Mine slope inspection robot

Abstract

The mine slope inspection robot comprises a mounting bottom plate, a telescopic sliding rod is arranged on the lower portion of the mounting bottom plate in the transverse direction, and the two ends of the telescopic sliding rod are connected with crawler wheels through first rotating joints; tracks are mounted on the peripheries of the track wheels; a longitudinal mounting base is fixedly arranged at the top of the mounting bottom plate, and the front end and the rear end of the longitudinal mounting base are each provided with a mechanical supporting arm through a second rotating joint; a plurality of groups of laser range finders, laser radars and cameras are arranged on the mechanical supporting arm; a storage battery and a controller are further arranged on the mounting bottom plate; the controller comprises a central processing unit, a graphic processing unit, an input unit, an output unit and a network communication unit; according to the mine side slope inspection robot, the efficiency and safety of mine side slope inspection are improved, the robot is suitable for exploring a mine side slope in a large area, the unmanned intelligent scanning efficiency is improved, and safe operation in a complex mine side slope environment is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent mine management equipment, relates to inspection robots, and particularly relates to a mine slope inspection robot. Background Art

[0002] The safety issue of mines is the most concerned core element in the process of resource development and also hinders the development of engineering economy. Mine slope disasters often threaten people's lives and property safety and cause damage to the environment and resources. As one of the most typical mine geological disasters, landslide disasters often have some potential signs. For example, large cracks have occurred in the slope body. Therefore, it is very important to efficiently and accurately identify and detect these characteristics for the early warning and prevention of landslide disasters.

[0003] In recent years, robots and automated inspection technologies have become an important part of smart cities and modern infrastructure management. Various robots have been gradually developed and applied in the mining field. In particular, there is a great demand for inspection robots in helping to efficiently and accurately identify the precursor characteristics of landslide disasters. Due to problems such as complex environments and slopes in the mining area, ordinary tracked robots or wheeled robots cannot achieve large-area scanning of slopes. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a mine slope inspection robot, which realizes safe and complete inspection operations in the mine slope environment, achieves large-area exploration of the mine slope, and improves the efficiency of unmanned intelligent scanning of the slope.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions to implement:

[0006] A mine slope inspection robot includes a mounting base plate. A telescopic slide rod is horizontally arranged at the lower part of the mounting base plate. Both ends of the telescopic slide rod are connected with crawler wheels through first rotary joints; crawlers are installed on the outer periphery of the crawler wheels.

[0007] A hydraulic telescopic rod parallel to the telescopic slide rod is also arranged on one side of the telescopic slide rod. Both ends of the hydraulic telescopic rod are respectively connected to the crawler wheels.

[0008] A first servo motor for driving the first rotary joint, the crawler wheels and the hydraulic telescopic rod is also arranged on the mounting base plate.

[0009] A longitudinal mounting seat is fixedly arranged at the top of the mounting base plate. A set of mechanical support arms are respectively installed at the front and rear ends of the longitudinal mounting seat through second rotary joints; a second servo motor for driving the lifting of the mechanical support arms is arranged on the longitudinal mounting seat.

[0010] Multiple groups of laser rangefinders, lidars, and cameras are provided on the mechanical support arm;

[0011] The camera is used for image acquisition;

[0012] A storage battery and a controller are also provided on the mounting base plate. The controller includes a central processing unit, a graphics processing unit, an input / output unit, and a network communication unit; the controller is electrically connected to the laser rangefinder, camera, lidar, first servo, and second servo;

[0013] The graphics processing unit is used to analyze the images collected by the camera and transmit them to the central processing unit through the input unit;

[0014] The central processing unit is used to process the data of the laser rangefinder and lidar to obtain the pose data of the robotic arm, and adjust the track spacing, angle, and the pose of the mechanical support arm through the output unit in combination with the data processed by the graphics processing unit, and control the operation of the robot;

[0015] The network communication unit is used to transmit the data collected by the camera and lidar and the data preliminarily analyzed by the central processing unit to the remote system, and receive the instructions from the remote system and transmit them to the central processing unit.

[0016] The present invention also has the following technical features:

[0017] Preferably, two groups of telescopic slide bars are arranged in parallel, and two groups of mutually parallel hydraulic telescopic bars are also arranged between the two groups of telescopic slide bars.

[0018] Preferably, both ends of the hydraulic telescopic bar are respectively rotatably connected to the track wheels on its corresponding side.

[0019] Preferably, the mechanical support arm includes a left support arm and a right support arm arranged oppositely. The left support arm and the right support arm respectively include a first connecting arm and a second connecting arm connected by a third rotary joint, and a third connecting arm connected to the second connecting arm by a fourth rotary joint. A support foot seat is provided at the bottom of the third connecting arm.

[0020] Furthermore, the first connecting arms, second connecting arms, and third connecting arms of the left support arm and the right support arm are respectively located in the same plane.

[0021] Even further, two laser rangefinders are respectively installed on the first connecting arm and the second connecting arm.

[0022] Furthermore, the first rotary joint, second rotary joint, third rotary joint, and fourth rotary joint are all hydraulic telescopic rod rotary joints.

[0023] Further, the camera is installed on the third connecting arm.

[0024] Compared with the prior art, the present invention has the following technical effects:

[0025] For the mine slope inspection robot of the present invention, by setting track belts with adjustable spacing and angle, it is applicable to narrow ground. Further, by arranging retractable mechanical support arms in four directions of front, back, left and right, the coordinated action between the track belts and the mechanical support arms is realized, so that the inspection robot can adapt to uphill and downhill ground, and prevent the robot from tipping due to the forward or backward tilt of the center of gravity when going uphill and downhill. And by tilting the track belts, greater support can be obtained on the sloped ground. When the robot tips due to too large slope, the controller controls the telescopic of the mechanical support arms to supplement the support of the slope surface to the track belts and form a temporary fixation, and cooperate with the track belts to ensure normal progress.

[0026] The mine slope inspection robot of the present invention improves the efficiency and safety of mine slope inspection, is applicable to large-area exploration of mine slopes, improves the efficiency of unmanned intelligent scanning, and ensures safe operation in complex mine slope environments. Description of the Drawings

[0027] Figure 1 is the front view of the present invention;

[0028] Figure 2 is the partial bottom view of the present invention;

[0029] Figure 3 is the system flow chart of the coordinated control between the track belts and the mechanical support arms of the present invention;

[0030] The meanings of the reference numerals in the drawings are as follows: 1 - mounting base plate, 2 - telescopic slide rod, 3 - first rotary joint, 4 - track belt, 5 - hydraulic telescopic rod, 6 - longitudinal mounting seat, 7 - laser rangefinder, 8 - camera, 9 - third rotary joint, 10 - first connecting arm, 11 - second connecting arm, 12 - fourth rotary joint, 13 - third connecting arm, 14 - support foot seat. Detailed Embodiments

[0031] The following further explains the specific content of the present invention in detail in combination with embodiments.

[0032] As Figures 1 to 2 shown, this embodiment provides a mine slope inspection robot, including a mounting base plate 1. A telescopic slide rod 2 is arranged horizontally at the lower part of the mounting base plate 1. The two ends of the telescopic slide rod 2 are connected with track wheels through a first rotary joint 3; a track belt 4 is installed on the outer periphery of the track wheels; the telescopic slide rod 2 includes a fixed frame, and a left telescopic rod and a right telescopic rod that are slidably connected to the fixed frame. When the distance between the two track belts 4 is shortened, the left telescopic rod and the right telescopic rod slide along the fixed frame.

[0033] On one side of the telescopic slide rod 2, a hydraulic telescopic rod 5 parallel to it is also provided. Both ends of the hydraulic telescopic rod 5 are respectively connected to the crawler wheels.

[0034] On the mounting base plate 1, a first servo motor for driving the first rotary joint 3, the crawler wheels and the hydraulic telescopic rod 5 is also provided.

[0035] At the top of the mounting base plate 1, a longitudinal mounting seat 6 is fixedly provided. At the front and rear ends of the longitudinal mounting seat 6, a set of mechanical support arms are respectively installed through second rotary joints; on the longitudinal mounting seat 6, a second servo motor for driving the lifting of the mechanical support arms is provided.

[0036] On the mechanical support arms, multiple groups of laser rangefinders 7, lidars and cameras 8 are provided.

[0037] The laser rangefinders 7 respectively measure the distance between themselves and the ground. By calculating the height difference of the laser rangefinders on the same mechanical support arm and combining the distance of the laser rangefinder 7 in the direction of the mechanical support arm, the angles between the first connecting arm 10 and the second connecting arm 11 and the ground are obtained, and the state of the mechanical support arm is adjusted.

[0038] The camera 8 is used for image acquisition.

[0039] On the mounting base plate 1, a storage battery and a controller are also provided. The controller includes a central processing unit, a graphics processing unit, an input / output unit and a network communication unit; the controller is electrically connected to the laser rangefinder, the camera, the lidar, the first servo motor and the second servo motor.

[0040] The graphics processing unit is used for analyzing the images collected by the camera and transmitting them to the central processing unit through the input unit.

[0041] The central processing unit is used for processing the data of the laser rangefinder 7 and the lidar to obtain the pose data of the mechanical support arm, and adjusting the distance and angle between the crawlers 4 and the pose of the mechanical support arm through the output unit in combination with the data processed by the graphics processing unit, so as to control the operation of the robot.

[0042] The network communication unit is used for transmitting the images collected by the camera and the lidar and the data preliminarily analyzed by the central processing unit to the remote system, and receiving the instructions of the remote system and transmitting them to the central processing unit.

[0043] Two groups of telescopic slide rods 2 are arranged in parallel. Between the two groups of telescopic slide rods 2, two groups of hydraulic telescopic rods 5 parallel to each other are also provided to ensure the smooth change of the width between the crawlers 4.

[0044] Both ends of the hydraulic telescopic rod 5 are respectively rotatably connected to the crawler wheels on its corresponding side.

[0045] The mechanical support arm includes a left support arm and a right support arm which are oppositely arranged. The left support arm and the right support arm respectively include a first connecting arm 10 and a second connecting arm 11 connected by a third rotary joint 9, and a third connecting arm 13 connected to the second connecting arm 11 by a fourth rotary joint 12. A support footrest 14 is arranged at the bottom of the third connecting arm 13. To ensure the stable support of the mechanical support arm, the second rotary joint, the third rotary joint 9 and the fourth rotary joint 12 can only rotate in the vertical plane direction perpendicular to the installation base plate, so that the telescoping of the first connecting arm 10, the second connecting arm 11 and the third connecting arm 13 are all in the same plane.

[0046] The first connecting arms 10, the second connecting arms 11 and the third connecting arms 13 of the left support arm and the right support arm are respectively located in the same plane.

[0047] Two laser rangefinders 7 are respectively installed on the first connecting arm 10 and the second connecting arm 11.

[0048] The first rotary joint 3, the second rotary joint, the third rotary joint 9 and the fourth rotary joint 12 are all hydraulic telescopic rod rotary joints.

[0049] The camera 8 is installed on the third connecting arm 13.

[0050] For the mine slope inspection robot of the present invention, when the lidar detects that the robot passes through a spacious and flat section, the controller controls the distance between the two crawlers 4 to extend to the maximum distance, ensuring the stability of the robot at a relatively fast forward speed and preventing it from tipping over; the first connecting arm 10 and the second connecting arm 11 of the mechanical support arms located at the front and rear ends of the longitudinal mounting base 6 contract within the width of the left and right crawlers 4, and the third connecting arm 13 and the support footrest 14 are lifted off the ground surface, enabling the mine slope inspection robot to inspect at a relatively fast speed;

[0051] By setting the telescopic slide rod 2 and the hydraulic telescopic rod 5, when the lidar detects that the robot walks into a narrow section, the controller controls the first servo to drive the hydraulic telescopic rod 5 to contract, shortening the distance between the two crawlers 4 and driving the telescopic slide rod 2 to contract, making the width of the entire mine slope inspection robot smaller and facilitating passing through the narrow section;

[0052] When the lidar detects that it is facing a small slope uphill section, the controller controls the first servo to drive the first rotary joint 3 to rotate, and the crawlers 4 gather inward in the forward direction at an angle of 30°. Similarly, when facing a small slope downhill section, the controller controls the first servo to drive the first rotary joint 3 to rotate, and the crawlers 4 extend outward in the forward direction at an angle of 30°, preventing the robot from tipping over due to the forward or backward tilt of the center of gravity during uphill and downhill, and by tilting the crawlers 4, a greater support can be obtained on the sloped ground;

[0053] When driving on a section with a large slope, while the crawlers 4 gather and extend, the mechanical support arms at the front and rear ends of the longitudinal mounting base 6 respectively supplement the support of the slope to the crawlers 4 and form a temporary fixation, and cooperate with the crawlers 4 to ensure normal progress;

[0054] The mounting base plate 1 is also provided with a battery and a controller. The controller includes a central processing unit, a graphics processing unit, an input / output unit, and a network communication unit; the controller is electrically connected to a laser rangefinder, a camera, a lidar, a first servo, and a second servo;

[0055] The graphics processing unit is used to analyze the images collected by the camera and transmit them to the central processing unit through the input unit; the flow chart of the central processing unit controlling the distance of the crawlers 4 and the mechanical support arms is as Figure 3 shown;

[0056] The central processing unit is used to process the data of the laser rangefinder 7 and the lidar to obtain the pose data of the mechanical support arms, and adjust the distance, angle of the crawlers 4 and the pose of the mechanical support arms through the output unit in combination with the data processed by the graphics processing unit to control the operation of the robot; the network communication unit is used to transmit the images collected by the camera and the lidar and the data preliminarily analyzed by the central processing unit to a remote system, and receive the instructions of the remote system and transmit them to the central processing unit.

[0057] The mine slope inspection robot of the present invention improves the efficiency and safety of mine slope inspection, is suitable for exploring large areas of mine slopes, improves the efficiency of unmanned intelligent scanning, and ensures safe operation in complex mine slope environments.

[0058] The above specific embodiments are only examples selected to clearly illustrate the effects that the present invention can achieve, and cannot be simply regarded as all implementation schemes of the present invention. For those skilled in the art, other changes can be made on the basis of the above scheme description. Any equivalent substitution derived under the design principle of the present invention still falls within the protection scope of the claims of the present invention.

Claims

1. A mine slope inspection robot, characterized in that: It comprises a mounting base plate (1), a telescopic slide rod (2) is arranged in the lower part of the mounting base plate (1) in the transverse direction, and both ends of the telescopic slide rod (2) are connected to track wheels via a first rotating joint (3); a track (4) is installed on the outer periphery of the track wheel; A hydraulic lifting and retracting rod (5) parallel to the telescopic sliding rod (2) is also provided on one side thereof, and both ends of the hydraulic lifting and retracting rod (5) are respectively connected to the track wheels; The mounting base plate (1) is also provided with a first steering gear for driving the first rotating joint (3), the track wheel and the hydraulic lifting and retracting rod (5); A longitudinal mounting seat (6) is fixedly arranged on the top of the mounting base plate (1), and a group of mechanical support arms are respectively installed at the front and rear ends of the longitudinal mounting seat (6) through second rotating joints; a second steering gear for driving the mechanical support arms to rise and fall is arranged on the longitudinal mounting seat (6); The mechanical support arm is provided with a plurality of groups of laser rangefinders (7), laser radars and cameras (8); The camera (8) is used for image acquisition; The mounting base plate (1) is also provided with a battery and a controller, wherein the controller comprises a central processing unit, a graphics processing unit, an input unit, an output unit and a network communication unit; the controller is electrically connected to the laser rangefinder, the camera, the laser radar, the first steering gear and the second steering gear; The graphics processing unit is used to analyze the image collected by the camera and transmit it to the central processing unit through the input unit; The central processing unit is used to process the data of the laser rangefinder (7) and the laser radar to obtain the position and posture data of the mechanical support arm, and adjust the track (4) spacing, angle and the position and posture of the mechanical support arm through the output unit in combination with the data processed by the graphics processing unit to control the operation of the robot; The network communication unit is used to transmit the data collected by the camera and the laser radar and the data preliminarily analyzed by the central processing unit to the remote system, and receive instructions from the remote system and transmit them to the central processing unit.

2. The mine slope inspection robot according to claim 1, characterized in that: The telescopic slide bars (2) are arranged in two groups in parallel, and two groups of mutually parallel hydraulic lifting and retracting rods (5) are arranged between the two groups of telescopic slide bars (2).

3. The mine slope inspection robot according to claim 2, characterized in that: The two ends of the hydraulic lifting and retracting rod (5) are respectively rotatably connected to the track wheels on the corresponding sides.

4. The mine slope inspection robot according to claim 1, characterized in that: The mechanical support arm comprises a left support arm and a right support arm which are arranged opposite to each other, wherein the left support arm and the right support arm respectively comprise a first connecting arm (10) and a second connecting arm (11) which are connected via a third rotating joint (9), and a third connecting arm (13) which is connected to the second connecting arm (11) via a fourth rotating joint (12), and a supporting foot base (14) is arranged at the bottom of the third connecting arm (13).

5. The mine slope inspection robot according to claim 4, characterized in that: The first connecting arm (10), the second connecting arm (11) and the third connecting arm (13) of the left-facing supporting arm and the right-facing supporting arm are respectively located on the same plane.

6. The mine slope inspection robot according to claim 5, characterized in that: Two laser rangefinders (7) are respectively installed on the first connecting arm (10) and the second connecting arm (11).

7. The mine slope inspection robot according to claim 4, characterized in that: The first rotary joint (3), the second rotary joint, the third rotary joint (9) and the fourth rotary joint (12) are all hydraulic telescopic lever rotary joints.

8. The mine slope inspection robot according to claim 4, characterized in that: The camera (8) is mounted on the third connecting arm (13).

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