A mine self-horizon positioning marker

Abstract

This utility model relates to a self-leveling positioning marker for mining, belonging to the field of positioning marker technology. The utility model includes a pipe clamp, a universal joint, a plumb bob, a marker, a U-shaped connector, a marker base plate, and a connecting assembly. The pipe clamp connects the overhead pipe and the U-shaped connector; the upper end of the universal joint connects to the U-shaped connector; the connecting assembly connects the lower end of the universal joint and the marker base plate; the plumb bob connects to the connecting assembly; and the marker is fixed to the marker base plate. This utility model enables the marker base plate to automatically adjust to a horizontal state, ensuring the marker plane is parallel to the ground, providing a stable visual positioning reference for inspection robots, effectively improving positioning accuracy. It is suitable for auxiliary positioning in complex environments such as mine roadways, ensuring that inspection robots obtain a stable and distortion-free positioning reference during vertical scanning, thereby improving auxiliary positioning accuracy and environmental adaptability.

Description

Technical Field

[0001] This utility model belongs to the field of positioning mark technology, specifically, it relates to a self-leveling positioning mark for mining. Background Technology

[0002] Currently, mine tunnel inspection robots mainly rely on lidar, visual SLAM, or inertial navigation technologies for autonomous positioning. However, the complex environment of mine tunnels, with its electromagnetic interference, dust obstruction, and uneven ground, can easily lead to pose drift issues such as gyroscope error accumulation and visual feature matching failure. This causes the data acquisition area of ​​the mine inspection robot to shift, affecting the model registration accuracy. To effectively suppress the impact of pose errors, artificial landmarks deployed on the tunnel roof near the mine exit must be kept horizontal. This allows the inspection robot to vertically scan the horizontal landmarks on the tunnel roof for assisted positioning.

[0003] In existing technologies, manual road signs are mostly installed in a fixed manner, relying on calibration during installation. For example, Chinese utility model patent CN213403007U discloses a "precision positioning identification card for mining," which is fixed to an underground vehicle with screws and connected to a CPU module via a two-way signal electrical connection through a wireless positioning transceiver module. The drawback is that it requires frequent manual charging and monitoring, and lacks dynamic automatic calibration.

[0004] Furthermore, existing mechanical leveling devices rely on external power or sensor control, resulting in complex structures and high costs, making them unsuitable for the harsh environments of mine roadways characterized by high humidity, dust, and vibration. For example, the anchor bolts and steel strips recommended in the Mine Support Specification (GB 50419-2017), while ensuring support stability, lack dynamic leveling capabilities and cannot meet the high-precision horizontal requirements of inspection robots for road markers. Summary of the Invention

[0005] To address the problems of data acquisition area shift and model registration accuracy reduction caused by pose drift of existing mine inspection robots during tunnel operation, as well as the shortcomings of traditional fixed-installation manual road signs that cannot adapt to the tilt or deformation of pipelines at the top of the tunnel, resulting in the road sign plane not being parallel to the ground and affecting visual positioning accuracy, this utility model provides a device that can automatically adjust the road sign horizontally through a gravity self-balancing mechanism. This ensures that the inspection robot obtains a stable and distortion-free positioning reference when scanning vertically, thereby improving auxiliary positioning accuracy and environmental adaptability.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: The aforementioned mine self-leveling positioning marker includes a pipe clamp, a universal joint, a plumb bob, a marker, a U-shaped connector, a marker base plate, a marker, and a connecting assembly; the pipe clamp connects the overhead pipe and the U-shaped connector; the upper end of the universal joint connects to the U-shaped connector; the connecting assembly connects the lower end of the universal joint and the marker base plate; the plumb bob connects to the connecting assembly; and the marker is fixed on the marker base plate.

[0007] Preferably, the connecting assembly includes a coupling flange, an upper plate, and a square tube; the lower end of the universal joint is connected to the upper plate via the coupling flange; the top plate of the square tube is fixedly connected to the upper plate; and the plumb bob is fixed at the center of the top plate of the square tube.

[0008] Preferably, the upper plate and the square tube are directly opposite each other, and their centers are on the same vertical line; the central axis of the universal joint and the center of the upper plate are on the same vertical line.

[0009] Preferably, the base plate of the square tube and the road sign base plate are fixed by four pairs of screws and anti-loosening nuts; the center of the square tube and the center of the road sign base plate are on the same vertical line.

[0010] Preferably, the top plate of the square tube is connected and fixed to the four ends of the upper plate with connecting rods of equal length.

[0011] Preferably, the universal joint is a cross-type universal joint.

[0012] The beneficial effects of this utility model are: This utility model uses a pipe buckle to connect a U-shaped connector to an overhead pipe at the top of the tunnel, with the overhead pipe providing support for the utility model. Through the connection structure of the road sign base plate, upper plate, and square tube, combined with the connection structure of the U-shaped connector, universal joint, and connecting components, the road sign base plate automatically adjusts to a horizontal state under the gravity of the plumb bob, ensuring that the road sign plane is parallel to the ground. This provides a stable visual positioning benchmark for the inspection robot, effectively improving positioning accuracy and making it suitable for auxiliary positioning in complex environments in mine tunnels. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the tube buckle structure of this utility model; Figure 3 This is a schematic diagram of the universal joint structure of this utility model; Figure 4 This is a schematic diagram of the cubic component of a universal joint; Figure 5 This is a schematic diagram of the universal joint's pivot pin. Figure 6 A schematic diagram of the U-shaped rod structure of this utility model; Figure 7A schematic diagram of the plumb bob structure of this utility model; Figure 8 This is a road sign diagram, in which the inverted L-shape and rectangle are in orange, and the rest are in blue; In the diagram: 1. Overhead pipe, 2. Pipe clamp, 3. U-shaped connector, 4. Universal joint, 5. Coupling flange, 6. Top plate, 7. Square tube, 8. Plumb bob, 9. Road sign base plate, 10. Road sign, 11. Cubic component, 12. Shaft pin, 13. U-shaped rod. Detailed Implementation

[0014] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, so as to facilitate the understanding of those skilled in the art.

[0015] In the description of this utility model, unless otherwise stated, the terms "inner", "upper", "lower", etc., indicate the orientation or state relationship based on the orientation or state relationship shown in the drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0016] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "equipped with" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances. Example 1

[0017] As attached Figures 1 to 6 In this embodiment, a mine self-leveling positioning marker is installed on an overhead pipe 1 with a diameter of 50mm at the top of the mine roadway. A stainless steel hose clamp with an appropriate pipe diameter is selected as the pipe clamp 2. The upper part of the pipe clamp 2 is tightly wrapped and fixed to the outer surface of the overhead pipe 1. By tightening the adjusting bolt on the hose clamp, the U-shaped connector 3 is securely connected to the bottom of the pipe clamp 2. The lower part of the U-shaped connector 3 is connected to the upper part of the universal joint 4 by an M3 pan head screw and a nylon insert anti-loosening nut, ensuring that the universal joint 4 can rotate flexibly while preventing loosening.

[0018] The lower end of the universal joint 4 is connected to the upper plate 6 via the coupling flange 5, and the plumb bob 8 is fixed to the center of the top plate of the square tube 7. The centers of the upper plate 6, the square tube 7, the road sign base plate 9, and the central axis of the universal joint 4 are on the same vertical line.

[0019] Universal joint 4 can be any structure that automatically adjusts its sag under gravity. For example, it can be a structure that uses U-shaped rods 13 at both ends to clamp the cubic part 11 and a pivot pin 12 to rotate through it. The pivot pin 12 has a diameter of 5mm, ensuring that universal joint 4 has freedom of movement in both pitch and yaw directions. The lower part of universal joint 4 is fixed to the upper plate 6 via a coupling flange 5. The coupling flange 5 and the upper plate 6 are fastened together using four sets of M3 pan head screws and lock nuts. The four corners of the upper plate 6 and the top plate of the square tube 7 are supported and connected by M3 hexagonal brass double-ended bolts and pan head screws, forming a stable support structure, while reserving installation space for the fixing screws above the plumb bob 8.

[0020] A plumb bob 8 is threadedly fixed to the center of the top plate of the square tube 7. The bottom of the plumb bob 8 fits tightly with the screw hole at the top of the square tube 7 and is locked with a nut. The lower part of the square tube 7 is fixed to the road sign base plate 9 by four sets of M3 screws and anti-loosening nuts. The road sign 10 is attached to the center area of ​​the bottom surface of the road sign base plate 9 with strong adhesive. In actual use, the plumb bob 8 is vertically downward under the action of gravity. Through the rotation of the universal joint 4, the road sign base plate 9 is automatically adjusted to a horizontal state, ensuring that the plane of the road sign 10 is parallel to the ground, providing a stable visual positioning reference for the inspection robot. Example 2

[0021] In this embodiment, for the overhead pipe 1 with a diameter of 150mm at the top of the mine roadway, a widened stainless steel hose clamp is selected as the pipe clamp 2, and an anti-slip rubber pad is added inside to enhance the friction between it and the overhead pipe 1, ensuring a stable installation. The U-shaped connector 3 is connected to the universal joint 4, the universal joint 4 to the coupling flange 5, and the coupling flange 5 to the upper plate 6, all using M3 stainless steel pan head bolts and lock nuts to ensure the corrosion resistance of the overall structure in the humid and dusty mining environment.

[0022] The surface of the pin 12 of universal joint 4 is hard chrome plated to reduce rotational friction resistance and improve the rotational flexibility and service life of universal joint 4. The hexagonal copper double-through support between the top plate 6 and the top plate of square tube 7 is thickened to enhance the vibration resistance of the overall structure and effectively resist the vibration interference generated by the operation of transportation equipment in the tunnel.

[0023] The road sign base plate 9 is made of aluminum alloy with an anodized surface, which reduces the overall weight while improving wear resistance. During installation, the pipe clamp 2 is first fixed to the overhead pipe 1, and then the U-shaped connector 3, universal joint 4, coupling flange 5, upper plate 6, square tube 7, plumb bob 8 and road sign base plate 9 are connected in sequence. Through the coordinated operation of each component, the positioning mark 10 is automatically adjusted to a horizontal position under the action of gravity, meeting the high-precision positioning requirements of the mine inspection robot.

[0024] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of this utility model.

Claims

1. A self-leveling positioning marker for mining, characterized in that, It includes a pipe clamp (2), a universal joint (4), a plumb bob (8), a road sign (10), a U-shaped connector (3), a road sign base plate (9), a road sign (10), and a connecting assembly; the pipe clamp (2) is connected between the overhead pipe (1) and the U-shaped connector (3); the upper end of the universal joint (4) is connected to the U-shaped connector (3); the connecting assembly is connected between the lower end of the universal joint (4) and the road sign base plate (9); the plumb bob (8) is connected to the connecting assembly; the road sign (10) is fixed on the road sign base plate (9).

2. The mine self-leveling positioning beacon according to claim 1, characterized in that, The connecting components include a coupling flange (5), an upper plate (6), and a square tube (7); the lower end of the universal joint (4) is connected to the upper plate (6) through the coupling flange (5); the top plate of the square tube (7) is fixedly connected to the upper plate (6); and the plumb bob (8) is fixed at the center of the top plate of the square tube (7).

3. The mine self-leveling positioning marker according to claim 2, characterized in that, The upper plate (6) and the square tube (7) are directly opposite each other, and their centers are on the same vertical line; the central axis of the universal joint (4) and the center of the upper plate (6) are on the same vertical line.

4. The mine self-leveling positioning marker according to claim 2, characterized in that, The base plate of the square tube (7) and the road sign base plate (9) are fixed by four pairs of screws and anti-loosening nuts; the center of the square tube (7) and the center of the road sign base plate (9) are on the same vertical line.

5. The mine self-leveling positioning marker according to claim 2, characterized in that, The top plate of the square tube (7) is connected and fixed to the four ends of the upper plate (6) with connecting rods of equal length.

6. The mine self-leveling positioning marker according to claim 2, characterized in that, The universal joint (4) is a cross-shaped universal joint.

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