Coal mine goaf environment monitoring system

Abstract

The invention discloses a coal mine goaf environment monitoring system, relates to the technical field of environment monitoring, and is used for carrying out environment monitoring on a goaf. The coal mine goaf environment monitoring system comprises a monitoring controller, a signal converter and a snakelike robot. Wherein the monitoring controller is in wireless connection with the signal converter, and the signal converter is in wired connection with the snake-shaped robot through a cable; the monitoring controller is used for responding to the operation instruction and sending robot control information to the snakelike robot through the signal converter so as to control the snakelike robot to move; the snakelike robot is used for collecting environment information of the space where the snakelike robot is located and state information of the snakelike robot, and the environment information and the state information are sent to the monitoring controller through the signal converter. The system can obviously improve the environment monitoring capability of the coal mine goaf.

Description

Technical Field

[0001] The invention relates to the technical field of environmental monitoring, and in particular to a coal mine goaf environment monitoring system. Background Art

[0002] As an important energy source, coal is mined on a large scale. After mining, coal mines will form large-scale coal mine goafs underground. Goafs are "holes" created by excavation activities below the surface. The existence of goafs makes the safe production of mines face great safety problems. People and machinery and equipment may fall into the goafs and get hurt. At the same time, the existence of goafs will bring great safety hazards for a long time, such as ground subsidence, collapse, etc., so it is necessary to regularly monitor the environment of goafs.

[0003] At present, when the goaf is monitored, a hole is drilled above the goaf, and temperature and humidity sensors, gas concentration sensors and other equipment are lowered into the goaf along the drilled hole to collect environmental information in the goaf, so as to achieve environmental monitoring of the goaf. However, the above method can only monitor part of the goaf near the hole, and cannot fully monitor the environment of the goaf, resulting in weak environmental monitoring capabilities of coal mine goafs. Summary of the invention

[0004] In view of this, the present application provides a coal mine goaf area environmental monitoring system, the main purpose of which is to solve the technical problem of weak environmental monitoring capabilities in coal mine goaf areas.

[0005] According to a first aspect of the present invention, there is provided a coal mine goaf area environment monitoring system for performing environmental monitoring on the goaf area, the coal mine goaf area environment monitoring system comprising a monitoring controller, a signal converter and a snake-like robot;

[0006] Wherein, the monitoring controller is wirelessly connected to the signal converter, and the signal converter is wiredly connected to the snake-like robot via a cable;

[0007] The monitoring controller is used to send robot control information to the snake-like robot via the signal converter in response to the operation instruction, so as to control the snake-like robot to move;

[0008] The snake-like robot is used to collect environmental information of the space where the snake-like robot is located and status information of the snake-like robot, and send the environmental information and the status information to the monitoring controller via the signal converter.

[0009] In an optional embodiment, the signal converter includes a wireless bridge and a first photoelectric converter, wherein the wireless bridge is wirelessly connected to the monitoring controller; the cable includes an optical fiber and a transmission line; the first photoelectric converter is connected to the wireless bridge and the snake-like robot, respectively, and is used to receive the robot control information in the form of an electrical signal from the monitoring controller via the wireless bridge, and perform photoelectric conversion on the robot control information to obtain the robot control information in the form of an optical signal, and send the robot control information in the form of an optical signal to the snake-like robot; the first photoelectric converter is also used to receive the environmental information and the status information in the form of an optical signal from the snake-like robot, and perform photoelectric conversion on the environmental information and the status information to obtain the environmental information and the status information in the form of an electrical signal, and send the environmental information and the status information in the form of an electrical signal to the monitoring controller via the wireless bridge.

[0010] In an optional embodiment, the signal converter also includes an energy storage device and a power meter; the energy storage device is connected to the snake-like robot via the transmission line to power the snake-like robot; the power meter is connected to the wireless bridge to monitor the remaining power of the energy storage device and send the remaining power to the wireless bridge, so that the wireless bridge sends the remaining power to the monitoring controller.

[0011] In an optional embodiment, the signal converter also includes a cable drum, a guide rod and a wire device; the cable is wrapped around the outer surface of the cable drum, the guide rod is parallel to the central axis of the cable drum, and the wire device is slidably connected to the guide rod so that the wire device can slide on the guide rod; the energy storage device is arranged in a cavity surrounded by the outer surface of the cable drum.

[0012] In an optional embodiment, the snake-like robot includes a second photoelectric converter, a robot control unit, a first image collector, a second image collector, and a plurality of robot units connected in sequence, each two adjacent robot units are connected by a joint component, and the robot control unit is arranged at one of the robot units; the environmental information includes image information; the second photoelectric converter is respectively connected to the first photoelectric converter, the first image collector, the second image collector, and the robot control unit, the second photoelectric converter is used to receive the robot control information in the form of an optical signal from the first photoelectric converter, and perform photoelectric conversion on the robot control information to obtain the robot control information in the form of an electrical signal, and send the robot control information in the form of an electrical signal to the robot control unit; the robot control unit is used to control the running state of the walking component of each robot unit and the rotation angle of each joint component based on the robot control information; the first image collector and the second image collector are respectively arranged at the first robot unit and the last robot unit among the plurality of robot units, and are used to respectively collect the image information of the space where the snake-like robot is located, and send the image information to the second photoelectric converter; the second photoelectric converter is also used to perform photoelectric conversion on the image information to obtain the image information in the form of an optical signal, and send the image information in the form of an optical signal to the first photoelectric converter.

[0013] In an optional embodiment, the snake-like robot further includes a gas concentration sensor, a temperature and humidity sensor, and a gyroscope; the environmental information further includes gas concentration information and temperature and humidity information, and the state information includes angle information; the gas concentration sensor is arranged at any one of the robot units, and is used to collect the gas concentration information in the space where the snake-like robot is located, and send the gas concentration information to the robot control unit; the temperature and humidity sensor is arranged at any one of the robot units, and is used to collect the temperature and humidity information in the space where the snake-like robot is located, and send the temperature and humidity information to the robot control unit; the gyroscope is arranged at the first robot unit, and is used to collect the angle information between the snake-like robot and the horizontal plane, and send the angle information to the robot control unit; the robot control unit is also used to send the gas concentration information, the temperature and humidity information, and the angle information to the second photoelectric converter; the second photoelectric converter is also used to perform photoelectric conversion on the gas concentration information, the temperature and humidity information, and the angle information to obtain the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals, and send the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals to the first photoelectric converter.

[0014] In an optional embodiment, the walking component is a track; the robot control unit includes a robot controller, a track drive and a joint drive; the track drive is used to adjust the travel state of each track of the snake-like robot, and the joint drive is used to adjust the rotation angle of each joint component of the snake-like robot; the robot controller is respectively connected to the second photoelectric converter, the track drive and the joint drive, and is used to receive the robot control information from the second photoelectric converter, control the track drive to adjust the travel state of each track based on the robot control information, and control the joint drive to adjust the rotation angle of each joint component.

[0015] In an optional embodiment, the snake-like robot also includes a power supply unit; the power supply unit is connected to the energy storage device through the transmission line, and the power supply unit is used to obtain power from the energy storage device and supply power to the first image collector, the second image collector, the gas concentration sensor, the temperature and humidity sensor, the second photoelectric converter, the gyroscope, the robot controller, the track drive and the joint drive.

[0016] In an optional embodiment, the power supply unit includes a first voltage conversion unit and a second voltage conversion unit; the first voltage conversion unit is connected to the energy storage device, used to obtain power supply energy from the energy storage device, and convert the power supply energy into actuator power supply energy of a first voltage level and general power supply energy of a second voltage level, and transmit the actuator power supply energy to the robot controller, and transmit the general power supply energy to the first image collector; the second voltage conversion unit is connected to the energy storage device, used to obtain power supply energy from the energy storage device, and convert the power supply energy into general power supply energy of a second voltage level, and transmit the general power supply energy to the second image collector, the second photoelectric converter, the track drive and the joint drive.

[0017] In an optional embodiment, the coal mine goaf environmental monitoring system also includes a human-computer interaction interface and a robot control handle; the monitoring controller is connected to the human-computer interaction interface and the robot control handle respectively, and the monitoring controller is also used to send the environmental information and the status information to the human-computer interaction interface to control the human-computer interaction interface to display the environmental information and the status information; the human-computer interaction interface and the robot control handle are used to send the operation instructions to the monitoring controller.

[0018] The present invention provides a coal mine goaf environmental monitoring system, which can set the signal converter at the hole above the closed goaf, set the snake-like robot into the goaf through the hole, and the snake-like robot and the signal converter are connected by a cable to realize signal communication between the snake-like robot and the signal converter. At the same time, the snake-like robot can also be recovered through the cable. Further, the monitoring controller and the signal converter establish signal communication through wireless signals, the monitoring controller can wirelessly send robot control information to the signal converter, and the signal converter sends the robot control information to the snake-like robot through a wired signal to control the movement of the snake-like robot. Further, the snake-like robot can also collect the environmental information of the space where it is located and the status information of the snake-like robot itself, and send the environmental information and status information to the signal converter through a cable. After receiving the environmental information and status information, the signal converter wirelessly sends the above information to the monitoring controller to realize environmental monitoring of the goaf. The technical solution provided in the present application can enable a snake-like robot to enter a coal mine goaf for environmental monitoring. After the snake-like robot is lowered into the mine, the snake-like robot can be remotely controlled by a monitoring controller, so that the snake-like robot can move over a large range in the goaf and collect environmental information in the coal mine goaf, thereby expanding the monitoring range of the goaf and significantly improving the environmental monitoring capability of the coal mine goaf.

[0019] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 One of the structural schematic diagrams of a coal mine goaf environment monitoring system provided by an embodiment of the present invention is shown;

[0022] Figure 2 The second structural schematic diagram of a coal mine goaf environment monitoring system provided by an embodiment of the present invention is shown;

[0023] Figure 3 A schematic structural diagram of a signal converter provided by an embodiment of the present invention is shown;

[0024] Figure 4 A schematic structural diagram of a snake-like robot provided by an embodiment of the present invention is shown;

[0025] Figure 5 One of the structural schematic diagrams of an exemplary snake-like robot provided by an embodiment of the present invention is shown;

[0026] Figure 6 A second schematic structural diagram of an exemplary snake-like robot provided by an embodiment of the present invention is shown;

[0027] Figure 7 The system framework and logic control schematic diagram of a coal mine goaf environment monitoring system provided by an embodiment of the present invention are shown;

[0028] Figure 8 A schematic diagram of a display interface of a human-computer interaction interface provided by an embodiment of the present invention is shown;

[0029] Fig. 9 A system schematic diagram of a lower computer provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0031] In one embodiment, Figure 1 As shown, a coal mine goaf environment monitoring system is provided, and the system is used for environmental monitoring of goaf S as an example for explanation. The coal mine goaf environment monitoring system includes a monitoring controller 100, a signal converter 200 and a snake-like robot 300. Among them, the monitoring controller 100 can be a computer device such as a mobile terminal and a laptop computer. The monitoring controller 100 has a built-in control system developed by a C# platform, which has a display device and an information input device. The relevant work can input operation instructions to the monitoring controller 100, and obtain the environmental information of the goaf S collected by the snake-like robot 300 and the status information of the snake-like robot 300 from the monitoring controller 100.

[0032] Furthermore, the signal converter 200 may have a wireless bridge for converting the wireless signal interacting between the signal converter 200 and the monitoring controller 100 into a wired signal interacting between the signal converter 200 and the snake-like robot 300. Furthermore, the snake-like robot 300 may be provided with environmental information acquisition devices such as an image collector and a temperature and humidity sensor for collecting environmental information in the goaf S, wherein the image collector may be a camera, which may be controlled to adjust the image acquisition range, such as direction and field of view. At the same time, the snake-like robot 300 may also collect its own state information, such as the angle information between the snake-like robot 300 and the horizontal plane.

[0033] In the actual monitoring process, the monitoring controller 100 is used to respond to the operation instructions and send robot control information to the snake-like robot 300 via the signal converter 200 to control the movement of the snake-like robot 300, including movement direction, movement speed, turning over and other movements.

[0034] Furthermore, the snake-like robot 300 is used to collect environmental information of the space where the snake-like robot 300 is located and state information of the snake-like robot 300, and send the environmental information and the state information to the monitoring controller 100 via the signal converter 200 to realize environmental monitoring of the goaf S. The environmental information includes image information, gas concentration information, and temperature and humidity information in the goaf, and the state information includes angle information between the snake-like robot and the horizontal plane.

[0035] The coal mine goaf environmental monitoring system provided in this embodiment can set the signal converter at the hole above the closed goaf, set the snake-like robot into the goaf through the hole, and the snake-like robot and the signal converter are connected by a cable to realize signal communication between the snake-like robot and the signal converter. At the same time, the snake-like robot can also be recovered through the cable. Further, the monitoring controller and the signal converter establish signal communication through wireless signals, and the monitoring controller can send the robot control information to the signal converter wirelessly, and the signal converter sends the robot control information to the snake-like robot through a wired signal to control the movement of the snake-like robot. Further, the snake-like robot can also collect the environmental information of the space where it is located and the status information of the snake-like robot itself, and send the environmental information and status information to the signal converter through a cable. After receiving the environmental information and status information, the signal converter sends the above information wirelessly to the monitoring controller to realize environmental monitoring of the goaf. The technical solution provided in the present application can enable a snake-like robot to enter a coal mine goaf for environmental monitoring. After the snake-like robot is lowered into the mine, the snake-like robot can be remotely controlled by a monitoring controller, so that the snake-like robot can move over a large range in the goaf and collect environmental information in the coal mine goaf, thereby expanding the monitoring range of the goaf and significantly improving the environmental monitoring capability of the coal mine goaf.

[0036] In an optional embodiment, if Figure 2 As shown, the signal converter includes a wireless bridge 210 and a first photoelectric converter 220, and the wireless bridge 210 is wirelessly connected to the monitoring controller 100; the cable includes an optical fiber and a transmission line.

[0037] Among them, the first photoelectric converter 220 is connected to the wireless bridge 210 and the snake-like robot 300 respectively, and is used to receive the robot control information in the form of electrical signals from the monitoring controller 100 via the wireless bridge 210, and perform photoelectric conversion on the robot control information to obtain the robot control information in the form of optical signals, and send the robot control information in the form of optical signals to the snake-like robot 300.

[0038] Furthermore, the first photoelectric converter 220 is also used to receive the environmental information and the status information in the form of optical signals from the snake-like robot 300, and perform photoelectric conversion on the environmental information and the status information in the form of optical signals to obtain the environmental information and the status information in the form of electrical signals, and send the environmental information and the status information in the form of electrical signals to the wireless bridge 210, so that the wireless bridge 210 sends the environmental information and the status information to the monitoring controller.

[0039] Furthermore, the signal converter also includes an energy storage device 230 and a power meter T. The energy storage device 230 can be a lithium battery. The energy storage device 230 is connected to the snake-like robot 300 through the transmission line to supply power to the snake-like robot 300. Furthermore, the power meter T is connected to the wireless bridge 210 to monitor the remaining power of the energy storage device 230 and send the remaining power of the energy storage device 230 to the wireless bridge 210, so that the wireless bridge 210 sends the remaining power of the energy storage device 230 to the monitoring controller 100. So that relevant staff can know the remaining power information of the energy storage device 230 at the monitoring controller 100. Among them, the power meter T can be connected to the lithium battery to obtain the remaining power of the lithium battery as the remaining power of the energy storage device 230, and send the remaining power information to the monitoring controller via the wireless bridge 210.

[0040] Furthermore, the energy storage device 230 may also include a first single-channel transformer (not shown in the figure), which is connected to the lithium battery and is used to convert the 36-volt power supply voltage provided by the lithium battery into a 12-volt power supply voltage, and to power the wireless bridge 210, the first photoelectric converter 220 and the power meter T. At the same time, the lithium battery can also directly provide a 36-volt power supply voltage to the snake-like robot 300.

[0041] The embodiment provided by the present application can establish signal communication between the snake-like robot and the signal converter through optical fiber signals, thereby ensuring the communication quality between the snake-like robot and the signal converter and increasing the movable range of the snake-like robot in the goaf. At the same time, the snake-like robot can be powered based on the energy storage device in the signal converter, thereby improving the power supply stability of the snake-like robot.

[0042] In an optional embodiment, if Figure 3 As shown, the signal converter further includes a cable drum 240, a guide rod 250 and a wire guide device 260. Here, the cable drum 240 is cylindrical, the side of the cylinder of the cable drum 240 is used to surround the cable, and a hand-crank device is provided on the bottom of the cylinder, and the cable drum 240 can be rotated manually or by a motor to retract and release the cable.

[0043] Further, the cable drum 240 is fixed on the base 270, and a guide rod 250 may be provided on the base 270, and the guide rod 250 is parallel to the central axis of the cable drum 240, and the wire guide device 260 is slidably connected with the guide rod 250 so that the wire guide device 260 can slide on the guide rod 250. Here, the wire guide device 260 includes a sliding component and a guide wheel, and the sliding component has a guide rod hole, and the guide rod hole is used to make the sliding component slide on the guide rod 250. Further, the guide wheel is arranged at the top of the sliding component. When the cable drum 240 is retracting and releasing the cable, the sliding component can slide horizontally on the guide rod 250, and the guide wheel on the sliding component is used to guide the cable to prevent the cable from being entangled when the cable is retracted and released. Specifically, when the cable drum 240 rotates, the guide rod 250 can be driven to rotate along with the cable drum 240. Here, the guide rod 250 can be a reciprocating screw, so that the wire device 260 can slide back and forth on the guide rod 250 to guide the cables and prevent the cables from being entangled.

[0044] Furthermore, the energy storage device is arranged in the cavity surrounded by the outer surface of the wire drum 240. Specifically, the lithium battery 231 and the first single-channel transformer 232 in the energy storage device can be arranged in the cavity surrounded by the outer surface of the wire drum 240 to protect the lithium battery 231 and the first single-channel transformer 232; the wireless bridge 210, the power meter T and the first photoelectric converter (not shown in the figure) can also be arranged on the wire drum 240. Furthermore, the charger for the lithium battery 231 (not shown in the figure) can also be arranged on the wire drum 240, and a charging interface is set on the bottom surface of the cylinder of the wire drum 240.

[0045] The embodiment provided in the present application can retract and release the cable through the cable drum, which facilitates the long-distance movement of the snake-like robot in the goaf, and can shake the cable drum to recover the snake-like robot, thereby improving the operational flexibility of the coal mine goaf environment monitoring system.

[0046] In an optional embodiment, if Figure 4As shown, the snake-like robot includes a second photoelectric converter (not shown in the figure), a robot control unit (not shown in the figure), a first image collector (not shown in the figure), a second image collector (not shown in the figure) and a plurality of robot units 310 connected in sequence, each two adjacent robot units 310 are connected by a joint component 320, and the robot control unit is arranged at one of the robot units 310; here, the joint component 320 can be a differential joint, which has two degrees of freedom of pitch and yaw, so that the two robot units 310 connected thereto can be at different angles in the horizontal and vertical directions. Furthermore, each robot unit 310 is provided with a walking device, which includes a crawler or wheels, etc., and each side of the robot unit 310 can be provided with a walking device so that the snake-like robot can move in the goaf.

[0047] As an example, Figure 5 As shown, the snake-like robot includes three robot units, namely a first robot unit 311, a middle robot unit 312 and a last robot unit 313 which are connected in sequence. The walking part 330 of each robot unit is a track, which can be an overhead track so that the robot unit can move even when it is overturned.

[0048] Furthermore, the second photoelectric converter is respectively connected to the first photoelectric converter, the first image collector, the second image collector and the robot control unit, and the second photoelectric converter is used to receive robot control information in the form of optical signals from the first photoelectric converter, and perform photoelectric conversion on the robot control information to obtain the robot control information in the form of electrical signals, and send the robot control information in the form of electrical signals to the robot control unit.

[0049] The robot control unit is used to control the operating state of the walking parts of each robot unit and the rotation angle of each joint part based on the robot control information, wherein the operating state can be the movement speed and movement direction of the track.

[0050] Furthermore, the first image collector and the second image collector are respectively arranged at the first robot unit and the last robot unit among the plurality of robot units, for respectively collecting image information of the space where the snake-like robot is located, and sending the image information to the second photoelectric converter. The first robot unit may be the first robot unit among the plurality of robot units, and the last robot unit may be the last robot unit among the plurality of robot units; the first image collector may collect image information of the front of the snake-like robot, and the second image collector may collect image information of the rear of the snake-like robot, so that the robot control unit may obtain image information of the goaf in front of the snake-like robot and image information of the goaf behind the snake-like robot.

[0051] Furthermore, the second photoelectric converter is also used to perform photoelectric conversion on the image information to obtain the image information in the form of an optical signal, and send the image information in the form of an optical signal to the first photoelectric converter. Specifically, the first image collector and the second image collector can respectively send the image information in the form of an electrical signal to the second photoelectric converter, the second photoelectric converter converts the image information in the form of an electrical signal into image information in the form of an optical signal, and sends the image information in the form of an optical signal to the first photoelectric converter, the first photoelectric converter converts the image information in the form of an optical signal into image information in the form of an electrical signal, and sends the image information in the form of an electrical signal to the monitoring controller via a wireless bridge.

[0052] In the embodiments provided by the present application, the robot control unit can receive robot control information to control the movement of the snake-like robot to expand the monitoring range of the snake-like robot, and can collect image information of the goaf based on the first image collector and the second image collector, and send the image information to the monitoring controller via the signal converter, thereby improving the monitoring capability of the coal mine goaf environmental monitoring system.

[0053] In an optional embodiment, the snake-like robot also includes a gas concentration sensor, a temperature and humidity sensor, and a gyroscope, wherein the gas concentration sensor may be an oxygen sensor, which may collect gas concentration information in the goaf, including oxygen concentration information; the temperature and humidity sensor may collect temperature and humidity information of the environment in the goaf; the gyroscope is used to collect angle information between the snake-like robot and the horizontal plane, wherein the angle information is used to determine the state of the snake-like robot in the goaf, including overturning, tipping over, and the like.

[0054] Furthermore, the gas concentration sensor can be set at any one of the robot units to collect gas concentration information and send the gas concentration information to the robot control unit; the temperature and humidity sensor can be set at any one of the robot units to collect temperature and humidity information and send the temperature and humidity information to the robot control unit; the gyroscope is set at the first robot unit to collect angle information and send the angle information to the robot control unit.

[0055] Furthermore, the robot control unit is also used to send the gas concentration information, the temperature and humidity information, and the angle information to the second photoelectric converter. Specifically, the robot control unit sends the gas concentration information, the temperature and humidity information, and the angle information in the form of electrical signals to the second photoelectric converter, and the second photoelectric converter converts the gas concentration information, the temperature and humidity information, and the angle information in the form of electrical signals into gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals, and sends the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals to the first photoelectric converter; further, the first photoelectric converter converts the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals into gas concentration information, the temperature and humidity information, and the angle information in the form of electrical signals, and sends the gas concentration information, the temperature and humidity information, and the angle information in the form of electrical signals to the monitoring controller through the wireless bridge.

[0056] In the embodiments provided by the present application, the snake-like robot can collect temperature information and gas concentration information of the goaf based on sensors, and determine the angle between the snake-like robot and the horizontal plane, so that the monitoring controller can obtain the above information, realize the monitoring of the goaf, and improve the environmental monitoring capability of the goaf of coal mines; at the same time, it can determine whether the snake-like robot is in an abnormal condition such as rollover, and enable relevant personnel to control the snake-like robot to escape from the above abnormal condition.

[0057] In an optional embodiment, the robot control unit includes a robot controller, a track drive and a joint drive, wherein the robot controller can be an Arduino controller, and the track drive and the joint drive can be servo drives respectively; the track drive is used to adjust the travel state of each track of the snake-like robot, and the joint drive is used to adjust the rotation angle of each joint component of the snake-like robot; the robot controller is respectively connected to the second photoelectric converter, the track drive and the joint drive, and is used to receive the robot control information via the second photoelectric converter, control the track drive to adjust the travel state of each track based on the robot control information, and control the joint drive to adjust the rotation angle of each joint component.

[0058] Further, combined with Figure 6 Explain the connection form of each component on the snake robot, such as Figure 6 As shown, the first image collector C1, the robot controller 401, the temperature and humidity sensor P1, and the gyroscope P2 can be arranged at the leading robot unit 311, and the first image collector C1 can be arranged on the top surface of the leading robot unit 311. Further, the leading robot unit 311 is provided with a first servo Se1 and a second servo Se2, and the first servo Se1 and the second servo Se2 are used to control the traveling state of the crawler of the leading robot unit 311. Here, the robot controller 401 can control the crawler driver 402 located at the intermediate robot unit 312 to drive the first servo Se1 and the second servo Se2 to control the traveling state of the crawler of the leading robot unit 311.

[0059] Furthermore, the joint driver 403, the third servo Se3, the fourth servo Se4, the fifth servo Se5 and the sixth servo Se6 are arranged at the intermediate robot unit 312; wherein the third servo Se3 and the fourth servo Se4 are used to control the travel state of the tracks of the intermediate robot unit 312, and the fifth servo Se5 and the sixth servo Se6 are used to control the rotation of the joint components between the first robot unit 311 and the intermediate robot unit 312. Here, the robot controller 401 can control the track driver 402 located at the intermediate robot unit 312 to drive the third servo Se3 and the fourth servo Se4 to control the travel state of the tracks of the intermediate robot unit 312; at the same time, the robot controller 401 can control the joint driver 403 located at the intermediate robot unit 312 to drive the fifth servo Se5 and the sixth servo Se6 to control the angle of the joint components between the first robot unit 311 and the intermediate robot unit 312.

[0060] Furthermore, the last robot unit 313 is provided with a second image collector C2, a switch 404, a second photoelectric converter 405, a seventh servo Se7, an eighth servo Se8, a ninth servo Se9 and a tenth servo Se10. The switch 404 is respectively connected to the robot controller 401, the first image collector C1, the second image collector C2 and the second photoelectric converter 405 through Ethernet, and is used to send the information output by the second photoelectric converter 405 to the robot controller 401, the first image collector C1, the second image collector C2 and the second photoelectric converter 405, and to package the information output by the robot controller 401, the first image collector C1, the second image collector C2 and the second photoelectric converter 405 and send it to the second photoelectric converter 405, and then send the packaged information to the wireless bridge (not shown in the figure) through the second photoelectric converter 405.

[0061] Furthermore, the seventh servo Se7 and the eighth servo Se8 are used to control the moving state of the tracks of the last robot unit 313, and the ninth servo Se9 and the tenth servo Se10 are used to control the rotation of the joint components between the intermediate robot unit 312 and the last robot unit 313. Here, the robot controller 401 can control the track driver 402 to drive the seventh servo Se7 and the eighth servo Se8 to control the moving state of the tracks of the last robot unit 313; at the same time, the robot controller 401 can control the joint driver 403 to drive the ninth servo Se9 and the tenth servo Se10 to control the angle of the joint components between the intermediate robot unit 312 and the last robot unit 313.

[0062] In an optional embodiment, the snake-like robot also includes a power supply unit; specifically, the power supply unit is connected to the energy storage device via the transmission line, and the power supply unit is used to obtain power from the energy storage device and supply power to the first image collector, the second image collector, the gas concentration sensor, the temperature and humidity sensor, the gyroscope, the robot controller, the track drive and the joint drive.

[0063] Specifically, Figure 6 As shown, the power supply unit includes a first voltage conversion unit E1 and a second voltage conversion unit E2; wherein, the first voltage conversion unit E1 can be arranged at the intermediate robot unit 312, which can be a multi-channel voltage module; the second voltage conversion unit E2 can be arranged at the last robot unit 313, which can be a single-channel voltage module.

[0064] Specifically, the first voltage conversion unit E1 is connected to the energy storage device 220, and is used to obtain power supply energy from the energy storage device 220, and convert the power supply energy into actuator power supply energy of a first voltage level and universal power supply energy of a second voltage level, and transmit the actuator power supply energy to the robot controller 410, and transmit the universal power supply energy to the first image acquirer C1; here, the first voltage conversion unit E1 can convert 36 volts of power supply energy into 9 volts of actuator power supply energy, and power the robot controller 410 based on the 9 volts of actuator power supply energy; at the same time, the first voltage conversion unit E1 can convert 36 volts of power supply energy into 12 volts of universal power supply energy, and power the first image acquirer C1 based on the 12 volts of universal power supply energy.

[0065] Further, the second voltage conversion unit E2 is connected to the energy storage device 220, and is used to obtain power supply energy from the energy storage device 220, and convert the power supply energy into the universal power supply energy, and transmit the universal power supply energy to the second image collector C2, the second photoelectric converter 405, the switch 404, the track drive 402 and the joint drive 403. Here, the second voltage conversion unit E2 can convert the 36 volt power supply energy into the 12 volt universal power supply energy, and supply power to the second image collector C2, the second photoelectric converter 405, the switch 404, the track drive 402 and the joint drive 403 based on the 12 volt universal power supply energy.

[0066] The embodiment provided in the present application can perform voltage conversion on the power supply energy obtained from the energy storage device through the first voltage conversion unit and the second voltage conversion unit to obtain the power supply energy required by various components of the snake-like robot, thereby improving the power supply stability of the snake-like robot.

[0067] In an optional embodiment, the coal mine goaf environment monitoring system further includes a human-machine interaction interface and a robot control handle, wherein the human-machine interaction interface may be a serial port touch screen.

[0068] The monitoring controller is connected to the human-machine interface and the robot control handle respectively, and is also used to send the environmental information and the state information to the human-machine interface to control the human-machine interface to display the environmental information and the state information. Here, the monitoring controller can be used as a host computer, the robot controller in the snake-like robot can be used as a slave computer, and the joint drive and track drive in the snake-like robot can be used as actuators.

[0069] The embodiment provided in the present application can control the snake-like robot based on the human-computer interaction interface and the handle, and display the status of the snake-like robot through the human-computer interaction interface, obtain information collected by sensors, and obtain image information in the goaf, thereby improving the operational convenience of the coal mine goaf environment monitoring system.

[0070] Further, such as Figure 7As shown, the upper computer is mainly responsible for interacting with the operator, and its main functional modules include an image processing module, a TCP communication module, and a control module; wherein the image processing module is used to add the Internet Protocol (IP) address of the image collector, search the image collector based on the IP of the image collector, and display the images collected by the image collector. Furthermore, the TCP communication module is used to establish a communication connection with the lower computer, including data reception and data transmission between the lower computer. Furthermore, the control module is used to read handle data, issue position instructions, and obtain sensor information.

[0071] Furthermore, the lower computer is connected to the actuator, gas concentration sensor, temperature and humidity sensor and gyroscope to read and process sensor data, implement control strategies and algorithms, and send instructions to the actuator. Furthermore, the actuator is mainly used to control the motor and read the motor data.

[0072] Furthermore, Figure 8 The information displayed on the human-computer interaction interface is given. The human-computer interaction interface displays the video display area, the image collector IP location reading area, the motion control area and the data information display area. Among them, the video display area is used to read the screen information of the image collector, and the main function of the image collector IP location reading area is to search the IP of the image collector, and then click the icon below the IP of the image collector to display the image on the left. The motion control area mainly divides the snake robot into 4 faces, and then controls them separately; the handle information is displayed below the motion control area, including walking, joints and other information; here, the robot movement includes forward, backward, front and rear joints respectively pitching in 4 directions, so that the snake robot has the ability to walk, turn over, cross obstacles, avoid obstacles, and cross gullies. Furthermore, the data information display area mainly displays environmental data, communication information, snake robot posture information, etc., and there are various buttons below the data information display area so that the robot can automatically complete some functions.

[0073] Further, such as Fig. 9As shown, the lower computer includes a sensor module, a communication environment building module and a control algorithm implementation module; wherein the sensor module includes a gas concentration acquisition module, a temperature and humidity acquisition module and a gyroscope data acquisition module, which are used to read, process and send the sensor data of the gas concentration sensor, the temperature and humidity sensor and the gyroscope. Specifically, the gas concentration acquisition module acquires the data of the gas concentration sensor through I2c, and then processes the acquired data through the bottom layer, converts it into the concentration information of gases such as oxygen, and then transmits the concentration information to the upper computer. Further, the temperature and humidity acquisition module acquires the temperature and humidity information of the temperature and humidity sensor through digital signals, and then transmits the temperature and humidity information to the lower computer, so that the lower computer processes the temperature and humidity information and returns the temperature and humidity information to the upper computer. The gyroscope data acquisition module is connected to the gyroscope through TTL communication to acquire the data of the gyroscope, and returns the data acquired by the gyroscope to the lower computer through serial communication. The lower computer processes the data acquired by the gyroscope to obtain the angle information, and then transmits the angle information to the upper computer. The user can judge the current posture of the snake-like robot through the angle information.

[0074] Furthermore, the communication environment building module builds the Transmission Control Protocol / Internet Protocol (TCP / IP) communication environment, and uses the Ethernet library to build the lower computer into a server, and connects it to the client to realize the communication between the server and the client. Furthermore, the control algorithm implementation module can control the turning action, walking action and shutdown action of the snake robot, and change the position information according to different functions.

[0075] The coal mine goaf environmental monitoring system provided by the present application can drill a hole above the closed goaf and install a signal converter. The signal converter can power and communicate with the snake robot based on the cable, and can ensure the strength of the cable. After the robot is lowered into the mine, the snake robot can be remotely controlled through the monitoring controller and the equipped handle. The snake robot collects images, temperature and humidity and other information in the goaf to monitor the environment of the goaf, which significantly improves the environmental monitoring capability of the coal mine goaf.

[0076] The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of this application, but this application is not limited to them, and any changes that can be thought of by technicians in this field should fall within the scope of protection of this application.

Claims

1. A coal mine goaf environmental monitoring system, characterized in that: Used for environmental monitoring of goaf areas, the coal mine goaf area environmental monitoring system includes a monitoring controller, a signal converter and a snake-like robot; Wherein, the monitoring controller is wirelessly connected to the signal converter, and the signal converter is wiredly connected to the snake-like robot via a cable; The monitoring controller is used to send robot control information to the snake-like robot via the signal converter in response to the operation instruction, so as to control the snake-like robot to move; The snake-like robot is used to collect environmental information of the space where the snake-like robot is located and status information of the snake-like robot, and send the environmental information and the status information to the monitoring controller via the signal converter.

2. The coal mine goaf environment monitoring system according to claim 1, characterized in that: The signal converter includes a wireless bridge and a first photoelectric converter, wherein the wireless bridge is wirelessly connected to the monitoring controller; the cable includes an optical fiber and a transmission line; The first photoelectric converter is connected to the wireless bridge and the snake-like robot respectively, and is used to receive the robot control information in the form of an electrical signal from the monitoring controller via the wireless bridge, perform photoelectric conversion on the robot control information, obtain the robot control information in the form of an optical signal, and send the robot control information in the form of an optical signal to the snake-like robot; The first photoelectric converter is also used to receive the environmental information and the status information in the form of optical signals from the snake-like robot, and perform photoelectric conversion on the environmental information and the status information to obtain the environmental information and the status information in the form of electrical signals, and send the environmental information and the status information in the form of electrical signals to the monitoring controller via the wireless bridge.

3. The coal mine goaf environment monitoring system according to claim 2, characterized in that: The signal converter also includes an energy storage device and an electric meter; The energy storage device is connected to the snake-like robot via the transmission line, and is used to supply power to the snake-like robot; The power meter is connected to the wireless bridge, and is used for monitoring the remaining power of the energy storage device, and sending the remaining power to the wireless bridge, so that the wireless bridge sends the remaining power to the monitoring controller.

4. The coal mine goaf environment monitoring system according to claim 3, characterized in that: The signal converter also includes a wire reel, a guide rod and a wire device; The cable is wrapped around the outer surface of the cable drum, the guide rod is parallel to the central axis of the cable drum, and the wire guide device is slidably connected to the guide rod so that the wire guide device can slide on the guide rod; The energy storage device is arranged in a cavity surrounded by the outer surface of the wire drum.

5. The coal mine goaf environment monitoring system according to claim 3, characterized in that: The snake-like robot comprises a second photoelectric converter, a robot control unit, a first image collector, a second image collector, and a plurality of robot units connected in sequence, each two adjacent robot units are connected via a joint component, and the robot control unit is arranged at one of the robot units; the environmental information comprises image information; The second photoelectric converter is connected to the first photoelectric converter, the first image collector, the second image collector and the robot control unit respectively, and the second photoelectric converter is used to receive the robot control information in the form of an optical signal from the first photoelectric converter, perform photoelectric conversion on the robot control information, obtain the robot control information in the form of an electrical signal, and send the robot control information in the form of an electrical signal to the robot control unit; The robot control unit is used to control the running state of the walking component of each of the robot units and the rotation angle of each of the joint components based on the robot control information; The first image collector and the second image collector are respectively arranged at the first robot unit and the last robot unit among the plurality of robot units, and are used to respectively collect image information of the space where the snake-like robot is located, and send the image information to the second photoelectric converter; The second photoelectric converter is further used for performing photoelectric conversion on the image information to obtain the image information in the form of an optical signal, and sending the image information in the form of an optical signal to the first photoelectric converter.

6. The coal mine goaf environment monitoring system according to claim 5, characterized in that: The snake-like robot further includes a gas concentration sensor, a temperature and humidity sensor, and a gyroscope; the environmental information further includes gas concentration information and temperature and humidity information, and the state information includes angle information; The gas concentration sensor is arranged at any one of the robot units, and is used to collect gas concentration information in the space where the snake-like robot is located, and send the gas concentration information to the robot control unit; The temperature and humidity sensor is arranged at any one of the robot units, and is used to collect temperature and humidity information in the space where the snake-shaped robot is located, and send the temperature and humidity information to the robot control unit; The gyroscope is arranged at the first robot unit, and is used to collect angle information between the snake-like robot and the horizontal plane, and send the angle information to the robot control unit; The robot control unit is further used to send the gas concentration information, the temperature and humidity information, and the angle information to the second photoelectric converter; The second photoelectric converter is also used to perform photoelectric conversion on the gas concentration information, the temperature and humidity information, and the angle information to obtain the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals, and send the gas concentration information, the temperature and humidity information, and the angle information in the form of optical signals to the first photoelectric converter.

7. The coal mine goaf environment monitoring system according to claim 6, characterized in that: The walking component is a crawler; the robot control unit includes a robot controller, a crawler driver and a joint driver; The track driver is used to adjust the traveling state of each track of the snake-like robot, and the joint driver is used to adjust the rotation angle of each joint component of the snake-like robot; The robot controller is respectively connected to the second photoelectric converter, the track drive and the joint drive, and is used to receive the robot control information from the second photoelectric converter, control the track drive to adjust the travel state of each track based on the robot control information, and control the joint drive to adjust the rotation angle of each joint component.

8. The coal mine goaf environment monitoring system according to claim 7, characterized in that: The snake-like robot further includes a power supply unit; The power supply unit is connected to the energy storage device through the transmission line. The power supply unit is used to obtain power from the energy storage device and supply power to the first image collector, the second image collector, the gas concentration sensor, the temperature and humidity sensor, the second photoelectric converter, the gyroscope, the robot controller, the track drive and the joint drive.

9. The coal mine goaf environment monitoring system according to claim 7, characterized in that: The power supply unit includes a first voltage conversion unit and a second voltage conversion unit; The first voltage conversion unit is connected to the energy storage device, and is used to obtain power supply energy from the energy storage device, and convert the power supply energy into actuator power supply energy of a first voltage level and general power supply energy of a second voltage level, and transmit the actuator power supply energy to the robot controller, and transmit the general power supply energy to the first image collector; The second voltage conversion unit is connected to the energy storage device, and is used to obtain power supply energy from the energy storage device, convert the power supply energy into universal power supply energy of a second voltage level, and transmit the universal power supply energy to the second image acquisition device, the second photoelectric converter, the track drive and the joint drive.

10. The coal mine goaf environment monitoring system according to claim 1, characterized in that: The coal mine goaf environment monitoring system also includes a human-computer interaction interface and a robot control handle; The monitoring controller is connected to the human-machine interaction interface and the robot control handle respectively, and the monitoring controller is also used to send the environmental information and the state information to the human-machine interaction interface to control the human-machine interaction interface to display the environmental information and the state information; The human-machine interaction interface and the robot control handle are used to send the operation instructions to the monitoring controller.

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