Mine safety robot

Abstract

The present application discloses a mine safety robot, comprising two robot bodies, a detection component and a voltage-stabilized power supply, wherein the two robot bodies are connected through a universal joint, the detection component and the voltage-stabilized power supply are connected to the robot body, the robot body comprises a base plate, a drive component and a walking component, the drive component and the walking component are connected to the base plate, the drive component comprises a power device and a transmission device, the power device and the transmission device are connected to the base plate, the walking component comprises a walking wheel, a track wheel, a bracket and a linear drive device, the bracket is connected to the walking wheel, the track wheel and the base plate, the two ends of the linear drive device are connected to the bracket and the base plate, the detection component comprises a mechanical arm, a communication module, an image recognition module and a sensor module, and the mechanical arm is connected to the base plate, the communication module, the image recognition module and the sensor module. Thus, it is possible to travel on the rugged track of the mine, thereby obtaining real-time information of the target area of ​​the mine, and uploading the real-time information to the information management platform of the mine.

Description

Technical Field

[0001] The present application relates to the field of mine safety engineering, and in particular to a mine safety robot. Background Art

[0002] Nowadays, by introducing safety robots in mines, safety risks can be discovered in a timely manner while saving the labor intensity of mine-related safety personnel, especially inside mines. When accidents such as employees' illegal operations (production), mine collapse, flammable (toxic) gas leakage or water seepage occur, safety robots can detect them in time and feedback to the mine-related safety personnel.

[0003] At present, safety robots are installed in mines. In order to avoid affecting the normal operation of the conveyor belts on the ground in the mines, or to avoid affecting the normal traffic on the ground roads in the mines, it is generally adopted to hang tracks on the top of the mine for the safety robots to operate.

[0004] However, the structure of the mine itself is often complex and rugged, and the track suspended at the top of the mine will inevitably become complex and rugged. This is mainly reflected in the fact that the track suspended at the top of the mine may have a large degree of bending, which greatly affects the normal operation of the safety robot on the track. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the above-mentioned technology at least to some extent.

[0006] To this end, one purpose of the present application is to propose a mine safety robot that can travel on a rugged track in a mine, thereby obtaining real-time information of a target area in the mine and uploading the real-time information to an information management platform of the mine.

[0007] To achieve the above-mentioned purpose, the first aspect of the present application proposes a mine safety robot, comprising: two robot bodies, a detection component and a voltage-stabilized power supply, wherein the two robot bodies are connected via a universal joint, and the detection component and the voltage-stabilized power supply are respectively connected to the two robot bodies, wherein the robot body comprises: a base plate, a drive component and two symmetrically arranged walking components, wherein the drive component and the two symmetrically arranged walking components are respectively connected to the base plate, wherein the drive component comprises: a power device and a transmission device, wherein the power device and the transmission device are respectively connected to the base plate, and the power output shaft of the power device is connected to the power input shaft of the transmission device;

[0008] Any one of the two symmetrically arranged walking assemblies comprises: a walking wheel, a track wheel, an inverted V-shaped bracket and a linear drive device, wherein the walking wheel and the track wheel are respectively connected to the two end shafts of the inverted V-shaped bracket, and the middle part of the inverted V-shaped bracket is connected to the bottom plate shaft;

[0009] The two ends of the linear drive device are respectively connected to one end of the bracket close to the track wheel and the base plate shaft, and the linear drive device is used to drive the walking wheel and the track wheel to press the track through the inverted V-shaped bracket;

[0010] The axis of the power output shaft of the transmission device is in the same straight line as the axis of the rotating shaft connected to the inverted V-shaped bracket and the bottom plate shaft, and the power output shaft of the transmission device and the rotating shaft of the walking wheel are connected by a transmission belt;

[0011] The detection component comprises: a mechanical arm, a communication module, an image recognition module and a sensor module, wherein one end of the mechanical arm is connected to the base plate, the communication module, the image recognition module and the sensor module are respectively connected to the other end of the mechanical arm, and the communication module is respectively connected to the image recognition module and the sensor module;

[0012] The voltage-stabilized power supply is used to supply power to the power device, the linear drive device, the robotic arm, the communication module, the image recognition module and the sensor module.

[0013] According to the embodiment of the present application, the mine safety robot can travel on the rugged track of the mine, so as to obtain real-time information of the target area of ​​the mine and upload the real-time information to the information management platform of the mine.

[0014] In addition, the mine safety robot proposed in the above embodiment of the present application may also have the following additional technical features:

[0015] In one embodiment of the present application, the image recognition module is used to identify and collect real-time images within the target area of ​​the mine to generate first data; the sensor module is used to detect and collect gas composition, sound and vibration within the target area of ​​the mine to generate second data.

[0016] In one embodiment of the present application, the communication module is used to connect to the information management platform of the mine, and upload the first data and the second data to the information management platform of the mine.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 This is a schematic diagram of the structure of a mine safety robot according to an embodiment of the present application;

[0020] Figure 2 This is a schematic structural diagram of a robot body of a mine safety robot according to an embodiment of the present application;

[0021] Figure 3 This is a diagram showing the effect of using a mine safety robot according to another embodiment of the present application;

[0022] Figure 4 This is a diagram showing the use effect of a mine safety robot according to another embodiment of the present application.

[0023] As shown in the figure:

[0024] 100- robot body;

[0025] 101-base plate, 102-driving assembly, 1021-power device, 1022-transmission device, 103-traveling assembly, 1031-traveling wheel, 1032-track wheel, 1033-bracket, 1034-linear driving device;

[0026] 200-Detection component;

[0027] 201-mechanical arm, 202-communication module, 203-image recognition module, 204-sensor module;

[0028] 300-Universal joint;

[0029] 400- voltage stabilizing power supply;

[0030] 500-track. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] The mine safety robot according to an embodiment of the present application is described below with reference to the accompanying drawings.

[0033] The mine safety robot provided in the embodiment of the present application can be used to work in complex and tortuous mines, while obtaining real-time information of the target area of ​​the mine and uploading the real-time information to the mine's information management platform.

[0034] like Figure 1 , Figure 3 and Figure 4 As shown, a mine safety robot includes: two robot bodies 100, a detection component 200 and a stabilized power supply 400, the two robot bodies 100 are connected through a universal joint 300, and the detection component 200 and the stabilized power supply 400 are respectively connected to the two robot bodies 100, wherein:

[0035] like Figure 2 As shown, the robot body 100 includes: a base plate 101, a driving component 102 and two symmetrically arranged walking components 103, the driving component 102 and the two symmetrically arranged walking components 103 are respectively connected to the base plate 101, wherein:

[0036] like Figure 2 As shown, the driving assembly 102 includes: a power device 1021 and a transmission device 1022, the power device 1021 and the transmission device 1022 are respectively connected to the base plate 101, and the power output shaft of the power device 1021 is connected to the power input shaft of the transmission device 1022;

[0037] Any one of the two symmetrically arranged walking components 103 includes: a walking wheel 1031, a track wheel 1032, an inverted V-shaped bracket 1033 and a linear drive device 1034, the walking wheel 1031 and the track wheel 1032 are respectively connected to the two end shafts of the inverted V-shaped bracket 1033, and the middle part of the inverted V-shaped bracket 1033 is connected to the bottom plate 101 axis;

[0038] The two ends of the linear drive device 1034 are respectively connected to one end of the bracket 1033 close to the track wheel 1032 and the shaft of the bottom plate 101. The linear drive device 1034 is used to drive the walking wheel 1031 and the track wheel 1032 to press the track through the inverted V-shaped bracket 1033;

[0039] The axis of the power output shaft of the transmission device 1022 is in the same straight line as the axis of the rotating shaft connected to the inverted V-shaped bracket 1033 and the bottom plate 101, and the power output shaft of the transmission device 1022 and the rotating shaft of the walking wheel 1031 are connected by a transmission belt;

[0040] like Figure 1 and Figure 2As shown, the detection component 200 includes: a robotic arm 201, a communication module 202, an image recognition module 203 and a sensor module 204, wherein one end of the robotic arm 201 is connected to the base plate 101, the communication module 202, the image recognition module 203 and the sensor module 204 are respectively connected to the other end of the robotic arm 201, and the communication module 202 is respectively connected to the image recognition module 203 and the sensor module 204.

[0041] like Figure 1 and Figure 2 As shown, the voltage-stabilized power supply 400 is used to supply power to the power device 1021 , the linear drive device 1034 , the robot arm 201 , the communication module 202 , the image recognition module 203 and the sensor module 204 .

[0042] In an embodiment of the present application, relevant staff need to place the mine safety robot on an inverted T-shaped track 500 in the mine. After placement, the mine safety robot and the coal mine communication system need to be connected wirelessly, and then the mine safety robot can be remotely operated through the mine's information management platform.

[0043] Specifically, the relevant staff firstly assembles an inverted T-shaped track 500 above the mine according to the actual situation of the mine;

[0044] After the track 500 is assembled, the relevant staff places the mine safety robot on the track 300 and connects the mine safety robot to the coal mine communication system through the communication module 202;

[0045] Then, the relevant staff relies on the communication module 202 and the coal mine communication system to operate the mine safety robot;

[0046] During this period, relevant staff can carry out necessary debugging of the mine safety robot according to actual conditions, for example, check whether the main components of the mine safety robot such as point 101, drive component 102, robotic arm 201, communication module 202, image recognition module 203, sensor module 204, universal joint 300 and stabilized power supply 400 are in normal condition.

[0047] Then, the relevant staff, relying on the communication module 202 and the coal mine communication system, issues a forward command to the mine safety robot, and controls the mechanical arm 201 to drive the communication module 202, the image recognition module 203 and the sensor module 204 to point to a suitable position;

[0048] During this period, the two walking components 103 in the robot body 100 drive the mine safety robot to run on the track 500. Specifically, the walking wheel 1031 in the walking component 103 is used to be attached to the lower surface of the track 500, and the track wheel 1032 is used to be stuck on the track 500. At this time, the linear drive device 1034 is adjusted to shorten it, so that the walking wheel 1031 and the track wheel 1032 are in close contact with the track 500 respectively;

[0049] The power device 1021 drives the travel wheel 1031 through the transmission device 1022 and the transmission belt, thereby driving the entire mine safety robot to form on the track 500.

[0050] Finally, when the mine safety robot passes through the bend of the track 500, the two robot bodies 100 connected by the universal joint 300 are used to make the mine safety robot pass through the bend of the track 500 in sequence;

[0051] At the same time, when each robot body 100 passes through the bend of the track 500, the track wheels 1032 and the walking wheels 1031 at both ends of the bracket 1033 can pass through well.

[0052] The mine safety robot operates according to the real-time control of relevant staff or according to the route planning made by relevant staff in advance. On the one hand, it can directly reach a specific area inside the mine and monitor the mine or pit in the area for a long time. On the other hand, it can patrol inside the mine. When an abnormal situation occurs, the mine safety robot will send the relevant information to the relevant staff through the communication module 202 and the mine communication system, so that the relevant staff inside the mine can avoid risks in time.

[0053] The mine safety robot provided in the embodiment of the present application is capable of traveling on a rugged track in a mine, thereby acquiring real-time information of a target area in the mine, and uploading the real-time information to an information management platform of the mine.

[0054] To better explain the present application, in one embodiment of the present application, the image recognition module 203 is used to identify and collect real-time images within the target area of ​​the mine to generate first data; the sensor module 204 is used to detect and collect gas composition, sound and vibration within the target area of ​​the mine to generate second data.

[0055] The communication module 202 is used to connect to the information management platform of the mine and upload the first data and the second data to the information management platform of the mine.

[0056] It should be noted that the sensor module 204 integrates a sound sensor, a vibration sensor and a gas sensor;

[0057] The image recognition module 203 integrates a high-definition camera and a fill light. In addition, the image recognition module 203 can also be a high-definition camera with a night vision function.

[0058] In the embodiment of the present application, the relevant staff can find the wind direction in the mine according to the information fed back by the image recognition module 203 and the sensor module 204;

[0059] When water seepage occurs inside the mine, the inner wall collapses, or a fire occurs inside the mine, the image recognition module 203 can detect such anomalies and upload relevant information to the mine's information management platform;

[0060] When a gas leak occurs inside the mine, the sensor module 204 can sense the abnormal changes in the gas inside the mine. At this time, the sensor module 204 uploads the relevant information of the gas to the information management platform of the mine;

[0061] In addition, when other accidents occur inside the mine, for example, abnormal operation of related engineering machinery inside the mine, abnormal vibration or sound, or calls for help from related staff, etc., the sensor module 204 collects this information and uploads it to the mine's information management platform;

[0062] Finally, relevant staff can obtain the above abnormal information through the mine's information management platform and deal with it in time to avoid risks.

[0063] In summary, the relevant staff needs to place the mine safety robot on the inverted T-shaped track 500 in the mine. After the placement is completed, the mine safety robot needs to be wirelessly connected to the coal mine communication system, and then the mine safety robot can be remotely operated through the mine information management platform. In this way, the mine safety robot can travel on the rugged track of the mine, thereby obtaining real-time information of the target area of ​​the mine, and uploading the real-time information to the mine information management platform.

[0064] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0066] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0067] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A mine safety robot, characterized in that: include: Two robot bodies (100), a detection component (200) and a voltage-stabilized power supply (400), wherein the two robot bodies (100) are connected via a universal joint (300), and the detection component (200) and the voltage-stabilized power supply (400) are respectively connected to the two robot bodies (100), wherein: The robot body (100) comprises: a base plate (101), a driving component (102) and two symmetrically arranged walking components (103), wherein the driving component (102) and the two symmetrically arranged walking components (103) are respectively connected to the base plate (101), wherein: The driving assembly (102) comprises: a power device (1021) and a transmission device (1022), wherein the power device (1021) and the transmission device (1022) are respectively connected to the base plate (101), and a power output shaft of the power device (1021) is connected to a power input shaft of the transmission device (1022); Any one of the two symmetrically arranged walking assemblies (103) comprises: a walking wheel (1031), a track wheel (1032), an inverted V-shaped bracket (1033) and a linear drive device (1034); the walking wheel (1031) and the track wheel (1032) are respectively connected to the two end shafts of the inverted V-shaped bracket (1033); and the middle part of the inverted V-shaped bracket (1033) is connected to the shaft of the bottom plate (101); The two ends of the linear drive device (1034) are respectively connected to one end of the bracket (1033) close to the track wheel (1032) and the axis of the base plate (101), and the linear drive device (1034) is used to drive the walking wheel (1031) and the track wheel (1032) to press the track through the inverted V-shaped bracket (1033); The axis of the power output shaft of the transmission device (1022) is in the same straight line as the axis of the rotating shaft connected to the inverted V-shaped bracket (1033) and the bottom plate (101), and the power output shaft of the transmission device (1022) and the rotating shaft of the walking wheel (1031) are connected via a transmission belt; The detection component (200) comprises: a mechanical arm (201), a communication module (202), an image recognition module (203) and a sensor module (204), wherein one end of the mechanical arm (201) is connected to the base plate (101), the communication module (202), the image recognition module (203) and the sensor module (204) are respectively connected to the other end of the mechanical arm (201), and the communication module (202) is respectively connected to the image recognition module (203) and the sensor module (204); The voltage-stabilized power supply (400) is used to supply power to the power device (1021), the linear drive device (1034), the mechanical arm (201), the communication module (202), the image recognition module (203) and the sensor module (204).

2. The mine safety robot according to claim 1, characterized in that: The image recognition module (203) is used to recognize and collect real-time images in a target area of ​​the mine to generate first data; the sensor module (204) is used to detect and collect gas components, sounds and vibrations in the target area of ​​the mine to generate second data.

3. The mine safety robot according to claim 2, characterized in that: The communication module (202) is used to connect to the information management platform of the mine, and upload the first data and the second data to the information management platform of the mine.

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