Inspection robot for mine

Abstract

The invention relates to the technical field of robots, and discloses a mine inspection robot which comprises a chassis, a wheel assembly is arranged at the bottom of the chassis, extension assemblies are uniformly arranged on the wheel assembly, a collecting assembly and an adjusting assembly are arranged on the top surface of the chassis, a detection assembly is arranged in the collecting assembly, and a detection module is arranged in the adjusting assembly. A camera is arranged at the top of the collecting assembly, anti-collision assemblies connected with the adjusting assembly are arranged at the front end and the rear end of the chassis correspondingly, and a control module is arranged in the chassis. According to the robot, the detection assembly is arranged to detect and recognize the gradient of the chassis, and the control module controls the adjusting assembly to adjust the position of the collecting assembly according to the obtained gradient after receiving data, so that it is guaranteed that when the robot climbs slopes with different gradients, the center of gravity can be adjusted in time, and the robot is prevented from losing balance; therefore, the stability of the inspection process of the robot is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a patrol inspection robot for mines. Background Art

[0002] Before mining, inspecting the mountain is a crucial step. This step is not only related to the safety and efficiency of mining, but also directly related to environmental protection and the safety of surrounding residents; inspections can also help personnel identify possible geological problems in the mountain and assess the impact of mining on the mountain's ecological environment.

[0003] When inspecting the mountain of a mine, since the mine itself has a certain slope, when the existing inspection robot travels on the sloped road, the component of gravity it is subjected to along the slope direction will increase, causing the robot to lose balance more easily, resulting in phenomena such as leaning back or falling backwards, which in turn causes the robot's movement to be unstable.

[0004] In addition, when the robot moves along the mountain, although there are cameras and other equipment on the body that can make a preliminary judgment on the road surface, the camera can only judge the surface conditions. When passing through a mountain with a soft surface or a mountain where surface stones are easy to roll down, the robot is likely to sink into the soil, causing its movement to be blocked, or the wheels to slip and retreat due to rolling stones, etc., and even overturn due to the above two situations, resulting in unstable driving of the robot.

[0005] Therefore, it is necessary to solve the above problems through a mine inspection robot. Summary of the invention

[0006] The purpose of the present invention is to provide a mining inspection robot to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a patrol robot for mining, comprising a chassis, a wheel assembly is arranged at the bottom of the chassis, extension assemblies are evenly arranged on the wheel assemblies, a collection assembly and an adjustment assembly are arranged on the top surface of the chassis, a detection assembly is arranged in the collection assembly, a camera is arranged on the top of the collection assembly, anti-collision assemblies connected to the adjustment assembly are respectively arranged at the front and rear ends of the chassis, and a control module is arranged in the chassis; The adjustment assembly comprises movable tilting blocks arranged in parallel, the front ends and rear ends of the two movable tilting blocks are respectively connected by a straight plate and a vertical plate, and the straight plate and the vertical plate are respectively provided with a push rod and a pull rod; The detection component comprises a moving box and a longitudinal rod, the outer side of the longitudinal rod is sleeved with a longitudinal spring, a moving lead block is arranged in the moving box, and transverse springs located in the moving box are arranged on both sides of the moving lead block.

[0008] Preferably, a fixed plate is further provided between the two movable tilting blocks, the fixed plate is located between the straight plate and the vertical plate, and an adjustment cylinder is provided on a side of the fixed plate away from the straight plate; The moving box is vertically arranged with respect to the longitudinal rod, and the moving box reciprocates along the longitudinal rod. The moving box is provided with moving rollers located at both sides of the longitudinal rod.

[0009] Preferably, the anti-collision assembly comprises a connecting column and an anti-collision plate rotatably arranged on the connecting column, a slide rail is arranged on the side of the anti-collision plate close to the chassis, a pulley is slidably arranged in the slide rail, a support column is rotatably connected to the outer side of the pulley, and the two connecting columns are rotatably connected to the ends of the push rod and the pull rod respectively; The support column located at the front end of the chassis is slidably arranged on the side of the chassis, and the support column located at the rear end of the chassis is fixedly arranged on the side of the chassis.

[0010] Preferably, a lifting assembly is provided at the front end of the chassis, and the lifting assembly includes a lifting cylinder, and the lifting cylinder is fixedly installed at the front end of the chassis through a right-angle plate, and the output end of the lifting cylinder is fixedly connected to a lifting plate, and the lifting plate is fixedly set on a support column located at the front end of the chassis.

[0011] Preferably, the wheel assembly includes an axle rotatably arranged at the bottom of the chassis, wheel hubs are fixedly arranged at both ends of the axle, wheel posts are evenly arranged on the circumference of the wheel hub, one end of the wheel post away from the wheel hub is fixedly connected to a wheel spring, one end of the wheel spring away from the wheel post is fixedly connected to a tire plate, and a tire body is arranged on the side of the tire plate away from the wheel spring.

[0012] Preferably, an electromagnet is fixedly provided at the inner end of the wheel column, a permanent magnet is slidably provided inside the wheel column, one end of the permanent magnet extends out of the wheel column, the wheel spring is sleeved on the outside of the portion of the permanent magnet extending out of the wheel column, and a power mechanism for driving the wheel assembly and a steering mechanism for controlling the direction are provided in the chassis.

[0013] Preferably, the extension assembly comprises a fixed block, a rotating shaft is rotatably provided on the fixed block, an extension plate is fixedly provided on the rotating shaft, a storage airbag is provided on a side of the extension plate close to the wheel assembly, and a torsion spring is provided on the rotating shaft.

[0014] Preferably, the collection assembly includes a limit plate fixedly arranged on the chassis, a rotating plate is hinged on the limit plate, a rolling wheel is rotatably arranged on one end of the rotating plate away from the limit plate, and the rolling wheel is in contact with the inclined side surface of the movable tilting block.

[0015] Preferably, a longitudinal frame is fixedly provided on the rotating plate, a transverse frame located outside the longitudinal frame is fixedly provided on the rotating plate, the detection component is arranged inside the longitudinal frame, and a horizontal rotation motor is arranged on the top of the longitudinal frame.

[0016] Preferably, the output shaft of the horizontal rotating motor passes through the horizontal frame and extends out, and is fixedly connected to a dual-output motor, and the output end of the dual-output motor is fixedly connected to a camera.

[0017] Technical effects and advantages of the present invention: 1. In the present invention, a detection component is set to detect and identify the inclination of the chassis. After the control module receives the data, the adjustment component is controlled to adjust the position of the acquisition component according to the acquired inclination, thereby ensuring that the robot can adjust the center of gravity in time when climbing slopes of different slopes, avoiding the robot from losing balance, leaning back, or falling back, etc., thereby ensuring the stability of the robot's inspection process.

[0018] 2. In the present invention, the center of gravity of the collection component is adjusted by setting a movable tilting block to prevent the robot from leaning back or moving backwards; at the same time, the camera on the top of the collection component is prevented from having a blind spot, which affects the inspection results; the anti-collision component can also be adjusted by pushing the rod and the pull rod, so that the anti-collision component can more quickly clean up the rocks that suddenly fall on the route, thereby ensuring the smooth inspection process of the robot.

[0019] 3. In the present invention, the deformation change data of the transverse spring and the longitudinal spring are combined with the image data taken by the camera and transmitted to the control module. The control module determines the road conditions on the current robot's route and whether rollover occurs based on the received data, thereby controlling the adjustment component, anti-collision component, extension component and other components to adjust the robot's travel state in time to avoid the robot from sinking into the soil or slipping and retreating, and can promptly straighten the overturned robot to ensure the stability of the inspection process.

[0020] 4. In the present invention, by setting up an anti-collision component, the robot can be protected from collision during the inspection process; it can also push and clean up loose stones in the travel route to prevent the robot from walking on rolling stones and causing slipping and backwards; it can also straighten the overturned robot; by setting up an extension component, it can protect the side of the wheel to avoid hitting sharp stones and causing tire damage; it can temporarily widen the wheel to reduce the possibility of the wheel sinking into the soft surface of the mountain; it can also assist the anti-collision component to straighten the overturned robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the adjustment components of the present invention; Figure 3 This is a schematic diagram of the structure of the acquisition component of the present invention; Figure 4 This is a schematic diagram of the structure of the detection component of the present invention; Figure 5 This is a schematic diagram of the positional relationship between the anti-collision component, the chassis and the lifting component of the present invention; Figure 6 for Figure 5 A schematic diagram of the structure enlargement of part A; Figure 7 This is a schematic structural diagram of the wheel assemblies of the present invention in a state of being attached to each other; Figure 8 This is a schematic diagram of the internal structure of the wheel column of the present invention; Fig. 9 It is a schematic diagram of the structure of the extension assembly of the present invention; Fig.10 It is a schematic diagram of the structure of the wheel assembly of the present invention in a separated state.

[0022] In the figure: 1, chassis; 2, wheel assembly; 201, axle; 202, wheel hub; 203, wheel column; 204, wheel spring; 205, tire plate; 206, tire body; 207, permanent magnet; 208, electromagnet; 3, extension assembly; 301, fixed block; 302, rotating shaft; 303, extension plate; 304, storage airbag; 4, collection assembly; 401, rotating plate; 402, limiting plate; 403, rolling wheel; 404, longitudinal frame; 405, transverse frame; 406, horizontal rotation motor; 407, dual output motor; 5, adjustment assembly; 50 1. Mobile tilting block; 502. Fixed plate; 503. Adjustment cylinder; 504. Vertical plate; 505. Pull rod; 506. One-line plate; 507. Push rod; 6. Anti-collision assembly; 601. Anti-collision plate; 602. Connecting column; 603. Slide rail; 604. Pulley; 605. Support column; 7. Lifting assembly; 701. Lifting cylinder; 702. Lifting plate; 703. Right-angle plate; 8. Detection assembly; 801. Mobile box; 802. Longitudinal rod; 803. Longitudinal spring; 804. Mobile lead block; 805. Transverse spring; 806. Mobile roller; 9. Camera. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In order to solve the problem that when the existing inspection robot is driving on a sloping road, the component of gravity along the slope direction will increase, causing the robot to lose balance more easily, resulting in backward or falling back, which in turn causes the robot to be unstable during its travel, embodiment 1 is proposed. Example

[0025] The present invention provides Figures 1 to 10 A mining inspection robot shown in the figure includes a chassis 1, a wheel assembly 2 is arranged at the bottom of the chassis 1, a collection assembly 4 and an adjustment assembly 5 are arranged on the top surface of the chassis 1, a detection assembly 8 is arranged in the collection assembly 4, and a camera 9 is arranged on the top of the collection assembly 4. Anti-collision assemblies 6 connected to the adjustment assembly 5 are respectively arranged at the front and rear ends of the chassis 1. The robot is protected from collision by setting the anti-collision assembly 6. Power supply equipment such as batteries is also arranged in the chassis 1 to provide power support for equipment that requires electricity in the robot. A control module is arranged in the chassis 1. The control module is remotely connected to a rear-end display for personnel to view data. The control module is electrically connected to the electronic components on the robot respectively. The control module can receive signal data sent by the detection assembly 8 and can receive data such as video images taken by the camera 9. According to the received data, instructions are issued to other components.

[0026] By setting the detection component 8 to detect and identify the inclination of the chassis 1, after the control module receives the data, it controls the adjustment component 5 to adjust the position of the acquisition component 4 according to the acquired inclination, thereby ensuring that the robot can adjust the center of gravity in time when climbing, avoiding the robot from losing balance, leaning back, or falling back, etc., and ensuring the stability of the robot's movement process.

[0027] When the robot is climbing a hill for inspection, the slope of the mountain is not regular or consistent and may change at any time. Therefore, it is necessary to adjust the center of gravity of the robot in time and move the center of gravity of the robot forward to prevent the robot from falling back or falling backward. Figure 2-Figure 3As shown, the adjustment component 5 includes movable tilting blocks 501 arranged in parallel, and the front and rear ends of the two movable tilting blocks 501 are respectively connected by a straight plate 506 and a vertical plate 504, and a push rod 507 and a pull rod 505 are respectively provided on the straight plate 506 and the vertical plate 504, one end of the push rod 507 extends out of the chassis 1 and is sleeved on the connecting column 602 located at the front end of the chassis 1, and one end of the pull rod 505 extends out of the chassis 1 and is sleeved on the connecting column 602 located at the rear end of the chassis 1; a fixed plate 502 is also arranged between the two movable tilting blocks 501, and the fixed plate 502 is located between the straight plate 506 and the vertical plate 504, and an adjusting cylinder 503 is arranged on the side of the fixed plate 502 away from the straight plate 506, and the adjusting cylinder 503 is fixedly installed on the chassis 1, and its output shaft is connected to the fixed plate 502. By setting up the mobile tilting block 501, the control module controls the translation of the mobile tilting block 501 according to the received tilt angle of the mountain inspected by the robot, drives the collection component 4 to rotate, and adjusts the center of gravity of the collection component 4, so that when the robot is climbing, its overall center of gravity can be adjusted in time according to the tilt angle of the inspected mountain, avoiding the robot from leaning back, moving backward, or leaning forward.

[0028] The acquisition component 4 includes a limit plate 402 fixedly arranged on the chassis 1, a rotating plate 401 is hingedly connected to the limit plate 402, a rolling wheel 403 is rotatably arranged at one end of the rotating plate 401 away from the limit plate 402, and the rolling wheel 403 is in contact with the oblique side surface of the movable tilting block 501; a longitudinal frame 404 is fixedly arranged on the rotating plate 401, a transverse frame 405 located outside the longitudinal frame 404 is fixedly arranged on the rotating plate 401, the detection component 8 is arranged inside the longitudinal frame 404, and a horizontal rotating motor 406 is arranged on the top of the longitudinal frame 404, and the horizontal rotating motor 406 can adjust the horizontal deflection angle of the camera 9 The dual-output motor 407 can adjust the vertical deflection angle of the camera 9 to shoot the surrounding environment; the output shaft of the horizontal rotation motor 406 passes through the horizontal frame 405 and extends out, and is fixedly connected with the dual-output motor 407. The output end of the dual-output motor 407 is fixedly connected with the camera 9. The mountain environment is shot and recorded by setting the camera 9, and the recorded data is transmitted to the control module. There are two cameras 9, one shooting end faces the front of the vehicle to monitor the road conditions in front of the robot in real time, and the other shooting end faces the rear of the vehicle to monitor the situation behind the robot in real time, thereby taking all-round pictures of the mountain.

[0029] By setting the movable tilting block 501, the center of gravity of the acquisition component 4 is adjusted to prevent the robot from leaning back or moving backwards; at the same time, the camera 9 on the top of the acquisition component 4 is prevented from having a blind spot, which affects the inspection results; the anti-collision component 6 can also be adjusted by pushing the rod 507 and the pull rod 505, so that the anti-collision component 6 can more quickly clean up the rocks that suddenly fall on the route, thereby ensuring the smooth inspection process of the robot.

[0030] When in use, the control module detects the inclination of the mountain currently inspected by the robot according to the detection component 8, controls the extension of the output end of the adjustment cylinder 503, and drives the movable tilting block 501 to move toward the front end of the chassis 1 through the fixed plate 502, so that the rolling wheel 403 rolls along the inclined side of the movable tilting block 501, thereby causing the rotating plate 401 to rotate upward with the hinge axis between it and the limit plate 402 as the center of the circle until the detection component 8 sends a signal to move into place and stops rotating, so that the center of gravity of the entire collection component 4 can be appropriately moved toward the front end of the chassis 1 along with the inclination of the inspected mountain, thereby increasing the grip of the front wheel of the robot and ensuring that the robot will not fall back or fall back.

[0031] If the acquisition component 4 tilts with the inclination of the mountain, a blind spot will appear in some areas at the bottom of the anti-collision component 6, causing the camera 9 to be unable to capture images on the route in time, affecting the inspection results and easily causing the robot to be unable to avoid obstacles in time, thus affecting the smooth inspection.

[0032] Therefore, when the detection component 8 moves to its position, the adjustment component 5 drives the collection component 4 to adjust back to the vertical state. The control module then controls the dual output motor 407 to start rotating, driving the camera 9 to rotate downward, so that it can capture all road conditions in front of the anti-collision component 6, avoiding the camera 9 from having a blind spot, ensuring the accuracy of the inspection results, and ensuring the smoothness of the inspection process.

[0033] When the inclination angle of the mountain is small, the control module controls the output end of the adjustment cylinder 503 to retract, and moves the center of gravity of the entire collection component 4 to the original position, avoiding the situation where the overall center of gravity of the robot is forward and the rear end of the robot is tilted when the slope of the mountain is small.

[0034] By setting the detection component 8, the inclination angle of the mountain currently climbed by the robot is detected in real time, such as Figure 4As shown, the detection component 8 includes a moving box 801 and a longitudinal rod 802. The outer side of the longitudinal rod 802 is sleeved with a longitudinal spring 803. One end of the longitudinal spring 803 is fixedly connected to the longitudinal frame 404, and the other end is fixedly connected to the moving box 801. When the moving box 801 moves back and forth, the two longitudinal springs 803 respectively generate compression and extension. The change data of the deformation amount of the longitudinal spring 803 is transmitted to the control module through an electrical signal. After receiving the data, the control module issues an instruction to make adjustments. The moving box 801 is vertically arranged with the longitudinal rod 802, and the moving box 801 reciprocates along the longitudinal rod 802. The moving box 801 is provided with moving rollers 806 located on both sides of the longitudinal rod 802.

[0035] When in use, when the longitudinal spring 803 near the front end of the chassis 1 is stretched, it means that the robot is moving along a sloped mountain. Due to the slope, the mobile box 801 moves toward the rear end of the chassis 1 along the longitudinal rod 802 with the support of the moving roller 806. At this time, the control module receives a signal and controls the adjustment component 5 to drive the collection component 4 to adjust the center of gravity.

[0036] like Figure 5-Figure 6 As shown, the anti-collision component 6 includes a connecting column 602 and an anti-collision plate 601 rotatably arranged on the connecting column 602, a slide rail 603 is arranged on the side of the anti-collision plate 601 close to the chassis 1, a pulley 604 is slidably arranged in the slide rail 603, and a support column 605 is rotatably connected to the outer side of the pulley 604, and the two connecting columns 602 are rotatably connected to the ends of the push rod 507 and the pull rod 505 respectively; when the connecting column 602 moves back and forth, it drives the two anti-collision plates 601 to rotate, and the anti-collision plate 601 drives the slide rail 603 and the pulley 604 to move relative to each other, and the cooperation of the support column 605, the pulley 604 and the slide rail 603 supports the anti-collision plate 601 to rotate as the connecting column 602 moves, thereby ensuring the stability of the anti-collision plate 601.

[0037] During use, when the movable tilting block 501 moves, the push rod 507 and the pull rod 505 are driven to move toward the front end of the chassis 1 through the straight plate 506 and the vertical plate 504, and the push rod 507 and the pull rod 505 respectively drive the front and rear connecting columns 602 to move in the direction of travel, and the two connecting columns 602 drive the anti-collision plate 601 to deflect, so that the angle between the two anti-collision plates 601 changes from a straight angle to an obtuse angle, which can well block the falling rocks from the mountain during the movement. The falling rocks quickly fall along the anti-collision plate 601 to both sides of the wheel assembly 2, avoiding the falling rocks from falling on the robot's travel route and hindering normal movement.

[0038] like Figure 7-Figure 10As shown, the wheel assembly 2 includes an axle 201 rotatably arranged at the bottom of the chassis 1, wheel hubs 202 are fixedly arranged at both ends of the axle 201, wheel posts 203 are evenly arranged on the circumference of the wheel hub 202, one end of the wheel post 203 away from the wheel hub 202 is fixedly connected to a wheel spring 204, one end of the wheel spring 204 away from the wheel post 203 is fixedly connected to a tire plate 205, and a tire body 206 is arranged on the side of the tire plate 205 away from the wheel spring 204; an electromagnet 208 is fixedly arranged at the inner end of the wheel post 203, and when the electromagnet 208 is energized, the permanent magnet 20 7 generates magnetic attraction, so that one end of the permanent magnet 207 fits with one end of the electromagnet 208, and the wheel spring 204 is in a compressed state. After the electromagnet 208 is powered off, the magnetic attraction disappears, the wheel spring 204 is reset, and the end of the permanent magnet 207 that fits with the electromagnet 208 is separated. The permanent magnet 207 is slidably arranged in the wheel column 203, and one end of the permanent magnet 207 extends out of the wheel column 203. The wheel spring 204 is sleeved on the outer side of the portion of the permanent magnet 207 that extends out of the wheel column 203. A power mechanism for driving the wheel assembly 2 and a steering mechanism for controlling the direction are arranged in the chassis 1.

[0039] During use, when it is necessary to inspect a mountain with a lot of stones or many pits on the surface, the shape of the wheel assembly 2 is changed to assist the robot in adapting to the inspection of the mountain with a lot of stones or many pits on the surface, thereby ensuring the stability of the robot's movement.

[0040] The wheel assembly 2 can be divided into a contact state and a separation state. The contact state is suitable for mountains with relatively flat road surfaces. Figure 7 In the state shown, the control module controls the electromagnet 208 to be energized, generating a magnetic attraction force on the permanent magnet 207, driving the permanent magnet 207 to approach the electromagnet 208 and fit together, the wheel spring 204 is compressed, and the two ends of the tire plate 205 fit together. At this time, the wheel as a whole is a stable structure.

[0041] The separation state is suitable for mountains with bumpy roads, that is, Fig.10 In the state shown, the control module controls the electromagnet 208 to cut off the power, the magnetic attraction force of the permanent magnet 207 disappears, the wheel spring 204 is reset, and the permanent magnet 207 is driven to separate from the electromagnet 208. At this time, the wheel is a movable structure. When the tire body 206 passes over the protrusion, the protrusion forces the tire body 206 to drive the tire plate 205 to move upward, compressing the wheel spring 204. After passing the protrusion, the wheel spring 204 drives the tire body 206 and the tire plate 205 to reset, thereby ensuring that the robot can remain stable when passing over bumpy roads, thereby ensuring that the camera 9 can capture clear image data.

[0042] The working principle of the present invention is as follows: first, adjust the wheel status. The staff can observe the type of the current mountain surface. When the mountain surface is relatively flat, the wheel assembly 2 remains in a close state for inspection. When the mountain surface is relatively bumpy, the wheel assembly 2 remains in a separated state for inspection. During the inspection process, if the camera 9 captures a change in the current road condition, the wheel status can also be adjusted accordingly.

[0043] Secondly, the inspection starts to detect the inclination of the mountain. When the longitudinal spring 803 near the front end of the chassis 1 is stretched, it means that the robot is moving along the inclined mountain. Due to the inclination, the mobile box 801 moves toward the rear end of the chassis 1 along the longitudinal rod 802 with the support of the moving roller 806. At this time, the control module of the detection component 8 receives the change signal of the detection component 8, and controls the adjustment component 5 to drive the collection component 4 to adjust the center of gravity.

[0044] Then, the center of gravity of the robot is adjusted. The control module detects the inclination of the mountain currently inspected by the detection component 8, controls the output end of the adjustment cylinder 503 to extend, and drives the movable tilting block 501 to move toward the front end of the chassis 1 through the fixed plate 502, so that the rolling wheel 403 rolls along the inclined side of the movable tilting block 501, thereby causing the rotating plate 401 to rotate upward with its hinge axis with the limit plate 402 as the center of the circle until the movable box 801 moves back to its original position along the longitudinal rod 802 and sends a signal to move into place. After receiving the signal, the control module stops adjusting the extension of the output end of the cylinder 503, so that the center of gravity of the entire acquisition component 4 can be appropriately moved toward the front end of the chassis 1 along the inclination of the inspected mountain, thereby increasing the grip of the front wheel of the robot. At the same time, when the detection component 8 moves into place, the acquisition component 4 is adjusted back to the vertical state as a whole, so that the camera 9 can shoot all road conditions in front of the anti-collision component 6 to avoid shooting blind spots.

[0045] Finally, when inspecting along the mountain, the center of gravity needs to be adjusted in time with the inclination of the mountain. When the inclination angle of the mountain changes from large to small, the longitudinal spring 803 near the front end of the chassis 1 generates compression, and the moving box 801 moves toward the front end of the chassis 1 along the longitudinal rod 802. At this time, the control module of the detection component 8 receives the change signal of the detection component 8, and the control module controls the output end of the adjustment cylinder 503 to retract and move the tilting block 501 toward the rear end of the chassis 1, thereby driving the center of gravity of the entire collection component 4 to move to the original position, avoiding the forward tilting situation caused by the overall center of gravity of the robot being forward and causing its rear end to tilt up when the slope of the mountain is small.

[0046] Based on the technical solution of the above-mentioned embodiment 1, the image data captured by the camera 9 is used to make a preliminary judgment on the road condition of the route, so that the robot can adjust the wheel status and avoid obstacles in time. However, the camera 9 can only judge the situation on the surface of the mountain and cannot make further judgments. For example, when passing through a mountain with a soft surface or a mountain where stones on the surface are easy to roll down, the robot is prone to sinking into the soil, causing its progress to be blocked, or the wheels may slip and retreat after passing through rolling stones, and even overturn due to the above two situations, resulting in unstable driving process of the robot. Therefore, embodiment 2 is proposed to solve the above-mentioned technical problems. Example

[0047] like Fig. 9 As shown, the wheel assembly 2 is evenly provided with extension assemblies 3, and the extension assemblies 3 include fixing blocks 301, and the fixing blocks 301 are fixedly arranged on both sides of the tire plate 205. In the stored state, the storage airbag 304 is drawn out and shrunk. With the support of the torsion spring, the extension plate 303 is close to the side of the tire body 206, which can protect the side of the tire body 206 and prevent the side of the tire body 206 from being damaged by sharp stones, thereby affecting the normal inspection of the robot; when the control module observes the existence of sharp stones on the current road surface through the road condition image captured by the camera 9, the steering mechanism can be used to control the wheel assembly 2 to turn and avoid walking, thereby preventing the end face of the tire body 206 from being damaged; in the inflated state, the storage airbag 304 is inflated to expand, thereby widening the tire body 206. A rotating shaft 302 is rotatably provided on the fixed block 301, and the rotation angle of the rotating shaft 302 is limited to 90°. A torsion spring is provided on the rotating shaft 302, and an extension plate 303 is fixedly provided on the rotating shaft 302. A storage airbag 304 is provided on the side of the extension plate 303 close to the wheel assembly 2, and a small inflation device and a small exhaust device are provided on the wheel hub 202, and the two are respectively connected to the two sides of the storage airbag 304.

[0048] When in use, the control module controls the small inflatable device to inflate the storage airbag 304, so that the storage airbag 304 expands rapidly to an inflated state. After the storage airbag 304 expands, its side surface fits tightly with the side surface of the tire body 206, and its outer end surface is flush with the arc-shaped outer end surface of the tire body 206. The rotating shaft 302 drives the extension plate 303 to rotate 90° to a horizontal state. The expansion of the storage airbag 304 widens the contact surface between the tire body 206 and the ground, thereby preventing the wheel assembly 2 from sinking into soft soil.

[0049] like Figure 6As shown, the support column 605 located at the front end of the chassis 1 is slidably set on the side of the chassis 1, and the support column 605 located at the rear end of the chassis 1 is fixedly set on the side of the chassis 1; a lifting component 7 is set at the front end of the chassis 1, and the lifting component 7 includes a lifting cylinder 701, and the lifting cylinder 701 is fixedly installed on the front end of the chassis 1 through a right-angle plate 703, and the output end of the lifting cylinder 701 is fixedly connected to a lifting plate 702, and the lifting plate 702 is fixedly set on the support column 605 located at the front end of the chassis 1.

[0050] When in use, by controlling the output end of the lifting cylinder 701 to extend, the lifting plate 702 is driven to descend, thereby driving the support column 605 at the front end of the chassis 1 to descend, and then driving the anti-collision assembly 6 at the front end of the chassis 1 to descend as a whole, so that the bottom end of the anti-collision plate 601 at the front end of the chassis 1 is inserted into the gap between the road stones, so as to facilitate pushing up the surface stones that are easy to roll down on the road surface. Since the two anti-collision plates 601 adjust the included angle to an obtuse angle according to the inclination of the mountain, the surface stones will be pushed up and roll down to the two sides of the wheel assembly 2 along the two anti-collision plates 601, thereby preventing the tire body 206 from slipping, retreating, etc. after passing over the loose stones.

[0051] like Figure 4 As shown, a moving lead block 804 is arranged in the moving box 801. When the moving lead block 804 reciprocates in the moving box 801, two transverse springs 805 generate compression and extension respectively. The deformation change data of the transverse spring 805 is transmitted to the control module through an electrical signal. Transverse springs 805 located in the moving box 801 are arranged on both sides of the moving lead block 804. When the robot rolls over, the transverse spring 805 on the same side as the rollover direction generates compression and remains motionless, and the transverse spring 805 on the other side generates extension and remains motionless.

[0052] During use, when the moving lead block 804 moves back and forth in the moving box 801, the two transverse springs 805 experience alternating changes in compression and extension, which means that the current robot is shaking left and right more frequently, indicating that the road section currently being passed is bumpy. At this time, the control module receives the signal of the change of the transverse spring 805, controls the wheel assembly 2 to change to a separated state, and ensures the stability of the robot's inspection process.

[0053] During the robot inspection process, the camera 9 can only observe the appearance of the road condition, and the actual road condition cannot be identified in time. Therefore, the control module needs to combine the image data captured by the camera 9 and the change signal of the detection component 8 to analyze the road condition and adjust the status of each component in time to ensure the stability of the robot during the inspection process.

[0054] When the camera 9 at the rear end captures a dark wheel mark on the road surface inspected by the robot, and at the same time the longitudinal spring 803 near the front end of the chassis 1 is frequently compressed and then restored, it means that the moving box 801 frequently moves toward the front end of the chassis 1 along the longitudinal rod 802 and then resets. It can be judged that the road surface on which the robot is currently traveling is relatively soft, causing the wheels at the front end of the robot to sink into the soft soil briefly and then move normally, resulting in the moving box 801 frequently moving toward the front end and then resetting. At this time, the control module receives the detection group The change signal of component 8 and the image data of camera 9 control the small inflating device to inflate the storage airbag 304, so that the storage airbag 304 expands rapidly to an inflated state. After the storage airbag 304 expands, its side surface fits tightly with the side surface of the tire body 206, and its outer end surface is flush with the arc-shaped outer end surface of the tire body 206. The rotating shaft 302 drives the extension plate 303 to rotate 90° to a horizontal state. The expansion of the storage airbag 304 widens the contact surface between the tire body 206 and the ground, thereby preventing the wheel assembly 2 from frequently sinking into soft soil.

[0055] By setting up the anti-collision component 6, the robot can be protected from collision during the inspection process; it can also push and clean loose stones in the route to prevent the robot from walking on rolling stones and slipping and retreating; it can also straighten the overturned robot; by setting up the extension component 3, the side of the wheel can be protected to avoid hitting sharp stones and causing tire damage; the wheel can be temporarily widened to reduce the possibility of the wheel sinking into the soft surface of the mountain; it can also assist the anti-collision component 6 to straighten the overturned robot.

[0056] When the camera 9 facing the rear captures stones frequently rolling down the road surface inspected by the robot, and the two longitudinal springs 803 frequently generate compression and extension alternately, it means that the moving box 801 moves back and forth along the longitudinal rod 802. It can be judged that the road surface where the robot is currently traveling is prone to stones rolling down. The wheel assembly 2 passes over the rolling stones, causing the robot to shake back and forth, thereby causing the moving box 801 to move back and forth. At this time, after receiving the signal, the control module controls the output end of the lifting cylinder 701 to extend, driving the lifting plate 702 to descend, thereby The support column 605 at the front end of the chassis 1 is driven down, and then the anti-collision assembly 6 at the front end of the chassis 1 is driven down as a whole, so that the bottom end of the anti-collision plate 601 at the front end of the chassis 1 is inserted into the gap between the stones on the road surface, so as to facilitate pushing up the surface stones that are easy to roll down on the road surface. Since the two anti-collision plates 601 adjust the included angle to an obtuse angle according to the inclination of the mountain, the surface stones will roll down to the two sides of the wheel assembly 2 along the two anti-collision plates 601 after being pushed up, clearing the movable stones on the robot route, thereby preventing the wheel assembly 2 from slipping, retreating, etc. after passing over the loose stones.

[0057] When the camera 9 captures the tilted image, and at the same time any one of the transverse springs 805 generates compression and the other transverse spring 805 generates tension and remains unchanged, it means that the robot has rolled over at this time, and the mobile lead block 804 moves toward the side of the rollover. At this time, the control module controls the output end of the adjustment cylinder 503 to extend, driving the mobile tilting block 501 to continue to move toward the front end of the chassis 1, reducing the angle between the two anti-collision plates 601 to the minimum, and then adjusting the output end of the cylinder 503 to retract quickly, so that the angle between the two anti-collision plates 601 is a flat angle. During the change of the angle between the anti-collision plates 601, the robot will first approach the overturned ground and then quickly move away. When moving away, inertia will be generated to drive the robot to return to the right position. At the same time, the small inflatable device can also be controlled to inflate the storage airbag 304. The storage airbag 304 expands to make the extension plate 303 rotate instantly, and while generating thrust to the overturned ground, the reaction force assists the wheel assembly 2 to return to the right position, thereby assisting the anti-collision plate 601 to return the robot as a whole. After the robot is straightened, the center of gravity of the collection component 4 can be adjusted according to the inclination detected by the detection component 8.

[0058] The deformation change data of the transverse spring 805 and the longitudinal spring 803 are combined with the image data taken by the camera 9 and transmitted to the control module. The control module determines the road conditions on the current robot's route and whether rollover occurs based on the received data, thereby controlling the adjustment component 5, the anti-collision component 6 and the extension component 3 and other components to adjust the robot's travel state in time to prevent the robot from sinking into the soil or slipping and retreating, and can promptly straighten the overturned robot to ensure the stability of the inspection process.

[0059] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mine inspection robot, characterized in that: The invention comprises a chassis (1), wherein a wheel assembly (2) is arranged at the bottom of the chassis (1), extension assemblies (3) are evenly arranged on the wheel assembly (2), a collection assembly (4) and an adjustment assembly (5) are arranged on the top surface of the chassis (1), a detection assembly (8) is arranged inside the collection assembly (4), a camera (9) is arranged on the top of the collection assembly (4), anti-collision assemblies (6) connected to the adjustment assembly (5) are respectively arranged at the front and rear ends of the chassis (1), and a control module is arranged inside the chassis (1); The adjustment assembly (5) comprises movable tilting blocks (501) arranged in parallel, the front ends and rear ends of the two movable tilting blocks (501) being connected via a straight plate (506) and a vertical plate (504) respectively, and the straight plate (506) and the vertical plate (504) are respectively provided with a push rod (507) and a pull rod (505); The detection assembly (8) comprises a moving box (801) and a longitudinal rod (802), the outer side of the longitudinal rod (802) being provided with a longitudinal spring (803), a moving lead block (804) being provided inside the moving box (801), and transverse springs (805) located inside the moving box (801) being provided on both sides of the moving lead block (804).

2. A mine inspection robot according to claim 1, characterized in that: A fixed plate (502) is further provided between the two movable tilting blocks (501), the fixed plate (502) being located between the straight plate (506) and the vertical plate (504), and an adjustment cylinder (503) is provided on a side of the fixed plate (502) away from the straight plate (506); The moving box (801) is arranged perpendicularly to the longitudinal rod (802), and the moving box (801) reciprocates along the longitudinal rod (802). The moving box (801) is provided with moving rollers (806) located on both sides of the longitudinal rod (802).

3. A mine inspection robot according to claim 1, characterized in that: The anti-collision component (6) comprises a connecting column (602) and an anti-collision plate (601) rotatably arranged on the connecting column (602); a slide rail (603) is arranged on a side of the anti-collision plate (601) close to the chassis (1); a pulley (604) is slidably arranged inside the slide rail (603); a support column (605) is rotatably connected to the outer side of the pulley (604); and the two connecting columns (602) are rotatably connected to the ends of the push rod (507) and the pull rod (505), respectively. The support column (605) located at the front end of the chassis (1) is slidably arranged on the side of the chassis (1), and the support column (605) located at the rear end of the chassis (1) is fixedly arranged on the side of the chassis (1).

4. A mine inspection robot according to claim 3, characterized in that: A lifting assembly (7) is provided at the front end of the chassis (1), the lifting assembly (7) comprising a lifting cylinder (701), the lifting cylinder (701) being fixedly mounted at the front end of the chassis (1) via a right-angle plate (703), the output end of the lifting cylinder (701) being fixedly connected to a lifting plate (702), the lifting plate (702) being fixedly mounted on a support column (605) located at the front end of the chassis (1).

5. The mine inspection robot according to claim 1, characterized in that: The wheel assembly (2) comprises an axle (201) rotatably arranged at the bottom of the chassis (1); wheel hubs (202) are fixedly arranged at both ends of the axle (201); wheel posts (203) are evenly arranged on the circumference of the wheel hub (202); one end of the wheel post (203) away from the wheel hub (202) is fixedly connected to a wheel spring (204); one end of the wheel spring (204) away from the wheel post (203) is fixedly connected to a tire plate (205); and a tire body (206) is arranged on a side of the tire plate (205) away from the wheel spring (204).

6. A mine inspection robot according to claim 5, characterized in that: An electromagnet (208) is fixedly arranged at the inner end of the wheel column (203), a permanent magnet (207) is slidably arranged inside the wheel column (203), one end of the permanent magnet (207) extends out of the wheel column (203), the wheel spring (204) is sleeved on the outside of the portion of the permanent magnet (207) extending out of the wheel column (203), and a power mechanism for driving the wheel assembly (2) and a steering mechanism for controlling the direction are arranged inside the chassis (1).

7. A mine inspection robot according to claim 1, characterized in that: The extension assembly (3) comprises a fixed block (301), a rotating shaft (302) is rotatably arranged on the fixed block (301), an extension plate (303) is fixedly arranged on the rotating shaft (302), a storage airbag (304) is arranged on a side of the extension plate (303) close to the wheel assembly (2), and a torsion spring is arranged on the rotating shaft (302).

8. The mine inspection robot according to claim 1, characterized in that: The collecting assembly (4) comprises a limiting plate (402) fixedly arranged on the chassis (1), a rotating plate (401) being hingedly connected to the limiting plate (402), a rolling wheel (403) being rotatably arranged at one end of the rotating plate (401) away from the limiting plate (402), and the rolling wheel (403) being in contact with the oblique side surface of the movable tilting block (501).

9. A mine inspection robot according to claim 8, characterized in that: A longitudinal frame (404) is fixedly arranged on the rotating plate (401), a transverse frame (405) located outside the longitudinal frame (404) is fixedly arranged on the rotating plate (401), the detection component (8) is arranged inside the longitudinal frame (404), and a horizontal rotation motor (406) is arranged on the top of the longitudinal frame (404).

10. A mine inspection robot according to claim 9, characterized in that: The output shaft of the horizontal rotation motor (406) passes through the horizontal frame (405) and extends outward, and is fixedly connected to a dual-output motor (407), and the output end of the dual-output motor (407) is fixedly connected to a camera (9).

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