Unmanned aerial vehicle for coal mine goaf detection

Abstract

The invention discloses an unmanned aerial vehicle for coal mine goaf detection, and relates to the technical field of unmanned aerial vehicles for detection, the unmanned aerial vehicle comprises a circular truncated cone-shaped hollow shell, and a support is fixedly connected to the interior of the lower end of the shell; a plurality of propellers are distributed on the bracket; a central hole is formed in the upper end of the shell, and a detection cylinder is fixedly connected below the central hole; a gas sensor is arranged in the detection cylinder; a plurality of side holes are circumferentially distributed in the side wall of the shell and form an air inlet channel together with the central hole; compared with the prior art, the unmanned aerial vehicle has the advantages of safe flight performance, accurate gas detection and stable flow regulation mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of detection unmanned aerial vehicles, in particular to an unmanned aerial vehicle used for detecting goaf areas in coal mines. Background Art

[0002] At present, the main methods of detecting gas in coal mine goafs include manual detection and ground monitoring station detection. Manual detection requires miners to carry detection equipment into the goaf for field measurements, but this method is not only labor-intensive and inefficient, but also has extremely high safety risks. Ground monitoring station detection is to set up monitoring stations on the ground and use sensors to monitor underground gas, but this method is often limited by factors such as geological conditions and tunnel layout, making it difficult to achieve comprehensive and accurate monitoring.

[0003] With the continuous development of drone technology, the application of drones in gas detection in coal mine goaf areas has gradually attracted attention. Drones have the advantages of strong maneuverability, high flexibility, and wide coverage, and can perform efficient and accurate detection in complex and changeable tunnel environments. However, the existing technology still has some shortcomings when applying drones to detect gas in coal mine goaf areas: the tunnels in coal mine goaf areas are often narrow and changeable, and drones are prone to collide with the side walls and top of the tunnels during flight, which not only easily causes damage to the drones, but may also cause safety accidents. In addition, drones will generate large airflow disturbances during flight, which will affect the stability of the air flow received by the sensor, thereby affecting the accurate measurement of gas concentration.

[0004] Therefore, it is necessary to provide a UAV for coal mine goaf detection, which can adapt to the complex terrain of coal mine goaf tunnels, reduce air flow disturbance, and ensure that the sensor stably receives air flow. Summary of the invention

[0005] To achieve the above object, the present invention provides the following technical solution: a UAV for coal mine goaf detection, comprising: A truncated cone-shaped hollow shell, wherein a bracket is fixedly connected to the interior of the lower end of the shell; A plurality of propellers are distributed on the bracket; A central hole is formed at the upper end of the shell, and a detection cylinder is fixedly connected below the central hole; A gas sensor is arranged inside the detection cylinder; A plurality of side holes are distributed circumferentially on the side wall of the shell, and together with the central hole form an air intake channel.

[0006] Furthermore, a laser radar is arranged at the bottom of the bracket for guiding and planning the flight path of the UAV in the goaf tunnel.

[0007] Furthermore, a rotating ring is rotatably provided on the outer wall of the detection cylinder, a spur gear ring is fixed below the outer wall of the rotating ring, and a driving motor capable of driving the spur gear ring is provided on the outer wall of the detection cylinder.

[0008] Furthermore, a plurality of central blades are distributed on the inner circumference of the detection cylinder, one end of the central blade is rotatably connected to the side wall of the detection cylinder, and the other end is rotatably connected to the central cover.

[0009] Furthermore, the rotating shaft of each central blade penetrates the outer wall of the detection tube and is connected to a bevel gear, and a bevel gear ring is fixed on the outer wall of the rotating ring, and the bevel gear ring is meshed with the bevel gear.

[0010] Furthermore, a side blade is rotatably arranged in each of the side holes.

[0011] Furthermore, each of the side blades is connected to the rotating ring via a universal rod, and two ends of the universal rod are respectively connected to the side wall of the rotating ring and the lower side of the side blade via ball heads.

[0012] Furthermore, it also includes a data processing unit electrically connected to the gas sensor, which is used to receive and analyze the gas content data detected by the gas sensor.

[0013] Furthermore, it also includes a communication module for remote communication and data transmission with a ground control center so as to monitor the flight status and gas content data of the UAV in real time.

[0014] Furthermore, the housing and the detection cylinder are made of lightweight elastic materials, including but not limited to resin.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The invention uses a gas sensor equipped inside the detection tube to enable the drone to detect the gas content in the coal mine goaf in real time and accurately, ensuring the timeliness and accuracy of the data and providing key information for the safety control of the coal mine. The laser radar set at the bottom of the bracket can accurately scan the surrounding environment and provide accurate flight path guidance for the drone in the complex and changeable goaf tunnels, which not only improves the detection efficiency but also reduces the risk of collision.

[0016] By adjusting the rotation angle of the rotating ring, the UAV can synchronously control the inclination angles of the central blade and the side blades, thereby evenly adjusting the flow ratio of air from the central hole and the side holes, ensuring that the gas flow received by the gas sensor is adjustable and remains stable, avoiding flow fluctuations and measurement errors caused by changes in propeller speed.

[0017] In the present invention, the shell and the detection tube are made of lightweight elastic materials, such as resin, etc., which not only reduces the weight of the drone and improves the flight stability, but also provides a good buffering effect in the event of a collision, further ensuring the safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The schematic diagram of the structure of a UAV used for coal mine goaf detection; Figure 2 A schematic diagram of the internal structure of a UAV used for coal mine goaf detection; Figure 3 The figure is a schematic diagram of the cross-sectional structure of a UAV used for coal mine goaf detection; Figure 4 It is a schematic diagram of the cross-sectional structure of the detection tube in the present invention; Figure 5 It is a schematic diagram of the internal structure of the detection tube in the present invention; In the figure: 1. outer casing; 2. bracket; 3. propeller; 4. center hole; 41. detection tube; 42. rotating ring; 43. bevel gear ring; 44. spur gear ring; 45. drive motor; 5. gas sensor; 6. side hole; 7. center blade; 71. center cover; 72. bevel gear; 8. side blade; 81. universal rod. DETAILED DESCRIPTION

[0019] See also Figure 1-Figure 5 In an embodiment of the present invention, a drone for detecting coal mine goaf includes: A truncated cone-shaped hollow housing 1, wherein a bracket 2 is fixedly connected to the lower end of the housing 1; The bracket 2 is provided with a plurality of propellers 3 for providing flying power to the UAV; A central hole 4 is formed at the upper end of the housing 1, and a detection cylinder 41 is fixedly connected below the central hole 4; The detection tube 41 is provided with a gas sensor 5 for detecting the gas content in the coal mine goaf; The side wall of the housing 1 is circumferentially distributed with a plurality of side holes 6, which together with the central hole 4 form an air intake passage. When the propeller 3 is running, air enters the housing 1 through the central hole 4 and the side holes 6, and is discharged from the bottom of the housing 1 to generate lift.

[0020] Among them, the design shape and structure of the shell 1 can protect the propeller 3 from colliding with the side wall of the tunnel in the coal mine goaf during flight, while ensuring that the air in the center hole 4 flows through the gas sensor 5, so that the gas sensor 5 can effectively detect the gas content in the coal mine goaf in a large flow manner, thereby achieving safe control of the coal mine goaf.

[0021] In this embodiment, a laser radar is arranged at the bottom of the support 2 for guiding and planning the flight path of the UAV in the goaf tunnel.

[0022] In this embodiment, a rotating ring 42 is rotatably provided on the outer wall of the detection cylinder 41 , a spur gear ring 44 is fixed below the outer wall of the rotating ring 42 , and a driving motor 45 capable of driving the spur gear ring 44 is provided on the outer wall of the detection cylinder 41 .

[0023] In this embodiment, a plurality of central blades 7 are distributed on the inner circumference of the detection cylinder 41 . One end of the central blade 7 is rotatably connected to the side wall of the detection cylinder 41 , and the other end is rotatably connected to the central cover 71 .

[0024] By adjusting the inclination angle of each central blade 7, the gap size between adjacent central blades 7 can be changed, thereby adjusting the air flow passing through the detection tube 41, ensuring that the gas flow received by the gas sensor 5 remains stable, avoiding flow fluctuations due to changes in the speed of the propeller 3, thereby causing measurement errors, and avoiding excessive gas flow from overloading the gas sensor 5.

[0025] In this embodiment, the rotating shaft of each central blade 7 penetrates the outer wall of the detection tube 41 and is connected to a bevel gear 72 . A bevel gear ring 43 is fixed on the outer wall of the rotating ring 42 , and the bevel gear ring 43 meshes with the bevel gear 72 .

[0026] By adjusting the rotation angle of the rotating ring 42 , the inclination angle of each central blade 7 can be synchronously controlled, thereby uniformly controlling the gap between two adjacent central blades 7 .

[0027] In this embodiment, a side blade 8 is rotatably provided in each of the side holes 6 .

[0028] The opening of the side hole 6 can be adjusted by changing the inclination angle of the side blade 8. When the opening of the side hole 6 is smaller, the air flow rate of the central hole 4 will also be larger.

[0029] In this embodiment, each of the side blades 8 is connected to the rotating ring 42 via a universal rod 81 , and both ends of the universal rod 81 are respectively connected to the side wall of the rotating ring 42 and the lower side of the side blade 8 via ball heads.

[0030] By adjusting the rotation angle of the rotating ring 42 , the inclination angle of each side blade 8 can be synchronously controlled, thereby uniformly controlling the opening of each side hole 6 .

[0031] When the rotating ring 42 rotates, the central blade 7 and the side blade 8 are driven to rotate at opposite angles. That is to say, when the gap between adjacent central blades 7 is larger, the opening of the side hole 6 will be smaller. On the contrary, when the gap between the central blades 7 is smaller, the opening of the side hole 6 will be larger, thereby adjusting the ratio of air flowing through the central hole 4 and the side hole 6, ensuring that when the propeller 3 provides a certain lift, the gas flow received by the gas sensor 5 can be stably adjusted.

[0032] In this embodiment, a data processing unit electrically connected to the gas sensor 5 is also included, which is used to receive and analyze the gas content data detected by the gas sensor 5.

[0033] In this embodiment, a communication module for remote communication and data transmission with a ground control center is also included to monitor the flight status and gas content data of the UAV in real time.

[0034] In this embodiment, the housing 1 and the detection tube 41 are made of light elastic material, including but not limited to resin, to ensure the flight stability of the drone and provide a buffering effect in the event of a collision.

[0035] When implementing: Start the drone in an open and safe area, wait for the propeller 3 to reach a predetermined speed, and then slowly lift off. The laser radar will scan the surrounding environment in real time. The drone will automatically fly in the goaf tunnel according to the preset path. During the flight, air enters the shell 1 through the central hole 4 and the side hole 6. The gas content of the air passing through the central hole 4 is continuously detected by the gas sensor 5, and the data is transmitted to the data processing unit for analysis; By adjusting the rotation angle of the rotating ring 42, the inclination angle of each central blade 7 is synchronously controlled, so as to uniformly adjust the gap size between adjacent central blades 7, and ensure that the gas flow received by the gas sensor 5 remains stable. At the same time, the inclination angle of the side blades 8 is synchronously controlled to adjust the opening of the side hole 6 and adjust the ratio of air flowing through the central hole 4 and the side hole 6. When the air flow fluctuates due to the change in the speed of the propeller 3, the gas flow received by the gas sensor 5 is ensured to be unaffected by adjusting the inclination angles of the central blade 7 and the side blade 8.

[0036] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A drone for coal mine goaf detection, characterized in that: include: A truncated cone-shaped hollow housing (1), wherein a bracket (2) is fixedly connected to the interior of the lower end of the housing (1); A plurality of propellers (3) are distributed on the bracket (2); A central hole (4) is formed at the upper end of the housing (1), and a detection cylinder (41) is fixedly connected below the central hole (4); A gas sensor (5) is arranged inside the detection cylinder (41); A plurality of side holes (6) are distributed circumferentially on the side wall of the housing (1), and together with the central hole (4) form an air intake passage.

2. The unmanned aerial vehicle for coal mine goaf detection according to claim 1, characterized in that: A laser radar is arranged at the bottom of the support (2) for guiding and planning the flight path of the drone in the goaf tunnel.

3. The unmanned aerial vehicle for coal mine goaf detection according to claim 1, characterized in that: A rotating ring (42) is rotatably provided on the outer wall of the detection cylinder (41), a spur gear ring (44) is fixed below the outer wall of the rotating ring (42), and a driving motor (45) capable of driving the spur gear ring (44) is provided on the outer wall of the detection cylinder (41).

4. The unmanned aerial vehicle for coal mine goaf detection according to claim 3, characterized in that: A plurality of central blades (7) are distributed on the inner circumference of the detection cylinder (41); one end of the central blade (7) is rotatably connected to the side wall of the detection cylinder (41), and the other end is rotatably connected to the central cover (71).

5. The unmanned aerial vehicle for coal mine goaf detection according to claim 4, characterized in that: The rotating shaft of each central blade (7) penetrates the outer wall of the detection cylinder (41) and is connected to a bevel gear (72). A bevel gear ring (43) is fixed above the outer wall of the rotating ring (42), and the bevel gear ring (43) meshes with the bevel gear (72).

6. The unmanned aerial vehicle for coal mine goaf detection according to claim 3, characterized in that: A side blade (8) is rotatably arranged in each of the side holes (6).

7. The unmanned aerial vehicle for coal mine goaf detection according to claim 6, characterized in that: Each of the side blades (8) is connected to the rotating ring (42) via a universal rod (81), and two ends of the universal rod (81) are respectively connected to the side wall of the rotating ring (42) and the lower side of the side blade (8) via ball heads.

8. The unmanned aerial vehicle for coal mine goaf detection according to claim 1, characterized in that: It also includes a data processing unit electrically connected to the gas sensor (5) and used for receiving and analyzing gas content data detected by the gas sensor (5).

9. The unmanned aerial vehicle for coal mine goaf detection according to claim 1, characterized in that: It also includes a communication module for remote communication and data transmission with the ground control center to monitor the flight status and gas content data of the drone in real time.

10. The unmanned aerial vehicle for coal mine goaf detection according to claim 1, characterized in that: The housing (1) and the detection cylinder (41) are made of lightweight elastic material, including but not limited to resin.

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