contacts of the relay to select different power supply circuits for the power output circuit. The capacitor capacity information collected by the MCU is transmitted to the power control board through communication, and the power control board transmits all data to the host computer through RS485 communication. The power control board receives a 24V power supply from the generator conversion board, and outputs it to the back-end intrinsically safe load through three DCDC circuits and safety barriers and a slow start circuit.

[0127] The rectifier circuit and DCDC voltage stabilization circuit of the power conversion board, the three-phase rectifier bridge composed of D71~D76 rectifies the three-phase electricity emitted by the generator into a DC with a larger ripple, which is filtered by C71~C78 and becomes a voltage that meets a certain ripple rate. U1 is an isolated DCDC module, which outputs a stable 24V to power the back end. C79~C82 in the output circuit plays a filtering role.

[0128] The capacitor charging circuit and power output circuit of the power conversion board, in which the 24V main power enters the constant current chip of U20 after passing through the PMOS of the switch chip Q71. Q71 is equivalent to a switch, and its gate is controlled by the output of the U4A voltage comparator. The reference voltage of the comparator's in-phase input terminal is the 2.5V reference provided by D92, and the reverse input terminal comes from the voltage sampling of the capacitor. The default state of the switch chip Q71 is the off state. Any failure of its back-end circuit will cause the switch chip Q71 to shut down, which greatly increases the reliability of the circuit. The second pin EN of U20 is also controlled by the control signal from the microcontroller CC_EN. This signal can control whether the constant current chip charges the back-end capacitor. This is the second capacitor voltage sampling. D8 is an anti-reverse diode, R92 is a current sampling resistor, which is fed back to the constant current chip through R65, and D99 works when the supercapacitor is discharged. K1 is used to switch between 24V power supply and supercapacitor power supply. When the 24V power supply is normal, pins 2 and 5 of K1 are connected and 24V power supply is provided. When the 24V power supply disappears, pins 3 and 5 are connected and the supercapacitor powers the back end.

[0129] Capacitor voltage acquisition circuit, the capacitor voltage is divided by R84 and R87 and then sent to the ADC acquisition pin of the MCU and the reverse input terminal of U4A through R85 and R86 for sampling and analysis.

[0130] The DCDC circuit is the power supply loop, U80 is a 5V output LDO (low dropout regulator), the two-stage voltage limiting circuit composed of D107, D108, Q40, Q50, R115, R116, R57, R58, C48, C49 is used to limit the 5V voltage, F3 and R104 are used for current limiting, and U81 is a 3.3V output LDO.

[0131] The power control board has three DCDC, safety barrier, slow start and output circuits. U5, U9, U13 are optocouplers used to isolate the control signals from the MCU. U6, U10, U14 are isolated DCDC modules with an output of 12V. U3, U7, U11 are safety barrier modules with the function of limiting voltage and current. U4, U8, U12 are slow start modules with the function of slowly increasing the load current and reducing peak impact. L1, L2, L3 are common mode inductors, and the following are electromagnetic compatibility protection devices.

[0132] The DCDC circuit of MCU is the power supply circuit of MCU, U1 is 5V isolated DCDC, the two-stage voltage limiting circuit composed of D1, D2, Q2, Q3, etc. is used to limit the 5V voltage, F2 is used to limit the current, U2 is 3.3V output LDO, the two-stage voltage limiting circuit composed of D3, D4, Q1, Q4, etc. is used to limit the 3.3V voltage.

[0133] The second control unit U15 and RS485 circuit, U15 is MCU. U17, U18 are isolation optocouplers, used to isolate the serial communication transmitted from the generator power conversion board, U16 is an isolation 485 module, R21, R22, R25, R26 are current limiting resistors on the bus, D12~D15 are voltage-limiting diodes, D10, D16, D17, L4, D11 are electromagnetic compatibility related protection devices, and R24 is a terminal resistor.

[0134] The charging circuit uses a constant current chip for charging. The characteristic of constant current charging is that it can quickly charge capacitors with a voltage of 0. As the capacitor voltage increases, the charging power will increase. Since the voltage across the supercapacitor cannot exceed its rated voltage, the final charging voltage is limited by the MCU voltage detection circuit and the detection judgment circuit, which greatly improves the stability and safety of the voltage across the supercapacitor.

[0135] The embedded system is responsible for reading the temperature and humidity and uploading it to the host computer via the network UDP. The feedback information of the BMS battery management system includes: system status (initialization, discharge, pre-charge, constant current, full charge, trickle charge, maintenance and fault), protection status (overcharge voltage, over-discharge voltage, charge overcurrent, discharge overcurrent, output short circuit, battery pack temperature alarm, ambient temperature (reserved) and low battery warning), protection failure status alarm (overcharge voltage protection failure, over-discharge voltage protection failure, charge overcurrent protection failure, discharge overcurrent protection failure, output short circuit protection failure, battery pack temperature alarm, ambient temperature alarm and acquisition signal failure), discharge current, charging input, remaining power, charging current, extended status information (full charge mark, temperature protection, charge overcurrent, charge overvoltage, full charge condition - negative &V, full charge condition - temperature, full charge condition - time out, discharging, discharge low temperature protection, discharge high temperature protection, discharge overcurrent, discharge short circuit, over discharge voltage (hardware judgment) and over discharge voltage (software judgment), rated capacity, single cell voltage 1-20, battery pack voltage, battery pack temperature; after the embedded system receives the BMS data, it will process the system status, protection status, protection status failure alarm, remaining power, rated capacity, and battery pack voltage to determine what state the battery is in, whether it is discharging, charging, trickling or fault alarm, and feedback to the host computer, obtain the rated capacity and remaining power to obtain the battery remaining power percentage and upload it to the host computer, and obtain the battery voltage and upload it to the host computer.

[0136] The robot body is equipped with a self-developed explosion-proof motor, which can convert the kinetic energy output by the fixed traction motor into electrical energy, supplying the equipment uninterruptedly.

[0137] The present invention first starts the operation of the explosion-proof traction motor 60 at both ends of the track 40 under control, drags the traction cable 70 to run along the tangent direction of the limit pulley 402, thereby driving the robot body 20 to move back and forth on the track 40, and the driving wheel 282 of the self-generating module 28 is subjected to friction and rotates synchronously, and the power is transmitted to the generator 286 through the transmission of the driving main shaft 281 and the bevel gear set 283, the universal joint 285, the synchronous wheel 2874 and the synchronous belt 2872. There is a two-stage speed increaser inside the generator, which can increase the smaller movement speed of the robot body to about 750 revolutions per minute. At this time, the generator 286 converts mechanical energy into electrical energy and outputs it to the power box. The power box passes through the power control board, and the power control board directly outputs or supplies the super capacitor to store electrical energy through the functions of voltage limiting shunt, overvoltage protection, energy discharge protection, etc. The output signal of the power box has three intrinsically safe outputs: 12V, 1600mA, which are connected to the control box of the track-type inspection robot through a mine flameproof cable.

[0138] Furthermore, the multi-parameter sensor, the control box, the ultrasonic sensor, the limit sensor, the microphone 204, the pan-tilt camera, and the sound and light alarm can be connected to the robot control box via an aviation plug.

[0139] The present invention mainly uses explosion-proof traction motor and traction steel cable as the power source of robot movement. At the same time, the explosion-proof motor directly converts mechanical energy into electrical energy to power the robot body equipment. In addition, the surplus electrical energy can also be stored in the supercapacitor of the robot itself, and used as a backup power supply when the robot stops. The existing technology mainly uses nickel-hydrogen batteries as power batteries, so they need to be explosion-proof, large in size, heavy in weight, and low in portability. On the one hand, the present invention solves the problems of being unable to charge or difficult to charge underground, short battery life, and the inability of battery-carrying equipment to charge while walking. It can achieve unmanned monitoring 24 hours a day, ensuring the timeliness, safety, and stability of the detection information; on the other hand, the present invention can adapt to a variety of working conditions by using steel cable traction, has strong driving ability, can climb at a large angle, and the steel cable is tightly installed, with high safety, strong stability, low cost, good economic benefits, and is conducive to engineering application.

[0140] The robot body of the present invention is equipped with a pan-tilt camera and a video analysis and processing board, and can process the video information on the scene locally in the first time. On the one hand, the local processing time is short and the efficiency is high. If there is a problem, the alarm can be sounded immediately, which saves the communication time between the upper and lower computers and further improves the safety of the detection. On the other hand, the results are uploaded after local processing, which saves uplink network resources and leaves space for more communication equipment. This advantage is extremely obvious for the special environment under the mine.

[0141] The explosion-proof traction inspection robot for mining of the present invention comprises a track-type self-generating robot body 20, a traction steel cable 70, an explosion-proof traction motor 60, a monitoring center, a track 40, etc. Among them, the track 40 is installed on the wall on the pedestrian side of the substation, about 1.5m above the ground; the explosion-proof traction motor 60 is installed at both ends of the track 40. If the track is too long, a motor relay can be added in the middle. The traction steel cable 70 is fixed to one side of the track through a variety of limiting pulleys 402, and maintains a distance of 10cm±3cm from the track 40. One end of the traction steel cable 70 is fixed to the robot body 20, and the other end is fixed to the end of the explosion-proof traction motor 60.

[0142] The rail-type inspection robot of the present invention integrates a controller, a pan-tilt camera, a limit switch, an obstacle avoidance sensor, a wireless router and a video analysis processing unit. The controller, the pan-tilt camera and the video analysis processing unit transmit data to a base station in the substation through a wireless router, and the base station then gradually transmits the data to a ground monitoring center.

[0143] The rail inspection robot mainly includes a power generation mechanism, a control box, a power supply box, and a pan-tilt camera. The pan-tilt camera is installed at the bottom of the rail inspection robot to shoot live videos of the substation. The pan-tilt camera has horizontal and vertical degrees of freedom, and can rotate 360° horizontally and between -25° and 90° vertically. The power generation mechanism, control box, and power supply box are inside the rail inspection robot. The control box contains the underlying embedded motherboard, wireless router, and video analysis and processing board. The external connection is a multi-parameter sensor control box, an ultrasonic sensor, a limit sensor, a pickup 204, and an audible and visual alarm. The limit sensor is installed and fixed above the front and rear ends of the rail-type inspection robot shell, the ultrasonic sensor is installed and fixed in the middle of the front and rear ends of the rail-type inspection robot shell, and the multi-parameter sensor control box integrates a four-in-one sensor, a temperature and humidity sensor, and a smoke sensor. It is installed at the bottom of the rail-type inspection robot together with the pickup 204 and the sound and light alarm; the power box is installed inside the rail-type inspection robot, and the power box is mainly composed of several supercapacitors and a power control board, which mainly provides 3 intrinsically safe power supplies for the rail-type inspection robot; the power generation mechanism is installed inside the rail-type inspection robot, and the power generation mechanism includes a generator, a drive wheel, gears, a shaft, a synchronous wheel, etc. The drive wheel is always pressed against the track by a spring.

[0144] The explosion-proof traction inspection robot for mining of the present invention has a simple structure, low cost and light weight. It is equipped with an explosion-proof motor, which generates electricity by traction of the robot body through a steel cable, and friction rotation of the driving wheel and the track, converts mechanical energy into electrical energy, which is supplied to various parts of the robot body, so that the robot can run long distances underground without charging, and can achieve 24-hour intelligent inspection.

[0145] The present invention aims at the problems of long single time, low inspection efficiency, difficulty in ensuring the real-time and completeness of inspection, difficulty in checking the inspection quality, and unsafe equipment charging in the current daily manual inspection of underground substations in coal mines. The present invention provides an explosion-proof self-generating traction robot system. On the one hand, the system aims to provide an audio and video, environmental parameter variables, and voice intercom information in the underground substation scene. On the basis of collection and acquisition, the analysis and recognition function is added to finally form a substation monitoring and identification system integrating classification, statistics, and alarm linkage. It is mainly used to solve the pain points of daily inspections of miners in the current coal mines. While reducing the workload of daily inspections of miners, it gradually realizes the requirements of equipment for daily inspections in coal mines, and finally realizes the purpose of less or no people in underground operations; on the other hand, the system itself has an explosion-proof motor, which can convert the mechanical energy brought by remote traction into electrical energy for the entire system. When the generated electrical energy is sufficient, it can be stored in the supercapacitor carried by the system itself and used to supply the consumption when the equipment stops moving. It mainly solves the problems of unsafe charging and short battery life underground, and ultimately realizes 24-hour uninterrupted inspection around the clock, ensuring the integrity, safety, accuracy and timeliness of underground environmental monitoring.

[0146] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A mining explosion-proof traction inspection robot, characterized in that: include: The robot body comprises: a housing, a pan / tilt camera with a main body arranged outside the housing and placed at the bottom, a control device arranged in the housing, a self-generating module arranged in the housing and connected to the control device, and an alarm device arranged in the housing and connected to the control device, wherein the control device comprises: a power control circuit and a control module, and the control module comprises: Collection unit: controls the image collection of the PTZ camera, and collects images of conveyor belt rollers and personnel in the set area; Analysis unit: receives collected data for analysis and processing, and analyzes the number of rollers and the relative positions between rollers in each frame of the video; Deviation judgment unit: if the number of rollers in the continuous n-frame image is less than the set value i, a belt deviation alarm message is generated; If there is only a single row of rollers in the detection and analysis image and the number of rollers is greater than i, fit a straight line at the center point of all roller positions and calculate the slope of the straight line. If the slope change before and after n consecutive frames is greater than the set value m, a belt deviation alarm message is generated; If there are two rows of rollers in the detection and analysis image, the two rows of rollers are matched one by one in the left and one by the right or one up and one down combination. When the number of rollers that are not matched is greater than or equal to the set value j, a belt deviation alarm message is generated; If there are two rows of rollers in the detection and analysis image, and the number of rollers in a single row is greater than or equal to the set value n, and they cannot be combined in a one-to-one correspondence, the single row slope is calculated, and the two row slopes are subtracted. If the difference between the two slopes is greater than the set value m, a belt deviation alarm message is generated; Intrusion judgment unit: if the detection and analysis shows that a person is detected in the continuous n-frame image and the person is located in the warning area on both sides of the belt, a person intrusion alarm information is generated; Alarm prompt: send the alarm information to the host computer, which will control the alarm information prompt and alarm image display and storage; The power control circuit includes: a generator power conversion board connected to the generator output, a power control board connected to the generator power conversion board to receive power from the generator power conversion board and then output it to the back-end load for use, the generator power conversion board includes: a rectifier circuit connected to the generator output, a DCDC voltage stabilizing circuit connected to the rectifier circuit, a capacitor charging circuit connected to the DCDC voltage stabilizing circuit, a power output circuit connected to the capacitor charging circuit, a DCDC circuit connected to the power output circuit for DCDC conversion, a first control unit connected to the DCDC circuit to receive power, a capacitor voltage acquisition circuit connected to the capacitor charging circuit and outputting the acquisition signal to the first control unit, the capacitor charging circuit and the power output circuit include: a voltage comparator U40A, a switch chip Q71 whose gate is controlled by the output of the voltage comparator U40A, and a switch chip Q71 connected to the switch chip A constant current chip U20 connected to Q71, an anti-reverse diode D98 connected to the constant current chip U20, a feedback resistor R65 connected to the constant current chip U20 and feeding back the sampled current to the constant current chip U20, a current sampling resistor R92 connected to the feedback resistor R65, a diode D99 connected in parallel at both ends of the current sampling resistor R92, and a switching relay K1 connected to the feedback resistor R65 and supplying power to the main power supply output by the DCDC voltage stabilizing circuit and the super capacitor. Pins 2 and 5 of the switching relay K1 are connected to supply power to the main power supply output by the DCDC voltage stabilizing circuit, and pins 3 and 5 of the switching relay K1 are connected to supply power to the back end by the super capacitor. The default state of the switch chip Q71 is off, and the main power supply output by the DCDC voltage stabilizing circuit enters the constant current chip U20 after passing through the PMOS of the switch chip Q71. The constant current chip U20 is connected to and controlled by the first control unit.

2. The explosion-proof traction inspection robot for mining according to claim 1, characterized in that: The n is 5, i is 2, m is 0.5, and j is 1.

3. The explosion-proof traction inspection robot for mining according to claim 1, characterized in that: The robot body also includes: a multi-parameter sensor arranged at the bottom, a microphone, and an audible and visual alarm that alarms according to whether the detection data exceeds the set value. The multi-parameter sensor includes: an all-in-one sensor for detecting methane exceeding the limit, a temperature and humidity sensor, and a smoke sensor. The control module also includes: Reading unit: reads all-in-one sensors, temperature and humidity sensors, and smoke sensors to analyze BMS data and upload the results to the host computer. Gas concentration judgment unit: judge whether one or more of methane, oxygen, and carbon monoxide exceeds the limit according to the return data of the all-in-one sensor. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set alarm value, the sound and light alarm is controlled to alarm. If it is judged that the concentration of one or more of methane, oxygen, and carbon monoxide exceeds the set power-off concentration value, a power-off command is issued to control the robot to power off. Smoke judgment unit: judges whether there is smoke based on the return data of the smoke sensor. If it is judged that there is smoke, it will issue a power-off command to control the robot to cut off the power.

4. The explosion-proof traction inspection robot for mining according to claim 1, characterized in that: Also includes: The robot body is suspended and installed on the track, and the robot body also includes: a limit sensor installed on the top plate of the shell, and an ultrasonic sensor arranged on the shell, and the limit sensor includes: a left limit sensor and a right limit sensor; explosion-proof traction motors are respectively installed at both ends of the track, including: a left traction motor and a right traction motor; The control module also includes: Position analysis unit: Analyzes the running direction, speed, and running position of the robot body according to the running conditions of the explosion-proof traction motor and the track layout. Obstacle avoidance analysis unit: controls the ultrasonic sensor to detect distance data, analyzes the ultrasonic sensor return data, and if it is judged to be less than the set obstacle avoidance distance, controls the explosion-proof traction motor to stop and issues an alarm; Upload unit: upload the robot's running direction, speed, whether there are obstacles, obstacle avoidance distance and whether the motion control system is powered off; Operation analysis unit: reads the interrupt feedback data of the left and right limit sensors, receives the reverse command, reads the running direction of the explosion-proof traction motor to determine whether the reversal is successful, and controls the motor operation.

5. The explosion-proof traction inspection robot for mining according to claim 4, characterized in that: The self-generating module comprises: a driving wheel partially extending out of the housing and driven to rotate by friction, a driving transmission mechanism connected to the driving wheel and driven by the driving wheel, and a generator connected to the driving transmission mechanism and driven by the transmission mechanism to generate electricity.

6. The explosion-proof traction inspection robot for mining according to claim 5, characterized in that: The driving transmission mechanism includes: a driving main shaft that cooperates with the driving wheel and is driven to rotate by the driving wheel, a bevel gear set that cooperates with the driving main shaft and is driven to rotate by the driving main shaft, a universal joint that cooperates with the bevel gear set, and a synchronous pulley set that cooperates with the universal joint to drive the generator to rotate; the synchronous pulley set includes: a synchronous belt and a synchronous wheel that cooperate with each other.

7. The explosion-proof traction inspection robot for mining according to claim 6, characterized in that: The generator comprises: a multi-stage speed increaser and a generator body. The generator is installed in the shell through a mounting plate. A mounting frame is also arranged in the shell.

8. The explosion-proof traction inspection robot for mining according to claim 7, characterized in that: Also includes: An elastic member assembly is provided for adjusting the driving wheel to be close to the track, wherein the elastic member assembly comprises an adjusting shaft, an elastic member sleeved on the adjusting shaft, and an adjusting nut arranged on the adjusting shaft.

9. The explosion-proof traction inspection robot for mining according to claim 7, characterized in that: The track is provided with an explosion-proof traction motor, a wire winch connected to and driven by the explosion-proof traction motor, and a traction cable wound on the wire winch and pulling and moving the robot body. The robot body is connected to the traction cable via a mounting seat.

10. The explosion-proof traction inspection robot for mining according to claim 9, characterized in that: Also includes: A driving wheel bearing seat supporting the driving main shaft, an auxiliary wheel assembly, and a driving wheel mounting seat arranged in the shell and partially extending out of the shell, the track is an I-shaped cross-section structure, and the shell is provided with a driving hole for the driving wheel to extend out at a position corresponding to the driving wheel. The auxiliary wheel assembly includes: auxiliary wheels arranged outside the shell and rolling and sliding closely against the waists of the track, and the auxiliary wheels are mounted on the driving wheel mounting seat.

11. The explosion-proof traction inspection robot for mining according to claim 10, characterized in that: The driving wheel mounting seat includes: a seat body, a mounting piece formed by bending and extending the seat body, the auxiliary wheel is installed through the mounting piece, the mounting seat is installed on the upper surface of the top plate of the shell, the mounting seat is equipped with a load-bearing wheel hung on the end surface of the track, and the load-bearing wheel is installed on the mounting seat through a load-bearing wheel fixing seat, the mounting seat includes: a mounting portion for fixed installation, a mounting body formed by bending and extending the mounting portion, a clamping portion arranged on the mounting body and clamping the traction steel cable, and the load-bearing wheel fixing seat is arranged on the other side of the mounting body relative to the clamping portion.

12. The explosion-proof traction inspection robot for mining according to claim 11, characterized in that: The track is provided with a horizontal curve and a vertical curve. A limiting pulley and a pulley mounting bracket for mounting the pulley are provided on the track. The traction steel cable is guided and limited by the limiting pulley.

13. The explosion-proof traction inspection robot for mining according to claim 1, characterized in that: The second pin EN of the constant current chip U20 is connected to the FB13 end of the first control unit, and the control signal controls whether the constant current chip U20 charges the back-end capacitor. The capacitor charging circuit and the power supply output circuit also include: a voltage-dividing resistor R78, a voltage-stabilizing diode D92 connected to the voltage-dividing resistor R18 and providing a 2.5V reference voltage to the in-phase input end of the voltage comparator U40A, and the inverting input end of the voltage comparator U40A comes from the voltage sampling of the supercapacitor; the DCDC voltage-stabilizing circuit outputs 24V to power the back end, and the second pin EN of the constant current chip U20 is connected to the FB13 end of the first control unit through the transistor Q52 and the resistor R63. One end of the resistor R63 is connected to the FB13 end of the first control unit, and the other end is connected to the base of the transistor Q52. The emitter of the transistor Q52 is connected to the second pin EN of the constant current chip U20, and the other branch of its emitter is grounded through the resistor R68, and its collector is connected to +3.3V voltage; the fifth pin, the sixth pin and the ninth pin of the constant current chip U20 are connected to the ground through the diode D67 after merging, and the other branch is connected to the positive electrode of the anti-reverse diode D98 through the inductor L51; a branch is drawn between the inductor L51 and the positive electrode of the anti-reverse diode D98 and then grounded through the capacitors C65 and C67 connected in parallel; the negative electrode of the anti-reverse diode D98 is connected to the fourth pin of the interface CN1, and its other branch is grounded through the capacitor C40; the first pin of the constant current chip U20 is grounded through the feedback resistor R65 and the current sampling resistor R92, and the diode The cathode of D99 is connected between the feedback resistor R65 and the current sampling resistor R92, the anode of the diode D99 is grounded, the common end of the feedback resistor R65 and the current sampling resistor R92 is connected to the third pin of the interface CN1, the second pin of the interface CN1 is grounded, and the first pin is output, the other branch of the cathode of the diode D99 is connected to the PA6 terminal of the first control unit through the resistor R69 and the resistor R62, a branch is drawn out from the common end of the resistor R69 and the resistor R62 and grounded through the capacitor C31, the third pin of the constant current chip U20 is grounded after passing through the resistor R64 and the capacitor C57, The fourth foot of the constant current chip U20 is grounded through the capacitors C90 and C96 connected in parallel, the output end of the voltage comparator U40A is connected to the base of the transistor Q73 through the resistor R70, and the other branch of its output end is connected to the 24V voltage through the resistor R59, the emitter of the transistor Q73 is grounded, and its collector is connected to the switch chip Q71 through the resistor R79; the capacitor voltage acquisition circuit includes: voltage-dividing resistors R84 and R87 connected to the supercapacitor, resistors R85 and R86 connected to the common end of the voltage-dividing resistors R84 and R87, capacitor C109 connected in parallel at both ends of R87, and voltage-stabilizing diode D109; the other end of the resistor R85 is connected to the The PA5 terminal of the first control unit and the other end of the resistor R86 are connected to the inverting input terminal of the voltage comparator U40A; the other end of the voltage-dividing resistor R87 is grounded, the cathode of the voltage-stabilizing diode D109 is connected between the resistor R85 and the inverting input terminal of the voltage comparator U40A, and the positive electrode is grounded; the DCDC circuit of the generator power conversion board includes: a three-terminal voltage-stabilizing chip U80 for 5V output LDO, a two-stage voltage-limiting circuit for limiting the 5V voltage, voltage-stabilizing diodes D107, D108, thyristors Q40, Q50, resistors R115, R116, R57, capacitors C48, C49, fuse F3, current-limiting resistor R104, for 3.A three-terminal voltage regulator chip U81 with a 3V output LDO is connected to the three-terminal voltage regulator chip U81 and connected in parallel with capacitors C121, C122, C123, C124, and C128; the first pin of the three-terminal voltage regulator chip U80 is connected to the first pin of the interface CNI, and its other branch is grounded after being connected in parallel with capacitors C55 and C56, its second pin is grounded, and its third pin is grounded through capacitors C53, C54, and resistor R50 connected in parallel, and another branch of its third pin is connected to the third pin of the three-terminal voltage regulator chip U81 through a fuse F3 and a current-limiting resistor R104, a branch of the common end of the fuse F3 and the resistor R34 is connected to the anode of the thyristor Q40, and the other branch is connected to the cathode of the voltage regulator diode D107, the anode of the voltage regulator diode D107 is grounded through the resistor R57, and the control electrode of the thyristor Q40 is connected to the common end of the anode of the voltage regulator diode D107 and the resistor R57 through the resistor R115. The other branch is grounded through capacitor C48, and the cathode of thyristor Q14 is grounded; the common end of the current limiting resistor R104 and the third foot of the three-terminal voltage regulator chip U81 is connected to the anode of thyristor Q50, and the other branch is connected to the cathode of voltage regulator diode D108. The positive electrode of voltage regulator diode D108 is grounded through resistor R58, and the control electrode of thyristor Q50 is connected to the positive electrode of voltage regulator diode D108 and the common end of resistor R58 through resistor R116. The other branch of the control electrode of thyristor Q50 is grounded through capacitor C49 and its cathode is grounded. The common end of fuse F3 and resistor R50 is connected to +5V voltage; the first foot of the three-terminal voltage regulator chip U81 is grounded, and its second foot is connected to the fourth foot and grounded through capacitors C121, C122, C123, C124, and C128 connected in parallel. One end of the common end of capacitors C82 and C83 is grounded, and the other end is connected to +3.3V voltage. .

14. The explosion-proof traction inspection robot for mining according to claim 1, characterized in that: The power control board includes: a multi-channel DCDC circuit, a safety gate circuit, a slow start circuit and a power output circuit, a DCDC circuit of an MCU, a second control unit U15, and a communication circuit; the multi-channel DCDC circuit, the safety gate circuit, the slow start circuit and the power output circuit include: a first DCDC circuit, a first safety gate circuit connected to the first DCDC circuit, a first slow start circuit connected to the first safety gate circuit and a first power output circuit connected to the first slow start circuit, a second DCDC circuit, a second safety gate circuit connected to the second DCDC circuit, a second slow start circuit connected to the second safety gate circuit and a second power output circuit connected to the second slow start circuit Two power output circuits, a third DCDC circuit, a third safety gate circuit connected to the third DCDC circuit, a third slow start circuit connected to the third safety gate circuit, and a third power output circuit connected to the third slow start circuit, the first DCDC circuit includes: an optical coupler U5 isolating a signal from an MCU, an isolation DCDC module U6 outputting a 12V voltage, the first safety gate circuit includes: a safety gate module U3 connected to the isolation DCDC module U6 and used for voltage and current limiting, the first slow start circuit includes: a slow start module U4 connected to the safety gate module U3, the first power output circuit includes: a module connected to the slow start module U4 and connected to a load circuit The inductor L1, the bidirectional TVS transient voltage suppression diode D5 connected to the inductor L1, and the gas discharge tube TV1 connected to the bidirectional TVS transient voltage suppression diode D5; the second DCDC circuit includes: an optocoupler U9 that isolates the signal from the MCU, and an isolated DCDC module U10 that outputs a 12V voltage. The second safety gate circuit includes: a safety gate module U7 that is connected to the isolated DCDC module U10 and is used for voltage and current limiting. The second slow start circuit includes: a slow start module U8 connected to the safety gate module U7. The second power supply output circuit includes: an inductor L2 connected to the slow start module U8, a bidirectional TVS transient voltage suppression diode D6 connected to the inductor L2, and a The gas discharge tube TV2 connected to the bidirectional TVS transient voltage suppression diode D6; the third DCDC circuit includes: an optocoupler U13 isolating the signal from the MCU, an isolated DCDC module U14 outputting a 12V voltage, the third safety gate circuit includes: a safety gate module U11 connected to the isolated DCDC module U14 and used for voltage and current limiting, the third slow start circuit includes: a slow start module U12 connected to the safety gate module U11, and the third power supply output circuit includes: an inductor L3 connected to the slow start module U12, a bidirectional TVS transient voltage suppression diode D7 connected to the inductor L3, and a gas discharge tube TV3 connected to the bidirectional TVS transient voltage suppression diode D7;The DCDC circuit of the MCU includes: a 5V isolation DCDC module U1, a two-stage voltage limiting circuit to limit the 5V voltage of voltage regulator diodes D1, D2, thyristors Q2, Q3, a three-terminal voltage regulator chip U2 for a 3.3V output LDO, a two-stage voltage limiting circuit to limit the 3.3V voltage of voltage regulator tubes D3, D4, thyristors Q1, Q4; the first pin of the isolation DCDC module U1 is grounded, and the second pin thereof is connected to the first pin of the interface J1 through the inductor BL1 and the fuse F1, and the second pin thereof and the common end of the inductor BL1 are grounded through the capacitor C1, and the common end of the inductor BL1 and the fuse F1 are grounded through the capacitors C3 and C5 connected in parallel, and the interface J The second pin of the isolation DCDC module U1 is grounded, the third pin of the isolation DCDC module U1 is connected to the VSS_1 terminal of the second control unit U15 and then to ground, the fourth pin of the isolation DCDC module U1 is connected to the ground terminal of the second control unit U15 through the capacitors C6 and C4 connected in parallel, and the other branch of the fourth pin is connected to the third pin of the three-terminal voltage regulator chip U2 through the fuse F2 and the inductor BL2, the cathode of the voltage regulator diode D1 is connected to the common terminal of the fuse F2 and the inductor BL2, and the anode of the voltage regulator diode D1 is connected to the ground terminal of the second control unit U15 through the resistor R2, the resistor R3 is connected to the capacitor C9 and then connected in parallel to the two ends of the resistor R2, and the anode of the thyristor Q2 is connected to the common terminal of the fuse F2 and the inductor BL2. The cathode of the voltage stabilizing diode D2 is connected to the common end of the fuse F2 and the inductor BL2, and the control electrode thereof is connected to the common end of the resistor R3 and the capacitor C9; the cathode of the voltage stabilizing diode D2 is connected to the common end of the fuse F2 and the inductor BL2, and the anode thereof is connected to the ground end of the second control unit U15 through the resistor R1; the resistor R4 is connected to the capacitor C10 and then connected in parallel to the two ends of the resistor R1; the anode of the thyristor Q3 is connected to the common end of the fuse F2 and the inductor BL2, the cathode is connected to the ground end of the second control unit U15, and the control electrode thereof is connected to the common end of the resistor R4 and the capacitor C10; the common end of the inductor BL2 and the common end of the third foot of the three-terminal voltage stabilizing chip U2 are connected to a 5V voltage, and the other branch thereof is connected to the capacitor C2. Connect to the ground terminal of the second control unit U15; the second pin of the three-terminal voltage stabilizing chip U2 is connected to its first pin and the ground terminal of the second control unit U15 through the capacitors C7 and C8 connected in parallel, the second pin of the three-terminal voltage stabilizing chip U2 is connected to the 3.3V voltage through another branch, the cathode of the voltage stabilizing diode D3 is connected to the second pin of the three-terminal voltage stabilizing chip U2, and its anode is connected to the ground terminal of the second control unit U15 through the resistor R5, the resistor R6 is connected to the capacitor C11 and then connected in parallel to the two ends of the resistor R5, the anode of the thyristor Q4 is connected to the second pin of the three-terminal voltage stabilizing chip U2, its cathode is connected to the ground terminal of the second control unit U15, and its control electrode is connected to the common end of the resistor R6 and the capacitor C11;The cathode of the voltage regulator diode D4 is connected to the second pin of the three-terminal voltage regulator chip U2, and its anode is connected to the ground terminal of the second control unit U15 through the resistor R7. The resistor R8 is connected to the capacitor C12 and connected in parallel to the two ends of the resistor R7. The anode of the thyristor Q1 is connected to the second pin of the three-terminal voltage regulator chip U2, its cathode is connected to the ground terminal of the second control unit U15, and its control electrode is connected to the common end of the resistor R8 and the capacitor C12. ;

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