Permeable probe vehicle for mine well

Abstract

The invention relates to the technical field of mine water permeation monitoring, and discloses a mine well water permeation detection vehicle which comprises a drive-by-wire walking chassis, a transient electromagnetic instrument, a jacking device and an electric control system. The electric control system comprises a switch which is in signal connection with the domain controller, the CPE and the Wi industrial personal computer. The domain controller is in signal connection with a gas sensor, a laser radar, an I MU and a binocular camera; the domain controller is in signal connection with the drive-by-wire walking chassis; the Wi industrial personal computer is in signal connection with a transient electromagnetic instrument and a splicing camera. The CPE is used for being in wireless signal connection with a display; the jacking device comprises a scissor type lifting frame provided with a driving device and a touch detector arranged at the top of the scissor type lifting frame. The driving device and the touch detector are respectively in signal connection with the domain controller; and except for the driving device, other structural components of the scissor type lifting frame are non-metal material components. The technical problem of underground automatic water exploration operation can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of mine water exploration, and more particularly to a water penetration detection vehicle for mine shafts. Background Art

[0002] Water prospecting refers to the detection measures taken to understand the hydrological conditions and accurately grasp the location, scope and water volume of water bodies or water-bearing structures. Generally, drilling holes is performed from the ground or underground. When mining projects are operated near water bodies, in order to prevent water seepage accidents, measures such as drilling holes in advance for water exploration must be taken. The existing water prospecting operation method is usually to manually carry a transient electromagnetic instrument into the mine to carry out water prospecting operations. The entire water prospecting operation process has great safety hazards. It is also not easy to achieve all-weather water seepage monitoring operations due to the physical limitations of the operators.

[0003] Therefore, it is necessary to develop a water permeable detection vehicle for mine wells to solve the problem of automatic water exploration operation in the well. Summary of the invention

[0004] The purpose of the present invention is to provide a water penetration detection vehicle for a mine shaft, which is used to solve the technical problem of automatic water detection operation in the shaft.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] The present invention provides a water penetration detection vehicle for a mine shaft, comprising: a wire-controlled walking chassis provided with a power device, a transient electromagnetic instrument, and also comprising: a jacking device and an electric control system; the electric control system is arranged in the body of the wire-controlled walking chassis; the jacking device is fixedly arranged on the top of the wire-controlled walking chassis;

[0007] The electric control system includes: a switch connected to the domain controller, CPE, and Wi n industrial computer signals respectively; the domain controller signal is connected to the gas sensor, laser radar, IMU and binocular camera; the domain controller is connected to the wire-controlled walking chassis signal; the Wi n industrial computer is connected to the transient electromagnetic instrument and the splicing camera respectively; the CPE is used to connect to the display wireless signal;

[0008] The lifting device includes: a scissor-type lifting frame provided with a driving device and a touch detector arranged on the top of the scissor-type lifting frame; the driving device and the touch detector are respectively connected to the domain controller signal; except for the driving device, the other structural components of the scissor-type lifting frame are all non-metallic material components.

[0009] Furthermore, the driving device drives the slider to move horizontally along the guide rail through the motor to drive the scissor-type lifting frame to rise and fall in a folded up and down manner.

[0010] Furthermore, the lifting device is provided with a base plate; the hinged support leg on one side of the lower end of the scissor-type lifting frame is fixedly hinged to the base plate; a guide rail is fixedly provided on the base plate; the driving support leg at the lower end of the scissor-type lifting frame is fixedly connected to the translational output end of the motor through a slider connected to the guide rail; when a driven support leg is provided at the lower end of the lifting frame, the driven support leg is slidably connected to the guide rail through the slider.

[0011] Furthermore, the electromagnetic water-permeable coil of the transient electromagnetic instrument is arranged on the top of the scissor-type lifting frame; and the control host of the transient electromagnetic instrument is arranged in the body of the wire-controlled walking chassis.

[0012] Furthermore, the drive device is connected to the domain controller signal via an absolute encoder.

[0013] Furthermore, the signal antenna of the CPE is fixedly arranged on the top of the wire-controlled walking chassis.

[0014] Furthermore, the wire-controlled walking chassis is a crawler-type walking chassis.

[0015] Furthermore, relative to the forward direction, the gas sensor and the laser radar are respectively arranged at the front end of the wire-controlled walking chassis.

[0016] Furthermore, the images acquired by the stitching camera and the binocular camera are used to provide unmanned driving navigation for the walking-by-wire chassis.

[0017] Furthermore, the switch is connected to the domain controller, CPE, and Wi n industrial computer signals through the RJ45 interface; the domain controller is connected to the gas sensor and I MU signals through the RS232 interface; the domain controller is connected to the lidar signal through the RJ45 interface; the domain controller is connected to the binocular camera signal through the USB interface; the Wi n industrial computer is connected to the transient electromagnetic instrument and the splicing camera signal through the RS232 interface; the domain controller is connected to the drive device, touch detector, and wire-controlled walking chassis signal through the CAN bus; the CPE is connected to the display signal through one of the 4G, 5G or WI FI signals.

[0018] Compared with the prior art, the beneficial effects of this solution are as follows:

[0019] 1. This scheme can meet the needs of unmanned detection of geological structures around underground mine tunnels by installing a lifting device on the wire-controlled walking chassis. The transient electromagnetic instrument adopts the Windows operating platform and uses ultra-weak signal acquisition technology to ensure that a long distance can be detected even with a low-power transmitting current; the lifting device is installed directly above the wire-controlled walking chassis, and is mainly responsible for the lifting and lowering of the transmitting coil of the transient electromagnetic instrument, and at the same time detects whether it has reached the top of the cave; the scissor-type lifting frame drives the lead screw through the motor to realize the movement of the connecting rod and realize vertical displacement. When the touch detector detects that it has reached the top of the cave, the driving device of the scissor-type lifting frame stops running; except for the driving device, the other structural components of the scissor-type lifting frame are all non-metallic components, which can effectively avoid the signal interference caused by metal components to the detection of the transient electromagnetic instrument.

[0020] 2. This solution adopts a driving device to drive the slider to move horizontally along the guide rail through a motor to drive the scissor-type lifting frame to rise and fall in a folded up and down manner. This structural setting method can make the space occupied by the scissor-type lifting frame in the folded state thinner, which is conducive to improving the passing flexibility of the mine well water penetration detection vehicle.

[0021] 3. The scissor-type lifting frame with driven support legs has the advantage of more stable structural strength and can meet the needs of underground operations with complex working conditions.

[0022] 4. Setting the control host of the transient electromagnetic instrument inside the body of the wire-controlled walking chassis can form the most effective structural protection for the core computing components of the transient electromagnetic instrument, avoiding damage to the equipment caused by falling rocks.

[0023] 5. Using an absolute encoder to control the action of the drive device can make the lifting action of the scissor-type lifting frame more accurate and controllable, which is conducive to the transient electromagnetic instrument to collect better quality water detection signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a water permeability detection vehicle for a mine shaft according to the present invention;

[0025] Figure 2 for Figure 1 Schematic diagram of the lifting device structure;

[0026] Figure 3 for Figure 1 Schematic diagram of the electronic control system structure of the water seepage detection vehicle;

[0027] Figure 4 for Figure 1 Schematic diagram of the driving structure of the scissor lift;

[0028] Figure 5 Figure 1 Schematic diagram of the electrical control structure of the scissor lift;

[0029] Figure 6 for Figure 1 Schematic diagram of the installation structure of the signal antenna and electromagnetic water penetration coil of the water penetration detection vehicle;

[0030] Figure 7 for Figure 1 Schematic diagram of the control host installation structure of the water seepage detection vehicle;

[0031] In the figure: 100, wire-controlled walking chassis; 200, transient electromagnetic instrument; 300, lifting device; 310, scissor lift; 311, hinged support leg; 312, driving support leg; 334, driven support leg; 320, touch detector; 330, driving device; 331, motor; 332, slider; 333, guide rail; 340, bottom plate; 400, electronic control system; 411, domain controller; 412, CPE; 413, Wi n industrial computer; 414, gas sensor; 415, laser radar; 416, I MU; 417, binocular camera; 418, transient electromagnetic instrument; 419, splicing camera; 500, display; 510, upper limit switch; 520, lower limit switch; 530, lead screw; 540, absolute encoder; 550, control box; K, electromagnetic water-permeable coil; Q, control host; L, signal antenna. DETAILED DESCRIPTION

[0032] The invention will be further described in detail below with reference to the accompanying drawings and through specific embodiments. The following embodiments are merely illustrative and are not intended to limit the scope of protection of the present invention.

[0033] Example:

[0034] like Figures 1 to 7 As shown, the present invention provides a water penetration detection vehicle for a mine shaft, comprising: a wire-controlled walking chassis 100 provided with a power device, a transient electromagnetic instrument 200, and also comprising: a jacking device 300 and an electric control system 400; the electric control system 400 is arranged in the body of the wire-controlled walking chassis; the jacking device 300 is fixedly arranged on the top of the wire-controlled walking chassis 100;

[0035] like Figure 1 and Figure 2 As shown, the lifting device 300 includes: a scissor-type lifting frame 310 provided with a driving device 330 and a touch detector 320 arranged on the top of the scissor-type lifting frame 310; the driving device 330 and the touch detector are respectively connected to the domain controller 411 by signal; except for the driving device 330, the remaining structural components of the scissor-type lifting frame 310 are all non-metallic material components.

[0036] like Figure 3As shown, the electric control system 400 includes: a switch 410 respectively connected to the domain controller 411, CPE 412, and Wi n industrial computer 413 by signal; the domain controller 411 is also signal-connected to a gas sensor 414, a laser radar 415, an I MU 416, and a binocular camera 417; the domain controller 411 is signal-connected to the wire-controlled walking chassis 100; the Wi n industrial computer 413 is signal-connected to a transient electromagnetic instrument 418 and a splicing camera 419; and the CPE 412 is used for wireless signal connection with the display 500.

[0037] It should be noted that the transient electromagnetic instrument used in the present invention and the wire-controlled walking chassis designed based on unmanned vehicle technology are both existing technologies, so their detailed technical details will not be further described here; the wire-controlled walking chassis has the control freedom of moving forward, backward and turning after being controlled by a signal; preferably, the above-mentioned transient electromagnetic instrument adopts a YCS2.4 mining transient electromagnetic instrument, and the lifting stroke range of the scissor-type lifting frame is 600 to 3000 mm.

[0038] Preferably, in one of the preferred technical schemes of the present embodiment, the switch is connected to the domain controller, CPE, and Wi n industrial computer signals respectively through the RJ45 interface; the domain controller is connected to the gas sensor and IMU signals respectively through the RS232 interface; the domain controller is connected to the lidar signal through the RJ45 interface; the domain controller is connected to the binocular camera signal through the USB interface; the Wi n industrial computer is connected to the transient electromagnetic instrument and the splicing camera signal respectively through the RS232 interface; the domain controller is connected to the drive device, the touch detector, and the wire-controlled walking chassis signal respectively through the CAN bus; the CPE is connected to the display signal through one of the 4G, 5G or WIFI signals.

[0039] It should be noted that the above-mentioned components related to the electric control system are all existing electronic devices, so their related technical details will not be further elaborated here.

[0040] Preferably, Figure 4As shown, in one of the preferred technical solutions of this embodiment, the driving device 330 drives the slider 332 to move along the guide rail 333 through the motor 331 to drive the scissor-type lifting frame 310 to lift in a folded manner. The lifting device 300 is provided with a bottom plate 340; the hinged support leg 311 on one side of the lower end of the scissor-type lifting frame 310 is fixedly hinged with the bottom plate 340; the guide rail 333 is fixedly provided on the bottom plate 340; the driving support leg 312 at the lower end of the scissor-type lifting frame 310 is fixedly connected to the translation output end of the motor 331 through the slider 332 connected to the guide rail 333; the lower end of the lifting frame is provided with a driven support leg 334, and the driven support leg 334 is slidably connected to the guide rail 333 through the slider. The scissor-type lifting frame with the driven support leg has the advantage of more stable structural strength and can meet the needs of underground operations with complex working conditions. This solution adopts a driving device that drives the slider to move horizontally along the guide rail through a motor to drive the scissor-type lifting frame to rise and fall in a folded up and down manner. This can make the space occupied by the scissor-type lifting frame in the folded state thinner, which is beneficial to improving the passing flexibility of the mine well water permeability detection vehicle.

[0041] It should be noted that the above-mentioned driven support legs are not necessary structural settings. They are only required to be set when the structural setting scheme shown in the diagram of this embodiment is adopted to meet the needs of folding stability. If the scissor-type lifting frame is only a single parallelogram structure scheme, there will only be two support legs, one of which is used for fixed hinge connection with the bottom plate, and the other support leg is slidably connected to the guide rail through a slider to achieve the same technical purpose.

[0042] Preferably, Figure 5 As shown, in one of the preferred technical solutions of this embodiment, the domain controller 411, CPE412, Wi n industrial computer 413, and switch 410 are integrated and installed in the control box 550; the upper limit switch 510 and the lower limit switch 520 for limiting the movement stroke of the driving slider 332 are further provided on the bottom plate 340; the motor 331 outputs a rotational torque through the screw rod 530 to drive the slider 332 to move horizontally; in this embodiment, the driving device is connected to the domain controller 411 signal through the absolute value encoder 540 arranged in front of the motor 331, so as to achieve the technical purpose of accurately controlling the action of the driving device; in order to meet the needs of dustproof operation, this embodiment further provides a dust cover for the screw rod 530 and the absolute value encoder 540.

[0043] Preferably, Figure 6 and Figure 7As shown, in one of the preferred technical solutions of this embodiment, the electromagnetic water-permeable coil K of the transient electromagnetic instrument 418 is arranged on the top of the scissor lift 310; the control host Q of the transient electromagnetic instrument 418 is arranged in the body of the wire-controlled walking chassis. Setting the control host of the transient electromagnetic instrument in the body of the wire-controlled walking chassis can form the most effective structural protection for the core computing components of the transient electromagnetic instrument, avoiding damage to the equipment caused by falling rocks.

[0044] Preferably, Figure 6 and Figure 7 As shown, in one of the preferred technical solutions of this embodiment, the signal antenna L of the CPE is fixedly arranged on the top of the wire-controlled walking chassis.

[0045] Preferably, in one of the preferred technical solutions of this embodiment, the wire-controlled walking chassis is a crawler-type walking chassis.

[0046] Preferably, in one of the preferred technical solutions of the present embodiment, the gas sensor and the laser radar are respectively arranged at the front end of the wire-controlled walking chassis relative to the forward direction.

[0047] The mine water permeability detection vehicle provided by the present invention can prevent water exploration operators from entering the dangerous environment of water exploration operations, providing protection for personal safety; at the same time, the scissor-type lifting frame, except for the driving device, is made of non-metallic materials, which can maximally avoid the interference of metal parts on the detection signal of the transient electromagnetic instrument. When in use, the binocular camera 417 and the spliced ​​camera 419 are used to collect video signals in real time, providing visual protection for the safe walking of the wire-controlled walking chassis; the laser radar is used to detect obstacles that block the travel during the walking process, so as to facilitate the safe obstacle avoidance of the wire-controlled walking chassis; the setting of the gas sensor is used to timely sense whether there is a risk of explosion caused by flammable gas and dust in the mine; the domain controller, CPE, Wi n industrial computer, switch, and IMU are used together to process environmental information, transmit the signal acquisition results of the transient electromagnetic instrument to the remote end, and control the actions of the wire-controlled walking chassis and the lifting device according to the signal sent by the remote end; the lifting device is used to send the signal acquisition part of the transient electromagnetic instrument to the top position of the mine cave where water exploration needs to be operated to implement water exploration operations.

[0048] This solution can meet the needs of unmanned detection of geological structures around underground mine tunnels by installing a lifting device on the wire-controlled walking chassis. The transient electromagnetic instrument adopts the Windows operating platform and uses ultra-weak signal acquisition technology to ensure that it can detect long distances even with low-power transmitting current; the lifting device is installed directly above the wire-controlled walking chassis, and is mainly responsible for the lifting and lowering of the transmitting coil of the transient electromagnetic method instrument, and at the same time detects whether it has reached the top of the cave; the scissor-type lifting frame drives the lead screw through the motor to realize the movement of the connecting rod and realize vertical displacement. When the touch detector detects that it has reached the top of the cave, the driving device of the scissor-type lifting frame stops running; except for the driving device, the other structural components of the scissor-type lifting frame are all non-metallic components, which can effectively avoid signal interference caused by metal components to the detection of the transient electromagnetic instrument.

[0049] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A water permeability detection vehicle for a mine, comprising: A wire-controlled walking chassis and a transient electromagnetic instrument provided with a power device, characterized in that it also includes: a lifting device and an electric control system; the electric control system is arranged in the body of the wire-controlled walking chassis; the lifting device is fixedly arranged on the top of the wire-controlled walking chassis; The electric control system includes: a switch connected to the domain controller, CPE, and Win industrial computer respectively; the domain controller is connected to the gas sensor, laser radar, IMU and binocular camera by signal; the domain controller is connected to the wire-controlled walking chassis by signal; the Win industrial computer is connected to the transient electromagnetic instrument and the splicing camera by signal; the CPE is used to connect to the display by wireless signal; The lifting device includes: a scissor-type lifting frame provided with a driving device and a touch detector arranged on the top of the scissor-type lifting frame; the driving device and the touch detector are respectively connected to the domain controller signal; the remaining structural components of the scissor-type lifting frame except the driving device are all non-metallic material components.

2. The mine water penetration detection vehicle according to claim 1, characterized in that: The driving device drives the slider to move horizontally along the guide rail through a motor to drive the scissor-type lifting frame to rise and fall in a folded-up and down manner.

3. The mine water penetration detection vehicle according to claim 2, characterized in that: The lifting device is provided with a base plate; the hinged support leg at one side of the lower end of the scissor-type lifting frame is fixedly hinged to the base plate; the guide rail is fixedly provided on the base plate; the driving support leg at the lower end of the scissor-type lifting frame is fixedly connected to the translation output end of the motor through a slider connected to the guide rail; when a driven support leg is provided at the lower end of the lifting frame, the driven support leg is slidably connected to the guide rail through a slider.

4. The mine water penetration detection vehicle according to claim 1, characterized in that: The electromagnetic water-permeable coil of the transient electromagnetic instrument is arranged on the top of the scissor-type lifting frame; and the control host of the transient electromagnetic instrument is arranged in the body of the wire-controlled walking chassis.

5. The mine water penetration detection vehicle according to claim 1, characterized in that: The driving device is connected to the domain controller signal via an absolute encoder.

6. The mine water penetration detection vehicle according to claim 1, characterized in that: The signal antenna of the CPE is fixedly arranged on the top of the wire-controlled walking chassis.

7. The mine water penetration detection vehicle according to claim 1, characterized in that: The wire-controlled walking chassis is a crawler-type walking chassis.

8. The mine water penetration detection vehicle according to claim 1, characterized in that: Relative to the forward direction, the gas sensor and the laser radar are respectively arranged at the front end of the wire-controlled walking chassis.

9. The mine water penetration detection vehicle according to claim 1, characterized in that: The images acquired by the spliced ​​camera and the binocular camera are used to provide unmanned driving navigation for the walking-by-wire chassis.

10. The mine water penetration detection vehicle according to claim 1, characterized in that: The switch is connected to the domain controller, CPE, and Win industrial computer signals respectively through the RJ45 interface; the domain controller is connected to the gas sensor and IMU signals respectively through the RS232 interface; the domain controller is connected to the lidar signal through the RJ45 interface; the domain controller is connected to the binocular camera signal through the USB interface; the Win industrial computer is connected to the transient electromagnetic instrument and the splicing camera signal respectively through the RS232 interface; the domain controller is connected to the drive device, the touch detector, and the wire-controlled walking chassis signal respectively through the CAN bus; the CPE is connected to the display signal through one of the 4G, 5G or WIFI signals.

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