Mine unmanned camera self-adaptive adjusting device

Abstract

The present application relates to the field of mining equipment, disclose a kind of mining unmanned camera adaptive adjusting device, comprising: substrate;Adjusting assembly, adjusting assembly includes base, mounting seat and rotating seat, mounting seat movably disposed on substrate, base is set on mounting seat for placing camera, and base is adapted to rotate on mounting seat, mounting seat is adapted to move on substrate to adjust the observation direction of camera, rotating seat is rotatably connected to the side of mounting seat to enable mounting seat to rotate to adjust the observation angle of camera.The electric push rod of the present application pushes the movement of mounting seat in the moving groove on side guide plate, changes the magnetic attraction and repulsion between the magnetic strip at the bottom of mounting seat and magnetic rod by controlling the stroke of the extension of electric push rod, changes the magnetism between magnetic strip and magnetic rod, so as to realize the pitch angle adjustment of camera on mounting seat, to improve the collection of internal mine condition data.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mining equipment, in particular to a camera self-adaptive adjusting device for mining unmanned vehicle. BACKGROUND

[0002] The mine engineering is generally a series of development engineering of ore vein surveying, mineral exploitation and mine excavation, with the gradual increase of people's attention to the safety of mine exploitation and the rapid development of the present technology level, the unmanned exploration equipment and exploration technology matched with the unmanned vehicle have gradually entered the field of mine exploration, and the unmanned technology has gradually replaced the manual exploration by being equipped with the corresponding camera collection technology, which greatly improves the safety of mine exploration to a certain extent, and ensures the safety of mine exploration personnel while accurately collecting various data of mine.

[0003] The camera on the traditional unmanned vehicle is manually adjusted by workers before use, that is, the workers rotate and adjust the camera to a certain angle, and then the unmanned vehicle carries the camera collection equipment into the mine to collect images inside the mine, which cannot meet the current technical collection work, and the manual adjustment has poor adjustment accuracy, which causes the calibration accuracy to be not good enough.

[0004] Therefore, the camera self-adaptive adjusting device for mining unmanned vehicle is designed to solve the above technical problems. SUMMARY

[0005] The first aspect of the present application solves the technical problem of providing a camera self-adaptive adjusting device for mining unmanned vehicle, which can solve the problem of low calibration accuracy of the current manual adjustment.

[0006] In order to solve the above technical problems, the first aspect of the present application provides a camera self-adaptive adjusting device for mining unmanned vehicle, which comprises:

[0007] a base plate;

[0008] an adjusting assembly, the adjusting assembly comprises a base, a mounting seat and a rotating seat, the mounting seat is movably arranged on the base plate, the base is arranged on the mounting seat for placing the camera, and the base is adapted to rotate on the mounting seat, the mounting seat is adapted to move on the base plate to adjust the observation direction of the camera, and the rotating seat is rotatably connected to the side of the mounting seat to drive the mounting seat to rotate to adjust the observation angle of the camera.

[0009] Preferably, a side guide plate is arranged on the substrate, a moving groove is formed in the side guide plate, a connecting rod is arranged in the moving groove, the connecting rod is slidably connected to the moving groove, and one end of the connecting rod is connected to the rotating seat, so that the rotating seat can be driven to rotate through the connecting rod.

[0010] Further preferably, a magnetic strip is arranged at the bottom end of the mounting seat, a magnetic rod is connected to the top end of the substrate, the magnetic strip is adapted to slide on the magnetic rod, and the bottom of the mounting seat is further provided with an adjusting seat, a slot is formed in the inner middle part of the adjusting seat, a limiting block is arranged in the inner middle part of the slot, an electric push rod is connected to the limiting block, the rod body of the electric push rod is fixedly connected to a fixing seat at the bottom end, and the rod body of the electric push rod extends to drive the adjusting seat, the mounting seat connected to the adjusting seat, and the base arranged on the mounting seat to move synchronously.

[0011] Preferably, a plurality of sliding grooves are arranged on the substrate, a bottom connecting seat is slidably connected to the inside of each sliding groove, a top connecting seat is arranged at the bottom of the mounting seat, and the bottom connecting seat and the corresponding top connecting seat are connected through a spring, so that the top connecting seat can be driven to move synchronously through the bottom connecting seat.

[0012] Further preferably, the inside of the mounting seat is hollow to form an inner cavity, a partition plate is arranged in the middle of the inner cavity, a main shaft is arranged in the inner cavity, one end of the main shaft is connected to the base, the other end is connected to the bottom of the inner cavity, a driven gear is fixedly connected to the middle of the main shaft, and a main gear adapted to drive the driven gear to rotate is arranged in the inner cavity.

[0013] Preferably, a servo motor is further arranged in the inner cavity, the output shaft of the servo motor is in transmission connection with the main gear, a receiving controller is further arranged on the partition plate, and the receiving controller is electrically connected to the servo motor, so as to receive and transmit control instructions to the servo motor.

[0014] Further preferably, a light supplementing ring is arranged at the top of the mounting seat, the light supplementing ring surrounds the camera, and a protection strip is further arranged at the top end of the mounting seat.

[0015] Preferably, an outer limiting seat is arranged at each end of the outer side of the connecting rod, an inner limiting seat is arranged at the inner side of the connecting rod, the outer diameter of the outer limiting seat is the same as that of the inner limiting seat, and the inner diameter of the outer limiting seat and the inner limiting seat is larger than that of the moving groove.

[0016] Further preferably, the magnetic rod is in the shape of an arch, the magnetism of the two ends of the magnetic rod is opposite to that of the middle part, and the magnetic rod and the magnetic strip are on the same vertical line.

[0017] Preferably, the side of the substrate away from the fixed seat is provided with an electrical box, and the other side is provided with an electrical control box.

[0018] Through the above-mentioned preferred technical scheme, the camera self-adaptive adjusting device for mine unmanned vehicle drives the mounting seat to move in the moving groove of the side guide plate through the electric push rod, the staff can change the magnetic attraction and repulsion between the magnetic strip at the bottom of the mounting seat and the magnetic rod by controlling the stroke of the electric push rod body extension, the magnetic change between the magnetic strip and the magnetic rod is changed, so that the pitch angle of the camera on the mounting seat is adjusted, so as to improve the camera self-adaptive adjusting precision and facilitate the mine crawler vehicle to collect the mine internal condition data; in addition, the working state of the servo motor is controlled by the receiving controller, and the main gear is driven through the accuracy of the servo motor, the main gear rotates at the same time to drive the driven gear on the main shaft and the base to drive synchronously, the base rotates at the same time to drive the camera to adjust the rotation angle, so as to meet the technical collection work demand of the mine internal condition; the angle of the camera can also be controlled and adjusted by the control signal instead of the traditional manual adjustment mode, so that the self-adaptive adjusting angle of the camera is basically consistent with the calibration precision, so as to facilitate the subsequent ore internal exploration operation.

[0019] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structure schematic view of the front side of the camera self-adaptive adjusting device for mine unmanned vehicle of the embodiment of the present application.

[0021] Figure 2 It is a structure schematic view of the rear side of the camera self-adaptive adjusting device for mine unmanned vehicle of the embodiment of the present application.

[0022] Figure 3 It is a structure schematic view of the left side of the camera self-adaptive adjusting device for mine unmanned vehicle of the embodiment of the present application.

[0023] Figure 4 It is a structure schematic view of the inside of the mounting seat of the camera self-adaptive adjusting device for mine unmanned vehicle of the embodiment of the present application.

[0024] Figure 5 It is a sectional view of the inside of the mounting seat of the camera self-adaptive adjusting device for mine unmanned vehicle of the embodiment of the present application.

[0025] Figure 6It is the structure schematic view of the bottom of the mounting seat of the camera self-adapting adjusting device for mine unmanned driving in the specific embodiment of the present application.

[0026] Figure 7 It is the structure schematic view of the magnetic rod of the camera self-adapting adjusting device for mine unmanned driving in the specific embodiment of the present application. Figure 2

[0027] Figure 8 It is the structure schematic view of the magnetic rod of the camera self-adapting adjusting device for mine unmanned driving in the specific embodiment of the present application.

[0028] Reference signs

[0029] 1, base plate; 2, electrical box; 3, electric control box; 4, sliding groove; 5, magnetic rod; 6, outer limit seat; 7, mounting seat; 8, electric push rod; 9, fixed seat; 10, connecting rod; 11, inner limit seat; 12, camera; 13, spring; 14, rotating seat; 15, moving groove; 16, limit block; 17, side guide plate; 18, light supplementing lamp ring; 19, top connecting seat; 20, protection strip; 21, base; 22, partition; 23, main gear; 24, driven gear; 25, inner cavity; 26, servo motor; 27, main shaft; 28, receiving controller; 29, magnetic strip; 30, adjusting seat; 31, slot; 32, bottom connecting seat. DETAILED DESCRIPTION

[0030] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0031] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "setting", and "connecting" should be understood in a broad sense, for example, the term "connecting" can be fixed connection, or detachable connection, or integral connection; it can be direct connection, or indirect connection through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] Referring to Figures 1 to 3 , the camera self-adapting adjusting device for mine unmanned driving of the present application comprises a base plate 1 and an adjusting assembly, the adjusting assembly comprises a base 21, a mounting seat 7 and a rotating seat 14, the mounting seat 7 is movably arranged on the base plate 1, the base 21 is arranged on the mounting seat 7 for placing the camera 12, and the base 21 is adapted to rotate on the mounting seat 7, the mounting seat 7 is adapted to move on the base plate 1 to adjust the observation direction of the camera 12, and the rotating seat 14 is rotatably connected to the side of the mounting seat 7 to enable the mounting seat 7 to rotate to adjust the observation angle of the camera 12. ​

[0033] Specifically, the side guide plates 17 are fixedly connected to both sides of the top end of the substrate 1 near the edges, the middle parts of the side guide plates 17 are provided with moving grooves 15, the connecting rods 10 are slidably connected in the moving grooves 15, the opposite sides of the connecting rods 10 are rotatably connected with the corresponding rotating seats 14, the mounting seat 7 is arranged between the two rotating seats 14, and the two rotating seats 14 are connected with the middle parts of the two sides of the mounting seat 7. When the connecting rods 10 rotate, the rotating seats 14 can be driven to rotate synchronously, and the rotating seats 14 can drive the mounting seat 7 to rotate synchronously. In addition, the magnetic strips 29 are arranged on both sides of the middle part of the bottom end of the mounting seat 7, the magnetic rods 5 are fixedly connected to both sides of the middle part of the top end of the substrate 1, the magnetic strips 29 are adapted to slide on the magnetic rods 5, and the adjusting seat 30 is further arranged at the bottom of the mounting seat 7. The middle part of the inner side of the adjusting seat 30 is provided with a slot 31, the middle part of the inner side of the slot 31 is provided with a limiting block 16, the limiting block 16 is connected with the electric push rod 8, the rod body of the electric push rod 8 is fixedly connected to the fixed seat 9, and when the rod body of the electric push rod 8 extends, the adjusting seat 30, the mounting seat 7 connected with the adjusting seat 30 and the base 21 arranged on the mounting seat 7 can be driven to move synchronously. When the magnetic strips 29 at the bottom end of the mounting seat 7 slide synchronously on the magnetic rods 5, when the magnetic properties of the magnetic strips 29 on the magnetic rods 5 are opposite, the connecting rods 10 can rotate to drive the rotating seats 14 to drive the mounting seat 7 to rotate to adjust the pitch angle, and the staff can control the pitch collection angle of the camera 12 at the upper end of the mounting seat 7 by controlling the extension stroke of the electric push rod 8.

[0034] The bottom end of the fixed seat 9 is fixedly connected to the middle part of the top end of the substrate 1, and the material of the fixed seat 9 is high-carbon stainless steel. The fixed seat 9 made of high-carbon stainless steel can not only meet the structural strength, but also prevent rust and damage, and increase the service life.

[0035] More specifically, a plurality of sliding grooves 4 are arranged at equal distances on the top end of the substrate 1, preferably two sliding grooves 4, the inner sides of the two sliding grooves 4 are slidably connected with the bottom connecting seats 32, the top connecting seats 19 are fixedly installed at the bottom of the mounting seat 7, the bottom connecting seats 32 are connected with the corresponding top connecting seats 19 via the springs 13, so that the top connecting seats 19 can be driven to move synchronously by the bottom connecting seats 32. When the position of the mounting seat 7 is lowered during the moving process, the springs 13 between the bottom connecting seats 32 and the top connecting seats 19 at the bottom of the mounting seat 7 are compressed and tightened, when the mounting seat 7 is reset, the springs 13 between the bottom connecting seats 32 and the top connecting seats 19 expand, which can drive the magnetic strips 29 at the bottom of the mounting seat 7 to separate from the magnetic rods 5, preventing the mounting seat 7 from being reset due to the attraction between the magnetic strips 29 and the magnetic rods 5.

[0036] Referring to Figure 8, in addition, the magnetic rod 5 is arc-shaped, the two ends of the magnetic rod 5 are opposite to the middle part in magnetism, the magnetic rod 5 and the magnetic strip 29 are on the same vertical line, and the different magnetism of the magnetic rod 5 can conveniently change the attraction and repulsion between the bottom magnetic strip 29 of the mounting seat 7 and the magnetic rod 5.

[0037] Referring to Figures 4 to 7 , the inner side of the mounting seat 7 is hollow in the middle part, the inner cavity 25 is provided with a partition plate 22 in the middle part, the partition plate 22 divides the upper and lower spaces of the inner cavity 25 into two independent chambers, a main shaft 27 is arranged in the inner cavity 25, one end of the main shaft 27 is connected with the bottom of the inner cavity 25, the other end of the main shaft 27 penetrates through the partition plate 22 and extends upward to be connected with the base 21, the top end of the main shaft 27 is fixedly connected with the middle part of the bottom end of the base 21, a driven gear 24 is fixedly connected with the middle part of the main shaft 27, a main gear 23 is engagedly connected with the driven gear 24, a servo motor 26 is arranged in the lower chamber after the inner cavity 25 is divided, the output shaft of the servo motor 26 penetrates through the partition plate 22 and is connected with the main gear 23, so that the main gear 23 can be driven to rotate by the servo motor 26.

[0038] In addition, a receiving controller 28 is also arranged in the upper chamber divided by the partition plate 22, the receiving controller 28 is electrically or signal connected with the servo motor 26, the working state of the servo motor 26 can be controlled through the receiving controller 28, when the servo motor 26 works, the output shaft of the servo motor 26 drives the main gear 23 to rotate, the main gear 23 drives the driven gear 24 on the main shaft 27 to rotate at the same time, the driven gear 24 drives the base 21 and the camera 12 on the main shaft 27 to adjust the rotation angle at the same time, so that the technical collection work in the mine is completed.

[0039] In addition, the receiving controller can also receive external control signals and control the servo motor 26 to work to drive the rod body of the electric push rod 8 to extend, and then synchronously drive the adjusting seat 30 and the mounting seat 7 to move, the mounting seat 7 drives the connecting rods 10 arranged on the rotating seats 14 on its two sides to slide in the sliding grooves 15 on the side guide plates 17 at the same time, and the magnetic strips 29 at the bottom end of the mounting seat 7 synchronously slide on the magnetic rods 5, when the magnetic strips 29 are opposite in magnetism on the magnetic rods 5, the mounting seat 7 between the connecting rods 10 adjusts the pitch angle, and the staff can control the pitch collection angle of the camera 12 on the upper end of the mounting seat 7 by controlling the extension stroke of the electric push rod 8.

[0040] In addition, in order to ensure the camera 12 in the mine to have a good shooting effect, a plurality of light supplement rings 18 are arranged in the middle part of the top end of the mounting seat 7, the plurality of light supplement rings 18 are arranged around the camera and on the circumferential side of the camera, and the protection strips 20 are arranged on the top of the mounting seat 7 on both sides, so that the camera 12 can be protected to a certain extent.

[0041] Specifically, the outer limiting seat 6 is arranged at both outer ends of the connecting rod 10, the inner limiting seat 11 is arranged at the inner side of the connecting rod 10, the outer diameter of the outer limiting seat 6 is equal to that of the inner limiting seat 11, and the inner diameter of the outer limiting seat 6 and the inner limiting seat 11 is greater than that of the moving groove 15, so as to prevent the connecting rod 10 from falling off from the moving groove 15 during sliding, thereby realizing synchronous limiting of the connecting rod 10 in the moving groove 15 during movement through the inner limiting seat 11 and the outer limiting seat 6, increasing the stability of the mounting seat 7 during movement, and facilitating information data collection operation of the mine project.

[0042] More specifically, the base plate 1 is provided with the electric appliance box 2 away from the top side of the fixing seat 9 and the electric control box 3 on the other side, the electric appliance box 2 is provided with the electric appliance in the device, and the electric control box 3 is provided with the electric control device in the device, so that the electric appliance and the electric control device of the whole device can be protected through the electric appliance box 2 and the electric control box 3, so as to ensure the normal operation of the whole device.

[0043] When the inside of the mine is explored, the staff loads the device on the exploration crawler, and then controls the exploration crawler through remote control, so that it enters the mine to detect. The staff sends a control instruction to the receiving controller 28 through the remote control device, and then the receiving controller 28 receives the control signal, controls the rod body of the electric push rod 8 to extend, synchronously drives the adjusting seat 30 and the mounting seat 7 to move, and the mounting seat 7 drives the connecting rod 10 on the rotating seat 14 arranged on both sides thereof to slide in the moving groove 15 on the side guide plate 17 while moving. At the same time, the magnetic strip 29 at the bottom end of the mounting seat 7 synchronously slides on the magnetic rod 5. When the magnetism of the magnetic strip 29 on the magnetic rod 5 is opposite, the mounting seat 7 between the connecting rods 10 is adjusted in pitch angle. The staff can control the pitch collection angle of the camera 12 at the upper end of the mounting seat 7 by controlling the extension stroke of the electric push rod 8, and the staff can also control the working state of the servo motor 26 through the receiving controller 28. When the servo motor 26 is working, the output shaft of the servo motor 26 drives the main gear 23 to rotate, the main gear 23 rotates at the same time to drive the driven gear 24 on the main shaft 27 to rotate, and the driven gear 24 rotates at the same time to drive the base 21 and the camera 12 on the main shaft 27 to rotate in angle, so as to complete the technical collection operation of the inside of the mine.

[0044] In the description of the application, the description of the terms "one embodiment", "some embodiments", "an embodiment", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the application. The illustrative description of the above terms does not necessarily refer to the same embodiment or example in the application. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples.

[0045] The preferred embodiments of the application are described in detail above with reference to the accompanying drawings, but the application is not limited thereto. Various simple modifications can be made to the technical solutions of the application within the technical concept of the application, including the combination of various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the application will not describe various possible combinations again. However, these simple modifications and combinations should also be regarded as disclosed in the application and belong to the protection scope of the application.

Claims

1. An adaptive adjustment device for a camera used in unmanned mining operations, characterized in that, Its features include: base(1); An adjustment assembly includes a base (21), a mounting base (7), and a rotating base (14). The mounting base (7) is movably disposed on the base plate (1). The base (21) is disposed on the mounting base (7) for placing a camera (12), and the base (21) is adapted to rotate on the mounting base (7). The mounting base (7) is adapted to move on the base plate (1) to adjust the observation position of the camera (12). The rotating base (14) is rotatably connected to the side of the mounting base (7) so as to drive the mounting base (7) to rotate to adjust the observation angle of the camera (12). The substrate (1) is provided with a side guide plate (17), and a moving groove (15) is provided on the side guide plate (17). A connecting rod (10) is provided in the moving groove (15). The connecting rod (10) is slidably connected to the moving groove (15), and one end of the connecting rod (10) is connected to the rotating seat (14) so ​​that the rotating seat (14) can be driven to rotate via the connecting rod (10). The mounting base (7) has a magnetic strip (29) at its bottom end and a magnetic rod (5) connected to the top end of the substrate (1). The magnetic strip (29) is adapted to slide on the magnetic rod (5). The mounting base (7) also has an adjustment seat (30) at its bottom. The adjustment seat (30) has a slot (31) in the middle of its inner side and a limiting block (16) in the middle of its inner side. The limiting block (16) is connected to an electric push rod (8). The bottom end of the electric push rod (8) is fixedly connected to the fixed seat (9). The rod of the electric push rod (8) extends out to drive the adjustment seat (30), the mounting base (7) connected to the adjustment seat (30), and the base (21) set on the mounting base (7) to move synchronously. The magnetic rod (5) is bow-shaped, and the magnetism at both ends of the magnetic rod (5) is opposite to that at the middle. The magnetic rod (5) and the magnetic strip (29) are on the same vertical line. The substrate (1) is provided with a plurality of sliding grooves (4), and each sliding groove (4) is slidably connected to a bottom connecting seat (32). The bottom of the mounting base (7) is provided with a top connecting seat (19). The bottom connecting seat (32) and its corresponding top connecting seat (19) are connected by a spring (13) so that the bottom connecting seat (32) can drive the top connecting seat (19) to move synchronously.

2. The adaptive adjustment device for a camera used in unmanned mining operations according to claim 1, characterized in that, The mounting base (7) has a hollow interior forming an inner cavity (25). A partition (22) is provided in the middle of the inner cavity (25). A main shaft (27) is provided in the inner cavity (25). One end of the main shaft (27) is connected to the base (21), and the other end is connected to the bottom of the inner cavity (25). A driven gear (24) and a main gear (23) that can mesh with the driven gear (24) are fixedly connected in the middle of the main shaft (27). The main gear (23) is adapted to drive the driven gear (24) to rotate so as to drive the main shaft (27) to rotate.

3. The adaptive adjustment device for a camera used in unmanned mining operations according to claim 2, characterized in that, The inner cavity is also equipped with a servo motor (26), the output shaft of which is connected to the main gear (23) for transmission. A receiving controller (28) is also provided on the partition (22), which is electrically connected to the servo motor (26) so as to receive and transmit control commands to the servo motor (26).

4. The adaptive adjustment device for a camera used in unmanned mining operations according to claim 1, characterized in that, The top of the mounting base (7) is provided with a supplementary light ring (18), which surrounds the camera (12), and the top of the mounting base (7) is also provided with a protective strip (20).

5. The adaptive adjustment device for a camera used in unmanned mining operations according to claim 1, characterized in that, An outer limiting seat (6) is provided at both ends of the outer side of the connecting rod (10), and an inner limiting seat (11) is provided on the inner side of the connecting rod (10). The outer limiting seat (6) and the inner limiting seat (11) have the same outer diameter, and the inner diameters of the outer limiting seat (6) and the inner limiting seat (11) are both greater than the inner diameter of the moving groove (15).

6. The adaptive adjustment device for a camera used in unmanned mining operations according to claim 1, characterized in that, An electrical box (2) is provided on one side of the substrate (1) away from the fixing base (9), and an electrical control box (3) is provided on the other side.

Images