Multi-sensor fusion type coal mine geological environment detection device

Abstract

The invention provides a multi-sensor fusion type coal mine geological environment detection device, and relates to the technical field of coal mine geological environment detection, the multi-sensor fusion type coal mine geological environment detection device comprises a base and a monitoring assembly, the base can walk in a coal mine tunnel; the monitoring assembly is arranged above the machine base and comprises sensors, the sensors are used for monitoring at least one kind of parameter information of space pressure, vibration, temperature and humidity, gas concentration, rock stratum structure and fracture distribution of the coal mine geological environment, and the multiple sensors are arranged on the machine base at intervals. Parameter information monitored by any two sensors is different. A plurality of sensors are integrated, different parameter information of the coal mine geological environment can be monitored at the same time, and the detection efficiency and the data accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine geological environment detection, and in particular to a multi-sensor fusion type coal mine geological environment detection device. Background Art

[0002] During the coal mining process, the measurement and analysis of parameters related to the coal mine geological environment can assist mine engineers in formulating reasonable mining plans to achieve safe and efficient mining of the mine. Therefore, the detection of the coal mine geological environment is directly related to the coal mine's mining efficiency, production safety and rational use of resources.

[0003] In related technologies, detection devices are usually used to monitor and collect environmental parameters to provide data support for safe production and efficient mining of coal mines. However, the aforementioned detection devices mostly use a single sensor to detect the geological environment of coal mines separately, resulting in low detection efficiency and insufficient accuracy. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention proposes a multi-sensor fusion coal mine geological environment detection device, which integrates multiple sensors and can realize simultaneous monitoring of different parameter information of the coal mine geological environment, thereby improving detection efficiency and data accuracy.

[0006] According to an embodiment of the present invention, a multi-sensor fusion coal mine geological environment detection device includes a machine base and a monitoring component. The machine base can move in the coal mine tunnel; the monitoring component is arranged above the machine base and includes a sensor. The sensor is used to monitor at least one parameter information of the spatial pressure, vibration, temperature and humidity, gas concentration, rock layer structure and crack distribution of the coal mine geological environment. There are multiple sensors and they are arranged at intervals on the machine base. The parameter information monitored by any two sensors is different.

[0007] According to the multi-sensor fusion coal mine geological environment detection device of the embodiment of the present invention, multiple sensors of the monitoring component are integrated on the machine base, so that when detecting the coal mine geological environment, the detection device can move along the coal mine tunnel to the position that needs to be monitored, and multiple sensors can simultaneously monitor and obtain different parameter information in the coal mine geological environment (including spatial pressure, vibration, temperature and humidity, gas concentration, rock layer structure and crack distribution). It can effectively avoid the problem of single parameter information of the coal mine geological environment being detected by multiple detection devices in a time-sharing manner, resulting in deviations in the monitoring results due to different monitoring time nodes, resulting in low data accuracy, and shortening the overall detection period for different parameter information of the coal mine geological environment. Therefore, compared with related technologies, the present invention integrates multiple sensors, which can realize simultaneous monitoring of different parameter information of the coal mine geological environment, thereby improving detection efficiency and data accuracy.

[0008] In some embodiments, the machine base includes a mounting plate and a crawler walking mechanism, the monitoring assembly is provided on the top of the mounting plate, and the crawler walking mechanism is connected to the mounting plate to drive the mounting plate to move in the coal mine tunnel.

[0009] In some embodiments, the detection device further includes a carrying plate, a protective shell and a cover plate, wherein the carrying plate is arranged above the machine base; the protective shell and the cover plate are both arranged on the top of the carrying plate, the protective shell has a first accommodating cavity with a top opening, the first accommodating cavity is used to accommodate the sensor, and the cover plate is located above the protective shell and is used to seal the top opening of the first accommodating cavity; each of the protective shell and the cover plate has multiple ones and corresponds one-to-one to the sensors.

[0010] In some embodiments, the sensor has a first position and a second position, wherein the sensor is located within the first receiving cavity in the first position and outside the protective shell in the second position;

[0011] The detection device further includes a lifting assembly, which is disposed on the machine base and is transmission-connected to the sensor to push and pull the sensor in an up and down direction to switch between the first position and the second position.

[0012] In some embodiments, a plurality of the sensors are arranged at intervals along the circumference of the carrier plate, and the lifting assembly includes a tray, a lifting rod, a rolling ball, and a regulating plate.

[0013] The tray is located in the first accommodating cavity and is slidably connected to the first accommodating cavity along the up-down direction. The sensor is provided on the top of the tray. There are multiple trays and they correspond one to one with the protective shell and the sensor.

[0014] The lifting rod is slidably connected to the carrying plate along the up-down direction, the top of the lifting rod is connected to the tray, and the bottom of the lifting rod is rotatably connected to the rolling ball. There are multiple lifting rods and they correspond one-to-one with the tray, and there are multiple rolling balls and they correspond one-to-one with the lifting rods.

[0015] In which, the adjustment plate can be pivotally mounted on the machine base and is located below the supporting plate. The adjustment plate has a guide surface. The rolling ball can roll in contact with the guide surface and slide along the extension direction of the guide surface so that the lifting rod pushes and pulls the tray along the up and down directions. There are multiple adjustment plates and they correspond one-to-one to the rolling balls.

[0016] In some embodiments, the lifting assembly further includes a motor, a first gear and a gear ring, wherein the motor is disposed on the machine base; the motor is connected to the first gear in a transmission manner, the gear ring is pivotally mounted on the machine base and meshes with the first gear in a transmission manner, and the gear ring is connected to one end of the regulating plate away from the supporting plate.

[0017] In some embodiments, the detection device further includes a protective shell, which is disposed on the base and defines a second accommodating cavity with the base, and the motor and at least part of the first gear are located in the second accommodating cavity.

[0018] In some embodiments, the cover is pivotally mounted on the carrier plate and has a first state of opening the first accommodating cavity and a second state of closing the first accommodating cavity;

[0019] The detection device further comprises a flip-covering assembly, which is arranged on the machine base and is transmission-connected to the cover plate so as to switch the cover plate between the first state and the second state.

[0020] In some embodiments, the flip cover assembly includes a support base and a rotating shaft. The support base is arranged on the supporting plate and located outside the protective shell. There are multiple support bases and they correspond one-to-one with the protective shell; the rotating shaft can be pivotally mounted on the support base and connected to the cover plate. There are multiple rotating shafts and they correspond one-to-one with the cover plate and the support base.

[0021] In some embodiments, the flip cover assembly further includes a second gear, a rack, a telescopic cylinder and a traction rod.

[0022] Wherein, the second gear is connected to the rotating shaft, and there are multiple second gears corresponding to the rotating shaft one by one;

[0023] The rack is slidably connected to the carrier plate in the vertical direction and is at least partially located below the carrier plate. The rack is meshed with the second gear for transmission. There are multiple racks and they correspond one to one with the second gear.

[0024] Among them, the telescopic cylinder and the traction rod are both located below the carrying plate, the cylinder body of the telescopic cylinder is connected to the machine base, the traction rod is connected to the piston rod of the telescopic cylinder, and all parts of the rack located below the carrying plate are connected to the traction rod.

[0025] In some embodiments, the monitoring component further includes a camera, which is disposed on the machine base and is used to photograph the coal mine tunnel environment in real time.

[0026] In some embodiments, the detection device further includes an anti-collision rod, which is connected to the machine base and surrounds the outer periphery of the monitoring component. There are multiple anti-collision rods and they are arranged at intervals on the machine base.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 2 is a schematic structural diagram of a multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention.

[0029] Figure 2 It is a structural schematic diagram of a multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention, with the crawler walking mechanism and anti-collision bar removed.

[0030] Figure 3 It is a schematic diagram of the connection structure of the sensor, the carrier plate, the protective shell, the cover plate and the flip cover assembly in the multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention.

[0031] Figure 4 yes Figure 3 A structural diagram from another perspective.

[0032] Figure 5 This is a schematic diagram of the connection structure of the sensor, carrier plate, protective shell, cover plate and flip cover assembly in a multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention (the protective shell is cut away in the figure).

[0033] Figure 6 It is a schematic diagram of the connection structure of the base and the lifting component part of the multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention.

[0034] Figure 7 It is a schematic diagram of the connection structure of the control plate, motor, first gear, gear ring and guide plate in the multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention.

[0035] Reference numerals:

[0036] 1. Machine base; 11. Mounting plate; 12. Crawler travel mechanism;

[0037] 2. Monitoring components; 21. Sensors; 22. Cameras;

[0038] 3. Carrying plate; 31. Support rod;

[0039] 4. Protective shell; 41. First accommodating cavity;

[0040] 5. Cover plate;

[0041] 6. Lifting assembly; 61. Tray; 62. Lifting rod; 63. Rolling ball; 64. Control plate; 641. Guide surface; 65. Motor; 66. First gear; 67. Gear ring; 671. Slot; 68. Guide plate;

[0042] 7. Protective shell; 71. Second accommodating chamber;

[0043] 8. Flip cover assembly; 81. Support base; 82. Rotating shaft; 83. Second gear; 84. Rack; 85. Telescopic cylinder; 86. Drawbar;

[0044] 9. Anti-collision bar. DETAILED DESCRIPTION

[0045] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0046] like Figures 1 to 3 As shown, a multi-sensor fusion coal mine geological environment detection device according to an embodiment of the present invention includes a machine base 1 and a monitoring component 2. The machine base 1 can move in the coal mine tunnel; the monitoring component 2 is arranged above the machine base 1 and includes a sensor 21. The sensor 21 is used to monitor at least one parameter information of the spatial pressure, vibration, temperature and humidity, gas concentration, rock structure and crack distribution of the coal mine geological environment. There are multiple sensors 21 and they are arranged at intervals on the machine base 1. The parameter information monitored by any two sensors 21 is different.

[0047] According to the multi-sensor fusion coal mine geological environment detection device of an embodiment of the present invention, multiple sensors 21 of the monitoring component 2 are integrated on the machine base 1, so that when detecting the coal mine geological environment, the detection device can move along the coal mine tunnel to the position that needs to be monitored, and multiple sensors 21 can simultaneously monitor and obtain different parameter information in the coal mine geological environment (including spatial pressure, vibration, temperature and humidity, gas concentration, rock layer structure and crack distribution). It can effectively avoid the problem of single parameter information of the coal mine geological environment being detected by multiple detection devices in a time-sharing manner, resulting in deviations in the monitoring results due to different monitoring time nodes, resulting in low data accuracy, and shortening the overall detection period for different parameter information of the coal mine geological environment. Therefore, compared with related technologies, the present invention integrates multiple sensors 21, which can realize simultaneous monitoring of different parameter information of the coal mine geological environment, thereby improving detection efficiency and data accuracy.

[0048] For example, the monitoring component 2 may include two or more of a pressure sensor 21, a microseismic sensor 21, a temperature and humidity sensor 21, a gas concentration sensor 21, an ultrasonic sensor 21, and a lidar sensor 21, wherein the pressure sensor 21 is used to monitor the spatial pressure of the coal mine geological environment, the microseismic sensor 21 is used to monitor the vibration of the coal mine geological environment, the temperature and humidity sensor 21 is used to monitor the temperature and humidity of the coal mine geological environment, the gas concentration sensor 21 is used to monitor the gas concentration of the coal mine geological environment, and the ultrasonic sensor 21 and the lidar sensor 21 are used to monitor and collect the rock layer structure and crack distribution of the coal mine geological environment. Preferably, the monitoring component 2 includes the pressure sensor 21, the microseismic sensor 21, the temperature and humidity sensor 21, the gas concentration sensor 21, the ultrasonic sensor 21, and the lidar sensor 21 at the same time to improve the comprehensiveness of the coal mine geological environment detection data.

[0049] Furthermore, multiple sensors 21 can send corresponding monitoring data collected on the coal mine geological environment to external equipment through wireless communication, so that after the sensor 21 measures the coal mine geological environment indicators, it can transmit the measured data to the external equipment, so that the staff on the ground can know the coal mine geological environment factors in a timely manner.

[0050] It should be noted that the detection device can measure the geological environment of coal mines at a fixed point underground (that is, the detection device is placed at a fixed position in the coal mine tunnel), and can also move underground (that is, the machine base 1 drives the monitoring component 2 to move along the coal mine tunnel) to measure the geological environment of coal mines. There is no limitation on its specific usage.

[0051] In addition, the specific structure and working principle of each sensor 21 can adopt the existing technology in this field and will not be elaborated here.

[0052] like Figure 1As shown, in some embodiments, the machine base 1 includes a mounting plate 11 and a crawler walking mechanism 12. A monitoring component 2 is provided on the top of the mounting plate 11. The crawler walking mechanism 12 is connected to the mounting plate 11 to drive the mounting plate 11 to move in the coal mine tunnel.

[0053] It can be understood that the crawler walking mechanism 12 can enable the detection device to move automatically in the coal mine tunnel to achieve convenient detection of the geological environment of coal mines at different locations. Among them, the crawler walking mechanism 12 has good walking stability and can be used for reliable movement under complex road conditions.

[0054] like Figures 3 to 5 As shown, in some embodiments, the detection device also includes a carrying plate 3, a protective shell 4 and a cover plate 5, the carrying plate 3 is arranged above the base 1; the protective shell 4 and the cover plate 5 are both arranged on the top of the carrying plate 3, the protective shell 4 has a first accommodating cavity 41 with a top opening, the first accommodating cavity 41 is used to accommodate the sensor 21, the cover plate 5 is located above the protective shell 4 and is used to seal the top opening of the first accommodating cavity 41; each of the protective shells 4 and the cover plate 5 has multiple and corresponds one-to-one to the sensors 21, so that each sensor 21 can be separately accommodated in the corresponding protective shell 4, further reducing the risk of damage to the sensor 21.

[0055] It can be understood that the protective shell 4 and the cover plate 5 cooperate to enable the sensor 21 to be stored in the first accommodating cavity 41 when the sensor 21 is not needed to monitor the geological environment of the coal mine, so as to protect the sensor 21, thereby avoiding the problem that the sensor 21 is easily damaged by coal mines, falling rocks or groundwater in a complex geological environment, thereby ensuring the service life and working performance of the sensor 21.

[0056] Specifically, the carrier plate 3 can be fixed above the mounting plate 11 by support rods 31, wherein there can be multiple support rods 31 and they are evenly spaced between the mounting plate 11 and the carrier plate 3 to ensure reliable and stable support for the carrier plate 3. The protective shell 4 and the first accommodating cavity 41 can both extend in the vertical direction.

[0057] like Figure 2 As shown, in some embodiments, the sensor 21 has a first position and a second position. The sensor 21 is located in the first accommodating cavity 41 in the first position and is located outside the protective shell 4 in the second position.

[0058] The detection device also includes a lifting component 6, which is arranged on the machine base 1. The lifting component 6 is transmission-connected to the sensor 21 to push and pull the sensor 21 in the up and down directions to switch between the first position and the second position. The first position is lower than the second position in the up and down directions.

[0059] It can be understood that the lifting assembly 6 can adjust the height of the sensor 21 relative to the protective shell 4 so that the sensor 21 can switch between the first position and the second position, wherein the sensor 21 is housed in the protective shell 4 in the first position, and can monitor the geological environment of the coal mine in the second position.

[0060] like Figures 2 to 7 As shown, in some embodiments, a plurality of sensors 21 are arranged at intervals along the circumference of the carrier plate 3 , and the lifting assembly 6 includes a tray 61 , a lifting rod 62 , a rolling ball 63 and a regulating plate 64 .

[0061] The tray 61 is located in the first accommodating cavity 41 and is slidably connected to the first accommodating cavity 41 in the vertical direction. In other words, the tray 61 slides vertically in the first accommodating cavity 41. The sensor 21 is located on top of the tray 61. There are multiple trays 61, and they correspond one to one with the protective shell 4 and the sensor 21. In other words, each first accommodating cavity 41 can accommodate one tray 61 and one sensor 21.

[0062] The lifting rod 62 is slidably connected to the carrier plate 3 in the vertical direction. The top of the lifting rod 62 is connected to the tray 61, and the bottom of the lifting rod 62 is rotatably connected to the rolling ball 63. In other words, the rolling ball 63 is movably embedded in the bottom of the lifting rod 62 and can rotate 360 ​​degrees at the bottom of the lifting rod 62. There are multiple lifting rods 62, each corresponding to a tray 61, and there are multiple rolling balls 63, each corresponding to a lifting rod 62.

[0063] Among them, the regulating plate 64 can be pivotally mounted on the machine base 1 and is located below the supporting plate 3. The direction of the pivot axis of the regulating plate 64 is consistent with the up and down direction. The regulating plate 64 has a guide surface 641. The rolling ball 63 can roll in contact with the guide surface 641 and slide along the extension direction of the guide surface 641 to enable the lifting rod 62 to push and pull the tray 61 along the up and down directions. There are multiple regulating plates 64 and they correspond one-to-one to the rolling balls 63.

[0064] It can be understood that the lifting rod 62, the rolling ball 63 and the regulating plate 64 cooperate with each other, so that when the regulating plate 64 rotates, the guide surface 641 can roll in contact with the rolling ball 63 and guide the rolling ball 63 to slide along its extension direction, thereby pushing the lifting rod 62 upward or making the lifting rod 62 fall, so as to push and pull the tray 61 to drive the sensor 21 thereon to rise and fall, thereby realizing the adjustment of the working position of the sensor 21, that is, switching the sensor 21 between the first position and the second position.

[0065] Specifically, the plurality of sensors 21 are arranged at equal intervals along the circumference of the carrier plate 3. For example, as shown in the figure, the control plate 64 can be in a "mountain" shape, that is, the control plate 64 is high in the middle and low on both sides. The top surface of the control plate 64 can be in rolling contact with the rolling ball 63. When the control plate 64 rotates, the rolling ball 63 can slide along the top surface of the control plate 64 and rise and fall accordingly. When the rolling ball 63 is at a high position on the top surface of the control plate 64, the lifting rod 62 can be pushed upward, and when the rolling ball 63 is at a low position on the top surface of the control plate 64, the lifting rod 62 can be lowered.

[0066] It should be noted that by designing the control plate 64 into a "mountain" shape, when the rolling ball 63 rolls on the control plate 64, the initial state can slowly rise, and after rising to the highest position, it can gradually descend again to adjust the height of the sensor 21 relative to the protective shell 4.

[0067] like Figure 7 As shown, in some embodiments, the lifting assembly 6 also includes a motor 65, a first gear 66 and a gear ring 67, and the motor 65 is arranged on the machine base 1; the motor 65 is connected to the first gear 66 for transmission, and the gear ring 67 is pivotally mounted on the machine base 1 and meshes with the first gear 66 for transmission, and the gear ring 67 is connected to the end of the regulating plate 64 away from the supporting plate 3.

[0068] It can be understood that the motor 65 can drive the first gear 66 to rotate, so that the first gear 66 drives the gear ring 67 to rotate. Since the control plate 64 is fixed on the gear ring 67, the control plate 64 can rotate accordingly, thereby realizing automatic adjustment of the sensor 21 position, thereby improving the degree of automation of the detection device.

[0069] Specifically, the first gear 66 can be coaxially mounted on the output end of the motor 65 shaft of the motor 65. The first gear 66 can be externally meshed with the gear ring 67 for transmission. A plurality of control plates 64 can be fixed to the top of the gear ring 67 at equal intervals along the circumference of the gear ring 67. The lifting assembly 6 also includes a guide plate 68. The guide plate 68 is annular and fixed to the top of the mounting plate 11. The inner circumference of the gear ring 67 is provided with a retaining groove 671. The end of the guide plate 68 facing away from the mounting plate 11 slides in the retaining groove 671, allowing the gear ring 67 to rotate on the guide plate 68.

[0070] It should be noted that the motor 65 may also be electrically connected to an external controller so that the controller can control the rotation of the motor 65 and thereby adjust the rotation angle of the gear ring 67 .

[0071] For example, in the initial state, the lifting rod 62 is located in the middle position of two adjacent control plates 64. When the geological environment of the coal mine needs to be measured, the motor 65 rotates to drive the gear ring 67 to rotate 30°, so that the rolling ball 63 now contacts the highest position of the control plate 64, the sensor 21 extends out of the protective shell 4, and the gear ring 67 continues to rotate 30°, and the rolling ball 63 drops to the lowest position of the control plate 64, thereby lowering the sensor 21 again into the protective shell 4 for storage.

[0072] like Figure 1 and Figure 2 As shown, in some embodiments, the detection device further includes a protective shell 7, which is provided on the machine base 1 and defines a second accommodating cavity 71 with the machine base 1. At least parts of the motor 65 and the first gear 66 are located in the second accommodating cavity 71, so that the protective shell 7 protects the motor 65 and the first gear 66 to prevent damage to the motor 65 and the first gear 66 by coal mines or falling rocks, thereby ensuring the service life and normal working performance of both.

[0073] Specifically, the protective shell 7 is disposed on the mounting plate 11 and defines a second accommodating cavity 71 together with the mounting plate 11 . The protective shell 7 is located beside the gear ring 67 .

[0074] like Figures 1 to 5 As shown, in some embodiments, the cover plate 5 is pivotally mounted on the carrier plate 3 and has a first state in which the first accommodating cavity 41 is opened and a second state in which the first accommodating cavity 41 is closed.

[0075] The detection device further includes a flip cover assembly 8 , which is disposed on the machine base 1 and is transmission-connected to the cover plate 5 so as to switch the cover plate 5 between the first state and the second state.

[0076] It can be understood that the flip cover assembly 8 can open or close the cover 5, so that the cover 5 can be switched between the first state and the second state. Since the cover 5 is installed on the supporting plate 3, the risk of the cover 5 being easily lost when placed separately as an accessory can also be effectively avoided.

[0077] like Figures 1 to 5 As shown, in some embodiments, the flip cover assembly 8 includes a support seat 81 and a rotating shaft 82. The support seat 81 is arranged on the supporting plate 3 and is located outside the protective shell 4. There are multiple support seats 81 and they correspond one-to-one with the protective shell 4; the rotating shaft 82 can be pivotally mounted on the support seat 81 and connected to the cover plate 5. There are multiple rotating shafts 82 and they correspond one-to-one with the cover plate 5 and the support seat 81.

[0078] It can be understood that rotating the rotating shaft 82 can drive the cover plate 5 to rotate relative to the top of the protective shell 4, so as to open the first accommodating cavity 41 when the cover plate 5 is away from the top of the protective shell 4. At this time, the sensor 21 can extend out of the first accommodating cavity 41 to monitor the geological environment of the coal mine, and when the cover plate 5 covers the top of the protective shell 4, the first accommodating cavity 41 is sealed. At this time, the sensor 21 is received in the first accommodating cavity 41, thereby realizing the switching of the cover plate 5 between the first state and the second state.

[0079] Specifically, the support base 81 can be fixed to the top of the carrier plate 3. The rotation shaft 82 can be rotatably connected to the top of the support base 81, and the direction of the pivot axis of the rotation shaft 82 is orthogonal to the up-down direction. The edge of the cover plate 5 can be connected to the rotation shaft 82.

[0080] like Figures 1 to 5 As shown, in some embodiments, the flip cover assembly 8 further includes a second gear 83 , a rack 84 , a telescopic cylinder 85 and a traction rod 86 .

[0081] The second gear 83 is connected to the rotating shaft 82 , and there are multiple second gears 83 corresponding to the rotating shaft 82 one by one.

[0082] The rack 84 is slidably connected to the carrier plate 3 in the vertical direction and is at least partially located below the carrier plate 3. The rack 84 is meshed with the second gear 83 for transmission. There are multiple racks 84 and they correspond one to one with the second gear 83.

[0083] Among them, the telescopic cylinder 85 and the traction rod 86 are both located below the supporting plate 3, the cylinder body of the telescopic cylinder 85 is connected to the machine base 1, the traction rod 86 is connected to the piston rod of the telescopic cylinder 85, and all the parts of the rack 84 located below the supporting plate 3 are connected to the traction rod 86.

[0084] It can be understood that the telescopic cylinder 85 can drive the traction rod 86 to move up and down, so that the traction rod 86 drives the rack 84 to move up and down, and the rack 84 is engaged with the second gear 83 for transmission, so it can drive the second gear 83 to rotate, and then the rotating shaft 82 rotates accordingly, realizing the automatic opening and closing of the cover 5. At the same time, because all the racks 84 are connected to the same traction rod 86, multiple cover plates 5 can be opened or closed at the same time, thereby improving operational efficiency.

[0085] Specifically, the second gear 83 can be coaxially sleeved on the rotating shaft 82. The rack 84 can extend in the vertical direction. The telescopic cylinder 85 can be, but is not limited to, an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or an oil cylinder. The traction rod 86 can be an annular rod. Multiple racks 84 can be arranged at equal intervals along the circumference of the traction rod 86.

[0086] like Figure 1 and Figure 2As shown, in some embodiments, the monitoring assembly 2 further includes a camera 22, which is mounted on the base 1 and is used to capture the coal mine tunnel environment in real time, so that personnel can control the movement of the detection device based on the information captured by the camera 22 and understand the environment in the coal mine tunnel. The camera 22 can be mounted on the top of the protective housing 7.

[0087] like Figure 1 As shown, in some embodiments, the detection device also includes an anti-collision rod 9, which is connected to the machine base 1 and surrounds the outer peripheral side of the monitoring component 2. There are multiple anti-collision rods 9 and they are arranged at intervals on the machine base 1, so that when the detection device accidentally touches the wall of the coal mine tunnel, or when large rocks, coal, etc. fall, the anti-collision rods 9 will protect the detection device and ensure its service life.

[0088] Specifically, the anti-collision bar 9 can be fixed on the top of the mounting plate 11. A plurality of anti-collision bars 9 can be arranged at intervals along the walking direction of the machine base 1, and all anti-collision bars 9 are covered above all components on the monitoring assembly 2 and the carrier plate 3.

[0089] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0091] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0092] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature.

[0093] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0094] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A multi-sensor fusion coal mine geological environment detection device, characterized in that: include: A machine base, wherein the machine base is capable of traveling in a coal mine tunnel; A monitoring component is arranged above the machine base and includes a sensor, which is used to monitor at least one parameter information of the spatial pressure, vibration, temperature and humidity, gas concentration, rock structure and crack distribution of the coal mine geological environment. There are multiple sensors and they are arranged at intervals on the machine base, and the parameter information monitored by any two sensors is different.

2. The multi-sensor fusion type coal mine geological environment detection device according to claim 1, characterized in that: Also includes: A carrying plate, the carrying plate is arranged above the base; A protective shell and a cover plate, both of which are disposed on top of the carrier plate. The protective shell has a first accommodating cavity with a top opening, the first accommodating cavity being used to accommodate the sensor. The cover plate is located above the protective shell and is used to cover the top opening of the first accommodating cavity. There are multiple protective shells and multiple cover plates, each corresponding to one of the sensors.

3. The multi-sensor fusion type coal mine geological environment detection device according to claim 2, characterized in that: The sensor has a first position and a second position, wherein the sensor is located in the first accommodating cavity in the first position and is located outside the protective shell in the second position; The detection device further includes a lifting assembly, which is disposed on the machine base and is transmission-connected to the sensor to push and pull the sensor in an up and down direction to switch between the first position and the second position.

4. The multi-sensor fusion type coal mine geological environment detection device according to claim 3, characterized in that: The plurality of sensors are arranged at intervals along the circumference of the carrier plate, and the lifting assembly includes: a tray, the tray being located in the first accommodating cavity and being slidably connected to the first accommodating cavity along the up-down direction, the sensor being disposed on the top of the tray, the tray being provided in plurality and corresponding one-to-one with the protective shell and the sensor; A lifting rod and a rolling ball, wherein the lifting rod is slidably connected to the carrier plate along the up-down direction, the top of the lifting rod is connected to the tray, and the bottom of the lifting rod is rotatably connected to the rolling ball. There are multiple lifting rods and they correspond one-to-one with the trays, and there are multiple rolling balls and they correspond one-to-one with the lifting rods; An adjusting plate is pivotally mounted on the machine base and is located below the carrying plate. The adjusting plate has a guide surface. The rolling ball can roll in contact with the guide surface and slide along the extension direction of the guide surface so that the lifting rod pushes and pulls the tray along the up and down directions. There are multiple adjusting plates and they correspond one-to-one to the rolling balls.

5. The multi-sensor fusion type coal mine geological environment detection device according to claim 4, characterized in that: The lifting assembly further comprises: a motor, wherein the motor is arranged on the base; A first gear and a gear ring, the motor is connected to the first gear in transmission, the gear ring is pivotally mounted on the machine base and meshes with the first gear for transmission, and the gear ring is connected to one end of the regulating plate away from the supporting plate.

6. The multi-sensor fusion type coal mine geological environment detection device according to claim 5, characterized in that: It also includes a protective shell, which is arranged on the machine base and defines a second accommodating cavity with the machine base, and at least parts of the motor and the first gear are located in the second accommodating cavity.

7. The multi-sensor fusion type coal mine geological environment detection device according to any one of claims 2 to 6, characterized in that: The cover plate is pivotally mounted on the carrier plate and has a first state in which the first accommodating cavity is opened and a second state in which the first accommodating cavity is closed; The detection device further comprises a flip-covering assembly, which is arranged on the machine base and is transmission-connected to the cover plate so as to switch the cover plate between the first state and the second state.

8. The multi-sensor fusion type coal mine geological environment detection device according to claim 7, characterized in that: The flip cover assembly includes: A support seat, the support seat is provided on the carrying plate and located outside the protective shell, and there are multiple support seats corresponding to the protective shells one by one; A rotating shaft is pivotally mounted on the support base and connected to the cover plate. There are multiple rotating shafts that correspond one to one with the cover plate and the support base.

9. The multi-sensor fusion type coal mine geological environment detection device according to claim 8, characterized in that: The flip cover assembly also includes: a second gear, the second gear being connected to the rotating shaft, and having a plurality of second gears corresponding one to one to the rotating shaft; a rack, the rack being slidably connected to the carrier plate in the vertical direction and at least partially located below the carrier plate, the rack being meshed with the second gear for transmission, the rack being provided in a plurality and corresponding one-to-one with the second gear; A telescopic cylinder and a traction rod, both of which are located below the carrying plate, the cylinder body of the telescopic cylinder is connected to the machine base, the traction rod is connected to the piston rod of the telescopic cylinder, and all parts of the rack located below the carrying plate are connected to the traction rod.

10. The multi-sensor fusion type coal mine geological environment detection device according to claim 1, characterized in that: The monitoring component further includes an anti-collision rod, which is connected to the machine base and surrounds the outer peripheral side of the monitoring component. There are multiple anti-collision rods and they are arranged at intervals on the machine base.

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