An unmanned aerial vehicle for detecting goafs in coal mines

Abstract

The present invention discloses a drone for detecting goafs in coal mines, which relates to the technical field of drones for detection, and includes: a frustum-shaped hollow outer shell, and a bracket is fixedly connected to the inner part of the lower end of the outer shell; a plurality of propellers are distributed on the bracket; a central hole is opened at the upper end of the outer 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 circumferentially distributed on the side wall of the outer shell, and together with the central hole, form an air intake channel; compared with the prior art, the present invention has the advantages of safe flight performance, accurate gas detection, and stable flow regulation mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of drones for detection, and specifically to a drone for detecting gob areas in coal mines. Background Art

[0002] At present, the methods for detecting gas in gob areas of coal mines mainly include manual detection and ground monitoring station detection. Manual detection requires miners to carry detection equipment into the gob area for on-site measurement. However, this method not only has a large workload and low efficiency, 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. However, this method is often restricted by factors such as geological conditions and roadway layouts, and it is difficult to achieve comprehensive and accurate monitoring.

[0003] With the continuous development of drone technology, the application of drones in detecting gas in gob areas of coal mines has gradually received attention. Drones have the advantages of strong mobility, high flexibility, wide coverage, etc., and can conduct efficient and accurate detection in complex and changeable roadway environments. However, there are still some deficiencies in the existing technology when applying drones to detect gas in gob areas of coal mines: the roadway in the gob area of coal mines is often narrow and changeable in terrain, and drones are prone to collide with the side walls and tops of the roadway during flight, which not only easily causes damage to the drones, but may also lead to safety accidents. Moreover, drones will generate large airflow disturbances during flight, and this kind of disturbance 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 drone for detecting gob areas in coal mines, which can adapt to the complex terrain of the gob area roadway in coal mines, reduce airflow disturbances, and ensure that the sensor stably receives the air flow. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: A drone for detecting gob areas in coal mines, comprising:

[0006] A frustum-shaped hollow outer shell, and a bracket is fixedly connected to the inside of the lower end of the outer shell;

[0007] A plurality of propellers are distributed on the bracket;

[0008] A central hole is opened at the upper end of the outer shell, and a detection cylinder is fixedly connected below the central hole;

[0009] A gas sensor is arranged inside the detection cylinder;

[0010] A plurality of side holes are circumferentially distributed on the side wall of the outer shell, and together with the central hole, they form an intake passage.

[0011] Further, a lidar is provided at the bottom of the bracket, which is used to guide and plan the flight path of the drone in the gob roadway.

[0012] Further, a rotating ring is rotatably arranged on the outer wall of the detection cylinder. A spur gear ring is fixed below the outer wall of the rotating ring. A driving motor capable of driving the spur gear ring is arranged on the outer wall of the detection cylinder.

[0013] Further, a plurality of central blades are circumferentially distributed inside the detection cylinder. One end of each central blade is rotatably connected to the side wall of the detection cylinder, and the other end is rotatably connected to the central cover.

[0014] Further, the rotating shaft of each central blade penetrates through the outer wall of the detection cylinder and is connected with a bevel gear. A bevel gear ring is fixed above the outer wall of the rotating ring. The bevel gear ring meshes with the bevel gear.

[0015] Further, side blades are rotatably arranged in each side hole.

[0016] Further, each side blade is connected to the rotating ring through a universal rod. Both ends of the universal rod are connected to the side wall of the rotating ring and the lower side surface of the side blade through ball heads respectively.

[0017] Further, 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.

[0018] Further, it also includes a communication module for remote communication and data transmission with the ground control center, so as to monitor the flight state of the drone and the gas content data in real time.

[0019] Further, the outer shell and the detection cylinder are made of lightweight elastic materials, including but not limited to resin.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] With the gas sensor equipped inside the detection cylinder, the drone can detect the gas content in the gob of the coal mine in real time and accurately, ensuring the timeliness and accuracy of the data, and providing key information for the safety prevention and control of the coal mine. The lidar provided 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 gob roadway, which not only improves the detection efficiency but also reduces the collision risk.

[0022] By adjusting the rotation angle of the rotating ring, the drone can synchronously control the tilt angles of the central blades and the side blades, so as to uniformly adjust 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 stable, and avoiding the flow fluctuation and measurement error caused by the change of the propeller speed.

[0023] In the present invention, the outer shell and the detection cylinder are made of lightweight elastic materials such as resin, which not only reduces the weight of the drone, improves flight stability, but also provides a good buffering effect during collisions, further ensuring the safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural view of a drone for detecting gob areas in coal mines;

[0025] Figure 2 It is a schematic internal structure view of a drone for detecting gob areas in coal mines;

[0026] Figure 3 It is a schematic sectional structure view of a drone for detecting gob areas in coal mines;

[0027] Figure 4 It is a schematic sectional structure view of the detection cylinder in the present invention;

[0028] Figure 5 It is a schematic internal structure view of the detection cylinder in the present invention;

[0029] In the figure: 1. Outer shell; 2. Bracket; 3. Propeller; 4. Central hole; 41. Detection cylinder; 42. Rotating ring; 43. Bevel gear ring; 44. Straight gear ring; 45. Driving motor; 5. Gas sensor; 6. Side hole; 7. Central blade; 71. Central cover; 72. Bevel gear; 8. Side blade; 81. Universal rod. DETAILED DESCRIPTION OF THE INVENTION

[0030] Please refer to Figures 1 - 5 , in an embodiment of the present invention, a drone for detecting gob areas in coal mines includes:

[0031] A frustum-shaped hollow outer shell 1, and a bracket 2 is fixedly connected to the inner part of the lower end of the outer shell 1;

[0032] A plurality of propellers 3 are distributed on the bracket 2 to provide flight power for the drone;

[0033] An upper end of the outer shell 1 is provided with a central hole 4, and a detection cylinder 41 is fixedly connected below the central hole 4;

[0034] A gas sensor 5 is arranged inside the detection cylinder 41 to detect the gas content in the gob area of the coal mine;

[0035] A plurality of side holes 6 are circumferentially distributed on the side wall of the outer shell 1, and together with the central hole 4, they form an intake passage. When the propellers 3 operate, air enters the inside of the outer shell 1 through the central hole 4 and the side holes 6 and is discharged from the bottom of the outer shell 1 to generate lift.

[0036] Among them, the designed shape and structure of the outer shell 1 can protect the propeller 3 from colliding with the side wall of the roadway in the mined - out area of the coal mine during flight, and at the same time ensure that the air in the central hole 4 flows through the gas sensor 5, enabling the gas sensor 5 to effectively detect the gas content in the mined - out area of the coal mine in a large - flow manner, thereby realizing the safety prevention and control of the mined - out area of the coal mine.

[0037] In this embodiment, a lidar is arranged at the bottom of the bracket 2, which is used to guide and plan the flight path of the unmanned aerial vehicle in the roadway of the mined - out area.

[0038] In this embodiment, a rotating ring 42 is rotatably arranged on the outer wall of the detection cylinder 41. A straight - tooth ring 44 is fixed below the outer wall of the rotating ring 42, and a driving motor 45 capable of driving the straight - tooth ring 44 is arranged on the outer wall of the detection cylinder 41.

[0039] In this embodiment, a plurality of central vanes 7 are circumferentially distributed inside the detection cylinder 41. One end of each central vane 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.

[0040] By adjusting the inclination angle of each central vane 7, the gap size between adjacent central vanes 7 can be changed, thereby adjusting the air flow rate flowing through the detection cylinder 41. It can ensure that the gas flow rate received by the gas sensor 5 remains stable, avoid measurement errors caused by flow fluctuations due to changes in the rotation speed of the propeller 3, and also avoid overloading the gas sensor 5 caused by excessive gas flow.

[0041] In this embodiment, the rotating shaft of each central vane 7 penetrates through the outer wall of the detection cylinder 41 and is connected with 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.

[0042] By adjusting the rotation angle of the rotating ring 42, the inclination angle of each central vane 7 can be synchronously controlled, thereby uniformly controlling the gap size between two adjacent central vanes 7.

[0043] In this embodiment, a side vane 8 is rotatably arranged in each side hole 6.

[0044] By changing the inclination angle of the side vane 8, the opening degree of the side hole 6 can be adjusted. When the opening degree of the side hole 6 is smaller, the air flow rate in the central hole 4 will be larger.

[0045] In this embodiment, each side vane 8 is connected to the rotating ring 42 through a universal rod 81. Both ends of the universal rod 81 are connected to the side wall of the rotating ring 42 and the lower side surface of the side vane 8 respectively through ball heads.

[0046] By adjusting the rotation angle of the rotating ring 42, the tilting angle of each side blade 8 can be synchronously controlled, so as to uniformly control the opening degree of each side hole 6.

[0047] When the rotating ring 42 rotates, it drives the central blade 7 and the side blades 8 to rotate in opposite directions. That is to say, when the gap between adjacent central blades 7 is larger, the opening degree of the side hole 6 will be smaller. On the contrary, when the gap between the central blades 7 is smaller, the opening degree of the side hole 6 will be larger. Thus, the proportion of air flowing through the central hole 4 and the side hole 6 is adjusted to ensure that when the propeller 3 provides a certain lift force, the gas flow received by the gas sensor 5 can be stably adjusted.

[0048] In this embodiment, it further includes a data processing unit electrically connected to the gas sensor 5, which is used to receive and analyze the gas content data detected by the gas sensor 5.

[0049] In this embodiment, it further includes a communication module for remote communication and data transmission with the ground control center, so as to monitor the flight state and gas content data of the drone in real time.

[0050] In this embodiment, the outer shell 1 and the detection cylinder 41 are made of lightweight elastic materials, including but not limited to resin, so as to ensure the flight stability of the drone and have a buffering effect when a collision occurs.

[0051] During specific implementation:

[0052] Start the drone in an open and safe area. After the propeller 3 reaches the predetermined speed, slowly lift off. The lidar scans the surrounding environment in real time. The drone will automatically fly in the gob roadway according to the preset path. During the flight, air enters the inside of the outer shell 1 through the central hole 4 and the side holes 6. The air passing through the central hole 4 is continuously detected for gas content by the gas sensor 5, and the data is transmitted to the data processing unit for analysis.

[0053] By adjusting the rotation angle of the rotating ring 42, the tilting angle of each central blade 7 is synchronously controlled, so as to uniformly adjust the gap size between adjacent central blades 7, ensure that the gas flow received by the gas sensor 5 remains stable. At the same time, the tilting angle of the side blades 8 is synchronously controlled, and then the opening degree of the side holes 6 is adjusted to adjust the proportion of air flowing through the central hole 4 and the side holes 6. When the air flow fluctuates due to the change of the rotation speed of the propeller 3, by adjusting the tilting angles of the central blades 7 and the side blades 8, it is ensured that the gas flow received by the gas sensor 5 is not affected.

[0054] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall 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; The outer wall of the detection cylinder (41) is rotatably provided with a rotating ring (42), a spur gear ring (44) is fixed below the outer wall of the rotating ring (42), and the outer wall of the detection cylinder (41) is provided with a driving motor (45) capable of driving the spur gear ring (44); 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); 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) is meshed with the bevel gear (72); A side blade (8) is rotatably arranged in each of the side holes (6); 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.

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: 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).

4. 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.

5. 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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