Intelligent dispatching communication terminal

Abstract

The present invention discloses an intelligent dispatching communication terminal, comprising a background host installed in a ground machine room and a master machine installed in a main tunnel, the master machine being connected to the background host by wire, a storage compartment being provided in the master machine, a plurality of crawler sub-machines being stored in the storage compartment, the crawler sub-machines being wirelessly connected to the master machine, and the background host being able to control the crawler sub-machines to execute instructions through the master machine; the crawler sub-machine comprising a frame equipped with a crawler moving mechanism, a sub-machine controller, an audio communication module, a side extension detection device and a power supply, the power supply being connected to the sub-machine controller, the crawler moving mechanism being connected to the sub-machine controller, the sub-machine controller being wirelessly connected to the master machine, and the audio communication module being connected to the sub-machine controller; the present invention solves the problems of unstable data transmission and high cost of existing intelligent dispatching communication terminals for underground mines, reduces potential safety hazards and reduces maintenance difficulty.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground intelligent dispatching communication, and in particular relates to an intelligent dispatching communication terminal. Background Art

[0002] In modern mining production, mine safety monitoring is an important link in ensuring the safety of workers and the smooth progress of production. The underground mine intelligent dispatching communication terminal is an intelligent device used for mine safety monitoring. It is mainly used for internal mine safety protection. It can detect harmful gases, temperature, humidity and other safety indicators in the mine, and issue timely alarms to ensure the safety of workers. Traditional underground mine intelligent dispatching communication terminals usually rely on a direct connection between the ground host and the detection sensors in the auxiliary tunnel. This connection method has many shortcomings, especially in the complex and changeable mine environment.

[0003] The connection method between the ground host of traditional underground mine intelligent dispatching communication terminals and the detection sensors in the auxiliary tunnels generally adopts wired or wireless connection for data transmission. In actual use, wireless connection is affected by the complex internal structure of the mine and the numerous and uneven distribution of auxiliary tunnels. The wireless signal is easily interfered with during the transmission process, resulting in unstable signal, rapid attenuation, and even signal loss, making it impossible to stably and reliably transmit data to the ground host. In actual use, wired connection requires laying cables directly from the ground host to each auxiliary tunnel, which requires a large amount of cables and wiring work, which is costly. In addition, the presence of a large number of wire harnesses in the tunnels also increases safety risks. Summary of the Invention

[0004] In view of the defects and problems of existing intelligent dispatching communication terminals for underground mines, the present invention provides an intelligent dispatching communication terminal to solve the problems of unstable data transmission and high cost of existing intelligent dispatching communication terminals for underground mines, reduce safety hazards and reduce maintenance difficulty.

[0005] The solution adopted by the present invention to solve its technical problems is: an intelligent dispatching communication terminal, including a background host installed in a ground machine room and a mother machine installed in a main lane, the mother machine is connected to the background host by wire, the mother machine is provided with a storage compartment, and a plurality of crawler sub-machines are stored in the storage compartment, the crawler sub-machines are wirelessly connected to the mother machine, and the background host can control each crawler sub-machine to execute instructions through the mother machine; the crawler sub-machine includes a frame with a crawler moving mechanism, a sub-machine controller, an audio communication module, a side expansion detection device and a power supply, the power supply is connected to the sub-machine controller, the crawler moving mechanism is connected to the sub-machine controller, the sub-machine controller is wirelessly connected to the mother machine, and the audio communication module is connected to the sub-machine controller; the side expansion detection device includes a split carrier frame, a support frame, an opening and closing control mechanism, a camera and a detection Module, the split carrier is fixedly mounted on the vehicle frame, the support frame is horizontally mounted in the split carrier in the closed state through an opening and closing control mechanism, the top of the support frame extends forward from the split carrier in the closed state, and is installed with a camera connected to the sub-machine controller, the background host can obtain real-time shooting data of the camera through the mother machine, and control the crawler moving mechanism to drive the vehicle frame to move according to the real-time shooting data; the opening and closing control mechanism is connected to the sub-machine controller, and the sub-machine controller can control the split carrier to open through the opening and closing control mechanism to drive the support frame to stand upright and extend out of the split carrier; the detection module is matched and installed in the support frame, and is used to detect the air quality of the sub-aisles when the support frame is stood upright and extended out of the split carrier, and the background host obtains the detection data of the crawler sub-machine detection module of each sub-aisle through the mother machine.

[0006] The split carrier frame includes an upper shell frame and a lower shell frame arranged in split positions, the tail ends of the upper shell frame and the lower shell frame are rotatably mounted on a fixed shaft, and the lower shell frame is fixedly installed on the vehicle frame; the support frame is arranged between the upper shell frame and the lower shell frame, and the front and rear ends of the upper shell frame and the lower shell frame are provided with notches matching the support frame, the bottom end of the support frame passes through the notches at the tail ends of the upper shell frame and the lower shell frame, and is rotatably mounted on the fixed shaft; the top end of the support frame passes through the notches at the front ends of the upper shell frame and the lower shell frame and extends out of the carrier frame; the opening and closing control mechanism is installed in the support frame, and the detection module is installed in the support frame above the opening and closing control mechanism.

[0007] The opening and closing control mechanism includes a lifting drive assembly, a lifting platform and a connecting rod, the lifting platform is matched and installed in the support frame through the lifting drive assembly, the lifting drive assembly is connected to the sub-machine controller, and the sub-machine controller can control the lifting platform to rise and fall along the support frame through the lifting drive assembly; the lifting platform is symmetrically hingedly installed on the two end surfaces of the upper shell frame and the lower shell frame, and the bottom end of the connecting rod is tilted and extended into the shell frame on the same side and is hinged with the shell frame on the same side. When the lifting platform moves downward along the support frame, it will drive the support frame to drive the upper shell frame to flip backward around the fixed axis at a differential speed, and when the upper shell frame flips backward around the fixed axis to a horizontal state, the support frame is in an upright state.

[0008] The lifting drive assembly includes a screw that is rotatably installed in the support frame, the top of the screw is rotatably connected to a drive motor, and the drive motor is connected to the sub-machine controller; the middle part of the lifting platform is provided with a threaded hole that matches the screw, and is matched and sleeved on the screw, and the left and right end surfaces of the lifting platform respectively contact the inner wall of the support frame.

[0009] A platform is matched and installed in the support frame above the lifting drive component, and the detection module is matched and installed on the platform. The detection module includes a sensor array installed on the base, and the sensor array is controlled and connected to the sub-machine controller. The sub-machine controller controls the opening and closing of the sensor array according to the received instructions and receives the detection data transmitted by the sensor array and sends it to the main machine.

[0010] The sensor array includes an air quality sensor, a harmful gas sensor, a temperature and humidity sensor, and a dust sensor installed on a base, and the air quality sensor, the harmful gas sensor, the temperature and humidity sensor, and the dust sensor are all connected to the slave controller.

[0011] A telescopic cylinder is vertically installed on the platform, and the telescopic cylinder is in a normally retracted state. The detection module is matched and installed on the top of the telescopic cylinder. The top of the support frame on the detection module is matched and provided with a window. An air supply cylinder is installed inside the support frame below the lifting platform, and the air supply cylinder is in a normally extended state. The exhaust end of the air supply cylinder is connected to the air inlet hole of the telescopic cylinder through an air pipe.

[0012] Beneficial effects of the present invention: The intelligent dispatching communication terminal provided by the present invention has the following beneficial effects:

[0013] 1. The intelligent dispatch communication terminal of this invention utilizes a combination of wired and wireless communication. A wired connection is used between the backend host and the master terminal, ensuring the stability and high speed of the main communication line. A wireless connection is used between the crawler sub-unit and the master terminal, allowing for flexible response to changes within the secondary lanes. This complementary advantage of wired and wireless communication ensures the stability and reliability of the entire communication system. The master terminal, acting as a wireless signal relay, significantly enhances signal transmission strength between the crawler sub-unit and the backend host, reducing signal attenuation or loss caused by the complex environment of the secondary lanes.

[0014] 2. Through the various sensors carried by the crawler sub-machine, such as air quality sensors, harmful gas sensors, temperature and humidity sensors, and dust sensors, the environmental conditions in the auxiliary tunnel can be monitored in real time, and potential safety hazards such as excessive harmful gases and insufficient oxygen can be discovered in a timely manner, so that corresponding preventive measures can be taken. The audio communication module enables real-time communication between the ground command center and underground personnel, improving the emergency response speed and reducing the possibility of accidents. The crawler sub-machine can automatically perform detection tasks, reducing the number of times manual entry into dangerous areas and reducing the risk of casualties.

[0015] 3. The background host can centrally manage multiple crawler sub-machines and flexibly dispatch them according to needs, thereby improving the efficiency of the inspection work; the movement of the crawler sub-machine, the deployment and recovery of the inspection device and other operations can all be remotely controlled by the background host, reducing manual intervention and improving work efficiency; the inspection data is transmitted to the background host in real time, facilitating rapid analysis and decision-making, and shortening the response time.

[0016] 4. The side extension detection device on the crawler sub-machine in the intelligent dispatch communication terminal of the present invention can automatically expand and retract as needed to adapt to different detection scenarios. When detection is not needed, the device can be folded and stored to reduce its size and facilitate the movement of the crawler sub-machine in narrow lanes. When the device is expanded, the camera and sensors can cover a wider area, providing comprehensive environmental data to ensure the comprehensiveness and accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the crawler sub-machine of the present invention.

[0018] Figure 2 It is a schematic diagram of the side expansion detection device of the present invention in the expanded state.

[0019] Figure 3 It is a schematic diagram of the split carrier structure of the present invention.

[0020] Figure 4 It is a structural schematic diagram of the support frame of the present invention.

[0021] Figure 5 It is a schematic diagram of the unfolding process of the split carrier frame of the present invention.

[0022] Figure 6 It is a schematic diagram of the installation position of the telescopic cylinder of the present invention.

[0023] Figure 7 It is a schematic diagram of the installation position and pipeline connection of the negative pressure bellows of the present invention.

[0024] In the figure, the numbers are: 1 is a vehicle frame, 2 is a crawler moving mechanism, 3 is a side expansion detection device, 4 is a split carrier frame, 41 is an upper shell frame, 411 is a support leg, 42 is a lower shell frame, 43 is a fixed shaft, 44 is a notch, 5 is a support frame, 51 is a platform plate, 52 is a platform, 53 is a telescopic cylinder, 61 is a lifting drive assembly, 62 is a lifting platform, 63 is a connecting rod, 64 is a screw, 65 is a driving motor, 7 is a detection module, 81 is a negative pressure corrugated cover, 82 is an energy storage shell, 821 is an air hole a, 822 is an air hole b, 83 is an energy storage piston, 84 is an energy storage spring, 85 is a pressure control valve, 9 is an air supply cylinder, 10 is a one-way air extraction valve, DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings and examples. Example

[0026] In response to the problems raised in the background technology, this embodiment provides an intelligent scheduling communication terminal, such as Figure 1-5 As shown, it includes a background host installed in the ground machine room and a mother machine installed in the main tunnel. The mother machine is connected to the background host by wire. A storage compartment is provided in the mother machine, which stores multiple crawler sub-machines. The crawler sub-machines are wirelessly connected to the mother machine. The background host can control each crawler sub-machine to execute instructions through the mother machine, and the background host can control the movement of each crawler sub-machine through the mother machine to perform safety inspections on the secondary tunnels.

[0027] The crawler submachine includes a frame 11 with a crawler moving mechanism 2 installed, a submachine controller, an audio communication module, a side extension detection device 3 and a power supply. The power supply is connected to the submachine controller and is used to provide power to the submachine controller and components connected to the submachine controller. The crawler moving mechanism 2 is connected to the submachine controller. The submachine controller can drive the frame 1 to move through the crawler moving mechanism 2. The crawler moving mechanism 2 is an existing structure and will not be described in detail here. The submachine controller is wirelessly connected to the mother machine. Wireless transceiver modules are deployed on the submachine controller and the mother machine controller. The submachine controller is connected to the mother machine. The mother machine is wirelessly connected through two wireless transceiver modules. When the background host and the crawler sub-machine communicate with each other, a wired connection is used between the mother machine and the background host, which ensures the stability and high speed of the trunk communication line. The crawler sub-machine and the mother machine are wirelessly connected, which can flexibly respond to changes inside the auxiliary tunnel, realizing the complementary advantages of wired and wireless communications. In addition, the mother machine, as a relay station for wireless signals, can significantly enhance the strength of signal transmission between the crawler sub-machine and the background host, reduce signal attenuation or loss caused by the complex environment of the auxiliary tunnel, and thus improve the stability of the entire communication.

[0028] The audio communication module is installed on the vehicle frame and connected to the sub-machine controller. The audio communication module is used for real-time voice communication, enabling workers to conduct real-time voice communication inside the mine and on the ground, improving coordination efficiency and emergency response speed.

[0029] The side extension detection device 3 includes a split carrier frame 44, a support frame 55, an opening and closing control mechanism, a camera and a detection module 7. The split carrier frame 4 is fixedly mounted on the vehicle frame, and the support frame 5 is horizontally mounted in the split carrier frame 4 in the closed state through the opening and closing control mechanism, and the top of the support frame 5 is arranged toward the open side of the split carrier frame 4; the top of the support frame 5 extends forward from the split carrier frame 4 in the closed state, and is installed with a camera connected to the sub-machine controller. The background host can obtain real-time shooting data of the camera through the mother machine, and control the crawler moving mechanism 2 to drive the vehicle frame 1 to move according to the real-time shooting data; the opening and closing control mechanism is connected to the sub-machine controller, and the sub-machine controller can control the split carrier frame 4 to open through the opening and closing control mechanism, so as to drive the support frame 5 to stand upright and extend out of the split carrier frame 4;

[0030] The split load-bearing frame 4 includes an upper frame 41 and a lower frame 42 that are arranged in split positions. The tail ends of the upper frame and the lower frame are both rotatably mounted on a fixed shaft 43, and the lower frame is fixedly mounted on the vehicle frame 1; the support frame 5 is arranged between the upper frame 41 and the lower frame 42, and the front and rear ends of the upper frame 41 and the lower frame 42 are respectively provided with notches 44 that match the support frame 5. The bottom end of the support frame 5 passes through the notches 44 at the tail ends of the upper frame and the lower frame, and is rotatably mounted on the fixed shaft 43; the top end of the support frame 5 passes through the notches 44 at the front ends of the upper frame 41 and the lower frame 42 and extends out of the load-bearing frame; the support frame 5 is designed to be open at both ends facing the upper frame and the lower frame; the opening and closing control mechanism is installed in the support frame 5, and is connected to the lower frame and the upper frame through the openings of the support frames 5 on the left and right sides respectively.

[0031] The opening and closing control mechanism includes a lifting drive component 61, a lifting platform 62 and a connecting rod 63. The lifting platform 62 is matched and installed in the support frame 5 through the lifting drive component 61. The lifting drive component 61 is connected to the sub-machine controller. The sub-machine controller can control the lifting platform 62 to rise and fall along the support frame 5 through the lifting drive component 61. Specifically, the lifting drive component 61 includes a screw 64 rotatably installed in the support frame 5. The top of the screw 64 is rotatably connected to a drive motor 65. The drive motor 65 is connected to the sub-machine controller. There are many ways to rotate and install the screw 64, for example: Figure 4 As shown, two platform plates 51 are vertically spaced apart inside the support frame 5, a screw 64 is arranged between the two platform plates 51, and the upper and lower ends of the screw 64 are rotatably mounted on the platform plate 51 on the same side through bearings, and a drive motor 65 is fixedly mounted on the upper platform plate 51 and is transmission-connected to the screw 64. When the drive motor 65 is working, it will drive the screw 64 to rotate synchronously.

[0032] A threaded hole matching the screw 64 is provided in the middle of the lifting platform 62, and the lifting platform 62 is fitted onto the screw 64. The left and right end surfaces of the lifting platform 62 respectively contact the inner wall of the support frame 5. When the screw 64 rotates, the left and right end surfaces of the lifting platform 62 are constrained by the inner wall of the support frame 5 and will not rotate. Therefore, the rotation of the screw 64 will drive the lifting platform 62 to rise and fall along the support.

[0033] The lifting platform 62 is symmetrically hingedly installed with connecting rods 63 on the two end surfaces facing the upper shell frame 41 and the lower shell frame 42. The bottom end of the connecting rod 63 is tilted and extends into the shell frame on the same side and is hinged with the shell frame on the same side. When the lifting platform 62 moves downward along the support frame 5, it will drive the support frame 5 to drive the upper shell frame to rotate backward around the fixed axis 43 at a differential speed, and when the upper shell frame flips backward around the fixed axis 43 to a horizontal state, the support frame 5 is in an upright state. The detection module 7 is matched and installed in the support frame 5 and is used to detect the air quality of the auxiliary tunnel when the support frame 5 is upright and extends out of the split carrier frame 4. The background host obtains the detection data of the crawler sub-machine detection module 7 of each auxiliary tunnel through the master machine. Specifically:

[0034] The rotation speed of the upper shell frame is twice the rotation speed of the support frame 5. When the split carrier frame 4 is in the closed state, the bottom end of the connecting rod 63 is set toward the tail end of the split carrier frame 4, and in this state, the angle between the connecting rod 63 and the shell frame on the same side is greater than 5°, which facilitates the control of the opening and closing of the split carrier frame 4. When the lifting platform 62 is driven to move downward along the support frame 5 by the lifting drive assembly 61, the connecting rod 63 close to the lower shell frame side will use the bottom end as a fulcrum to push the support frame 5 upward and rotate it to the rear side around the fixed axis 43. In this process, the connecting rod 63 connected to the upper shell frame will use the end connected to the lifting platform 62 as a fulcrum to push the upper shell frame to rotate synchronously around the fixed axis 43 to the rear side. Since the rotation speed of the upper shell frame is twice the rotation speed of the support frame 5, when the upper shell frame flips backward around the fixed axis 43 to a horizontal state, the support frame 5 is in an upright state, thereby raising the height of the detection module 7. At this time, the side expansion detection device 3 is in the detection expansion state.

[0035] The detection module 7 is installed in the support frame 5 above the opening and closing control mechanism. A platform 52 is matched and installed in the support frame 5 above the lifting drive assembly 61. The detection module 7 is matched and installed on the platform 52. The detection module 7 includes a sensor array installed on the base. The sensor array is controlled and connected to the sub-machine controller. The sub-machine controller controls the opening and closing of the sensor array according to the received instructions and receives the detection data transmitted by the sensor array and sends it to the main machine. When the side expansion detection device 3 is in the detection expansion state, the sub-machine controller controls the sensor array to start air detection.

[0036] The sensor array includes an air quality sensor, a harmful gas sensor, a temperature and humidity sensor, and a dust sensor installed on the base. The air quality sensor, the harmful gas sensor, the temperature and humidity sensor, and the dust sensor are all connected to the slave controller. The air quality sensor is used to detect oxygen concentration, carbon dioxide concentration, etc. The harmful gas sensor is used to detect the concentration of harmful gases such as carbon monoxide (CO), hydrogen sulfide (H2S), and methane (CH4). The temperature and humidity sensor is used to monitor the temperature and humidity of the environment and provide comprehensive environmental data. The dust sensor is used to detect the concentration of dust in the air and assess the hazards of mine dust.

[0037] When the intelligent dispatch communication terminal provided in this embodiment is in use, the background host sends a task instruction to the master machine via a wired connection based on the secondary lane position to be detected. After receiving the instruction, the master machine releases a corresponding number of crawler slave machines from the storage compartment and sends instructions to them wirelessly. The crawler slave machines follow the predetermined path in the instruction and move to the designated secondary lane according to the real-time camera data, avoiding obstacles. After reaching the target position, the crawler slave machine controller activates the side extension detection device 3 according to the instruction, causing the support frame 5 to stand upright and extend out of the split carrier frame 4. The detection module 7 begins operation and collects environmental data, such as air quality and harmful gas concentration. The detection module 7 transmits the data to the master machine via the slave machine controller, which then forwards it to the background host. Through the audio communication module, the ground command center can have real-time conversations with personnel in the lane to ensure smooth communication. The ground command center can also observe the situation in each lane in real time through the cameras on each crawler slave machine. After the inspection task is completed, the crawler slave machine automatically retracts the support frame 5 and returns to the master machine along the original route to stand by or await further instructions. The opening and closing of the split carrier frame can effectively protect the detection module 7. Example

[0038] The difference between Example 2 and Example 1 is that Figure 6 As shown, a telescopic cylinder 53 is vertically installed on the platform 52, and the telescopic cylinder 53 is in a normally retracted state. The detection module is matched and installed on the top of the telescopic cylinder 53. The top of the support frame on the detection module is matched and provided with a window. An air supply cylinder is installed in the support frame below the lifting platform. The piston rod of the air supply cylinder is connected to the lifting platform. The air supply cylinder is an existing double-acting cylinder. The lower chamber of the air supply cylinder is connected to the air inlet of the telescopic cylinder through an air pipe. When the lifting platform descends, it pushes the piston rod of the air supply cylinder to retract inward, thereby driving the piston of the air supply cylinder to move downward, squeezing the air in the lower chamber of the air supply cylinder into the telescopic cylinder 53, so that the telescopic cylinder 53 drives the detection module to lift upward through the window and extend out of the support frame, thereby further increasing the height of the detection module when the split carrier frame is opened. Example

[0039] The difference between Example 3 and Example 2 is that Figure 6As shown, the upper end surface of the upper shell frame 4 is matched with a support leg 411. When the upper shell frame 4 rotates backward around the fixed axis 43 to fully open the split carrier frame, the support leg will follow the upper shell frame 41 to rotate backward around the fixed axis 43 and come into contact with the tunnel ground, thereby supporting the suspended upper shell frame 4. Example

[0040] The difference between Example 4 and Example 3 is that Figure 7 As shown, the upper end surface of the upper shell frame 4 is matched with a negative pressure corrugated cover 81 with an open top. When the upper shell frame 4 rotates backward around the fixed axis 43 to fully open the split carrier frame, the negative pressure corrugated cover will rotate backward around the fixed axis 43 synchronously with the upper shell frame 41 and come into contact with the tunnel ground, thereby blocking the opening of the negative pressure corrugated cover through the tunnel ground; the support legs 411 are located in the negative pressure corrugated cover, and an energy storage component is provided between the negative pressure corrugated cover and the upper chamber of the air supply cylinder. Specifically: the energy storage component The component includes an energy storage shell 82 with a piston cavity inside, an energy storage piston 83 is matched and installed in the energy storage shell, and an energy storage spring 84 is matched and installed in the energy storage shell below the energy storage piston 83. The energy storage spring will push the energy storage piston upward and conflict with the top wall of the energy storage shell in a natural state; the energy storage shell is provided with two air holes connected to the piston cavity below the energy storage piston, the air hole a821 is connected to the upper chamber of the air supply cylinder 9 through the air pipe, and the air hole b822 is connected to the inner air of the negative pressure corrugated cover through the air pipe. The air supply cylinder 9 is connected to the platform plate, and a pressure control valve 85 connected to the sub-machine controller is matched and installed on the air pipe between the air hole b and the negative pressure bellows. The pressure control valve 85 is in a normally closed state. During the unfolding process of the split carrier, the piston in the air supply cylinder 9 will move downward synchronously with the platform plate, and the air in the piston chamber below the energy storage piston in the energy storage assembly will be extracted to compensate for the air in the upper chamber of the air supply cylinder, driving the energy storage piston to move downward and squeeze the energy storage spring to store energy. When the split carrier is fully unfolded, that is, when the negative pressure bellows will rotate backward synchronously with the upper shell frame 41 around the fixed axis 43 and come into contact with the roadway ground, and after the opening of the negative pressure bellows is blocked by the roadway ground, the sub-machine controller controls the pressure control valve to open, so that the internal space of the negative pressure bellows is connected to the piston chamber of the energy storage shell under the energy storage piston. The squeezed energy storage spring will push the energy storage piston upward and move it upward instantly, extracting the air inside the negative pressure bellows to generate negative pressure and be sucked together with the roadway ground, thereby fixing the position of the sub-machine. Example

[0041] The difference between Example 5 and Example 4 is that Figure 7 As shown, a threaded hole is vertically provided on the top of the energy storage shell 82 and is connected to the interior of the energy storage shell. A pressure-adjusting bolt 86 is installed in the threaded hole. The compression degree of the energy storage spring in the initial state can be adjusted by controlling the penetration length of the pressure-adjusting bolt through the knob, thereby controlling the suction strength of the negative pressure bellows. Example

[0042] The difference between Example 6 and Example 4 is that Figure 7 As shown, a plurality of hollow tubes are vertically installed on the base of the detection module 7 at the top of the telescopic cylinder 53. The number of the hollow tubes is the same as the number of sensors in the sensor array. The sensors in the sensor array are respectively installed in the corresponding hollow tubes, and a protective net is installed on the top of the hollow tube to prevent falling rocks from falling into the hollow tube and hitting the sensor; the bottom end of the hollow tube is provided with a through hole and is connected to a negative pressure tube, and the other end of the negative pressure tube is connected to a one-way air extraction valve 10, and the suction end of the one-way air extraction valve is connected to the air pipe connecting the pressure control valve and the negative pressure bellows through the air pipe, and the opening negative pressure of the one-way air extraction valve is a, and the negative pressure bellows is in contact with the ground The minimum negative pressure for solid absorption is b, and the energy storage pressure of the energy storage component when the split carrier is fully opened is c, where c>a>b. Therefore, during use, when the split carrier is unfolded and the pressure control valve is opened, the energy storage component in the energy storage state will synchronously suck the air in the hollow tube and the negative pressure bellows. When sucking the air in the hollow tube, the control in the tunnel will be sucked into the hollow tube through the top of the hollow tube, so that the sensor in the hollow tube can be separately isolated and detected. And because c>a>b, as the energy storage component is reset, the one-way air extraction valve will be closed first, thereby ensuring that the negative pressure is sufficient to support the solid absorption of the negative pressure bellows and the ground.

[0043] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. An intelligent dispatching communication terminal, comprising a background host installed in a ground machine room and a master machine installed in a main lane, characterized in that: The mother machine is connected to the background host by wire. The mother machine is provided with a storage compartment, which accommodates multiple crawler sub-machines. The crawler sub-machines are wirelessly connected to the mother machine, and the background host can control each crawler sub-machine to execute instructions through the mother machine; the crawler sub-machine includes a frame with a crawler moving mechanism, a sub-machine controller, an audio communication module, a side expansion detection device and a power supply. The power supply is connected to the sub-machine controller, the crawler moving mechanism is connected to the sub-machine controller, the sub-machine controller is wirelessly connected to the mother machine, and the audio communication module is connected to the sub-machine controller; the side expansion detection device includes a split carrier frame, a support frame, an opening and closing control mechanism , camera and detection module, the split carrier is fixedly mounted on the vehicle frame, the support frame is horizontally mounted in the split carrier in the closed state through an opening and closing control mechanism, the top of the support frame extends forward from the split carrier in the closed state, and is installed with a camera connected to the sub-machine controller, the background host can obtain real-time shooting data of the camera through the mother machine, and control the crawler moving mechanism to drive the vehicle frame to move according to the real-time shooting data; the opening and closing control mechanism is connected to the sub-machine controller, and the sub-machine controller can control the split carrier to open through the opening and closing control mechanism to drive the support frame to stand upright and extend out of the split carrier; The detection module is matched and installed in the support frame, and is used to detect the air quality of the auxiliary tunnel when the support frame is erected and extended out of the split carrier frame. The background host obtains the detection data of the crawler sub-machine detection module of each auxiliary tunnel through the mother machine.

2. The intelligent dispatching communication terminal according to claim 1, characterized in that: The split carrier frame includes an upper shell frame and a lower shell frame arranged in split positions, the tail ends of the upper shell frame and the lower shell frame are rotatably mounted on a fixed shaft, and the lower shell frame is fixedly installed on the vehicle frame; the support frame is arranged between the upper shell frame and the lower shell frame, and the front and rear ends of the upper shell frame and the lower shell frame are provided with notches matching the support frame, the bottom end of the support frame passes through the notches at the tail ends of the upper shell frame and the lower shell frame, and is rotatably mounted on the fixed shaft; the top end of the support frame passes through the notches at the front ends of the upper shell frame and the lower shell frame and extends out of the carrier frame; the opening and closing control mechanism is installed in the support frame, and the detection module is installed in the support frame above the opening and closing control mechanism.

3. The intelligent dispatching communication terminal according to claim 2, characterized in that: The opening and closing control mechanism includes a lifting drive assembly, a lifting platform and a connecting rod, the lifting platform is matched and installed in the support frame through the lifting drive assembly, the lifting drive assembly is connected to the sub-machine controller, and the sub-machine controller can control the lifting platform to rise and fall along the support frame through the lifting drive assembly; the lifting platform is symmetrically hingedly installed on the two end surfaces of the upper shell frame and the lower shell frame, and the bottom end of the connecting rod is tilted and extended into the shell frame on the same side and is hinged with the shell frame on the same side. When the lifting platform moves downward along the support frame, it will drive the support frame to drive the upper shell frame to flip backward around the fixed axis at a differential speed, and when the upper shell frame flips backward around the fixed axis to a horizontal state, the support frame is in an upright state.

4. The intelligent dispatching communication terminal according to claim 3, characterized in that: The lifting drive assembly includes a screw that is rotatably installed in the support frame, the top of the screw is rotatably connected to a drive motor, and the drive motor is connected to the sub-machine controller; the middle part of the lifting platform is provided with a threaded hole that matches the screw, and is matched and sleeved on the screw, and the left and right end surfaces of the lifting platform respectively contact the inner wall of the support frame.

5. The intelligent dispatching communication terminal according to claim 4, characterized in that: A platform is matched and installed in the support frame above the lifting drive component, and the detection module is matched and installed on the platform. The detection module includes a sensor array installed on the base, and the sensor array is controlled and connected to the sub-machine controller. The sub-machine controller controls the opening and closing of the sensor array according to the received instructions and receives the detection data transmitted by the sensor array and sends it to the main machine.

6. The intelligent dispatching communication terminal according to claim 5, characterized in that: The sensor array includes an air quality sensor, a harmful gas sensor, a temperature and humidity sensor, and a dust sensor installed on a base, and the air quality sensor, the harmful gas sensor, the temperature and humidity sensor, and the dust sensor are all connected to the slave controller.

7. The intelligent dispatching communication terminal according to claim 6, characterized in that: A telescopic cylinder is vertically installed on the platform, and the telescopic cylinder is in a normally retracted state. The detection module is matched and installed on the top of the telescopic cylinder. The top of the support frame on the detection module is matched and provided with a window. An air supply cylinder is installed inside the support frame below the lifting platform, and the air supply cylinder is in a normally extended state. The exhaust end of the air supply cylinder is connected to the air inlet hole of the telescopic cylinder through an air pipe.

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