Battery replacement method, device, system and control module for coal mine underground inspection robot

Abstract

The present application discloses a battery replacement method, device, system and control module for an underground coal mine inspection robot. The battery replacement method includes: when the inspection robot enters a preset cleaning position, the control module controls the purge module to open; after the purge is completed, the first positive pressure chamber door is controlled to be opened; when the inspection robot enters the first positive pressure chamber, the first positive pressure chamber door is controlled to be closed, and the first air inlet valve and the first air outlet valve are controlled according to the first detection results of the first methane concentration sensor and the first pressure sensor; after the gas replacement is completed, the second positive pressure chamber door is controlled to be opened; after the battery replacement module transfers the fully charged reserve power to the inspection robot, the second positive pressure chamber door is controlled to be closed, and the first positive pressure chamber door is controlled to be opened; after the inspection robot exits the first positive pressure chamber, the first positive pressure chamber door is controlled to be closed. Through the above scheme, the cleanliness of the charging environment where the power module is located is guaranteed, and the battery replacement and automatic charging of the inspection robot in the coal mine are realized.

Description

Technical Field

[0001] The present application belongs to the field of coal mine safety technology, and in particular relates to a battery replacement method, device, system and control module for a coal mine underground inspection robot. Background Art

[0002] Coal mining robots are a crucial component of building smart coal mines, a significant step forward in improving the level of intelligent coal mine equipment, and an effective support for achieving "reduced-manpower, or even unmanned" coal mines. With the continuous promotion of relevant national industry authorities and the high attention of coal production enterprises, various types of robots, represented by inspection robots, have become essential equipment for underground intelligent development. Currently, explosion-proof inspection robots deployed underground are primarily powered by lithium batteries or wire ropes, depending on their power source. Wire rope-powered robots are less commonly used due to the high external device requirements, difficult construction, and limited operating locations. Therefore, most underground explosion-proof inspection robots are powered by lithium batteries. The Coal Mine Safety Regulations clearly stipulate charging locations for battery-powered equipment: mobile equipment such as locomotives must be charged in dedicated charging chambers or on the surface; backup power supplies for monitoring, communication, and safety equipment can be charged locally, with protective measures such as overcharging protection. However, these regulations do not apply to underground inspection robots, and there is a lack of basis for charging inspection robots underground.

[0003] Lithium batteries are high-energy chemical batteries. Misuse, abuse, or manufacturing defects can lead to decompression, fire, and even explosion. According to statistics, over 80% of electric vehicle fires occur during the charging process. Coal mines present a unique environment with the potential for explosions from gas and coal dust. Current wired and wireless charging methods for underground robots face numerous challenges, including difficulty ensuring explosion safety and unreliable safety protection and control during the charging process. Addressing the charging challenges of underground robots is urgent.

[0004] Wireless charging uses electromagnetic fields or waves to achieve contactless power transmission. According to the electromagnetic energy power threshold requirements in the GB / T3836.1 standard, "Explosive Atmospheres - Part 5: General Requirements for Equipment," the threshold power of radio frequency electromagnetic waves between 9 kHz and 60 GHz in coal mines must not exceed 6W. This limits the power of explosion-proof wireless charging in coal mines, making it impossible to efficiently charge robots. Domestic companies have placed wireless charging equipment inside explosion-proof chambers, allowing robots to enter these chambers for wireless charging, to overcome the standard's electromagnetic energy power threshold restrictions.

[0005] The above-mentioned wireless charging solution is applied in the complex environment of coal mines. Foreign objects such as coal dust can easily enter the flameproof charging chamber, causing the wireless charging device to fail and unable to achieve battery replacement and automatic charging. Summary of the Invention

[0006] The embodiments of the present application provide a battery replacement method, device, system and control module for a coal mine underground inspection robot, which can reduce the failure of wireless charging devices caused by foreign matter such as coal powder, and realize battery replacement and automatic charging of the coal mine underground inspection robot.

[0007] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0008] According to a first aspect of an embodiment of the present application, a battery replacement method for a coal mine underground inspection robot is provided, which is applied to a battery replacement device of the coal mine underground inspection robot. The battery replacement device includes: a first positive pressure chamber, a first positive pressure chamber door, a second positive pressure chamber, a second positive pressure chamber door, a first air inlet valve, a first air outlet valve, a first methane concentration sensor, a first pressure sensor, a battery replacement module, a wireless charging transmitter module, a fully charged reserve power supply, a purge module and a control module. The first air inlet valve, the first air outlet valve, the first methane concentration sensor, the first pressure sensor, and the battery replacement module are all arranged in the first positive pressure chamber, and the wireless charging transmitter module and the fully charged reserve power supply are both arranged in the second positive pressure chamber. The battery replacement method includes:

[0009] When the inspection robot enters a preset cleaning position, the control module controls the purge module to purge the inspection robot;

[0010] In response to the purge completion information returned by the purge module, controlling the first positive pressure chamber door to open;

[0011] When the inspection robot enters the first positive pressure chamber, controlling the first positive pressure chamber door to close, and controlling the first air inlet valve and the first air outlet valve according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive pressure chamber with protective gas;

[0012] When the gas replacement is completed, the second positive pressure chamber door is controlled to open, so that the power exchange module transfers the power module of the inspection robot to the wireless charging transmitter module for charging;

[0013] When the power exchange module transfers the fully charged reserve power to the inspection robot, controlling the second positive pressure chamber door to close and the first positive pressure chamber door to open;

[0014] When the inspection robot drives out of the first positive-pressure chamber, the first positive-pressure chamber door is controlled to close.

[0015] In some embodiments of the present application, based on the aforementioned solution, controlling the first air inlet valve and the first air outlet valve according to the first detection results of the first methane concentration sensor and the first pressure sensor includes:

[0016] Controlling the first air inlet valve and the first air outlet valve to open;

[0017] Obtaining the first detection result;

[0018] When the first detection result meets a preset condition, the first air inlet valve and the first air outlet valve are controlled to be closed.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the first detection result includes a first concentration and a first pressure, and the preset condition is that the first concentration is less than 0.1%, and the first pressure is 50Pa to 100Pa higher than the external atmospheric pressure.

[0020] In some embodiments of the present application, based on the above solution, the battery replacement method further includes:

[0021] When the first concentration is greater than 0.1% or the first pressure is higher than the external atmospheric pressure by 100 Pa, the power exchange device of the coal mine underground inspection robot is controlled to shut down.

[0022] In some embodiments of the present application, based on the aforementioned solution, the battery replacement device further includes: a second air inlet valve, a second air outlet valve, a second methane concentration sensor, and a second pressure sensor, all disposed in the second positive pressure chamber; and the battery replacement method further includes:

[0023] When the inspection robot enters the first positive pressure chamber for the first time, the second air inlet valve and the second air outlet valve are controlled according to the second detection results of the second methane concentration sensor and the second pressure sensor to replace the gas in the second positive pressure chamber with protective gas.

[0024] In some embodiments of the present application, based on the aforementioned solution, controlling the second air inlet valve and the second air outlet valve according to the second detection results of the second methane concentration sensor and the second pressure sensor includes:

[0025] Controlling the second air inlet valve and the second air outlet valve to open;

[0026] Obtaining the second detection result;

[0027] When the second detection result meets a preset condition, the second air inlet valve and the second air outlet valve are controlled to be closed.

[0028] In some embodiments of the present application, based on the above solution, the battery replacement device further includes: a fire extinguishing module, and the battery replacement method further includes:

[0029] In response to the thermal runaway information sent by the power module, the wireless charging transmitter module is controlled to stop charging, and the fire extinguishing module is controlled to start.

[0030] According to a second aspect of an embodiment of the present application, a control module is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0031] According to a third aspect of an embodiment of the present application, a battery replacement device for a coal mine underground inspection robot is provided, the battery replacement device comprising: a shell, a first positive pressure chamber, a first positive pressure chamber door, a second positive pressure chamber, a second positive pressure chamber door, a first air inlet valve, a first air outlet valve, a first methane concentration sensor, a first pressure sensor, a battery replacement module, a wireless charging transmitter module, a fully charged reserve power supply, a second air inlet valve, a second air outlet valve, a second methane concentration sensor, a second pressure sensor, a purge module and a control module according to claim 8, wherein,

[0032] The purge module is arranged outside the housing and on a side close to the first positive pressure chamber door;

[0033] The first positive pressure chamber door is provided on the housing, the first positive pressure chamber and the second positive pressure chamber are separated by the second positive pressure chamber door, and the first air inlet valve, the first air outlet valve, the first methane concentration sensor, the first pressure sensor and the battery exchange module are provided in the first positive pressure chamber;

[0034] The second positive pressure chamber is provided with the second air inlet valve, the second air outlet valve, the second methane concentration sensor, the second pressure sensor, the wireless charging transmitter module and the fully charged reserve power supply.

[0035] According to a fourth aspect of an embodiment of the present application, a battery replacement system for a coal mine underground inspection robot is provided, the battery replacement system comprising:

[0036] Inspection robot with built-in power module; and

[0037] The battery replacement device of the above-mentioned coal mine underground inspection robot.

[0038] In the present application, when the inspection robot enters the preset cleaning position, the control module controls the purge module to purge the inspection robot; in response to the purge completion information returned by the purge module, the first positive pressure chamber door is controlled to open; when the inspection robot enters the first positive pressure chamber, the first positive pressure chamber door is controlled to close, and the first air inlet valve and the first air outlet valve are controlled according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive pressure chamber with protective gas; when the gas replacement is completed, the second positive pressure chamber door is controlled to open so that the power exchange module transfers the power module of the inspection robot to the wireless charging transmitter module for charging; when the power exchange module transfers the fully charged reserve power to the inspection robot, the second positive pressure chamber door is controlled to close, and the first positive pressure chamber door is controlled to open; when the inspection robot exits the first positive pressure chamber, the first positive pressure chamber door is controlled to close. The above scheme ensures the cleanliness of the charging environment where the power module of the inspection robot is located, avoids the failure of the wireless charging transmitter module, and realizes the power exchange and automatic charging of the inspection robot in the coal mine.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0041] Figure 1 Schematic diagram of the structure of a power exchange device for an underground coal mine inspection robot in one embodiment;

[0042] Figure 2 1 is a flow chart of a method for replacing a battery of an underground coal mine inspection robot according to one embodiment;

[0043] Figure 3 for Figure 1 Schematic diagram of the first state of the power exchange device of the underground inspection robot in the coal mine;

[0044] Figure 4 for Figure 1 Schematic diagram of the second state of the power exchange device of the underground inspection robot in the coal mine;

[0045] Figure 5 for Figure 1Schematic diagram of the third state of the power exchange device of the underground inspection robot in the coal mine;

[0046] Figure 6 for Figure 1 Schematic diagram of the fourth state of the power exchange device of the underground inspection robot in the coal mine;

[0047] Figure 7 for Figure 1 Schematic diagram of the fifth state of the power exchange device of the underground inspection robot in the coal mine;

[0048] Figure 8 for Figure 1 Schematic diagram of the sixth state of the power exchange device of the underground inspection robot in the coal mine;

[0049] Figure 9 for Figure 1 Schematic diagram of the seventh state of the power exchange device of the underground inspection robot in the coal mine;

[0050] Figure 10 for Figure 1 Schematic diagram of the eighth state of the power exchange device of the underground inspection robot in the coal mine;

[0051] Figure 11 for Figure 1 Schematic diagram of the ninth state of the power exchange device of the underground inspection robot in the coal mine;

[0052] Figure 12 for Figure 1 Schematic diagram of the tenth state of the power exchange device of the underground inspection robot in the coal mine;

[0053] Figure 13 This is a diagram of the internal structure of a control module in one embodiment;

[0054] Figure 14 Schematic diagram of the structure of the power replacement system of the coal mine underground inspection robot in one embodiment.

[0055] Description of Figure Numbers:

[0056]

[0057] DETAILED DESCRIPTION

[0058] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0059] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0060] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0061] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0062] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0063] Figure 1 FIG1 is a schematic structural diagram of a power exchange device for an underground coal mine inspection robot according to an embodiment of the present invention. Figure 2 FIG. 1 is a flow chart of a method for replacing a battery of a coal mine underground inspection robot in one embodiment. Figure 1 As shown, the battery exchange device includes: a first positive pressure chamber 11, a first positive pressure chamber door 12, a second positive pressure chamber 13, a second positive pressure chamber door 14, a first air inlet valve 15, a first air outlet valve 16, a first methane concentration sensor 17, a first pressure sensor 18, a battery exchange module 19, a wireless charging transmitter module 20, a full charge reserve power supply 21, a purge module 22 and a control module 23. The first air inlet valve 15, the first air outlet valve 16, the first methane concentration sensor 17, the first pressure sensor 18 and the battery exchange module 19 are all arranged in the first positive pressure chamber 11, and the wireless charging transmitter module 20 and the full charge reserve power supply 21 are both arranged in the second positive pressure chamber 13. The battery exchange method is applied to Figure 1 For example, the control module 23 in FIG. Figure 2 As shown, the battery replacement method includes:

[0064] Step 201 : When the inspection robot enters a preset cleaning position, the control module controls the purge module to purge the inspection robot.

[0065] Understandably, the current charging scheme, which places wireless charging equipment inside a flameproof chamber and then allows the robot to enter the chamber for wireless charging, can easily lead to the entry of foreign matter such as coal dust into the charging chamber, causing the wireless charging equipment to fail. Furthermore, the high frequency of opening and closing of the flameproof door prevents timely measurement of the flameproof gap, making it impossible to guarantee the effectiveness of the flameproof surface. This leads to the risk of explosion failure in the flameproof charging chamber. In other words, the charging and battery swapping schemes currently proposed by relevant researchers for underground inspection robots all have certain safety risks, and no relevant products have yet received safety certification.

[0066] The three elements of an explosion include a certain concentration of combustible gas, a certain amount of oxygen, and a fire source with sufficient heat to ignite the gas. This embodiment isolates the methane gas in the coal mine outside the positive pressure chamber based on the positive pressure principle, destroying one of the explosion conditions, and thus providing a safe and reliable environment for the battery replacement and charging of the power module of the inspection robot, realizing the rapid power source supply of the inspection robot, effectively solving the problems of the safety and endurance of the inspection robot, and significantly improving the effective working time and use efficiency of the intelligent equipment of the underground inspection robot, providing a reliable technical solution for the charging of the underground inspection robot, and providing a reference for the safe charging of other intelligent robots underground.

[0067] Refer to Figure 3 , Figure 3 for Figure 1 Schematic diagram of the first state of the power exchange device of the underground inspection robot in the coal mine. The inspection robot performs status detection on the power module. When the power level of the power module is lower than the set value, the inspection robot reaches the charging position.

[0068] Refer to Figure 4 , Figure 4 for Figure 1 Schematic diagram of the second state of the battery exchange device of the underground inspection robot in the coal mine. A distance measuring sensor can be set in the inspection robot. The distance measuring sensor communicates with the control module. The distance measuring sensor is used to detect the distance between the inspection robot and the battery exchange device, and feeds the distance information back to the control module. When the control module determines that the inspection robot has entered the preset cleaning position based on the distance information, it controls the purge module to turn on, and the purge module performs dust removal on the inspection robot to ensure the cleanliness of the inspection robot as much as possible and reduce the inspection robot from bringing coal dust and other stains into the positive pressure chamber.

[0069] Step 202 : In response to the purge completion information returned by the purge module, control the first positive pressure chamber door to open.

[0070] Refer to Figure 5 , Figure 5 for Figure 1 Schematic diagram of the third state of the power exchange device of the underground inspection robot in the coal mine. When the purge module completes the purge of the inspection robot, it will feedback the information of the purge completion to the control module. The control module responds to the information of the purge completion returned by the purge module, controls the first positive pressure chamber door to open, and waits for the inspection robot to enter the first positive pressure chamber.

[0071] Step 203, when the inspection robot enters the first positive pressure chamber, the first positive pressure chamber door is controlled to close, and the first air inlet valve and the first air outlet valve are controlled according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive pressure chamber with protective gas.

[0072] See also Figure 6 , Figure 6 for Figure 1 Schematic diagram of the fourth state of the power exchange device of the underground inspection robot in a coal mine. When the inspection robot enters the first positive-pressure chamber, the first positive-pressure chamber door is controlled to close, and the first air inlet valve and the first air outlet valve are servo-controlled according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive-pressure chamber with protective gas.

[0073] Specifically, controlling the first air inlet valve and the first air outlet valve according to the first detection results of the first methane concentration sensor and the first pressure sensor can include the following steps: controlling the first air inlet valve and the first air outlet valve to open; obtaining the first detection result; and controlling the first air inlet valve and the first air outlet valve to close when the first detection result meets a preset condition.

[0074] The first detection result includes a first concentration and a first pressure, and the preset condition is that the first concentration is less than 0.1%, and the first pressure is 50Pa to 100Pa higher than the external atmospheric pressure.

[0075] It should be understood that a first air inlet and a first air outlet can be provided on the first positive pressure chamber, the first air inlet valve is provided at the first air inlet, the first air inlet is connected to the protective gas through the underground ventilation duct of the coal mine, the first air outlet valve is provided at the first air outlet, and the first air outlet is connected to the return air channel through the air outlet pipe. When the inspection robot enters the first positive pressure chamber, the first air inlet valve and the first air outlet valve are controlled to open at the same time, so that the original gas in the first positive pressure chamber can be replaced with protective gas, which can be pure air, inert gas or other gas.

[0076] By servo-controlling the first air inlet valve and the first air outlet valve according to the first detection result, it can be ensured that the pressure in the first positive pressure chamber is always 50Pa to 100Pa higher than the external atmospheric pressure, and the methane concentration in the first positive pressure chamber is always lower than 0.1%.

[0077] To ensure safety, when the first concentration is greater than 0.1% or the first pressure is 100Pa higher than the external atmospheric pressure, the power exchange device of the coal mine underground inspection robot is controlled to shut down.

[0078] Refer to Figure 1 In one embodiment, the battery replacement device may further include: a second air inlet valve 24, a second air outlet valve 25, a second methane concentration sensor 26 and a second pressure sensor 27. The second air inlet valve 24, the second air outlet valve 25, the second methane concentration sensor 26 and the second pressure sensor 27 are all arranged in the second positive pressure chamber 13. The battery replacement method may further include the following steps: when the inspection robot enters the first positive pressure chamber for the first time, the second air inlet valve and the second air outlet valve are controlled according to the second detection results of the second methane concentration sensor and the second pressure sensor to replace the gas in the second positive pressure chamber with protective gas.

[0079] Among them, controlling the second air inlet valve and the second air outlet valve according to the second detection results of the second methane concentration sensor and the second pressure sensor includes: controlling the second air inlet valve and the second air outlet valve to open; obtaining the second detection result; and controlling the second air inlet valve and the second air outlet valve to close when the second detection result meets a preset condition.

[0080] It should be understood that the second positive pressure chamber is provided with a second air inlet and a second air outlet, the second air inlet valve is provided at the second air inlet, the second air inlet is connected to the protective gas through the underground ventilation duct of the coal mine, the second air outlet valve is provided at the second air outlet, and the second air outlet is connected to the return air channel through the air outlet pipe. When the inspection robot enters the first positive pressure chamber, the second air inlet valve and the second air outlet valve are controlled to open at the same time, so that the original gas in the second positive pressure chamber can be replaced with protective gas, which can be pure air, inert gas or other gas.

[0081] It should be noted that the gas replacement in the second positive-pressure chamber is only performed when the inspection robot enters the first positive-pressure chamber for the first time. Because the gas replacement takes a long time, and during subsequent use, the second positive-pressure chamber does not come into direct contact with external hazardous gases, it generally does not need to go through a complete gas replacement process. After the gas replacement is completed, the first and second positive-pressure chambers must servo-control the air intake solenoid valves based on the detection results of their respective pressure sensors and methane concentration sensors, solving the problem of air leakage caused by the loose sealing of the battery exchange device, so that the pressure in the first and second positive-pressure chambers is always 50Pa to 100Pa higher than the external atmospheric pressure, and the methane concentration is always below 0.1%.

[0082] Gas replacement is performed every time the inspection robot enters through the first positive pressure chamber, and gas replacement is performed only when the inspection robot enters for the first time through the second positive pressure chamber, which reduces the gas washing volume and thus reduces the gas replacement time, effectively reducing the battery replacement time while ensuring the safety of battery replacement.

[0083] Step 204: When the gas replacement is completed, the second positive pressure chamber door is controlled to open so that the power exchange module transfers the power module of the inspection robot to the wireless charging transmitter module for charging.

[0084] See also Figure 7 , Figure 7 for Figure 1 A schematic diagram of the fifth state of the battery exchange device for a coal mine inspection robot. The control module determines whether gas exchange is complete based on whether the detection results from the methane concentration sensor and pressure sensor meet preset conditions, or based on whether the outlet and inlet solenoid valves are closed. After gas exchange is complete, the second positive pressure chamber door is controlled to open, and the battery exchange module begins operation.

[0085] In specific implementation, in addition to its necessary power supply, the power module should also have wireless charging function, reliable mechanical or electrical locking structure, and a quick-change structure design to enable the battery replacement module to be quickly installed and removed from the power module.

[0086] The battery exchange module can be a robotic arm or a palletizing robot. Taking the battery exchange module as an example, a visual camera is provided on the robotic arm, and identification points for visual recognition by the visual camera are provided on the wireless charging transmitter module and the power module. In this way, the robotic arm can accurately unload, install, transfer and charge the power module.

[0087] See also Figure 8 , Figure 8 for Figure 1 Schematic diagram of the sixth state of the battery swapping device for an underground inspection robot in a coal mine. Two wireless charging transmitter modules are installed in the second positive pressure chamber. One wireless charging transmitter module holds a fully charged reserve power supply, while the other wireless charging transmitter module is used to hold a power module removed from the inspection robot. The battery swapping robot removes the power module from the inspection robot and transfers it to the wireless charging transmitter module. The wireless charging transmitter module receives information from the power module and begins charging when the information meets the requirements. During the charging process, protection against misalignment, overheating, and foreign object damage is implemented.

[0088] Step 205: When the battery exchange module transfers the fully charged reserve power to the inspection robot, the second positive pressure chamber door is controlled to close and the first positive pressure chamber door is controlled to open.

[0089] See also Figures 9 to 10 , Figure 9 and Figure 10 They are Figure 1 Schematic diagram of the seventh and eighth states of the battery exchange device of the underground inspection robot in a coal mine. After charging is completed, the robotic arm grabs the fully charged reserve power supply and installs it on the inspection robot. At this time, the second positive pressure chamber door is closed and the first positive pressure chamber door is opened, waiting for the inspection robot to drive out of the first positive pressure chamber.

[0090] Step 206 : When the inspection robot exits the first positive-pressure chamber, control the first positive-pressure chamber door to close.

[0091] See also Figures 11 to 12 , Figure 11 and Figure 12 They are Figure 1 Schematic diagram of the ninth and tenth states of the battery-changing device of the underground inspection robot in a coal mine. After the first positive-pressure chamber door is opened, the inspection robot drives out of the first positive-pressure chamber, and the first positive-pressure chamber door is closed. The inspection robot completes the battery-changing process. Through the above scheme, the entire battery-changing process (including gas replacement time) does not exceed 10 minutes.

[0092] See also Figure 1 In one embodiment, the battery replacement device may further include: a fire extinguishing module 28, and the battery replacement method may further include: responding to the thermal runaway information sent by the power module, controlling the wireless charging transmitter module to stop charging, and controlling the fire extinguishing module to turn on.

[0093] Among them, the fire extinguishing module contains fire extinguishing materials, and the fire extinguishing materials can be materials such as perfusone.

[0094] It is understandable that if there is coal dust between the charging coil and the receiving coil of the wireless charging transmitter module during the charging process, it may cause the battery management system of the power module to report thermal runaway information, thereby causing the system to shut down and power off, and even cause danger. When the power module feedback indicates that the power supply has a risk of thermal runaway, charging is stopped and the fire extinguishing module is turned on, which can effectively reduce the safety risks caused by thermal runaway of the power module during the charging process.

[0095] Through the design of the purge module, the first positive pressure chamber, the second positive pressure chamber and the control module, this embodiment can effectively ensure the cleanliness of the charging environment where the power module is located, so that the coal dust attached to the power module is cleaned before entering the wireless charging transmitter module, thereby avoiding the failure of the wireless charging transmitter module and realizing the battery replacement and automatic charging of the inspection robot in the coal mine.

[0096] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0097] Based on the same inventive concept, an embodiment of the present application also provides a control module. Figure 13 FIG. 1 is an internal structure diagram of a control module in an embodiment, as shown in FIG. Figure 13 As shown, the control module includes one or more memories 1304, one or more processors 1302 and at least one computer program (program code) stored in the memory 1304 and executable on the processor 1302. When the processor 1302 executes the computer program, the power replacement method of the underground inspection robot in a coal mine is implemented as described above.

[0098] Among them, Figure 13 In the embodiment of the present invention, a bus architecture (represented by bus 1300) is shown. Bus 1300 may include any number of interconnected buses and bridges, and bus 1300 links various circuits including one or more processors represented by processor 1302 and memory represented by memory 1304. Bus 1300 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 1305 provides an interface between bus 1300 and receiver 1301 and transmitter 1303. Receiver 1301 and transmitter 1303 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 1302 is responsible for managing bus 1300 and general processing, while memory 1304 may be used to store data used by processor 1302 when performing operations.

[0099] Those skilled in the art will understand that Figure 13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the control module to which the solution of the present application is applied. The specific control module may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0100] Based on the same inventive concept, the embodiment of the present application also provides a battery replacement device for a coal mine underground inspection robot, such as Figure 1 As shown, the power exchange device of the coal mine underground inspection robot includes: a shell 10, a first positive pressure chamber 11, a first positive pressure chamber door 12, a second positive pressure chamber 13, a second positive pressure chamber door 14, a first air inlet valve 15, a first air outlet valve 16, a first methane concentration sensor 17, a first pressure sensor 18, a power exchange module 19, a wireless charging transmitter module 20, a full charge reserve power supply 21, a second air inlet valve 24, a second air outlet valve 25, a second methane concentration sensor 26, a second pressure sensor 27, a purge module 22 and the above-mentioned control module 23, wherein the purge module 22 is in the shell The first positive pressure chamber door 12 is provided on the shell body 10, and the first positive pressure chamber 11 and the second positive pressure chamber 13 are separated by the second positive pressure chamber door 14. The first positive pressure chamber 11 is provided with a first air inlet valve 15, a first air outlet valve 16, a first methane concentration sensor 17, a first pressure sensor 18 and a battery exchange module 19; the second positive pressure chamber 13 is provided with a second air inlet valve 24, a second air outlet valve 25, a second methane concentration sensor 26, a second pressure sensor 27, a wireless charging transmitter module 20 and a fully charged reserve power supply 21.

[0101] Among them, the first air inlet valve 15 and the first air outlet valve 16 are used to replace the gas in the first positive pressure chamber 11, the battery exchange module 19 is used to unload and install the power module of the inspection robot, the second air inlet valve 24 and the second air outlet valve 25 are used to replace the gas in the second positive pressure chamber 13, and the wireless charging transmitter module 20 is used to wirelessly charge the power module and place a fully charged reserve power supply 21.

[0102] The control module 23 is respectively connected to the first positive pressure chamber door 12, the second positive pressure chamber door 14, the first air inlet valve 15, the first air outlet valve 16, the second air inlet valve 24, the second air outlet valve 25, the first methane concentration sensor 17, the first pressure sensor 18, the second methane concentration sensor 26, the second pressure sensor 27, the wireless charging transmitter module 20 and the purge module 22, and performs corresponding information communication and control.

[0103] Among them, the first positive pressure chamber 11 is provided with a first air inlet (not marked) and a first air outlet (not marked), the first air inlet valve 15 is arranged at the first air inlet, the first air inlet is connected to the protective gas through the underground ventilation duct of the coal mine, the first air outlet valve 16 is arranged at the first air outlet, and the first air outlet is connected to the return air channel (not shown) through the air outlet pipe.

[0104] The second positive pressure chamber 13 is provided with a second air inlet (not marked) and a second air outlet (not marked), the second air inlet valve 24 is provided at the second air inlet, the second air inlet is connected to the protective gas through the underground ventilation duct of the coal mine, the second air outlet valve 25 is provided at the second air outlet, and the second air outlet is connected to the return air lane (not shown) through the air outlet pipe.

[0105] Among them, the first air inlet and the second air inlet can be connected to the coal mine ventilation system through the coal mine underground ventilation duct, and the coal mine ventilation system provides protective gas. Of course, the first air inlet and the second air inlet can also be connected to other equipment through the coal mine underground ventilation duct, and protective gas can be provided by other equipment. This embodiment does not limit this.

[0106] There may be multiple first methane concentration sensors 17 , first pressure sensors 18 , second methane concentration sensors 26 and second pressure sensors 27 to achieve accurate detection of pressure and methane concentration.

[0107] The battery exchange module 19 is a robotic arm or a palletizing robot. When the battery exchange module 19 is a robotic arm, a visual camera is provided on the robotic arm. Both the wireless charging transmitter module 20 and the power module are provided with identification points for visual recognition by the visual camera to achieve precise alignment of the power module and the wireless charging transmitter module 20.

[0108] In one embodiment, the battery exchange device further includes: a fire extinguishing module 28 , which is disposed in the second positive pressure chamber 13 , and the fire extinguishing module 28 is connected to the control module 23 .

[0109] Based on the same inventive concept, the embodiment of the present application also provides a battery replacement system for a coal mine underground inspection robot, such as Figure 14 As shown, the battery exchange system includes: an inspection robot 30 with a built-in power module 29; and the above-mentioned battery exchange device of the coal mine underground inspection robot.

[0110] It should be understood that in order to facilitate the rapid removal and installation of the power module 29 , a locking structure and a quick-change structure may be provided on the power module 29 .

[0111] In one embodiment, a distance measuring sensor 31 may also be provided in the inspection robot 30 , and the distance measuring sensor 31 communicates with the control module 26 , so that the control module 26 may determine the distance between the inspection robot 30 and the battery exchange device based on the information returned by the distance measuring sensor 31 .

[0112] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following steps are implemented:

[0113] When the inspection robot enters the preset cleaning position, the purge module is controlled to purge the inspection robot;

[0114] In response to the purge completion information returned by the purge module, controlling the first positive pressure chamber door to open;

[0115] When the inspection robot enters the first positive pressure chamber, the first positive pressure chamber door is controlled to close, and the first air inlet valve and the first air outlet valve are controlled according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive pressure chamber with protective gas;

[0116] When the gas replacement is completed, the second positive pressure chamber door is controlled to open, so that the power exchange module transfers the power module of the inspection robot to the wireless charging transmitter module for charging;

[0117] When the battery exchange module transfers the charged power module to the inspection robot, the second positive pressure chamber door is controlled to close and the first positive pressure chamber door is controlled to open;

[0118] When the inspection robot drives out of the first positive-pressure chamber, the first positive-pressure chamber door is controlled to close.

[0119] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0120] Control the first air inlet valve and the first air outlet valve to open; obtain a first detection result; when the first detection result meets a preset condition, control the first air inlet valve and the first air outlet valve to close.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0122] When the first concentration is greater than 0.1% or the first pressure is higher than the external atmospheric pressure by 100Pa, the power exchange device of the coal mine underground inspection robot is controlled to shut down.

[0123] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0124] When the inspection robot enters the first positive pressure chamber for the first time, the second air inlet valve and the second air outlet valve are controlled according to the second detection results of the second methane concentration sensor and the second pressure sensor to replace the gas in the second positive pressure chamber with protective gas.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0126] Control the second air inlet valve and the second air outlet valve to open; obtain a second detection result; when the second detection result meets a preset condition, control the second air inlet valve and the second air outlet valve to close.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] In response to the thermal runaway information sent by the power module, the wireless charging transmitter module is controlled to stop charging, and the fire extinguishing module is controlled to turn on.

[0129] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0131] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0133] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for replacing a battery of an underground coal mine inspection robot, characterized in that: A battery swap device for an underground coal mine inspection robot includes: a first positive pressure chamber, a first positive pressure chamber door, a second positive pressure chamber door, a first air inlet valve, a first air outlet valve, a first methane concentration sensor, a first pressure sensor, a battery swap module, a wireless charging transmitter module, a fully charged reserve power supply, a purge module, and a control module. The first air inlet valve, the first air outlet valve, the first methane concentration sensor, the first pressure sensor, and the battery swap module are all arranged in the first positive pressure chamber, the wireless charging transmitter module and the fully charged reserve power supply are both arranged in the second positive pressure chamber, and the battery swap method includes: When the inspection robot enters a preset cleaning position, the control module controls the purge module to purge the inspection robot; In response to the purge completion information returned by the purge module, controlling the first positive pressure chamber door to open; When the inspection robot enters the first positive pressure chamber, controlling the first positive pressure chamber door to close, and controlling the first air inlet valve and the first air outlet valve according to the first detection results of the first methane concentration sensor and the first pressure sensor to replace the gas in the first positive pressure chamber with protective gas; When the gas replacement is completed, the second positive pressure chamber door is controlled to open, so that the power exchange module transfers the power module of the inspection robot to the wireless charging transmitter module for charging; When the power exchange module transfers the fully charged reserve power to the inspection robot, controlling the second positive pressure chamber door to close and the first positive pressure chamber door to open; When the inspection robot drives out of the first positive-pressure chamber, the first positive-pressure chamber door is controlled to close.

2. The battery replacement method for the coal mine underground inspection robot according to claim 1, characterized in that: The controlling the first air inlet valve and the first air outlet valve according to the first detection results of the first methane concentration sensor and the first pressure sensor includes: Controlling the first air inlet valve and the first air outlet valve to open; Obtaining the first detection result; When the first detection result meets a preset condition, the first air inlet valve and the first air outlet valve are controlled to be closed.

3. The battery replacement method for the coal mine underground inspection robot according to claim 2, characterized in that: The first detection result includes a first concentration and a first pressure. The preset condition is that the first concentration is less than 0.1%, and the first pressure is 50 Pa to 100 Pa higher than the external atmospheric pressure.

4. The battery replacement method for the coal mine underground inspection robot according to claim 3, characterized in that: The battery replacement method further includes: When the first concentration is greater than 0.1% or the first pressure is higher than the external atmospheric pressure by 100 Pa, the power exchange device of the coal mine underground inspection robot is controlled to shut down.

5. The battery replacement method for an underground coal mine inspection robot according to claim 1, characterized in that: The battery replacement device further includes: a second air inlet valve, a second air outlet valve, a second methane concentration sensor, and a second pressure sensor, all of which are disposed in the second positive pressure chamber. The battery replacement method further includes: When the inspection robot enters the first positive pressure chamber for the first time, the second air inlet valve and the second air outlet valve are controlled according to the second detection results of the second methane concentration sensor and the second pressure sensor to replace the gas in the second positive pressure chamber with protective gas.

6. The battery replacement method for the coal mine underground inspection robot according to claim 5, characterized in that: The controlling the second air inlet valve and the second air outlet valve according to the second detection results of the second methane concentration sensor and the second pressure sensor includes: Controlling the second air inlet valve and the second air outlet valve to open; Obtaining the second detection result; When the second detection result meets a preset condition, the second air inlet valve and the second air outlet valve are controlled to be closed.

7. The battery replacement method for an underground coal mine inspection robot according to claim 5, characterized in that: The battery replacement device further includes: a fire extinguishing module, and the battery replacement method further includes: In response to the thermal runaway information sent by the power module, the wireless charging transmitter module is controlled to stop charging, and the fire extinguishing module is controlled to start.

8. A control module comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A battery replacement device for an underground coal mine inspection robot, characterized in that: The battery exchange device includes: a shell, a first positive pressure chamber, a first positive pressure chamber door, a second positive pressure chamber, a second positive pressure chamber door, a first air inlet valve, a first air outlet valve, a first methane concentration sensor, a first pressure sensor, a battery exchange module, a wireless charging transmitter module, a fully charged reserve power supply, a second air inlet valve, a second air outlet valve, a second methane concentration sensor, a second pressure sensor, a purge module and a control module according to claim 8, wherein, The purge module is arranged outside the housing and on a side close to the first positive pressure chamber door; The first positive pressure chamber door is provided on the housing, the first positive pressure chamber and the second positive pressure chamber are separated by the second positive pressure chamber door, and the first air inlet valve, the first air outlet valve, the first methane concentration sensor, the first pressure sensor and the battery exchange module are provided in the first positive pressure chamber; The second positive pressure chamber is provided with the second air inlet valve, the second air outlet valve, the second methane concentration sensor, the second pressure sensor, the wireless charging transmitter module and the fully charged reserve power supply.

10. A power replacement system for an underground coal mine inspection robot, characterized in that: The battery swapping system includes: Inspection robot with built-in power module; and The power replacement device for the coal mine underground inspection robot according to claim 9.

Images