Mining anti-explosion inspection robot and anti-explosion inspection method

Abstract

The mining anti-explosion inspection robot comprises a robot body, the robot body comprises a frame, and walking driving mechanisms used for driving the frame to move are arranged on the two sides of the frame; a sensor assembly and an RGB searchlight are arranged on the front end face of the frame. A loudspeaker and a horizontal rotation driving mechanism are fixedly arranged at the top of the frame, the horizontal rotation driving mechanism is in driving connection with a vertical rotation driving mechanism, and the vertical rotation driving mechanism is in driving connection with an image capturer; a signal transmission mechanism is arranged at the rear end of the top of the frame. According to the mining anti-explosion inspection robot and the anti-explosion inspection method, the robot can automatically move in a mine, automatic inspection of the mine is achieved, the RGB searchlight can be used for irradiating live-action enhanced colors in a key observation area when the image capturer is used for shooting images, and the inspection efficiency of the mine is improved. Therefore, the management personnel can quickly determine the risk level of the key observation area according to the real scene enhancement color in the image.

Description

Technical Field

[0001] The invention relates to the technical field of mine safety inspection, in particular to an explosion-proof inspection robot and an explosion-proof inspection method for mines. Background Art

[0002] Traditional mine safety inspections are mainly carried out manually. When inspectors conduct inspections in the mine area, they need to prepare the necessary tools and equipment according to the inspection scope and requirements, and then inspect each area in turn according to the route and time determined by the inspection plan. The main inspection contents include checking safety facilities and paying attention to the operating status of electromechanical equipment. During the inspection process, inspectors are sometimes directly exposed to complex and dangerous mine environments such as toxic gases, mine dust explosions, and collapses, which poses a great safety hazard to inspectors. On the other hand, manual inspections also have a high risk of missed inspections and wrong inspections. Summary of the invention

[0003] In order to address the deficiencies in the prior art, the present invention provides a mining explosion-proof inspection robot and an explosion-proof inspection method, which can move autonomously in a mine to realize automated inspection of the mine, and can use an RGB searchlight to illuminate real-scene enhanced colors in key observation areas when taking images using an image capturer, thereby facilitating management personnel to quickly determine the risk level of the key observation area based on the real-scene enhanced colors in the image.

[0004] In order to achieve the above object, the specific scheme adopted by the present invention is: A mining explosion-proof inspection robot comprises a robot body, wherein the robot body comprises a frame, Travel driving mechanisms for driving the frame to move are arranged on both sides of the frame; A sensor assembly and an RGB searchlight are arranged on the front end surface of the frame; A loudspeaker and a horizontal rotary drive mechanism are fixedly arranged on the top of the frame, the horizontal rotary drive mechanism is drivably connected to a vertical rotary drive mechanism, and the vertical rotary drive mechanism is drivably connected to an image capturer; A signal transmission mechanism is arranged at the rear end of the top of the frame.

[0005] Preferably, the sensor assembly includes a gas detector, an obstacle avoidance sensor and a smoke sensor.

[0006] Preferably, a lifting handle for assisting in transferring the frame is fixedly provided on the top of the frame.

[0007] An explosion-proof inspection method, based on the above-mentioned explosion-proof inspection robot for mining, comprises the following steps: Driving the inspection robot to move in the mine according to a pre-planned inspection route, where the inspection route includes a plurality of key observation areas; When the inspection robot moves to the vicinity of the key observation area, the horizontal rotation drive mechanism and the vertical rotation drive mechanism are used to drive the image capture device to rotate toward the key observation area; Using the sensor assembly to sense the key observation area to generate a key sensing result; generating a risk level based on the key sensing results; Determine a real scene enhancement color based on the risk level, and illuminate a key observation area using the RGB searchlight according to the real scene enhancement color; Using the image capture device to photograph the key observation area to obtain a real scene image of the key area; The real scene image of the key area is transmitted outwardly through the signal transmission mechanism.

[0008] Preferably, the method for planning the inspection route includes: Determine the tunnel distribution data of the mine, the tunnel distribution data includes a plurality of tunnels and a plurality of connected areas, and the connected area is connected to at least two tunnels; Constructing a mine space model based on the lane distribution data, the mine space model comprising a plurality of edges and a plurality of nodes, wherein the edges correspond to the lanes and the nodes correspond to the connected areas; Traverse all nodes, and mark the node as a jump connection point when there is a height difference between the lanes connected by the node; Starting from the mine entrance, the inspection route is generated by searching the edges and nodes using the depth-first search algorithm. In the inspection route, jump connection points are marked as help points, and multiple key observation areas are marked.

[0009] Preferably, when the inspection robot moves to the help point, a help signal is sent out using a loudspeaker.

[0010] Preferably, the method for generating risk levels based on the key sensing results includes: Decomposing the key sensing results to obtain multiple single-category results; generating single-category risk data based on the single-category results; Optimizing single-category risk data based on the degree of association between single-category risk data; The risk level is generated based on the fusion of all single-category risk data.

[0011] Preferably, when the risk level is higher than a preset threshold, a warning signal is issued using the loudspeaker.

[0012] Preferably, when the inspection robot is driven to move in the mine according to a pre-planned inspection route, an obstacle avoidance sensor is used to perform obstacle monitoring in real time. When an obstacle is detected, the image capturer is used to sense the surrounding space conditions and avoid the obstacle based on the surrounding space conditions and the location of the obstacle.

[0013] The inspection robot of the present invention can move autonomously in a mine to realize automated inspection of the mine, and can use an RGB searchlight to illuminate real-scene enhanced colors in key observation areas when taking images using an image capturer, thereby facilitating management personnel to quickly determine the risk level of the key observation area based on the real-scene enhanced colors in the image, and then select appropriate treatment measures and promptly go to the key observation area for treatment, so as to fully ensure the safety of personnel and equipment in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the overall structure of the inspection robot of the present invention; Figure 2 It is a flow chart of the inspection method of the present invention.

[0016] Figure numerals: 1-signal transmission mechanism, 2-loudspeaker, 3-vertical rotation drive mechanism, 4-image capturer, 5-pickup, 6-horizontal rotation drive mechanism, 7-smoke sensor, 8-RGB searchlight, 9-obstacle avoidance sensor, 10-gas detector, 11-mudguard, 12-travel drive mechanism, 13-power supply, 14-lifting handle, 15-frame. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0018] like Figure 1 As shown, a mining explosion-proof inspection robot includes a robot body, and the robot body includes a frame 15.

[0019] Travel driving mechanisms 12 for driving the frame 15 to move are arranged on both sides of the frame 15 .

[0020] A sensor assembly and an RGB searchlight 8 are arranged on the front end surface of the vehicle frame 15 .

[0021] A loudspeaker 2 and a horizontal rotary drive mechanism 6 are fixedly arranged on the top of the frame 15 . The horizontal rotary drive mechanism 6 is drivingly connected to a vertical rotary drive mechanism 3 , and the vertical rotary drive mechanism 3 is drivingly connected to an image capturer 4 .

[0022] A signal transmission mechanism 1 is provided at the top rear end of the vehicle frame 15 .

[0023] When the inspection robot of the present invention is used to inspect the mine, the robot is first moved to the entrance of the mine, and then the walking drive mechanism 12 is used to drive the frame 15 to move, so that the inspection robot moves along the tunnel of the mine. When the inspection robot moves to the key observation area in the tunnel, the key observation area is sensed by the sensor component, and then the risk level corresponding to the key observation area is generated based on the sensing result. The risk level is used to reflect whether the key observation area may have risks, especially explosion risks. After that, the RGB searchlight 8 is controlled to illuminate the key observation area according to the risk level, and different risk levels correspond to different colors, so that the real scene enhancement color is illuminated in the key observation area. Subsequently, the key observation area is photographed by the image capturer 4, and the real scene image obtained by the shooting is transmitted to the outside through the signal transmission mechanism 1, so that the management personnel can directly obtain the risk level of the key observation area through the real scene enhancement color in the real scene image in the upper control device, and then call the sensing result of the sensor component, and finally select the appropriate treatment measures and go to the key observation area in time for treatment, so as to fully ensure the safety of personnel and equipment in the mine. It should also be noted that, for locations other than the key observation area in the mine, the inspection robot can also sense through the sensor assembly during movement and generate a dynamic risk level. Correspondingly, when the risk level is high, the image is captured by the image capture device 4 after being illuminated by the RGB searchlight 8. The difference is that for locations other than the key observation area, the sensor assembly can sense periodically, that is, the sensing action is performed intermittently, thereby reducing the amount of data.

[0024] The inspection robot of the present invention can move independently in the mine to realize automated inspection of the mine, and can use the RGB searchlight 8 to illuminate the real scene enhanced color in the key observation area when using the image capturer 4 to take images, so as to facilitate the management personnel to quickly determine the risk level of the key observation area according to the real scene enhanced color in the image, and then select appropriate treatment measures and go to the key observation area in time to handle it, so as to fully ensure the safety of personnel and equipment in the mine.

[0025] The specific structure of the sensor assembly is as follows: the sensor assembly includes a gas detector 10, an obstacle avoidance sensor 9 and a smoke sensor 7. Among them, the gas detector 10 can be a gas sensor, and the obstacle avoidance sensor 9 can be a millimeter wave sensor. These sensors are conventional technical means in the field and will not be described here.

[0026] Considering the complex terrain in the mine, there may be situations where the inspection robot cannot pass through some locations smoothly. In order to facilitate the manual or equipment transfer of the inspection robot and help the inspection robot to cross obstacles that are difficult for it to climb over, a lifting handle 14 for assisting the transfer of the frame 15 is fixedly provided on the top of the frame 15. The lifting handle 14 may include two support rods vertically arranged on the top of the frame 15 and a suspension rod fixedly connected between the two support rods.

[0027] Further, the horizontal rotary drive mechanism 6 can adopt a conventional turntable, and the vertical rotary drive mechanism 3 can include a column vertically fixedly arranged on the bearing surface of the turntable, the column is rotatably connected with a rotary shaft, the rotary shaft is fixedly connected with two mutually parallel mounting rods, and one end of the rotary shaft is connected with a motor for driving the rotary shaft to rotate. On this basis, the image capturer 4 includes two high-definition cameras, and the two high-definition cameras are correspondingly fixedly arranged on the mounting rods. The image capturer 4 can be driven to rotate in the horizontal direction by the horizontal rotary drive mechanism 6, thereby changing the orientation of the image capturer 4. The image capturer 4 can be driven to rotate in the vertical direction by the vertical rotary drive mechanism 3, thereby changing the pitch angle of the image capturer 4. Through the horizontal rotary drive mechanism 6 and the vertical rotary drive mechanism 6, the shooting range of the image capturer 4 can be flexibly changed, and the flexibility of the inspection robot is fully guaranteed. The image capturer 4 adopts the structure of two high-definition cameras, and can determine the distance between the inspection robot and other surrounding objects or the inner wall of the lane based on the principle of binocular vision. Combined with the obstacle avoidance sensor 9, the inspection robot can autonomously climb over obstacles.

[0028] Furthermore, a microphone 5 may be fixedly arranged on the side of each of the two high-definition cameras so as to capture continuous video with sound, which further facilitates the staff to determine how to deal with areas with high risk levels.

[0029] The driving mechanism 12 specifically includes a plurality of running wheels rotatably arranged on the side of the frame 15. All the running wheels can be driven by a running motor, or each running wheel can be driven by an independent running motor. This is a conventional driving method and will not be described in detail here. An arc-shaped mud guard 11 can be arranged above the running wheel to prevent the running wheel from getting stuck due to excessive sludge, thereby ensuring the passing ability of the inspection robot.

[0030] A power source 13 may be provided inside and on the side of the vehicle frame 15 to supply power to the above-mentioned power-consuming components. The power source 13 may use a lithium battery as an energy storage device, and sufficient explosion-proof measures may be taken.

[0031] like Figure 2 As shown, the present invention further provides an explosion-proof inspection method, based on the above-mentioned explosion-proof inspection robot for mining, the method includes S1 to S7.

[0032] S1. Drive the inspection robot to move in the mine according to a pre-planned inspection route, which includes multiple key observation areas.

[0033] The method for planning an inspection route includes S01 to S05.

[0034] S01. Determine the tunnel distribution data of the mine, where the tunnel distribution data includes multiple tunnels and multiple connected areas, and the connected area is connected to at least two tunnels.

[0035] S02. Construct a mine space model based on the tunnel distribution data, wherein the mine space model includes multiple edges and multiple nodes, wherein the edges correspond to the tunnels, and the nodes correspond to the connected areas.

[0036] S03. Traverse all nodes, and when there is a height difference between the lanes connected by the nodes, mark the nodes as jump connection points. When there is a height difference between the lanes connected by the nodes, it is usually necessary to use devices such as elevators to assist personnel or equipment to transfer between different lanes. When the inspection robot moves to these nodes, it may be difficult to automatically climb onto the elevators and other devices, so they need to be marked.

[0037] S04. Taking the mine entrance as the starting point, search the edges and nodes through the depth-first search algorithm to generate an inspection route. The depth-first search algorithm is a conventional route planning method and will not be described in detail here.

[0038] S05. In the inspection route, the jump connection point is marked as a help point, and multiple key observation areas are marked. When the inspection robot moves to the help point, a help signal is sent out using the loudspeaker 2. As described in S03, the jump connection point usually requires the use of devices such as elevators to assist in the transfer of personnel and equipment. The inspection robot may find it difficult to board elevators and other devices independently. Therefore, when the inspection robot moves to the help point, a help signal can be sent out through the loudspeaker 2. When there are people around, the inspection robot can be assisted to move to elevators and other devices to improve the inspection efficiency. Of course, while sending a help signal, the inspection robot can still try to board elevators and other equipment autonomously with the help of the image capturer 4 and the obstacle avoidance sensor 9 to avoid being stranded at the help point for a long time when there is no one around to help. On the other hand, the location of the key observation area needs to be determined according to the actual situation of the lane, which will not be repeated here.

[0039] S2. When the inspection robot moves to the vicinity of the key observation area, the horizontal rotation drive mechanism 6 and the vertical rotation drive mechanism 3 are used to drive the image capture device 4 to rotate toward the key observation area.

[0040] S3. Use the sensor assembly to sense the key observation area and generate key sensing results. The specific content of the key sensing results is determined by the actual structure of the sensor assembly. For example, when the sensor assembly includes a gas detector 10, an obstacle avoidance sensor 9 and a smoke sensor 7, the key sensing results include gas data and smoke data. When the gas data reflects that there is a gas leak in the key observation area, it means that there is a possibility of combustion or even explosion in the key observation area. If the disgusting data reflects that there is smoke in the key observation area, it means that there may be a high temperature point or a fire point in the key observation area, and the possibility of combustion or even explosion increases significantly. On the other hand, in the process of driving the inspection robot to move in the mine according to the pre-planned inspection route, the obstacle avoidance sensor 9 is used to monitor obstacles in real time. When an obstacle is detected, the image capture device 4 is used to sense the surrounding space conditions, and the obstacle is avoided according to the surrounding space conditions and the position of the obstacle.

[0041] S4. Generate risk levels based on key sensing results. Risk levels can be divided into multiple levels, determined according to actual needs. For example, risk levels can include five levels, namely no risk, low risk, medium risk, high risk and extremely high risk. The method for generating risk levels based on key sensing results includes S41 to S45.

[0042] S41, decomposing the key sensing results to obtain multiple single-category results. In the sensor assembly, different sensors correspond to different sensing results and reflect different situations, such as the gas detector 10 and the smoke sensor 7, so they need to be decomposed first to obtain single-category results corresponding to the sensors.

[0043] S42, generating single-category risk data based on the single-category results. For example, when the single-category results of the gas detector 10 reflect the presence of gas leakage in the key observation area, the single-category risk data may be medium risk or high risk; when the single-category results of the smoke sensor 10 reflect the presence of high temperature points or fire points in the key observation area, the single-category risk data may be medium risk or high risk.

[0044] S43, optimizing the single-category risk data based on the degree of association between the single-category risk data. Different single-category risk data may be associated with each other. For example, if the gas detector 10 detects a gas leak in the key observation area, and the smoke sensor 10 senses a fire point in the key observation area, then the two high-risk single-category risk data are directly associated with each other and optimized to extremely high risk.

[0045] S45. Generate a risk level based on the fusion of all single-category risk data. When any single-category risk data is high risk or extremely high risk, the risk level is also high risk or extremely high risk. In other cases, the risk level is generated based on the mean of the single-category risk data.

[0046] S5. Determine the real scene enhancement color based on the risk level, and use the RGB searchlight 8 to illuminate the key observation area according to the real scene enhancement color. The number of real scene enhancement colors is determined based on the number of risk levels. For example, under the premise that the risk level is set to five levels, there are also five real scene enhancement colors, namely red corresponding to extremely high risk, magenta corresponding to high risk, blue corresponding to medium risk, cyan corresponding to low risk, and green corresponding to no risk. The effect of changing the real scene enhancement color can be achieved by controlling the brightness of the lamp beads of each color of the RGB searchlight 8.

[0047] S6. Use the image capturer 4 to shoot the key observation area to obtain a real-scene image of the key observation area. In the real-scene image of the key area obtained by shooting, under the influence of the light irradiated by the RGB searchlight 8, there will be colors corresponding to the risk level. The management personnel can quickly determine the risk level in the key observation area based on the colors in the real-scene image of the key area. It should also be noted that because the real-scene enhancement color is predetermined, if it is necessary to eliminate the real-scene enhancement color in the real-scene image of the key area, so as to quickly and accurately understand the actual scene in the key observation area when the risk level is high, a pre-prepared program can be used to quickly eliminate the real-scene enhancement color from the real-scene image of the key area. The specific method is a conventional image processing method, which will not be repeated here.

[0048] S7, transmitting the real scene image of the key area to the outside through the signal transmission mechanism 1.

[0049] Further, when the risk level is higher than a preset threshold, a warning signal is issued by loudspeaker 2 to warn the surrounding personnel so that they can quickly evacuate. The prefabrication can be set to high risk, that is, when the risk level is high risk and extremely high risk, a warning signal is issued by loudspeaker 2.

[0050] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0051] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mining explosion-proof inspection robot, comprising a robot body, the robot body comprising a frame (15), characterized in that: Travel drive mechanisms (12) for driving the frame (15) to move are provided on both sides of the frame (15); A sensor assembly and an RGB searchlight (8) are provided on the front end surface of the vehicle frame (15); A loudspeaker (2) and a horizontal rotary drive mechanism (6) are fixedly arranged on the top of the vehicle frame (15); the horizontal rotary drive mechanism (6) is drivably connected to a vertical rotary drive mechanism (3); and the vertical rotary drive mechanism (3) is drivably connected to an image capture device (4); A signal transmission mechanism (1) is provided at the top rear end of the vehicle frame (15).

2. A mining explosion-proof inspection robot as claimed in claim 1, characterized in that: The sensor assembly comprises a gas detector (10), an obstacle avoidance sensor (9) and a smoke sensor (7).

3. The explosion-proof inspection robot for mining as claimed in claim 1, characterized in that: A lifting handle (14) for assisting in transferring the frame (15) is fixedly provided on the top of the frame (15).

4. Explosion-proof inspection method, characterized in that: Based on a mining explosion-proof inspection robot as described in any one of claims 1 to 3, the method comprises the following steps: Driving the inspection robot to move in the mine according to a pre-planned inspection route, where the inspection route includes a plurality of key observation areas; When the inspection robot moves to the vicinity of a key observation area, the horizontal rotation drive mechanism (6) and the vertical rotation drive mechanism (3) are used to drive the image capture device (4) to rotate toward the key observation area; Using the sensor assembly to sense the key observation area to generate a key sensing result; generating a risk level based on the key sensing results; Determining a real scene enhancement color based on the risk level, and using the RGB searchlight (8) to illuminate a key observation area according to the real scene enhancement color; Using the image capture device (4) to photograph the key observation area to obtain a real scene image of the key area; The real scene image of the key area is transmitted outwardly through the signal transmission mechanism (1).

5. The explosion-proof inspection method according to claim 4, characterized in that: Methods for planning inspection routes include: Determine the tunnel distribution data of the mine, the tunnel distribution data includes a plurality of tunnels and a plurality of connected areas, and the connected area is connected to at least two tunnels; Constructing a mine space model based on the lane distribution data, the mine space model comprising a plurality of edges and a plurality of nodes, wherein the edges correspond to the lanes and the nodes correspond to the connected areas; Traverse all nodes, and mark the node as a jump connection point when there is a height difference between the lanes connected by the node; Starting from the mine entrance, the inspection route is generated by searching the edges and nodes using the depth-first search algorithm. In the inspection route, jump connection points are marked as help points, and multiple key observation areas are marked.

6. The explosion-proof inspection method according to claim 5, characterized in that: When the inspection robot moves to the help point, it uses the loudspeaker (2) to send out a help signal.

7. The explosion-proof inspection method according to claim 4, characterized in that: The method for generating a risk level based on the key sensing result includes: Decomposing the key sensing results to obtain multiple single-category results; generating single-category risk data based on the single-category results; Optimizing single-category risk data based on the degree of association between single-category risk data; The risk level is generated based on the fusion of all single-category risk data.

8. The explosion-proof inspection method according to claim 7, characterized in that: When the risk level is higher than a preset threshold, a warning signal is issued using the loudspeaker (2).

9. The explosion-proof inspection method according to claim 4, characterized in that: When the inspection robot is driven to move in the mine according to a pre-planned inspection route, the obstacle avoidance sensor (9) is used to monitor obstacles in real time. When an obstacle is detected, the image capture device (4) is used to sense the surrounding space conditions and avoid the obstacle according to the surrounding space conditions and the position of the obstacle.

Images