Mine field inspection unmanned vehicle

Abstract

The invention relates to the technical field of mine field inspection, in particular to a mine field inspection unmanned vehicle. Comprising a vehicle body, a moving mechanism, an inspection mechanism, a fixing device and a cleaning device, the moving mechanism is installed at the bottom of the vehicle body, and the moving mechanism is used for driving the vehicle body to move in different environments; the inspection mechanism is installed behind the vehicle body, and the inspection mechanism is used for preliminarily monitoring the mine field environment through an inspection unmanned aerial vehicle and is matched with the moving mechanism to drive the vehicle body to an abnormal position for further inspection; the fixing device is installed on the vehicle body, the fixing device is used for fixing the inspection mechanism after inspection of the inspection mechanism is completed and charging the inspection mechanism at the same time, and the cleaning device is installed above the inspection mechanism and used for cleaning the inspection mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of mine inspection, and in particular to an unmanned mine inspection vehicle. Background Art

[0002] The mine inspection unmanned vehicle is an intelligent inspection device designed specifically for the mine environment. It uses advanced sensors, navigation and communication technologies to autonomously patrol and inspect the mine. This type of unmanned vehicle is usually equipped with a variety of equipment such as lidar, cameras, infrared sensors and gas sensors, which can monitor the environmental parameters, equipment status and potential safety hazards of the mine in real time. Through communication with the control center, the unmanned vehicle can transmit the collected data in real time, realize remote monitoring and data analysis, and greatly improve the safety and operational efficiency of the mine;

[0003] However, when existing mine inspection unmanned vehicles are inspecting mines, due to the complex environment and terrain of the mines, there are usually a lot of limitations in the driving process of the unmanned vehicles. That is, the existing inspection unmanned vehicles can usually only travel on designated roads and inspect designated areas, and cannot make adaptive adjustments according to road conditions in a timely manner. Therefore, the inspection of unmanned inspection vehicles and manual inspections are required to achieve the overall inspection work of the mine, which leads to a decrease in inspection efficiency. At the same time, for some specific areas such as steep areas, inspections can only be carried out in conjunction with manual inspections.

[0004] Therefore, the present invention provides an unmanned mine inspection vehicle to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is as follows: when the existing unmanned mine inspection vehicles are inspecting the mines, due to the complex environment and terrain of the mines, there are usually a lot of limitations in the driving process of the unmanned vehicles. That is, the existing unmanned inspection vehicles can usually only travel on designated roads and inspect designated areas, and cannot make adaptive adjustments according to road conditions in time. Therefore, the inspection of unmanned inspection vehicles and manual inspections are required to achieve the overall inspection work of the mines, which leads to a reduction in inspection efficiency. At the same time, for some specific areas such as areas with steep terrain, inspections can only be carried out in cooperation with manual inspections.

[0006] The present invention provides the following technical solutions: a mine inspection unmanned vehicle, comprising a vehicle body, a mobile mechanism, an inspection mechanism, a fixing device and a cleaning device, wherein a mobile mechanism is installed at the bottom of the vehicle body, and the mobile mechanism is used to drive the vehicle body to move under different environments; the inspection mechanism is installed behind the vehicle body, and the inspection mechanism is used to perform preliminary monitoring of the mine environment through an inspection drone, and cooperate with the mobile mechanism to drive the vehicle body to an abnormal position for further inspection; the fixing device is installed on the vehicle body, and the fixing device is used to fix the inspection mechanism after the inspection is completed, and to charge the inspection mechanism at the same time; the cleaning device is installed above the inspection mechanism, and the cleaning device is used to clean the inspection mechanism.

[0007] Preferably, the inspection mechanism includes an inspection platform, a landing platform, an inspection drone and an electric sealing plate. The inspection platform is installed on the vehicle body. A landing platform is provided inside the inspection platform. An inspection drone is provided on the landing platform. An electric sealing plate for sealing is installed on the inspection platform.

[0008] Preferably, the mobile mechanism includes a fixed plate, a fixed frame, a mobile motor, a rotating shaft, a main rotating gear, a driven wheel, a shock absorbing assembly and a track, the fixed plate is fixed to the vehicle body, fixed frames are installed on both sides of the fixed plate, the mobile motor is installed on the fixed frame, the rotating shaft is installed on the fixed frame, the main rotating gear is installed on the rotating shaft, the main rotating gear is installed on one side of the fixed frame and is symmetrically arranged along the fixed frame, the fixed frame is installed with a driven wheel, a shock absorbing assembly is installed in an array between the driven wheel and the main rotating gear, and the main rotating gear, the driven wheel and the shock absorbing assembly are all meshed with tracks.

[0009] Preferably, the shock absorbing assembly includes a shock absorbing spring, a fixed rod, a buffer groove, a support arm, a movable rod, a fixed shaft and a support wheel, one end of the shock absorbing spring is installed inside the fixed frame through the fixed rod, the other end of the shock absorbing spring is installed with a support arm, the support arms are symmetrically arranged along the fixed frame, the fixed frame is installed with a buffer groove, the support arm is installed with a movable rod in the buffer groove, the other end of the support arm is installed with a fixed shaft, the fixed shaft is installed with the support wheel, and the support wheel is engaged with the track.

[0010] Preferably, the fixing device includes a fixed telescopic frame, a No. 1 electromagnet, a No. 2 electromagnet, a fixed slot and a charging component. The fixed telescopic frame is installed at the center of the landing platform. The No. 1 electromagnet is installed on the fixed telescopic frame. The No. 2 electromagnet is installed on the inspection drone. A fixed slot for fixing the inspection drone is opened on the landing platform, and the charging component is installed at the bottom of the inspection drone.

[0011] Preferably, the charging component includes a fixed cavity, an extrusion rod, a limit plate, a reset spring, a telescopic rod, a trapezoidal block, a rectangular block conductive sheet and a charging sheet. The fixed cavity is opened at the bottom of the inspection drone, an extrusion rod is installed in the fixed cavity, a limit plate is installed above the extrusion rod, a No. 2 electromagnet is installed below the extrusion rod, and a reset spring is installed between the limit plate and the inspection drone; telescopic rods are installed in an array around the fixed cavity, and a reset spring is installed between the telescopic rod and the inspection drone; a trapezoidal block is installed at one end of the telescopic rod, a rectangular block is installed at the other end of the telescopic rod, a conductive sheet is installed at one end of the rectangular block, and a charging sheet is installed at the corresponding position of the inspection platform.

[0012] Preferably, the cleaning device includes an extrusion block, an air bag, an air inlet, an air duct and a nozzle, the extrusion block is installed on the rotating shaft, the air bag is installed on the bottom of the fixed plate, an air inlet is installed on one side of the air bag, an air duct is installed on the other side of the air bag, a nozzle is installed at one end of the air duct, and the nozzle is fixed on the electric sealing plate.

[0013] Preferably, the air duct is composed of two parts, one part of the air duct is installed inside the vehicle body, and the other part of the air duct is installed inside the electric sealing plate and communicated with the nozzle.

[0014] Preferably, a fixing column is installed on the vehicle body, a fixing groove is installed on the inspection platform, the fixing column is installed in the fixing groove, and a level detector for detecting the tilt angle of the unmanned vehicle is installed on the vehicle body.

[0015] Preferably, a rotating groove or an annular rotating groove is provided on the vehicle body, a rotating tooth is provided in the rotating groove, a rotating gear is meshed on the rotating tooth, a limiting block is installed on the rotating gear, a rotating motor is installed in the limiting block, and a limiting rod is installed on the limiting block, a corresponding limiting hole is provided on the inspection platform, and the limiting rod is installed in the limiting hole.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The present invention arranges an inspection device on the unmanned vehicle, and uses the inspection drone to inspect the areas in the mine that are difficult for the unmanned vehicle to drive into. At the same time, according to the inspection results of the inspection drone, after an abnormality is found, the driving path of the unmanned vehicle can be specified according to the abnormal location and the inspection photos of the inspection drone, so as to avoid some complex road sections and make the unmanned vehicle drive to the abnormal location for further inspection. The mine inspection unmanned vehicle can be adaptively adjusted according to the road conditions during the rapid acquisition process. At the same time, the inspection effect can be completed without manual cooperation in the whole process, thereby increasing the inspection efficiency.

[0018] 2. The present invention has stronger terrain adaptability and obstacle-crossing ability by arranging a crawler-type mobile mechanism on the inspection unmanned vehicle, and can easily cope with the complex road conditions such as rugged, soft and muddy roads commonly seen in mines. At the same time, the contact area between the crawler and the ground is larger, and the ground pressure distribution is more uniform, making the unmanned vehicle more stable during driving and less prone to dangerous situations such as rollover. The structural design of the crawler enables it to turn on the spot with a small turning radius, making it more flexible when shuttling in narrow mine tunnels or between equipment.

[0019] 3. The present invention sets a shock-absorbing assembly, and through shock-absorbing springs, support arms and support wheels, realizes that the mobile mechanism can support and compensate the track during movement, thereby ensuring the stability of the track during movement, so that the inspection drone on the inspection platform can be stably charged.

[0020] 4. The present invention can realize that the inspection UAV can be parked on the landing platform behind the vehicle body when not in use by setting a fixing device and a charging component, and the fixed telescopic frame is extended and the first electromagnet and the second electromagnet cooperate to adsorb, and then the fixed telescopic frame is retracted to complete the landing, thereby avoiding direct landing and touching the propeller wings to cause damage, and the inspection UAV can be charged at the same time.

[0021] 5. The present invention sets a cleaning device, utilizes the rotation of the moving mechanism to drive the extrusion block to periodically squeeze the airbag and then injects the gas into the nozzle through the air duct, thereby realizing the cleaning of the dust in the inspection drone during the charging process. Since there is a lot of dust in the mine, the cleaning device can effectively clean the floating dust on the inspection drone, so that the inspection drone can better inspect the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is an overall schematic diagram of the present invention;

[0024] Figure 2 It is a schematic diagram of the inspection mechanism of the present invention;

[0025] Figure 3 It is a top view of the inspection mechanism of the present invention;

[0026] Figure 4 It is a schematic diagram of the mobile mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of the fixing device of the present invention;

[0028] Figure 6 A schematic diagram of the inspection drone of the present invention;

[0029] Figure 7 It is a schematic diagram of a charging assembly of the present invention;

[0030] Figure 8 This is an enlarged schematic diagram of point A of the present invention;

[0031] Fig. 9 It is a schematic diagram of the cleaning device of the present invention;

[0032] Fig.10 This is an enlarged schematic diagram of point B of the present invention;

[0033] Fig.11 It is a schematic diagram of the interior of the vehicle body of the present invention;

[0034] Fig.12 This is an enlarged schematic diagram of point C of the present invention;

[0035] Fig.13 It is a schematic diagram of the installation positions of the fixing holes and the limiting holes of the present invention;

[0036] Fig.14 It is a schematic diagram of adjustment during operation of the present invention.

[0037] In the figure: 1. vehicle body; 11. fixed column; 12. level detector; 13. annular rotating groove; 14. rotating tooth; 15. rotating gear; 16. limit block; 17. limit rod; 2. moving mechanism; 21. fixed plate; 22. fixed frame; 23. rotating shaft; 24. main rotating gear; 25. driven wheel; 26. shock absorbing assembly; 261. shock absorbing spring; 262. fixed rod; 263. buffer groove; 264. support arm; 265. moving rod; 266. fixed shaft; 267. support wheel; 27. crawler track; 3. inspection mechanism; 31. inspection platform; 311. fixed Fixed hole; 312, limit hole; 32, landing platform; 33, inspection drone; 34, electric sealing plate; 4, fixing device; 41, fixed telescopic frame; 42, electromagnet No. 1; 43, electromagnet No. 2; 44, fixing slot; 45, charging assembly; 451, fixed cavity; 452, extrusion rod; 453, limit plate; 454, return spring; 455, telescopic rod; 456, trapezoidal block; 457, rectangular block; 458, conductive sheet; 459, charging sheet; 5, cleaning device; 51, extrusion block; 52, air bag; 53, air inlet; 54, air duct; 55, nozzle. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. Such terms are only used to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0041] It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The disclosed embodiments are intended to solve the problem that when existing unmanned mine inspection vehicles are inspecting mines, due to the complex environment and terrain of the mines, the unmanned vehicles usually have a lot of limitations during their driving process, that is, the existing unmanned inspection vehicles can usually only travel on designated roads and inspect designated areas, and cannot make adaptive adjustments according to road conditions in a timely manner. Therefore, the inspection of unmanned inspection vehicles is required to be coordinated with manual inspections to achieve the overall inspection work of the mine, which leads to a decrease in inspection efficiency. At the same time, for some specific areas, such as areas with steep terrain, inspections can only be carried out in cooperation with manual inspections. In view of this, the disclosed embodiment proposes an unmanned mine inspection vehicle. An inspection device is arranged on the unmanned vehicle, and an inspection drone is used to inspect areas in the mine that are difficult for the unmanned mine vehicle to enter. At the same time, according to the inspection results of the inspection drone, after an abnormality is found, the driving path of the unmanned vehicle can be specified according to the abnormal location and the inspection photos of the inspection drone, so that some complex road sections can be avoided and the unmanned vehicle can be driven to the abnormal location for further inspection. This enables the unmanned mine inspection vehicle to be adaptively adjusted according to the road conditions during the rapid acquisition process, and the inspection effect can be completed without manual cooperation in the entire process, thereby increasing the inspection efficiency.

[0043] like Figures 1 to 14 As shown, a mine inspection unmanned vehicle comprises a vehicle body 1, a mobile mechanism 2, an inspection mechanism 3, a fixing device 4 and a cleaning device 5. The mobile mechanism 2 is installed at the bottom of the vehicle body 1, and the mobile mechanism 2 is used to drive the vehicle body 1 to move under different environments; the inspection mechanism 3 is installed at the rear of the vehicle body 1, and the inspection mechanism 3 is used to perform preliminary monitoring of the mine environment through an inspection drone 33, and cooperate with the mobile mechanism 2 to drive the vehicle body 1 to an abnormal position for further inspection; the fixing device 4 is installed on the vehicle body 1, and the fixing device 4 is used to fix the inspection mechanism 3 after the inspection is completed, and charge it at the same time, and the cleaning device 5 is installed above the inspection mechanism 3, and the cleaning device 5 is used to clean the inspection mechanism 3;

[0044] By setting up an inspection device on the unmanned vehicle, the inspection drone 33 is used to inspect areas in the mine that are difficult for the unmanned vehicle to enter. At the same time, based on the inspection results of the inspection drone 33, when an abnormality is found, the driving path of the unmanned vehicle can be specified according to the abnormal location and the inspection photos of the inspection drone 33, so that some complex road sections can be avoided and the unmanned vehicle can be driven to the abnormal location for further inspection. This enables the mine inspection unmanned vehicle to make adaptive adjustments according to road conditions during the rapid acquisition process. At the same time, the inspection effect can be completed without human cooperation in the entire process, thereby increasing the inspection efficiency.

[0045] like Figures 2 to 3As shown, the inspection mechanism 3 includes an inspection platform 31, a landing platform 32, an inspection drone 33 and an electric sealing plate 34. The inspection platform 31 is installed on the vehicle body 1, and the inspection platform 31 is used to place the landing platform 32; the inspection platform 31 is provided with a landing platform 32, and the landing platform 32 is used for the inspection drone 33 to land; the landing platform 32 is provided with an inspection drone 33, and the inspection drone 33 performs a pre-inspection on the inspection unmanned vehicle when it is performing an inspection, and can also perform inspections on areas that are not easy for the inspection unmanned vehicle to drive to; the inspection platform 31 is installed with an electric sealing plate 34 for sealing; the electric sealing plate 34 is used to protect the inspection drone 33 when it is charging;

[0046] When working, first the inspection unmanned vehicle drives on the road in the mine, and detects the mine through conventional settings on the inspection unmanned vehicle, such as: laser radar, camera, infrared sensor and gas sensor and other equipment. At the same time, the staff controls the electric sealing plate 34 on the inspection unmanned vehicle to open, and then the inspection drone 33 located on the landing platform 32 takes off to conduct preliminary inspections on areas that are not easy for the inspection unmanned vehicle to drive to. If an abnormality is detected, the driving path of the unmanned vehicle can be specified according to the abnormal location and the inspection photos of the inspection drone 33, so that some complex road sections can be avoided, and the unmanned vehicle can be driven to the abnormal location for further inspection;

[0047] Adding the inspection drone 33 to the conventional inspection unmanned vehicle can effectively make up for the shortcomings of the existing inspection unmanned vehicle that cannot detect special situations, and realize that the mine inspection unmanned vehicle can be adaptively adjusted according to the road conditions during the inspection process. At the same time, the inspection effect can be completed without human cooperation in the whole process, thereby increasing the inspection efficiency.

[0048] like Figure 4As shown, the mobile mechanism 2 includes a fixed plate 21, a fixed frame 22, a rotating shaft 23, a main rotating gear 24, a driven wheel 25, a shock absorbing assembly 26 and a crawler 27. The fixed plate 21 is fixed on the vehicle body 1, and the fixed plate 21 is used to fix the mobile mechanism 2 on the vehicle body 1; fixed frames 22 are installed on both sides of the fixed plate 21, and the fixed frames 22 are used to install the moving shaft; a mobile motor (not shown in the figure) is installed on the fixed frame 22; the rotating shaft 23 is installed on the fixed frame 22, and the rotating shaft 23 is used to rotate and drive the main rotating gear 24 to rotate; the rotating shaft 23 A main rotating gear 24 is installed on the fixing frame 22, and the main rotating gear 24 is installed on one side of the fixing frame 22 and is symmetrically arranged along the fixing frame 22. The rotation of the main rotating gear 24 drives the crawler 27 to rotate; a driven wheel 25 is installed on the fixing frame 22, and the rotation of the crawler 27 drives the driven wheel 25 to rotate; a shock absorbing assembly 26 is installed in an array between the driven wheel 25 and the main rotating gear 24, and the shock absorbing assembly 26 is used to absorb shock to the moving assembly and make the crawler 27 adjust adaptively according to the terrain; the crawler 27 is meshed with the main rotating gear 24, the driven wheel 25 and the shock absorbing assembly 26;

[0049] When working, the mobile motor rotates to drive the rotating shaft 23 to rotate, the rotating shaft 23 rotates to drive the main rotating gear 24 to rotate, the rotating main rotating gear 24 drives the crawler 27 to rotate, the crawler 27 drives the driven wheel 25 to rotate, and the driven wheel 25 is used to support the crawler 27, so that the mobile mechanism 2 drives the unmanned vehicle to move, and at the same time, the shock absorbing component 26 is used to absorb the shock during the movement, and the crawler 27 is adjusted adaptively according to the terrain;

[0050] The above-mentioned mobile mechanism 2 has stronger terrain adaptability and obstacle-crossing ability, and can easily cope with complex road conditions such as rugged, soft and muddy roads commonly seen in mines. At the same time, the contact area between the track 27 and the ground is larger, and the ground pressure distribution is more uniform, making the unmanned vehicle more stable during driving and less prone to dangerous situations such as rollover. The structural design of the track 27 enables it to turn on the spot with a small turning radius, making it more flexible when shuttling between narrow mine tunnels or equipment.

[0051] like Figure 4 and Fig. 9As shown, the shock absorbing assembly 26 includes a shock absorbing spring 261, a fixing rod 262, a buffer groove 263, a support arm 264, a moving rod 265, a fixing shaft 266 and a support wheel 267. One end of the shock absorbing spring 261 is installed inside the fixing frame 22 through the fixing rod 262, and the shock absorbing spring 261 is used to adjust the support arm 264; the other end of the shock absorbing spring 261 is installed with a support arm 264, and the support arm 264 is used to perform adaptive adjustment according to the movement of the support wheel 267; the support arms 264 are symmetrically arranged along the fixing frame 22, and the fixing frame 22 is provided with a plurality of support arms 264. A buffer groove 263 is installed, and the buffer groove 263 is used to limit the moving range of the support arm 264; the support arm 264 is installed with a moving rod 265 in the buffer groove 263, and the support arm 264 drives the moving rod 265 to move in the buffer groove 263; a fixed shaft 266 is installed at the other end of the support arm 264, and the fixed shaft 266 is used to connect the support arm 264 with the support wheel 267; the support wheel 267 is installed on the fixed shaft 266, and the support wheel 267 is engaged with the crawler 27, and the support wheel 267 is used to adaptively support the crawler 27;

[0052] During operation, when the mobile mechanism 2 moves, the track 27 rotates while the support wheel 267 also rotates. When the track 27 enters a bumpy road surface, the track 27 will deform, thereby driving the support wheel 267 to move. The supporting force drives the support arm 264 to move. The moving support arm 264 drives the fixed rod 262 to move in the buffer groove 263, so that the displacement of the support arm 264 is realized to achieve the coordination with the support wheel 267. At the same time, the support arm 264 will also squeeze the shock-absorbing spring 261 to reduce the shock of the entire mobile mechanism 2.

[0053] By setting up the shock absorbing assembly 26, through the shock absorbing spring 261, the support arm 264 and the support wheel 267, the mobile mechanism 2 can support and compensate the track 27 during the movement, thereby ensuring the stability of the track 27 during the movement, so that the inspection drone 33 on the inspection platform 31 can be stably charged.

[0054] like Figure 5 and Figure 6As shown, the fixing device 4 includes a fixed telescopic frame 41, a No. 1 electromagnet 42, a No. 2 electromagnet 43, a fixed slot 44 and a charging component 45. The fixed telescopic frame 41 is installed at the center of the landing platform 32, and the fixed telescopic frame 41 is used to extend or retract to better land the inspection drone 33; the fixed telescopic frame 41 is installed with a No. 1 electromagnet 42, and the No. 1 electromagnet 42 is used to cooperate with the No. 2 electromagnet 43 to achieve a smooth landing of the inspection drone 33; the No. 2 electromagnet 43 is installed on the inspection drone 33, and a fixing slot 44 for fixing the inspection drone 33 is opened on the landing platform 32, and the fixing slot 44 is used to fix the legs of the inspection drone 33, thereby realizing the limiting of the inspection drone 33; the charging component 45 is installed at the bottom of the inspection drone 33, and the charging component 45 is used to charge the inspection drone 33;

[0055] During operation, when the inspection drone 33 is landing, the fixed telescopic frame 41 extends upward, and the inspection drone 33 approaches the fixed telescopic frame 41 until the second electromagnet 43 of the inspection drone 33 is aligned with the first electromagnet 42 on the fixed telescopic frame 41. At this time, the inspection drone 33 begins to slowly land until the inspection drone 33 lands on the fixed telescopic frame 41. At this time, the control unit controls the first electromagnet 42 and the second electromagnet 43 to be energized. After the first electromagnet 42 and the second electromagnet 43 are energized, the inspection drone 33 is fixed on the fixed telescopic frame 41. At this time, the fixed telescopic frame 41 is retracted to stop the inspection drone 33 on the landing platform 32, and the legs of the inspection drone 33 are stuck in the fixed grooves 44, and then the charging component 45 is used to charge the inspection drone 33. For small unmanned vehicles, it is usually necessary to bring a power supply to charge the inspection drone 33, which is not shared with the power supply system of the unmanned vehicle itself.

[0056] When the inspection drone 33 is landing by using the above-mentioned fixing device 4, since the fixed telescopic frame 41 rises first, the wings around the inspection drone 33 will not be affected during the landing process. After the inspection drone 33 is adsorbed and stabilized by the first electromagnet 42 and the second electromagnet 43, the inspection drone 33 is moved downward. This method can ensure that the inspection drone 33 will not be scratched against the surrounding area due to the small space during landing, thereby causing damage to the inspection drone 33. At the same time, the inspection drone 33 can also be charged by the charging component 45.

[0057] like Figure 7 and Figure 8As shown, the charging assembly 45 includes a fixed cavity 451, an extrusion rod 452, a limit plate 453, a reset spring 454, a telescopic rod 455, a trapezoidal block 456, a rectangular block 457, a conductive sheet 458 and a charging sheet 459. The fixed cavity 451 is opened at the bottom of the inspection drone 33, and the fixed cavity 451 is used to install the extrusion rod 452; the extrusion rod 452 is installed in the fixed cavity 451, and the extrusion rod 452 moves downward with the contraction of the fixed telescopic frame 41 under the adsorption of the first electromagnet 42 and the second electromagnet 43, thereby driving the limit plate 453 to be squeezed; a limit plate 453 is installed above the extrusion rod 452, and the limit plate 453 is used to squeeze the telescopic rod 455 while moving downward, and at the same time, the extrusion rod 452 will limit the extrusion rod 452 when it moves downward; the second electromagnet 43 is installed below the extrusion rod 452; telescopic rods are installed in an array around the fixed cavity 451 455, a reset spring 454 is installed between the telescopic rod 455 and the inspection drone 33; the reset spring 454 is used to reset the telescopic rod 455 when the No. 1 electromagnet 42 and the No. 2 electromagnet 43 are not energized; the telescopic rod 455 is used to extend the telescopic rod 455 into the inspection platform 31 to achieve fixation when the extrusion rod 452 drives the limit plate 453 to squeeze the telescopic rod 455; a trapezoidal block 456 is installed at one end of the telescopic rod 455, and the trapezoidal block 456 is used to drive the telescopic rod 455 to extend outward when the limit block 16 moves downward; a rectangular block 457 is installed at the other end of the telescopic rod 455, and the rectangular block 457 is used to be inserted into the slot of the inspection platform 31 to achieve fixation of the inspection drone 33; a conductive sheet 458 is installed at one end of the rectangular block 457, and a charging sheet 459 is installed at the corresponding position of the inspection platform 31; the conductive sheet 458 is used to cooperate with the charging sheet 459 to achieve charging of the inspection drone 33;

[0058] During operation, after the inspection drone 33 lands, the fixed telescopic frame 41 and the squeezing rod 452 are adsorbed by the first electromagnet 42 and the second electromagnet 43, and the fixed telescopic frame 41 contracts to drive the squeezing rod 452 to move downward. At this time, the inspection drone 33 body is fixed on the landing platform 32 through the fixed groove 44, so the squeezing rod 452 moves downward to drive the limit plate 453 to move downward, and the limit plate 453 that moves downward squeezes the trapezoidal block 456. After the trapezoidal block 456 is squeezed, it pushes the telescopic rod 455 to move outward, and the moving telescopic rod 455 drives the rectangular block 457 to move outward Until the rectangular block 457 moves to the corresponding slot in the inspection platform 31, the conductive sheet 458 and the charging sheet 459 contact and start charging; when the inspection drone 33 needs to take off, the fixed telescopic frame 41 moves upward to drive the squeezing rod 452 to move upward, and the squeezing rod 452 drives the limit plate 453 to move upward. At this time, under the action of the reset spring 454, the telescopic rod 455 is retracted and reset, and then the fixed telescopic rod 455 continues to move upward until the inspection drone 33 is taken out of the inspection platform. At this time, the No. 1 electromagnet 42 and the No. 2 electromagnet 43 are powered off, and the inspection drone 33 starts to take off;

[0059] By setting up the fixing device 4 and the charging component 45, the inspection drone 33 can be parked on the landing platform 32 behind the vehicle body 1 when not in use, and the fixed telescopic frame 41 is extended and the first electromagnet 42 and the second electromagnet 43 cooperate to adsorb, and then the fixed telescopic frame 41 is retracted to complete the landing, avoiding direct landing and touching the propeller wings to cause damage, and at the same time charging the inspection drone 33.

[0060] like Figures 9 and 10 As shown, the cleaning device 5 includes an extrusion block 51, an air bag 52, an air inlet 53, an air guide tube 54 and a nozzle 55. The extrusion block 51 is installed on the rotating shaft 23, and the extrusion block 51 is used to squeeze the air bag 52 with the rotation of the rotating shaft 23 to inflate the air bag 52; the air bag 52 is installed at the bottom of the fixed plate 21, and the air bag 52 is used to cooperate with the extrusion of the extrusion block 51 to achieve inflation; an air inlet 53 is installed on one side of the air bag 52, and the air inlet 53 is used to rush air into the air bag 52; An air duct 54 is installed on the other side of the airbag 52, and the air duct 54 is used to flush the gas in the airbag 52 into the nozzle 55; a nozzle 55 is installed at one end of the air duct 54, and the nozzle 55 is fixed on the electric sealing plate 34. The nozzle 55 is used to blow out the gas, thereby cleaning the floating dust on the inspection drone 33; it should be noted that the elliptical airbag used in the present invention is a compressed airbag made of high-performance rubber, which achieves a blowing and cleaning effect through high-frequency repeated compression.

[0061] During operation, the rotation of the rotating shaft 23 drives the squeezing block 51 to rotate, and the rotating squeezing block 51 periodically squeezes the airbag 52, so that air enters the air guide pipe 54 from the air inlet 53, and the air guide pipe 54 transports the gas from the airbag 52 to the nozzle 55, and then the nozzle 55 blows out the gas, thereby cleaning the floating dust on the inspection drone 33;

[0062] The rotation of the moving mechanism 2 drives the extrusion block 51 to periodically squeeze the airbag 52, and then the paddle gas is injected into the nozzle 55 through the air duct 54, so as to clean the dust in the inspection drone 33 during the charging process. Since there is a lot of dust in the mine, the cleaning device can effectively clean the floating dust on the inspection drone 33, so that the inspection drone 33 can better inspect the mine.

[0063] like Figures 9 and 10 As shown, a part of the air duct 54 is installed inside the vehicle body 1, and the other part of the air duct 54 is installed inside the electric sealing plate 34 and is connected to the nozzle 55. The above design can ensure that the inspection drone 33 can be cleaned only when the electric sealing plate 34 is closed. When the inspection drone 33 takes off, the electric sealing plate 34 is opened, and the gas in the airbag 52 flows out from the air duct 54, which will not affect the inspection platform 31.

[0064] like Figures 11 to 14 As shown, a fixing column 11 is installed on the vehicle body 1, and the fixing column 11 is used to fix the inspection platform 31 in the vehicle body 1. A fixing hole 311 is installed on the inspection platform 31, and the fixing hole 311 is fixed in conjunction with the fixing column 11; the fixing column 11 is installed in the fixing hole 311, and a level detector 12 for detecting the tilt angle of the unmanned vehicle is installed on the vehicle body 1, and the level detector 12 is used to detect the horizontal degree of the vehicle.

[0065] like Figures 11 to 14 As shown, the vehicle body 1 is provided with an annular rotating groove 13, and the annular rotating groove 13 is used for the rotating gear 15 to rotate; the rotating groove is provided with a rotating tooth 14, and the rotating tooth 14 is used to mesh with the rotating gear 15; the rotating tooth 14 is meshed with a rotating gear 15, and the rotating gear 15 is used to rotate and drive the entire inspection platform 31 to rotate around the fixed column 11; a limiting block 16 is installed on the rotating gear 15, and the limiting block 16 is used to install a rotating motor; a rotating motor is installed in the limiting block 16 and a limiting rod 17 is installed on the limiting block 16, and a corresponding limiting hole 312 is provided on the inspection platform 31, and the limiting rod 17 is installed in the limiting hole 312, and the limiting hole 312 is used to cooperate with the limiting rod 17 to fix the inspection platform 31 when the rotating gear 15 does not rotate, and when the rotating gear 15 rotates, the inspection platform 31 is driven to rotate, thereby making the entire inspection drone 33 in a relatively horizontal position;

[0066] When working, first, when the unmanned vehicle passes through an inclined section of road, the level detector 12 detects the inclination of the unmanned vehicle. When the inclination exceeds a certain value and affects the inspection drone 33, the rotating motor on the limit block 16 rotates, and the rotating motor drives the rotating gear 15 to rotate. The rotating rotating gear 15 drives the limit rod 17 to rotate, and the rotating limit rod 17 drives the inspection platform 31 to rotate, thereby ensuring the balance of the inspection drone 33 when charging;

[0067] The existing inspection drone 33 usually uses a lithium battery, and there is usually electrolyte in the lithium battery. Therefore, when the inspection drone 33 is tilted for a long time to charge, the tilted posture will cause the electrolyte to expand and flow out, thereby affecting the service life of the inspection drone 33. Therefore, the above design can adjust the posture of the inspection drone 33 by rotating the gear 15 when the inspection drone 33 is tilted excessively, thereby avoiding the above situation.

[0068] The overall working process is as follows: first, the inspection unmanned vehicle drives on the road in the mine, and detects the mine through conventional settings on the inspection unmanned vehicle, such as: laser radar, camera, infrared sensor and gas sensor and other equipment. At the same time, the staff controls the electric sealing plate 34 on the inspection unmanned vehicle to open, and then the inspection drone 33 located on the landing platform 32 takes off to conduct preliminary inspections on areas that are not easy for the inspection unmanned vehicle to drive to. If an abnormality is detected, the driving path of the unmanned vehicle can be specified according to the abnormal location and the inspection photos of the inspection drone 33, so that some complex road sections can be avoided, and the unmanned vehicle can be driven to the abnormal location for further inspection;

[0069] When driving the inspection unmanned vehicle to move, the mobile motor rotates to drive the rotating shaft 23 to rotate, the rotating shaft 23 rotates to drive the main rotating gear 24 to rotate, the rotating main rotating gear 24 drives the crawler 27 to rotate, the crawler 27 drives the driven wheel 25 to rotate, and the driven wheel 25 is used to support the crawler 27, so that the mobile mechanism 2 drives the unmanned vehicle to move, and at the same time, the shock absorbing component 26 is used to absorb the shock during the movement, and the crawler 27 is adjusted adaptively according to the terrain;

[0070] When the inspection drone 33 is landing, the fixed telescopic frame 41 extends upward, and the inspection drone 33 approaches the fixed telescopic frame 41 until the second electromagnet 43 of the inspection drone 33 is aligned with the first electromagnet 42 on the fixed telescopic frame 41. At this time, the inspection drone 33 begins to slowly land until the inspection drone 33 lands on the fixed telescopic frame 41. At this time, the control unit controls the first electromagnet 42 and the second electromagnet 43 to be energized. After the first electromagnet 42 and the second electromagnet 43 are energized, the inspection drone 33 is fixed on the fixed telescopic frame 41. At this time, the fixed telescopic frame 41 is retracted to stop the inspection drone 33 on the landing platform 32, and the legs of the inspection drone 33 are stuck in the fixed slots 44, and then the charging component 45 is cooperated to charge the inspection drone 33;

[0071] During the driving process of the vehicle, the rotation of the rotating shaft 23 drives the extrusion block 51 to rotate. The rotating extrusion block 51 periodically squeezes the airbag 52, so that air enters the air duct 54 from the air inlet 53. The air duct 54 transports the gas from the airbag 52 to the nozzle 55, and then the nozzle 55 blows out the gas, thereby cleaning the floating dust on the inspection drone 33. At the same time, when the unmanned vehicle passes through an inclined section of the road, the level detector 12 detects the degree of inclination of the unmanned vehicle. When the degree of inclination exceeds a certain value and affects the inspection drone 33, the rotating motor on the limit block 16 rotates, and the rotating motor drives the rotating gear 15 to rotate. The rotating rotating gear 15 drives the limit rod 17 to rotate, and the rotating limit rod 17 drives the inspection platform 31 to rotate, thereby ensuring the balance of the inspection drone 33 during charging.

[0072] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mine inspection unmanned vehicle, characterized in that: The invention comprises a vehicle body (1), a moving mechanism (2), an inspection mechanism (3), a fixing device (4) and a cleaning device (5). The moving mechanism (2) is installed at the bottom of the vehicle body (1), and the moving mechanism (2) is used to drive the vehicle body (1) to move under different environments; the inspection mechanism (3) is installed behind the vehicle body (1), and the inspection mechanism (3) is used to perform preliminary monitoring of the mine environment through an inspection drone (33), and cooperate with the moving mechanism (2) to drive the vehicle body (1) to an abnormal position for further inspection; the fixing device (4) is installed on the vehicle body (1), and the fixing device (4) is used to fix the inspection mechanism (3) after the inspection is completed, and to charge the inspection mechanism at the same time; the cleaning device (5) is installed above the inspection mechanism (3), and the cleaning device (5) is used to clean the inspection mechanism (3).

2. The mine inspection unmanned vehicle according to claim 1, characterized in that: The inspection mechanism (3) comprises an inspection platform (31), a landing platform (32), an inspection drone (33) and an electric sealing plate (34); the inspection platform (31) is installed on the vehicle body (1); a landing platform (32) is arranged inside the inspection platform (31); an inspection drone (33) is arranged on the landing platform (32); and an electric sealing plate (34) for sealing is installed on the inspection platform (31).

3. The mine inspection unmanned vehicle according to claim 2, characterized in that: The mobile mechanism (2) comprises a fixed plate (21), a fixed frame (22), a rotating shaft (23), a main rotating gear (24), a driven wheel (25), a shock absorbing assembly (26) and a crawler track (27); the fixed plate (21) is fixed on the vehicle body (1); fixed frames (22) are installed on both sides of the fixed plate (21); the rotating shaft (23) is installed on the fixed frame (22); a main rotating gear (24) is installed on the rotating shaft (23); the main rotating gear (24) is installed on one side of the fixed frame (22) and is symmetrically arranged along the fixed frame (22); a driven wheel (25) is installed on the fixed frame (22); a shock absorbing assembly (26) is installed in an array between the driven wheel (25) and the main rotating gear (24); and crawlers (27) are meshed on the main rotating gear (24), the driven wheel (25) and the shock absorbing assembly (26).

4. The mine inspection unmanned vehicle according to claim 3, characterized in that: The shock absorbing assembly (26) comprises a shock absorbing spring (261), a fixing rod (262), a buffer groove (263), a support arm (264), a moving rod (265), a fixing shaft (266) and a support wheel (267); one end of the shock absorbing spring (261) is installed inside the fixing frame (22) through the fixing rod (262); the other end of the shock absorbing spring (261) is installed with a support arm (264); the support arms (264) are symmetrically arranged along the fixing frame (22); the fixing frame (22) is installed with a buffer groove (263); the support arm (264) is installed with a moving rod (265) in the buffer groove (263); the other end of the support arm (264) is installed with a fixing shaft (266); the fixing shaft (266) is installed with the support wheel (267); the support wheel (267) is engaged with the track (27).

5. The mine inspection unmanned vehicle according to claim 4, characterized in that: The fixing device (4) comprises a fixed telescopic frame (41), a first electromagnet (42), a second electromagnet (43), a fixing slot (44) and a charging component (45); the fixed telescopic frame (41) is installed at the center of the landing platform (32); the first electromagnet (42) is installed on the fixed telescopic frame (41); the second electromagnet (43) is installed on the inspection drone (33); a fixing slot (44) for fixing the inspection drone (33) is provided on the landing platform (32); and the charging component (45) is installed at the bottom of the inspection drone (33).

6. The mine inspection unmanned vehicle according to claim 5, characterized in that: The charging assembly (45) comprises a fixed cavity (451), an extrusion rod (452), a limit plate (453), a reset spring (454), a telescopic rod (455), a trapezoidal block (456), a rectangular block (457), a conductive sheet (458) and a charging sheet (459); the fixed cavity (451) is opened at the bottom of the inspection drone (33); an extrusion rod (452) is installed in the fixed cavity (451); a limit plate (453) is installed above the extrusion rod (452); the extrusion rod (452) ) is installed below a second electromagnet (43), telescopic rods (455) are installed in an array around the fixed cavity (451), and a reset spring (454) is installed between the telescopic rod (455) and the inspection drone (33); a trapezoidal block (456) is installed at one end of the telescopic rod (455), and a rectangular block (457) is installed at the other end of the telescopic rod (455), and a conductive sheet (458) is installed at one end of the rectangular block (457), and a charging sheet (459) is installed at the corresponding position of the inspection platform (31).

7. The mine inspection unmanned vehicle according to claim 6, characterized in that: The cleaning device (5) comprises an extrusion block (51), an air bag (52), an air inlet (53), an air guide tube (54) and a nozzle (55); the extrusion block (51) is mounted on the rotating shaft (23); the air bag (52) is mounted on the bottom of the fixed plate (21); the air inlet (53) is mounted on one side of the air bag (52); the air guide tube (54) is mounted on the other side of the air bag (52); a nozzle (55) is mounted on one end of the air guide tube (54); and the nozzle (55) is fixed on the electric sealing plate (34).

8. The mine inspection unmanned vehicle according to claim 7, characterized in that: The air duct (54) is composed of two parts. One part of the air duct (54) is installed inside the vehicle body (1), and the other part of the air duct (54) is installed inside the electric sealing plate (34) and is connected to the nozzle (55).

9. The mine inspection unmanned vehicle according to claim 8, characterized in that: The vehicle body (1) is provided with a fixing column (11), the inspection platform (31) is provided with a fixing hole (311), the fixing column (11) is installed in the fixing hole (311), and the vehicle body (1) is provided with a level detector (12) for detecting the tilt angle of the unmanned vehicle.

10. The mine inspection unmanned vehicle according to claim 9, characterized in that: The vehicle body (1) is provided with an annular rotating groove (13), the rotating groove is provided with a rotating tooth (14), the rotating tooth (14) is meshed with a rotating gear (15), a limiting block (16) is installed on the rotating gear (15), a rotating motor is installed in the limiting block (16), and a limiting rod (17) is installed on the limiting block (16), a corresponding limiting hole (312) is provided on the inspection platform (31), and the limiting rod (17) is installed in the limiting hole (312).

Images