Explosion-proof UAV and cooling method in coal mine

Abstract

The present invention discloses an explosion-proof UAV in a coal mine and a cooling method, including: directly setting a cooling device on the explosion-proof UAV in a coal mine, and the cooling device is directly connected to the cavity where each component on the explosion-proof UAV is placed; in the cooling device, high-pressure fluid is directly flowed into the cavity where each component on the explosion-proof UAV is placed to cool down the components inside the cavity in real time. This heat dissipation method has a good heat dissipation effect and improves the stability of the UAV during operation; at the same time, it meets the flameproof requirements and can be safely used in an inflammable and explosive environment; in addition, by using a coolant with a low density, the load of the UAV is greatly reduced and the endurance of the UAV is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of explosion-proof equipment, and in particular to an explosion-proof UAV in a coal mine and a cooling method thereof. Background Art

[0002] China's coal resources are very rich, and it is also China's main energy consumption. The large-scale mining of coal mines has also brought a lot of coal mine safety problems. In order to ensure the production safety and efficient operation of the mine, workers need to inspect the underground tunnels and underground safety every day to promptly discover potential accidents and dangerous situations. This work is labor-intensive and dangerous. Combined with robots gradually replacing miners to complete high-risk operations, the incidence of coal mine safety accidents can be greatly reduced, and production efficiency can also be further improved. UAVs have the advantages of flexibility, fast inspection speed and monitoring range. Equipped with high-definition cameras and a variety of sensors on the drone platform, many underground inspection tasks can be performed, such as tunnel deformation monitoring, water seepage and leakage detection, environmental parameter monitoring, and rapid emergency rescue monitoring after coal mine accidents. At present, the research on security robots such as mine inspection drones is still in its infancy.

[0003] Most of the existing equipment uses air cooling for heat dissipation, but the underground environment of coal mines is complex, with flammable and explosive gases. Equipment working underground in coal mines must meet explosion-proof requirements, and air cooling cannot be used on the explosion-proof cavity of drones. Using water cooling not only increases the weight of the drone and reduces the flight time, or even makes it impossible to take off, but also requires additional energy for water cooling, which will reduce the flight time.

[0004] It can be seen that there is an urgent need to provide a new cooling structure to improve the stability of the UAV during operation, which is a problem that needs to be solved in this field. Summary of the invention

[0005] In view of the technical problem that the existing UAVs have low reliability due to excessively high temperatures during operation, the purpose of the present invention is to provide a cooling method for explosion-proof UAVs in coal mines, which transmits liquid nitrogen to the inside of each cavity of the UAV through an air pipe, cools the components inside each cavity of the UAV, and improves the stability of the UAV during operation. On this basis, to cooperate with this cooling method, this scheme also provides a structural scheme for the UAV equipment, which effectively overcomes the problems existing in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present invention provides an explosion-proof UAV in a coal mine, comprising a plurality of first cavities, a plurality of second cavities, a plurality of third cavities and a fourth cavity; the plurality of first cavities, the plurality of second cavities and the plurality of third cavities are symmetrically arranged with the fourth cavity as the center; the explosion-proof UAV also includes a power element arranged inside the first cavity, an extraction element arranged in the second cavity and the fourth cavity, a control element arranged inside the fourth cavity, a sensor element arranged outside the fourth cavity, a cooling element and a driving element arranged inside the third cavity; the power element and the control element are connected through the extraction element arranged in the second cavity to provide power for the control element; the control element is connected to the sensor element through the extraction element arranged in the fourth cavity respectively to exchange data with the sensor element; the control element and the driving element are carried out through the extraction element arranged in the second cavity, so that the driving element outputs rotational power; the driving element is connected to the rotor on the UAV to drive the rotor to rotate; the cooling element is connected to the inside of the third cavity and the fourth cavity to cool the inside of the third cavity and the fourth cavity.

[0007] Furthermore, the sensing element includes a gas sensor, a laser radar and an antenna; the gas sensor, the laser radar and the antenna are arranged outside the fourth cavity and are respectively connected to the control element inside the fourth cavity.

[0008] Furthermore, the control element includes a controller and a conversion element; the controller is connected to the conversion element.

[0009] Furthermore, the conversion element includes an intrinsically safe power supply, an isolation safety barrier and an isolation capacitor; the controller is connected to the intrinsically safe power supply through a cable and led out to the laser radar to power the laser radar; the controller is connected to the isolation safety barrier through two signal cables and led out to the laser radar and the gas sensor respectively, and transmits signals to the laser radar and the gas sensor; the controller is connected to the isolation capacitor through a signal cable and led out to the antenna to transmit signals to the antenna.

[0010] Furthermore, lead-out elements are provided in the second cavity and the fourth cavity; the lead-out elements include a first terminal, a second terminal, a third terminal, a fourth terminal, a fifth terminal and a terminal block; the first terminal, the second terminal and the third terminal are respectively located at the ports of the first cavity, the fourth cavity and the third cavity and are arranged inside the second cavity; the terminal block is arranged inside the second cavity; the fourth terminal and the fifth terminal are symmetrically arranged at the port of the fourth cavity.

[0011] Furthermore, the cable in the first cavity is led out to the inside of the fourth cavity through the first terminal, the terminal block, and the second terminal in sequence; the cable in the fourth cavity is led out to the inside of the third terminal through the second terminal, the terminal block, and the third terminal in sequence; the cable in the fourth cavity is led out to the sensor element through the fourth terminal and the fifth terminal in sequence.

[0012] Furthermore, the cooling element is arranged on the UAV and is respectively connected to the two third cavities and the fourth cavity, so that the liquid nitrogen in the cooling element is transferred to the two third cavities and the fourth cavity for cooling.

[0013] Furthermore, the cooling element includes a cooling liquid container and several air pipes; the several air pipes are connected to the cooling liquid container; the several air pipes are a first air pipe, a second air pipe and a third air pipe; the first air pipe and the third air pipe are respectively connected to the two third cavities and communicated with the two third cavities, and the cooling liquid is transported to the inside of the two third cavities through the first air pipe and the second air pipe to cool the driving element arranged inside the third cavity; the third air pipe is connected to the fourth cavity and communicated with the fourth cavity, and the cooling liquid is transported to the inside of the fourth cavity through the third air pipe to cool the control element arranged inside the fourth cavity.

[0014] In order to achieve the above object, the present invention provides a cooling method for an explosion-proof UAV in a coal mine, comprising:

[0015] A cooling device is directly arranged on the explosion-proof UAV in the coal mine, and the cooling device is directly connected to the cavity where each component on the explosion-proof UAV is placed;

[0016] The cooling device cools down the components inside the cavity in real time by directly flowing high-pressure fluid into the cavity where the components on the explosion-proof drone are placed.

[0017] Furthermore, the high-pressure fluid is liquid nitrogen.

[0018] The present invention provides an explosion-proof UAV and a cooling method for coal mines. A cavity is arranged outside the UAV, the interior of the cavity is filled with liquid nitrogen, and the nitrogen is transmitted to the interior of each cavity of the UAV through an air pipe, so as to cool the components inside each cavity of the UAV and improve the stability of the UAV during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] Figure 1 This is the system schematic diagram of this explosion-proof UAV.

[0021] The following are the parts labels in the accompanying drawings:

[0022] 100. First cavity 200. Second cavity 300. Third cavity 400. Fourth cavity 500. Sensing element 600. Cooling element 110. Power element 210. First terminal 220. Second terminal 230. Third terminal 240. Terminal block 250. Fourth terminal 260. Fifth terminal 270. Port 310. Driving element 320. Opening 410. Control element 411. Controller 412. Intrinsically safe power supply 413. Isolation safety barrier 414. Isolation capacitor 420. Opening 510. LiDAR 520. Gas sensor 530 Antenna 610. Container 620. First air pipe 630. Second air pipe 640. Third air pipe 650. Conversion joint. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0024] Aiming at the technical problem that the existing UAVs have low reliability due to over-high operating temperature, this solution provides an explosion-proof UAV and cooling method for coal mines. A cavity is set outside the UAV, which is filled with liquid nitrogen. The liquid nitrogen is transmitted to the inside of each cavity of the UAV through an air pipe to cool down the components inside each cavity of the UAV, thereby improving the stability of the UAV during operation.

[0025] For details, see Figure 1 The drone includes two first cavities 100, two second cavities 200, two third cavities 300 and one fourth cavity 400; wherein, the two first cavities 100, the two second cavities 200, and the two third cavities 300 are symmetrically arranged with the fourth cavity 400 as the center.

[0026] Furthermore, the two first cavities 100 are respectively arranged below the two second cavities 200 and connected with the second cavities 200; the two second cavities 200 are respectively placed at the two ends of the fourth cavity 400, wherein one end of each second cavity 200 is connected with the fourth cavity 400, and the other end is respectively connected with the third cavity 300; rotors are respectively provided at both ends of each cavity in the two third cavities 300.

[0027] In summary, the two first cavities 100, the two second cavities 200, the two third cavities 300, and the four rotors are connected to each other with the fourth cavity 400 as the center to form a centrally symmetrical structure, which can increase the stability of the device during operation.

[0028] Here, the two first cavities 100, the two second cavities 200, and the two third cavities 300 are symmetrical structures, so the components of their internal structures are the same, and one side is taken as an example for specific description.

[0029] The drone is also provided with a lead-out element, a power element 110, a control element 410, a drive element 310, a sensor element 500 and a cooling element 600.

[0030] The lead-out components include a plurality of connection terminals and a plurality of connection banks.

[0031] Furthermore, each second cavity 200 is provided with three terminals and one terminal block, namely a first terminal 210, a second terminal 220 and a third terminal 230; wherein the first terminal 210 is located at the port of the first cavity 100; the second terminal 220 is located at the port of the fourth cavity 400; and the third terminal 230 is located at the port of the third cavity 300.

[0032] The cables inside the first cavity 100 are led out from the first terminal 210 and the terminal block 240 inside the second cavity 200 to the inside of the fourth cavity 400 in sequence; the cables inside the fourth cavity 400 are led out from the second terminal 220, the terminal block 240 and the third terminal 230 inside the second cavity 200 to the inside of the third cavity 300 in sequence.

[0033] A fourth wiring terminal 250 and a fifth wiring terminal 260 are symmetrically disposed on the top of the fourth cavity 400 , and the cables inside the fourth cavity 400 are led out to the external sensor element 500 through the fourth wiring terminal 250 and the fifth wiring terminal 260 .

[0034] Among them, the use of the lead-out component 200 can relatively easily connect the cables input and output of each cavity; in addition, multiple lead-out components are placed in one cavity, which can reduce the number of wiring cavities, save costs, and reduce weight.

[0035] It should be noted here that the wiring terminals in this solution preferably adopt flameproof wiring terminals, whose port 270 is a bell mouth; at the same time, the wiring block 240 preferably adopts an explosion-proof wiring block; the use of flameproof wiring terminals and explosion-proof wiring blocks meets explosion-proof requirements and increases the safety of the equipment during operation.

[0036] A power element 110 is disposed inside the first cavity 100 ; the power element 110 is disposed inside the first cavity 100 , and the cables of the power element 110 are led out to the fourth cavity 400 through the first terminal 210 , the terminal block 240 , and the second terminal 220 in sequence.

[0037] Specifically, the power element 110 is a battery, which is used to provide energy and power for the device.

[0038] The battery here can be a primary battery or a secondary battery, etc.; in this solution, a secondary battery is preferred, which is a rechargeable battery that can be recycled and cyclically charged to provide energy for the device.

[0039] A sensor element 500 is disposed outside the fourth cavity 400 for sensing external information so as to adjust the working state of the drone.

[0040] The sensing element 500 includes a gas sensor 520 , a lidar 510 and an antenna 530 .

[0041] The gas sensor 520 is disposed on one side outside the fourth cavity 400 and is used to detect the concentration of gas in the coal mine so as to detect flammable and explosive gases in time.

[0042] The laser radar 510 is disposed on the other side of the fourth cavity 400 and performs navigation and positioning by transmitting and receiving signals.

[0043] The antenna 530 is arranged at the top of the outside of the fourth cavity 400, and is used to transmit the signal of the drone from underground to the ground, and communicate with the operation end, so that the personnel operating the drone can know the status of the drone and the underground in time.

[0044] A control element 410 is provided inside the fourth cavity 400, and the control element 410 regulates and distributes the current provided by the power element 110; wherein the control element 410 includes a controller 411 and a conversion element. The controller is connected to the external sensor element 500 through the conversion element, and distributes the current to the sensor element 500 to power it; by converting the cable led out of the controller 411 through a converter and then leading it out to the sensor and the case, the safety of the device during operation is increased.

[0045] Furthermore, the conversion element includes an intrinsically safe power supply 412 , an isolation safety barrier 413 and an isolation capacitor 414 ; the controller 411 is connected to the external sensor element 500 through the intrinsically safe power supply 412 , the isolation safety barrier 413 and the isolation capacitor 414 , respectively.

[0046] After the power supply cable of the power element 110 is led out to the fourth cavity 400 , it is connected to the controller 411 in the control element 410 .

[0047] The power supply cable in the controller 411 is converted by the intrinsically safe power supply 412 and led out to the laser radar 510 outside the fourth cavity 400 through the fourth terminal 250 to power the laser radar 510.

[0048] The other two signal cables in the controller 411 are isolated by the isolation safety barrier 413, and then led out to the outside of the fourth cavity 400 through the fourth terminal 250, and are respectively connected to the laser radar 510 and the gas sensor 520; the laser radar 510 and the gas sensor 520 can transmit signals with the controller 411 through the signal cables.

[0049] The antenna signal cable in the controller 411 is isolated by the isolation capacitor 414, led out to the outside of the fourth cavity 400 through the fifth terminal 260, and connected to the antenna 530; the antenna 530 can transmit signals to the controller 411 through the signal cable.

[0050] Another power supply cable in the controller 411 is led out to the inside of the third cavity 300 through the second wiring terminal 220 , the wiring row 240 , and the third wiring terminal 230 .

[0051] Two driving elements 310 are provided inside the third cavity 300, and the two driving elements 310 are respectively arranged at the two ends of the third cavity 300; the cable of the controller 411 is led out into the driving element 310, so that the driving element 310 can output a rotational motion state and connect to the rotor below to drive the rotor to rotate.

[0052] Here, the driving element 310 preferably adopts a brushless motor, which has higher efficiency, lower energy consumption and longer operating time of the device when working.

[0053] The cooling element 600 is used to cool down the elements inside the device cavity; it includes a container 610, a high-pressure fluid, a plurality of air pipes and an adapter.

[0054] Furthermore, the container 610 is mounted on the outside of the drone and can be symmetrically arranged with the sensor element 500 to ensure the stability of the drone during operation.

[0055] The high-pressure fluid is placed inside the container 610 and introduced into each cavity through a plurality of air pipes. In this solution, three air pipes are provided corresponding to the number of cavities, namely, the first air pipe 620, the second air pipe 630 and the third air pipe 640.

[0056] An opening 320 is provided on the two third cavities 300 where the driving element 310 is placed, and a conversion joint 650 for converting the air pipe and the cavity is provided on the opening 320; the first air pipe 620 and the second air pipe 630 on the container 610 are respectively connected to the inside of the two third cavities 300 through the conversion joints 650 on the two third cavities; the high-pressure fluid inside the container 610 is introduced into the inside of the two third cavities 300 where the driving element 310 is located through the first air pipe 620 and the second air pipe 630 to cool down the driving element 310.

[0057] At the same time, an opening 420 is provided on the fourth cavity 400 where the control element 410 is placed, and a conversion joint 650 for converting the air pipe and the cavity is provided on the opening 420; the third air pipe 640 on the container 610 is connected to the interior of the fourth cavity 400 through the conversion joint 650 on the fourth cavity 400; the high-pressure fluid inside the container 610 is introduced into the fourth cavity 400 where the control element 410 is located through the third air pipe 640 to cool the control element 410.

[0058] Liquid nitrogen is preferably used as the high-pressure fluid here because it is easy to obtain and has a low density, which can reduce the load of the drone. At the same time, liquid nitrogen has good stability and cannot burn, so its use in underground coal mines can increase the sense of safety.

[0059] Secondly, the design of the openings on the third cavity 300 and the fourth cavity 400 here meets the flameproof gap requirements.

[0060] In addition, the number of air pipes is not limited as above and can be determined according to the number of cavities on the drone that need to be cooled.

[0061] The cooling element 600 in this solution introduces high-pressure liquid nitrogen into each low-pressure cavity through an air pipe to take away the heat inside the low-pressure cavity. There is no need to provide energy for the cooling element, which can simplify the explosion-proof circuit design and increase the flight time of the drone.

[0062] The following example illustrates the working process of the present solution when in use; it should be noted that the following content is only a specific application example of the present solution and does not constitute a limitation on the present solution.

[0063] The explosion-proof wiring design in this solution is to lead the cables in the power element 110 through the wiring terminals and the wiring block to the controller 411 to supply power to the controller 411.

[0064] The controller 411 adjusts and distributes the current through the conversion element, and transmits it to the external sensor element 500 through the wiring terminals. The sensor element 500 collects information about the external environment and conditions and transmits the information to the controller 411 through the signal cable.

[0065] At the same time, the controller 411 also leads out a cable through the terminal block and the terminal block 240 to the driving element 310, providing power for the driving element 310, driving the rotor below to rotate, and driving the entire drone to fly.

[0066] In addition, the liquid nitrogen in the cooling element 600 flows into the two third cavities 300 and the fourth cavity 400 through the first gas pipe 620, the second gas pipe 630 and the third gas pipe 640 respectively, cooling the driving element 310 and the control element 410 inside the third cavity 300 and the fourth cavity 400.

[0067] To sum up, the above-mentioned scheme constitutes an explosion-proof UAV and cooling method for coal mines, which has a good heat dissipation effect, improves the stability of the UAV during operation, and meets the explosion-proof requirements, and can be safely used in flammable and explosive environments; in addition, by using a coolant with low density, the load of the UAV is greatly reduced and the flight time of the UAV is increased.

[0068] At the same time, the wiring method of the drone in this solution greatly improves the safety of equipment operation, and reduces the number of cavities in the layout, thereby saving manufacturing costs, reducing weight, and increasing the flight time of the drone.

[0069] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An explosion-proof drone for coal mines, characterized in that: It includes a plurality of first cavities, a plurality of second cavities, a plurality of third cavities and a fourth cavity; the plurality of first cavities, the plurality of second cavities and the plurality of third cavities are symmetrically arranged with the fourth cavity as the center; the explosion-proof UAV also includes a power element arranged inside the first cavity, an extraction element arranged in the second cavity and the fourth cavity, a control element arranged inside the fourth cavity, a sensor element arranged outside the fourth cavity, a cooling element and a driving element arranged inside the third cavity; the power element and the control element are connected through the extraction element arranged in the second cavity to provide power for the control element; the control element is connected to the sensor element through the extraction element arranged in the fourth cavity respectively to exchange data with the sensor element; the control element and the driving element are connected through the extraction element arranged in the second cavity to make the driving element output rotational power; the driving element is connected to the rotor on the UAV to drive the rotor to rotate; the cooling element is connected to the inside of the third cavity and the fourth cavity to cool the inside of the third cavity and the fourth cavity; The lead-out element comprises a first terminal, a second terminal, a third terminal, a fourth terminal, a fifth terminal and a terminal block; the first terminal, the second terminal and the third terminal are respectively located at the ports of the first cavity, the fourth cavity and the third cavity and are arranged inside the second cavity; the terminal block is arranged inside the second cavity; the fourth terminal and the fifth terminal are symmetrically arranged at the port of the fourth cavity; The cable in the first cavity is led out to the inside of the fourth cavity through the first terminal, the terminal block, and the second terminal in sequence; the cable in the fourth cavity is led out to the inside of the third terminal through the second terminal, the terminal block, and the third terminal in sequence; the cable in the fourth cavity is led out to the sensor element through the fourth terminal and the fifth terminal in sequence; The cooling element is arranged on the UAV and is respectively connected to the two third cavities and the fourth cavity, so that the liquid nitrogen in the cooling element is transferred to the two third cavities and the fourth cavity for cooling.

2. The explosion-proof UAV for coal mines according to claim 1, characterized in that: The sensing element includes a gas sensor, a laser radar and an antenna; the gas sensor, the laser radar and the antenna are arranged outside the fourth cavity and are respectively connected to the control element inside the fourth cavity.

3. The explosion-proof UAV for coal mines according to claim 1, characterized in that: The control element includes a controller and a conversion element; the controller is connected to the conversion element.

4. The explosion-proof UAV for coal mines according to claim 3, characterized in that: The conversion element includes an intrinsically safe power supply, an isolation safety barrier and an isolation capacitor; the controller is connected to the intrinsically safe power supply via a cable and led out to the laser radar to power the laser radar; the controller is connected to the isolation safety barrier via two signal cables and led out to the laser radar and the gas sensor respectively to transmit signals to the laser radar and the gas sensor; the controller is connected to the isolation capacitor via a signal cable and led out to the antenna to transmit signals to the antenna.

5. The explosion-proof UAV for coal mines according to claim 1, characterized in that; The cooling element includes a cooling liquid container and a plurality of air pipes; the plurality of air pipes are connected to the cooling liquid container; the plurality of air pipes are a first air pipe, a second air pipe and a third air pipe; the first air pipe and the third air pipe are respectively connected to two third cavities and communicated with the two third cavities, and the cooling liquid is transported to the inside of the two third cavities through the first air pipe and the second air pipe to cool the driving element arranged inside the third cavity; the third air pipe is connected to the fourth cavity and communicated with the fourth cavity, and the cooling liquid is transported to the inside of the fourth cavity through the third air pipe to cool the control element arranged inside the fourth cavity.

6. A cooling method for an explosion-proof UAV in a coal mine, characterized in that: The cooling method is implemented based on the explosion-proof drone in coal mines according to any one of claims 1 to 5 above, and the cooling method comprises: A cooling device is directly arranged on the explosion-proof UAV in the coal mine, and the cooling device is directly connected to the cavity where each component on the explosion-proof UAV is placed; The cooling device cools down the components inside the cavity in real time by directly flowing high-pressure fluid into the cavity where the components on the explosion-proof drone are placed.

7. The cooling method of an explosion-proof UAV in a coal mine according to claim 6, characterized in that: The high-pressure fluid is liquid nitrogen.

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