Intrinsically safe and explosion-proof coal mine underground explosion-proof autonomous flight unmanned aerial vehicle

Abstract

The invention discloses an intrinsically safe and explosion-proof type coal mine underground explosion-proof autonomous flight unmanned aerial vehicle. The unmanned aerial vehicle comprises an unmanned aerial vehicle body; the pod is mounted on the unmanned aerial vehicle body; the pod comprises a frame and an explosion-proof cavity; the explosion-proof cavity is of a cuboid steel structure; the explosion-proof cavity is installed in the middle of the frame, and a hydraulic station system is installed in the explosion-proof cavity. The hydraulic station system comprises a pump, a hydraulic valve and a hydraulic power output pipeline; the pump is connected with the hydraulic power output pipeline; the hydraulic power output pipeline is also connected with a hydraulic motor; the hydraulic motor is used for receiving hydraulic power output by the hydraulic power output pipeline and driving propellers on the unmanned aerial vehicle body to rotate to execute flight operation. The unmanned aerial vehicle system adopts hydraulic pressure as a power source, potential safety hazards caused by electrical equipment are avoided, the unmanned aerial vehicle system is suitable for an underground coal mine anti-explosion environment, and safe flight of an unmanned aerial vehicle in an underground coal mine is ensured.

Description

Technical Field

[0001] The invention relates to the field of underground coal mine inspection operations, and in particular to an intrinsically safe and flameproof type underground coal mine explosion-proof autonomous flying drone. Background Art

[0002] The underground environment of coal mines is complex, with flammable and explosive gases. The use of electrical equipment poses a great safety hazard. Traditional underground inspection tools mostly rely on electric drive, which has the risk of explosion due to excessive current. Therefore, it is urgent to develop an explosion-proof drone that can fly safely underground in coal mines to improve inspection efficiency and ensure the safety of miners.

[0003] In the existing technology, although some drones have explosion-proof designs, they mostly use special batteries and circuit protection, and it is still difficult to completely eliminate the safety hazards caused by electrical equipment. Hydraulically driven drones are gradually gaining attention due to their high inherent safety, but the relevant designs are still imperfect and difficult to meet the needs of actual applications. Summary of the invention

[0004] The purpose of the present invention is to provide an intrinsically safe and flameproof small autonomous flying UAV in coal mines, which adopts hydraulic pressure as a power source, avoids the potential safety hazards caused by electrical equipment, and ensures the safe flight of the UAV in coal mines.

[0005] The purpose of the present invention is to provide an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV, which solves the above-mentioned technical problems pointed out in the prior art.

[0006] The present invention provides an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV, comprising: a UAV body; a pod installed on the UAV body;

[0007] The pod includes a frame 21 and a flameproof cavity 22; the flameproof cavity 22 is a rectangular steel structure; the flameproof cavity 22 is installed in the middle of the frame 21, and a hydraulic station system 30 is installed inside the flameproof cavity 22; the hydraulic station system 30 includes a pump 31, a hydraulic valve 32 and a hydraulic power output pipeline 33; the pump is connected to the hydraulic power output pipeline; the hydraulic power output pipeline is also connected to a hydraulic motor 40;

[0008] The hydraulic motor 40 is used to receive the hydraulic power output from the hydraulic power output pipeline and drive the propeller on the UAV body to rotate to perform flight operations.

[0009] Preferably, as an implementable embodiment; it also includes a hydraulic oil tank 50; the hydraulic oil tank 50 is installed in the lower part of the flameproof cavity 22 in the frame;

[0010] Preferably, as an implementable embodiment, it also includes an explosion-proof battery 60, and the explosion-proof battery 60 is installed on both sides of the flameproof cavity 22 in the frame.

[0011] Preferably, as an implementable embodiment, there are four hydraulic motors and four hydraulic power output pipelines;

[0012] Arms 71, 72, 73 and 74 are connected to the frame 21 and extend horizontally along the four corners of the upper plane of the flameproof cavity 22, and legs 81, 82, 83 and 84 are connected to the frame at the four corners of the lower end of the flameproof cavity 22 and extend downward;

[0013] Four hydraulic motors are installed one by one on the support arm 71, the support arm 72, the support arm 73, and the support arm 74, which are hydraulic motor 41, hydraulic motor 42, hydraulic motor 43, and hydraulic motor 44; and the hydraulic motor 41, hydraulic motor 42, hydraulic motor 43, and hydraulic motor 44 are connected to the propeller R1, propeller R2, propeller R3, and propeller R4 through the shaft respectively;

[0014] The hydraulic motors 41 , 42 , 43 and 44 are respectively connected to the hydraulic valves in the flameproof cavity 22 via hydraulic power output pipelines 311 , 312 , 313 and 314 .

[0015] Preferably, as an implementable solution, an intrinsically safe explosion-proof electronic system is arranged above the flameproof cavity 22 in the frame, and the intrinsically safe explosion-proof electronic system includes a flight control module, a position and attitude sensor module, a real-time mapping edge computing module, an intrinsically safe communication module and an antenna.

[0016] Preferably, as an implementable embodiment, binocular or depth cameras are installed around the frame.

[0017] Preferably, as an implementable embodiment, the surface of the flameproof cavity 22 is also provided with a packaging layer, and the packaging layer is a rubber insulating layer to ensure safe flight in a low current environment.

[0018] Preferably, as an implementable embodiment, it also includes a hydraulic energy storage device, which is arranged outside the nacelle for storing hydraulic energy.

[0019] Preferably, as an implementable solution, it also includes temperature and pressure sensors, which are arranged in the flameproof cavity 22 and are used to monitor the operating status of the hydraulic station system.

[0020] Preferably, as an implementable solution, it also includes an emergency stop device arranged in the flameproof cavity 22 and connected to the hydraulic station system, which is used to cut off the hydraulic transmission of the hydraulic station system under abnormal circumstances.

[0021] Compared with the prior art, the embodiments of the present invention have at least the following technical advantages:

[0022] It can be seen from the analysis of the above-mentioned intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone provided by the present invention that the present invention discloses an intrinsically safe and flameproof type coal mine underground explosion-proof small autonomous flying drone, which adopts a hydraulic drive system to replace the traditional electrical drive, reducing the risk of explosion caused by electric current. The drone is composed of a drone body, a pod, a hydraulic station system (including a pump body, a hydraulic valve, a hydraulic power output pipeline) and a hydraulic motor, etc. The hydraulic station is encapsulated by a frame and a flameproof cavity, thereby achieving the safety of the hydraulic station system.

[0023] The invention discloses an intrinsically safe and flameproof small-scale autonomous flying drone for underground coal mines. The drone adopts hydraulic drive instead of electrical drive, which effectively reduces the risk of explosion caused by electric current. The explosion-proof performance of the equipment is further enhanced by encapsulating the hydraulic station in a flameproof cavity. The hydraulic energy storage device and multiple safety monitoring systems improve the stability and safety of the drone in complex environments. Structures such as the hydraulic energy storage device, temperature and pressure sensors, and emergency stop devices improve the safety and stability of the drone, and are suitable for inspection and monitoring tasks in high-risk environments underground in coal mines, and have good application prospects.

[0024] In summary, the UAV of the present invention can safely and efficiently perform inspection, monitoring and other tasks in the high-risk environment of coal mines, and has significant application value and promotion prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the main principles of an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone;

[0026] Figure 2 This is a partial schematic diagram of the principle of an intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying drone;

[0027] Figure 3 It is a simple schematic diagram of the structure of an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV;

[0028] Figure 4 This is a schematic diagram of the partial structure of the pod in an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV.

[0029] Figure numerals: UAV body 10; pod 20; frame 21; flameproof cavity 22; hydraulic station system 30; pump 31; hydraulic valve 32; hydraulic power output pipeline 33; hydraulic power output pipeline 311; hydraulic power output pipeline 312; hydraulic power output pipeline 313; hydraulic power output pipeline 314; hydraulic motor 40; hydraulic motor 41; hydraulic motor 42; hydraulic motor 43; hydraulic motor 44; hydraulic oil tank 50; explosion-proof battery 60; support arm 71; support arm 72; support arm 73; support arm 74; support leg 81; support leg 82; support leg 83; support leg 84; propeller R1; propeller R2; propeller R3; propeller R4. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0032] Embodiment 1

[0033] like Figure 1 as well as Figure 2 As shown, the first embodiment of the present invention provides an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV, comprising a UAV body 10; a pod 20, mounted on the UAV body;

[0034] The pod includes a frame 21 and a flameproof cavity 22; the flameproof cavity 22 is a rectangular steel structure; the flameproof cavity 22 is installed in the middle of the frame 21, and a hydraulic station system 30 is installed inside the flameproof cavity 22;

[0035] The hydraulic station system 30 includes a pump 31, a hydraulic valve 32 and a hydraulic power output pipeline 33; the pump is connected to the hydraulic power output pipeline; the hydraulic power output pipeline is also connected to the hydraulic motor 40;

[0036] The hydraulic motor 40 is used to receive the hydraulic power output from the hydraulic power output pipeline and drive the propeller on the UAV body to rotate to perform flight operations.

[0037] UAV body: as the overall flight platform, it integrates navigation, control system and flight mechanism; pod: installed on the UAV body, used to accommodate and protect the hydraulic system; hydraulic station system, i.e. small hydraulic station: installed in the pod, serves as the main output source of hydraulic power; pump body: connected to the hydraulic station, used for the circulation of hydraulic fluid; hydraulic power output pipeline: transmits hydraulic power to the hydraulic motor; hydraulic motor: receives hydraulic power and drives the flight power mechanism of the UAV, thereby converting electric drive into hydraulic drive. This driving method is safer and more reliable for working in mines; the hydraulic station presses the hydraulic fluid to a certain pressure through the pump body, and transmits it to the hydraulic motor through the hydraulic power output pipeline. The hydraulic motor converts hydraulic energy into mechanical energy, drives the propeller to rotate, and finally drives the flight mechanism of the UAV to realize the flight of the UAV.

[0038] Analysis of the above technical solutions shows that the present invention uses a hydraulic drive system to replace the traditional electrical drive, reducing the risk of explosion caused by electric current. The UAV is composed of a UAV body, a pod, a hydraulic station system (including a pump body, a hydraulic valve, a hydraulic power output pipeline) and a hydraulic motor. The hydraulic station is encapsulated by a frame 21 and a flameproof cavity 22, thereby achieving the safety of the hydraulic station system.

[0039] The invention discloses an intrinsically safe and flameproof small-scale autonomous flying UAV for underground coal mines, which adopts hydraulic drive instead of electrical drive, effectively reducing the risk of explosion caused by electric current. The explosion-proof performance of the equipment is further enhanced by encapsulating the hydraulic station in the flameproof cavity 22. The hydraulic energy storage device and the multiple safety monitoring system improve the stability and safety of the UAV in complex environments. The structures such as the hydraulic energy storage device, the temperature and pressure sensor and the emergency stop device improve the safety and stability of the UAV, and are suitable for inspection and monitoring tasks in high-risk environments underground coal mines, and have good application prospects.

[0040] In summary, the UAV of the present invention can safely and efficiently perform inspection, monitoring and other tasks in the high-risk environment of coal mines, and has significant application value and promotion prospects.

[0041] Preferably, as an implementable embodiment; it also includes a hydraulic oil tank 50; the hydraulic oil tank 50 is installed in the lower part of the flameproof cavity 22 in the frame;

[0042] Preferably, as an implementable embodiment, it also includes an explosion-proof battery 60, and the explosion-proof battery 60 is installed on both sides of the flameproof cavity 22 in the frame.

[0043] See also Figure 3 as well as Figure 4 There are four hydraulic motors and four hydraulic power output pipelines;

[0044] Arms 71, 72, 73 and 74 are connected to the frame 21 and extend horizontally along the four corners of the upper plane of the flameproof cavity 22, and legs 81, 82, 83 and 84 are connected to the frame at the four corners of the lower end of the flameproof cavity 22 and extend downward;

[0045] Four hydraulic motors are installed one by one on the support arm 71, the support arm 72, the support arm 73, and the support arm 74, which are hydraulic motor 41, hydraulic motor 42, hydraulic motor 43, and hydraulic motor 44; and the hydraulic motor 41, hydraulic motor 42, hydraulic motor 43, and hydraulic motor 44 are connected to the propeller R1, propeller R2, propeller R3, and propeller R4 through the shaft respectively;

[0046] The hydraulic motors 41 , 42 , 43 and 44 are respectively connected to the hydraulic valves in the flameproof cavity 22 via hydraulic power output pipelines 311 , 312 , 313 and 314 .

[0047] Preferably, as an implementable solution, an intrinsically safe explosion-proof electronic system is arranged above the flameproof cavity 22 in the frame, and the intrinsically safe explosion-proof electronic system includes a flight control module, a position and attitude sensor module, a real-time mapping edge computing module, an intrinsically safe communication module and an antenna.

[0048] Preferably, as an implementable embodiment, binocular or depth cameras are installed around the frame.

[0049] Preferably, as an implementable embodiment, the surface of the flameproof cavity 22 is also provided with a packaging layer, and the packaging layer is a rubber insulating layer to ensure safe flight in a low current environment.

[0050] Preferably, as an implementable solution, it also includes a hydraulic energy storage device, which is arranged outside the pod for storing hydraulic energy. The hydraulic energy storage device is used to store hydraulic energy to ensure that the UAV can still complete basic flight tasks when the hydraulic station stops working;

[0051] Preferably, as an implementable solution, it also includes temperature and pressure sensors and a wireless communication module, which are arranged in the explosion-proof cavity 22. The temperature and pressure sensors are used to monitor the operating status of the hydraulic station system (ie, the temperature of the hydraulic station system and the hydraulic power pressure).

[0052] Wireless communication module: used for data transmission and command reception with the ground control center to ensure remote control and monitoring of the UAV;

[0053] Preferably, as an implementable solution, it also includes an emergency stop device arranged in the flameproof cavity 22 and connected to the hydraulic station system, which is used to cut off the hydraulic transmission of the hydraulic station system under abnormal circumstances.

[0054] Temperature and pressure sensors are used to monitor the operating status of the hydraulic system in real time to ensure that the system operates within the safety parameter range; the emergency stop device is used to quickly cut off the hydraulic transmission when an abnormal situation is detected to prevent accidents;

[0055] Embodiment 1 of the present invention provides an intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV, which ensures that the UAV will not cause an explosion due to electrical failure or other reasons when flying in the flammable and explosive environment of the coal mine, thereby ensuring the safety of underground coal mine operations.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. A person skilled in the art may modify the technical solutions described in the above embodiments, or replace part or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone, characterized in that: include: A drone body (10); a pod (20) mounted on the drone body; The pod (20) comprises a frame (21) and a flameproof cavity (22); the flameproof cavity (22) is a rectangular steel structure; the flameproof cavity (22) is installed in the middle of the frame (21), and a hydraulic station system (30) is installed inside the flameproof cavity (22); the hydraulic station system (30) comprises a pump (31), a hydraulic valve (32) and a hydraulic power output pipeline (33); the pump is connected to the hydraulic power output pipeline; the hydraulic power output pipeline is also connected to a hydraulic motor (40); The hydraulic motor (40) is used to receive the hydraulic power outputted by the hydraulic power output pipeline and drive the propeller on the drone body to rotate to perform flight operations.

2. The intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone according to claim 1 is characterized in that: It also includes a hydraulic oil tank (50); the hydraulic oil tank (50) is installed at the lower part of the flameproof cavity (22) in the frame.

3. The intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying UAV according to claim 1 is characterized in that: It also includes explosion-proof batteries (60), which are installed on both sides of the explosion-proof cavity (22) in the frame.

4. The intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone according to claim 1 is characterized in that ； There are four hydraulic motors and four hydraulic power output pipelines; Support arms (71), (72), (73) and (74) extending horizontally along the four corners of the upper plane of the flameproof cavity (22) and connected to the frame (21); and support legs (81), (82), (83) and (84) extending downwardly connected to the frame at the four corners of the lower end of the flameproof cavity (22); Four hydraulic motors are mounted on the support arm (71), the support arm (72), the support arm (73), and the support arm (74) in a one-to-one correspondence, namely, the hydraulic motor (41), the hydraulic motor (42), the hydraulic motor (43), and the hydraulic motor (44); and the hydraulic motor (41), the hydraulic motor (42), the hydraulic motor (43), and the hydraulic motor (44) are connected to the propeller (R1), the propeller (R2), the propeller (R3), and the propeller (R4) through shafts, respectively; The hydraulic motor (41), hydraulic motor (42), hydraulic motor (43), and hydraulic motor (44) are respectively connected to the hydraulic valve in the flameproof cavity (22) via a hydraulic power output pipeline (311), a hydraulic power output pipeline (312), a hydraulic power output pipeline (313), and a hydraulic power output pipeline (314).

5. The intrinsically safe and flameproof type coal mine underground explosion-proof autonomous flying drone according to claim 1 is characterized in that ； An intrinsically safe explosion-proof electronic system is arranged above the flameproof cavity (22) in the frame, and the intrinsically safe explosion-proof electronic system comprises a flight control module, a position and attitude sensor module, a real-time mapping edge computing module, an intrinsically safe communication module and an antenna.

6. The intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying UAV according to claim 1, characterized in that; Around the frame, binocular or depth cameras are installed.

7. The intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying UAV according to claim 1, characterized in that; The surface of the flameproof cavity (22) is also provided with a packaging layer, which is a rubber insulating layer for ensuring safe flight in a low current environment.

8. The intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying UAV according to claim 1, characterized in that; It also includes a hydraulic energy storage device, which is arranged outside the nacelle and is used to store hydraulic energy.

9. The intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying UAV according to claim 1, characterized in that; It also includes temperature and pressure sensors, which are arranged in the flameproof cavity (22) and are used to monitor the operating status of the hydraulic station system.

10. The intrinsically safe and flameproof coal mine underground explosion-proof autonomous flying UAV according to claim 1, characterized in that: It also includes an emergency stop device, which is arranged in the flameproof cavity (22) and connected to the hydraulic station system, and is used to cut off the hydraulic transmission of the hydraulic station system under abnormal circumstances.

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