Path planning data acquisition equipment and method

Abstract

The invention relates to the technical field of data processing, in particular to path planning data acquisition equipment and method.The middle position of a horizontal shaft is rotationally connected with a balance rod for controlling balance of a data acquisition unit, and a downward pressing assembly is arranged above a protection frame; the downward pressing assembly converts displacement of a balance rod in the horizontal direction into vertical movement according to the principle of rotation dynamics, an inflating assembly is arranged below the balance rod, and the inflating assembly collects gas according to the principle of compressed air and detects harmful gas in the gas through a gas detector. The side, close to the data collector, of the inflation assembly is fixedly connected with an air bag used for clamping the data collector, and therefore the data collector is prevented from shaking. According to the invention, the problem that the path planning data acquisition equipment shakes and vibrates due to uneven mine roads is solved, so that the accuracy of data acquired by path planning is improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, specifically to a path planning data acquisition device and method. Background Technology

[0002] Path planning data acquisition equipment is used to collect geographic information data to support path planning algorithms. Path planning refers to the process of determining an optimal or suitable path given a starting point and an ending point using a certain algorithm. It is widely used in navigation systems, logistics and distribution, autonomous driving, and other fields. The path planning is based on the ant colony algorithm, a probabilistic algorithm used to find optimal paths in a graph. The ant colony algorithm is a heuristic algorithm proposed by simulating the collective cooperative foraging behavior of ants in nature. During the foraging process, the first ant leaves pheromones on the path it has passed to mark its route. Subsequent ants can choose paths based on the pheromone concentration and leave pheromones on the paths they have passed, forming a random path network. In a unit of time, paths with lower pheromone concentrations are gradually abandoned, and paths with higher pheromone concentrations are more likely to be selected by ants, which further increases the pheromone concentration of the path, making the pheromone concentration of the shortest path relatively high, which can attract more subsequent ants to choose the path, thus finding the shortest path.

[0003] During the data acquisition process for mine route planning, the unevenness of the mine roads can easily cause shaking and vibration of vehicles or data acquisition devices, which can interfere with the data acquisition equipment and lead to inaccurate data collected by the route planning data acquisition equipment.

[0004] Shaking and vibration of the data acquisition device can affect the measurement accuracy of the data acquisition device, leading to a decrease in the quality of the acquired data. At the same time, shaking and vibration of the data acquisition device can also cause instantaneous shifts in the position of the acquisition device, resulting in a difference between the acquired position data and the actual position. This can easily mislead the path planning algorithm, causing the path planning algorithm to fail to accurately predict and plan the optimal path, resulting in inaccurate path planning results. Moreover, repeated shaking and vibration can easily damage the acquisition equipment.

[0005] In existing technologies, data acquisition carts are mounted using special shock absorbers or spring devices to reduce vibration transmission and absorb and reduce vibrations from vehicles or carriers. However, this still cannot fundamentally solve the impact of shaking and vibration on the data acquisition device. Furthermore, shock absorbers or spring devices can easily damage the acquisition device, leading to unstable data collected by the path planning data acquisition device.

[0006] In view of this, in order to overcome the above-mentioned technical problems, the present invention designs a path planning data acquisition device and method, which solves the above-mentioned technical problems. Summary of the Invention

[0007] The technical problem to be solved by this invention is that during the operation of the path planning data acquisition equipment, it is difficult to avoid the shaking and vibration of the equipment due to the unevenness of the mine road, which affects the accuracy of the path planning data acquisition.

[0008] To address the above problems, the present invention provides the following technical solution:

[0009] This invention provides a path planning data acquisition device, including a trolley carrier, a protective frame, and a data acquisition unit. The protective frame is installed on the upper surface of the trolley carrier, and the data acquisition unit is installed inside the protective frame. The data acquisition unit collects path planning data, compares the collected data with differential information to obtain an accurate optimal path for path planning. The device also includes a balance bar, a pressure component, an air inflation component, and an airbag. A horizontal shaft is installed on the inner wall of the protective frame and is fixed to the inner wall of the protective frame by welding. A balance bar that controls the balance of the data acquisition unit is rotatably connected at the middle position of the horizontal shaft. The balance bar can automatically adjust its position to maintain balance. The data acquisition unit can monitor the tilt direction and degree of the balance bar in real time, and then make corresponding adjustments through the control system to restore the balance bar to a balanced state, thereby improving the stability and accuracy of the balance bar.

[0010] A downward pressing component is installed above the protective frame. The downward pressing component uses the law of conservation of energy to convert the horizontal displacement of the balance bar into vertical movement. An air pumping component is installed below the balance bar. The air pumping component uses the principle of compressed air to compress air. An airbag for clamping the data acquisition device is fixedly connected to the side of the air pumping component near the data acquisition device, thereby preventing the data acquisition device from shaking and improving the stability and accuracy of the data acquisition device.

[0011] The airbag has a trapezoidal vertical cross-section, and the trapezoidal side of the airbag is set with a wave structure. The airbag adjusts the gas flow inside the airbag through the wave structure, thereby realizing the backflow buffer of gas flow during inflation, and thus further protecting the data acquisition device.

[0012] Preferably, the pressing assembly includes a disc, a pressing frame, a fixed shaft, ball bearings, and a pressure rod. The pressing frame is fixedly connected to the top of the protective frame, and the protective frame and the pressing frame are connected by welding. The pressing frame has a pressing cavity inside, and a fixed shaft is vertically arranged inside the pressing cavity. The fixed shaft is fixedly connected to the upper and lower surfaces of the inner wall of the pressing frame by welding. The disc is rotatably connected to the middle position of the fixed shaft, and the disc is rotatably connected to the middle position of the fixed shaft by hinge. The disc can swing up and down around the fixed shaft. A rolling space is provided inside the disc. The rolling cavity contains ball bearings that drive the disc to swing up and down. A pressure rod is rotatably connected to the lower surface of the disc via a ball joint. The end of the pressure rod away from the disc passes through a lower pressure frame and a protective frame and is rotatably connected to a balance bar. The lower pressure assembly converts the rolling of the ball bearings in the disc into the up and down movement of the pressure rod by the shaking of the trolley carrier, thereby realizing the conversion of power, saving power resources, and avoiding the failure of path planning and detection to be completed normally due to the exhaustion of power energy during path planning and detection, which would affect the efficiency of data acquisition.

[0013] When the trolley carrier is on an uneven section of the mine road, it will shake and vibrate. The shaking of the trolley carrier will cause the balls to roll in the rolling cavity of the disc. According to the law of conservation of energy, the disc will swing up and down around a fixed axis. The up and down swing of the disc will drive the pressure rod to move up and down, thereby driving the balance bar to move up and down.

[0014] Preferably, the air inflation assembly includes an air inflation box, a piston, an intake valve, an exhaust valve, and a push rod. The push rod is fixedly connected to the end of the balance bar away from the pressure bar, and the balance bar and push rod are rotatably connected by a hinge. A piston for compressed air is fixedly connected to the end of the push rod away from the balance bar, and the push rod and piston are fixedly connected by welding. An intake valve is provided on one side of the piston. The piston and intake valve are located inside the air inflation box. An air inlet is opened at the end of the air inflation box near the balance bar. The push rod passes through the air inlet from top to bottom. An air outlet is opened at the side of the air inflation box near the air bladder. An exhaust valve is provided at the air outlet, allowing air to enter the air bladder in only one direction. The air inflation assembly uses the principle of gas compression to collect air and discharge it into the air bladder, thereby clamping and protecting the data acquisition device. This prevents the data acquisition device from shaking and vibrating, which could damage the device and cause instability in the data collected by the path planning data acquisition device, affecting the measurement accuracy of the data acquisition device and leading to a decrease in the quality of the collected data, ultimately resulting in inaccurate data collected by the path planning data acquisition device.

[0015] One end of the balance bar moves upward, causing the push rod to move upward. The piston at the end of the push rod that moves upward also moves upward. The intake valve opens, and the exhaust valve closes. The volume of air below the piston increases, and the pressure decreases. Air enters the air chamber from the intake port and through the intake valve. The shaking of the trolley causes the ball bearings to roll in the rolling cavity of the disc. According to the law of conservation of energy, this causes the disc to swing up and down around a fixed axis. The up and down swing of the disc causes the pressure rod to move up and down, which in turn drives the other end of the balance bar to move upward. According to the balance bar principle, this causes the push rod to move downward, and the piston moves downward as well. The intake valve closes, and the exhaust valve opens. The volume of air below the piston decreases, and the pressure increases. Air can then enter the airbag from the exhaust valve.

[0016] Preferably, the balance bar initially has a horizontal straight-line structure. The balance bar is transformed into a cross-shaped oblique line by the rolling of ball bearings. When one side of the balance bar moves downward, the other side moves upward accordingly due to torque balance. During this process, the horizontal displacement is converted into the up-and-down movement of the balance plate. This up-and-down movement of the balance bar enables the air pumping component to collect and detect air, thereby detecting the balance of the vehicle and the balance of the data acquisition device. This ensures that the data acquisition device does not shake or vibrate, preventing inaccurate data collected by the path planning data acquisition device.

[0017] Preferably, the airbag has a U-shaped structure. The airbag, in conjunction with the inflation component, collects gas and clamps the data acquisition device. The U-shaped structure of the airbag can effectively fix the data acquisition device in the required position by clamping it, thereby ensuring that the data acquisition device is closely attached to the surface of the object to be measured, reducing the gap between the data acquisition device and the object, and thus improving the accuracy and reliability of data acquisition.

[0018] As an elastic soft structure, the airbag provides a certain degree of cushioning and isolation, thus protecting the data acquisition unit from external vibrations, impacts, or environmental interference. This helps reduce the impact of noise and interference on the data acquisition unit's measurements, thereby improving the stability of data acquisition. Due to its softness and malleability, the airbag is relatively easy to install and remove, allowing for quick replacement or adjustment of the data acquisition unit's position. This facilitates experiments, maintenance, and calibration, improving the efficiency and convenience of data acquisition.

[0019] Preferably, the air inlet has a stepped cross-section, and the push rod has an arc groove at one end near the air inlet. The air inlet cooperates with the arc groove on the push rod to regulate the airflow into the airbag and prevent the air inlet valve from becoming blocked. It can precisely control the opening degree or position of the air inlet, thereby regulating the airflow into the air box. This helps to accurately control the inflation speed and air pressure according to needs and environmental requirements, ensuring the stability and accuracy of inflation, and thus ensuring the stability and accuracy of the data acquisition device.

[0020] The arc-shaped air inlet design effectively prevents the air intake valve from being blocked by dust floating in the air during use. By controlling the up and down movement of the push rod through the balance bar, the blockage on the air intake valve can be effectively cleared, keeping the air intake channel unobstructed and ensuring the smooth inflation process. This, in turn, ensures that the data collector does not shake and avoids inaccurate data collection from path planning.

[0021] Preferably, the piston has a bowl-shaped structure. The piston is driven by a push rod to compress air into the air bladder, which protects the data collector. The bowl-shaped structure of the piston can form a sealed contact with the inner wall of the air chamber, thereby preventing gas leakage. At the same time, the bowl-shaped structure of the piston can increase the compression capacity of the air pump. When the piston moves downward, the bowl-shaped structure can effectively compress the gas, increasing the gas density and pressure, thereby achieving a more efficient inflation effect. In addition, the bowl-shaped structure of the piston can provide a stable movement trajectory and force distribution, avoiding shaking or instability, thereby ensuring the stability and uniformity of inflation, and thus ensuring the stability of the data collector.

[0022] Preferably, the lower end of the protective frame is provided with a guide boss, and a spring is fixedly connected to the guide boss. A guide plate for guiding the airbag is fixedly connected to the end of the spring away from the guide boss. The spring is fixedly connected to the guide boss and the guide plate by welding. The guide plate, in cooperation with the airbag, prevents the data collector from shifting in the front and back directions, thereby preventing the airbag from shifting when locking the data collector. At the same time, it fixes the data collector in the front and back directions, thereby achieving fixation in the front, back, left, and right directions of the data collector, thus ensuring that the data collector will not shake, thereby improving the accuracy of path planning data collection.

[0023] This application also provides a method for acquiring path planning data, the process of which is as follows:

[0024] S1. Before starting work, the location information to be measured and the travel route to the destination are recorded into the data acquisition device. The data acquisition device transmits signals to the control module, which drives the stepper motor to drive the wheels to travel along the planned path.

[0025] S2. During the driving process, the real-time sensing module perceives the surrounding environment in real time through millimeter-wave radar. Due to the unevenness of the mine road, the data acquisition unit will shake and vibrate. The pressure component uses the shaking of the vehicle to convert the horizontal displacement of the balance bar into vertical movement. At the same time, the air pumping component collects gas through the vertical movement of the balance bar and adjusts the center of gravity of the vehicle and the data acquisition unit simultaneously. By collecting the gas in the mine into the airbag, the data acquisition unit is clamped and protected, thus preventing the data acquisition unit from shaking. The gas detector is used to detect harmful gases in the air and sends obstacle information and harmful gas information detected by the gas detector to the data processing module.

[0026] S3. The data processing module transmits the results calculated based on the ant colony algorithm to the data collector. Then, the first data collection and the second data collection are performed, and the collected data are repeatedly compared and confirmed to obtain the final optimal path.

[0027] The beneficial effects of this invention are as follows:

[0028] 1. A path planning data acquisition device and method of the present invention, wherein during the process of acquiring path planning data by the data acquisition device, the downward pressure component uses the law of conservation of energy to convert the horizontal displacement of the balance bar into vertical movement, thereby changing the direction of movement of the balance bar, thereby better controlling the stability of gas compression, and thus improving the stability of path planning data acquisition.

[0029] 2. A path planning data acquisition device and method of the present invention, in the process of acquiring path planning data by the data acquisition device, the air pumping component uses the principle of gas compression to collect air and detects harmful gases in the gas through a gas detector, thereby realizing the detection of the concentration of harmful gases in the mine, thus providing important reference data for path planning, and improving the accuracy of the optimal path in the final path planning.

[0030] 3. The path planning data acquisition device and method of the present invention, by means of the cooperation between the air pump component and the air bag during the process of the data acquisition device acquiring path planning data, achieves clamping and protection of the data acquisition device, thereby avoiding the impact of shaking and vibration on the data acquisition device, and thus further improving the stability and accuracy of path planning data acquisition. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below.

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is the front view of the present invention;

[0034] Figure 3 This is the present invention. Figure 2 Sectional view of AA;

[0035] Figure 4 This is a vertical sectional view of the overall structure of the present invention.

[0036] Figure 5 This is the present invention. Figure 4 A magnified view of part B in the image;

[0037] Figure 6 This is the present invention. Figure 4 A magnified view of part C;

[0038] Figure 7 This is a schematic diagram of the structure of the pressure-down component and the air-inflating component of the present invention;

[0039] Figure 8 This is a cross-sectional view of the trolley of the present invention in a state of leftward tilt;

[0040] Figure 9 This is a cross-sectional view of the trolley of the present invention in a state of rightward tilt;

[0041] Figure 10 This is a schematic diagram of the structure of the airbag of the present invention.

[0042] In the diagram: 1. Carrier; 2. Protective frame; 21. Horizontal shaft; 22. Guide boss; 3. Data acquisition unit; 4. Balance bar; 5. Pressing assembly; 51. Disc; 511. Rolling cavity; 52. Pressing frame; 53. Fixed shaft; 54. Ball bearing; 55. Pressure rod; 56. Pressing cavity; 6. Air inflator assembly; 61. Air inflator box; 611. Air inlet; 6111. Stepped shape; 612. Air outlet; 62. Piston; 63. Inlet valve; 64. Exhaust valve; 65. Push rod; 651. Arc groove; 7. Airbag; 71. U-shaped structure; 8. Gas detector; 9. Spring; 10. Guide plate. Detailed Implementation

[0043] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0044] like Figures 1 to 4As shown, a path planning data acquisition device includes a protective frame 2 on the upper surface of a trolley carrier 1, and a data acquisition device 3 inside the protective frame 2. The data acquisition device 3 collects path planning data and compares the collected data with differential information to obtain the accurate optimal path planning. It also includes a balance bar 4, a pressing component 5, an air inflator 6, and an airbag 7. A horizontal shaft 21 is installed on the inner wall of the protective frame 2 and is fixed to the inner wall by welding. A balance bar 4, which controls the balance of the data acquisition device 3, is rotatably connected at the middle of the horizontal shaft 21. The balance bar 4 can automatically adjust its position to maintain balance. The data acquisition device 3 can monitor the tilt direction and degree of the balance bar 4 in real time and then make corresponding adjustments through the control system to restore the balance bar 4 to a balanced state, thereby improving the stability and accuracy of the balance bar 4. A pressing component 5 is installed above the protective frame 2, which uses the law of conservation of energy to convert the horizontal displacement of the balance bar 4 into vertical movement. An air inflator 6 is installed below the balance bar 4, which uses the principle of compressed air to... The air is compressed, and an airbag 7 is fixedly connected to the side of the air compressor 6 near the data acquisition unit 3 to clamp the data acquisition unit 3, thereby preventing the data acquisition unit 3 from shaking and improving its stability and accuracy. The vertical cross-section of the airbag 7 is trapezoidal, and the trapezoidal side of the airbag 7 is designed with a wave structure. The wave structure of the airbag 7 adjusts the gas flow inside the airbag 7, thereby realizing the backflow buffer of the gas flow during inflation, thus further protecting the data acquisition unit 3. When the airbag 7 is inflated, the gas will flow into the airbag 7 quickly, which can easily generate a large impact force. The wave structure can make the gas flow wave-shaped, thereby slowing down the gas speed and mitigating the impact force at the moment of inflation, thus achieving more stable inflation. At the same time, the wave structure can form a gas flow loop inside the airbag 7. This backflow buffer structure can absorb and disperse some of the impact energy when the airbag 7 is subjected to external impact, playing a certain buffering role, thereby protecting the data acquisition unit 3 from impact damage, and making the gas distribution inside the inflated airbag 7 more uniform, which helps to improve the stability of the airbag 7.

[0045] A pressure frame 52 is fixedly connected to the top of the protective frame 2. The protective frame 2 and the pressure frame 52 are connected by welding. The pressure frame 52 has a pressure cavity 56 inside. A fixed shaft 53 is vertically arranged inside the pressure cavity 56. The fixed shaft 53 is fixedly connected to the upper and lower surfaces of the inner wall of the pressure frame 52 by welding. A disc 51 is rotatably connected to the middle position of the fixed shaft 53. The disc 51 is rotatably connected to the middle position of the fixed shaft 53 by hinge. The disc 51 can swing up and down around the fixed shaft 53. A rolling cavity 511 is formed inside the disc 51. The rolling cavity 511 is provided with... The ball bearing 54 drives the disc 51 to swing up and down. A pressure rod 55 is rotatably connected to the lower surface of the disc 51. The pressure rod 55 is rotatably connected to the disc 51 by a ball joint. The end of the pressure rod 55 away from the disc 51 passes through the lower pressure frame 52 and the protective frame 2 and is rotatably connected to the balance bar 4. The lower pressure assembly 5 realizes the conversion of the ball bearing 54 rolling in the disc 51 into the up and down movement of the pressure rod 55 by the shaking of the trolley carrier 1. This realizes the conversion of power, saves power resources, and avoids the path planning and detection from being unable to complete normally due to the exhaustion of power energy during path planning and detection, which in turn affects the efficiency of data acquisition.

[0046] When the trolley carrier 1 is on an uneven section of the mine road, it will shake and vibrate. The shaking of the trolley carrier 1 will cause the ball 54 to roll in the rolling cavity 511 of the disc 51. According to the law of conservation of energy, the disc 51 will swing up and down around the fixed axis 53. According to the law of conservation of momentum, the total momentum of the system remains constant in the absence of external force. When the ball 54 rolls in the disc 51, the ball 54 has a certain mass and velocity, and the disc 51 has a certain mass and velocity relative to the ball 54. Therefore, when the ball 54 interacts with the disc 51, the momentum transfer between them will cause the total momentum of the entire system to remain constant. The momentum of the ball 54 is transferred to the disc 51, thereby generating a rotational motion on the disc 51. The up and down swing of the disc 51 drives the pressure rod 55 to move up and down, thereby driving the balance bar 4 to move up and down.

[0047] A push rod 65 is fixedly connected to the end of the balance bar 4 away from the pressure bar 55. The balance bar 4 and the push rod 65 are rotatably connected by a hinge. A compressed air piston 62 is fixedly connected to the end of the push rod 65 away from the balance bar 4. The push rod 65 and the piston 62 are fixedly connected by welding. An air intake valve 63 is provided on one side of the piston 62. The piston 62 and the air intake valve 63 are located inside the air inflation box 61. An air inlet 611 is opened at the end of the air inflation box 61 near the balance bar 4. The push rod 65 is installed through the air inlet 611 from top to bottom. An air outlet is opened at the side of the air inflation box 61 near the airbag 7. The air outlet 612 is equipped with an exhaust valve 64 that allows air to enter the airbag 7 in only one direction. The air pumping component 6 uses the principle of gas compression to collect air and discharge it into the airbag 7, thereby clamping and protecting the data acquisition device 3. This prevents the data acquisition device from shaking and vibrating, which could damage the data acquisition device and cause unstable data to be collected by the path planning data acquisition device. This would affect the measurement accuracy of the data acquisition device 3, resulting in a decrease in the quality of the collected data and ultimately inaccurate data collected by the path planning data acquisition device.

[0048] One end of the balance bar 4 moves upward, thereby driving the push rod 65 to move upward. The piston 62 at the end of the push rod 65 that moves upward also moves upward. The intake valve 63 opens and the exhaust valve 64 closes. The volume of air below the piston 62 increases and the pressure decreases. Air enters the air chamber 61 from the intake port 611 and through the intake valve 63. The shaking of the trolley carrier 1 causes the ball bearing 54 to roll in the rolling cavity 511 of the disc 51. According to the law of conservation of energy, the disc 51 swings up and down around the fixed axis 53. The up and down swing of the disc 51 drives the pressure rod 55 to move up and down, thereby driving the other end of the balance bar 4 to move upward. According to the principle of the balance bar 4, the push rod 65 moves downward, and the piston 62 moves downward as well. The intake valve 63 closes and the exhaust valve 64 opens. The volume of air below the piston 62 decreases and the pressure increases. Air can enter the airbag 7 from the exhaust valve 64.

[0049] like Figures 7 to 8As shown, the balance bar 4 initially has a horizontal straight shape. The balance bar 4 is transformed into a cross-shaped oblique shape by the rolling of the ball bearings 54. When one side of the balance bar 4 moves downward, the other side moves upward accordingly due to torque balance. During this process, the horizontal displacement is converted into the up-and-down movement of the balance plate. This up-and-down movement of the balance bar 4 enables the air pumping component 6 to collect and detect air. The distance from the hinge point between the balance bar 4 and the pressure bar 55 to the two end supports of the balance bar 4 is equal to the length of the pressure bar 55. The upper surface of the balance bar 4 is parallel to the lower surface of the disc 51. The balance bar 4... The oscillation amplitude of the balance bar 4 controls the pressure distribution of harmful gases in the air tank 61. By controlling the distance from the hinge point of the balance bar 4 and the pressure bar 55 to the two end supports of the balance bar 4 to be equal to the length of the pressure bar 55, the oscillation amplitude of the balance bar 4 is controlled. This, in turn, controls the thrust of the push rod 65 to push the piston 62, thereby controlling the pressure distribution of harmful gases in the air tank 61. This enables the detection of the balance of the trolley and the balance detection of the data acquisition device 3, ensuring that the data acquisition device 3 does not shake or vibrate, and avoiding inaccurate data collected by the path planning data acquisition device.

[0050] The airbag 7 has a U-shaped structure 71, symmetrically positioned at both ends of the data acquisition unit 3. The airbag 7 contains small-diameter channels. Through the reciprocating motion of the piston 62, the airbag 7 collects and distributes gas, and positions the data acquisition unit 3 horizontally. The U-shaped structure 71 of the airbag 7 effectively clamps and fixes the data acquisition unit 3 in the desired position, ensuring a tight fit between the data acquisition unit 3 and the surface of the U-shaped airbag 7. This reduces the gap between the data acquisition unit 3 and the object, making the airbag 7 more stable in fixing the data acquisition unit 3, preventing shaking, and thus improving the accuracy and reliability of data acquisition. The airbag 7 is an elastic, soft structure, and Furthermore, the airbag 7 has a small-diameter channel inside, which can provide a certain degree of buffering and isolation, and divert the gas entering the airbag 7, thereby forming a gas backflow inside the airbag 7. This avoids direct gas impact from damaging the data acquisition unit 3, and protects the data acquisition unit 3 from external vibration, impact or environmental interference. This helps to reduce the impact of noise and interference on the measurement of the data acquisition unit 3, thereby improving the stability of data acquisition. Because the airbag 7 is soft and malleable, its installation and disassembly are relatively simple, so the position of the data acquisition unit 3 can be quickly replaced or adjusted, which is convenient for experiments, maintenance and calibration, improving the efficiency and convenience of data acquisition.

[0051] The air inlet 611 has a stepped cross-section 6111. A circular arc groove 651 is provided at one end of the push rod 65 near the air inlet 611. The air inlet 611, by cooperating with the circular arc groove 651 on the push rod 65, regulates the airflow into the airbag 7 and prevents blockage of the air intake valve 63. It allows for precise control of the opening degree or position of the air inlet 611, thereby regulating the airflow into the air chamber 61. This helps to precisely control the inflation speed and pressure according to needs and environmental requirements, ensuring the stability and accuracy of inflation, and consequently ensuring the stability and accuracy of the data acquisition device 3. The stepped shape of the air inlet 611... The 6111 design has five connection ports, enabling connection and switching between two inlets and three outlets. Gas can only enter through the inlet 611 when the push rod 65 is moved upward to the position corresponding to the stepped shape 6111 of the inlet 611. This effectively prevents the inlet valve 63 from being blocked by dust floating in the air during use. The push rod 65 is moved up and down by the balance bar 4, which can effectively remove blockages from the inlet valve 63, keep the air intake channel unobstructed, ensure the smooth inflation process, and thus ensure that the data collector does not shake, avoiding inaccurate data collection from path planning.

[0052] Piston 62 has a bowl-shaped structure. Driven by push rod 65, piston 62 compresses air into airbag 7, which protects data collector 3. The bowl-shaped structure of piston 62 can form a sealed contact with the inner wall of air chamber 61, thus preventing gas leakage. This helps improve the efficiency and inflation effect of air pump assembly 6, ensuring that gas does not overflow or leak during inflation. At the same time, the bowl-shaped structure of piston 62 can increase the compression capacity of air pump. When piston 62 moves downward, the bowl-shaped structure can effectively compress gas, increasing gas density and pressure, thereby achieving a more efficient inflation effect. In addition, the bowl-shaped structure of piston 62 can provide a stable movement trajectory and force distribution. By forming a sealed contact with the inner wall of air chamber 61, piston 62 can move stably during inflation, avoiding shaking or instability, thus ensuring the stability and uniformity of inflation, and thus ensuring the stability of data collector.

[0053] like Figures 5 to 6As shown, a guide boss 22 is provided at the lower end of the protective frame 2. A spring 9 is fixedly connected to the guide boss 22. A guide plate 10 for guiding the airbag 7 is fixedly connected to the end of the spring 9 away from the guide boss 22. The spring 9 is fixedly connected to the guide boss 22 and the guide plate 10 by welding. The guide plate 10, in cooperation with the airbag 7, prevents the data collector 3 from shifting in the front and back directions, thereby preventing the airbag 7 from shifting when locking the data collector 3. At the same time, it fixes the data collector 3 in the front and back directions, thereby further improving the stability of the data collector 3. This achieves fixation of the data collector 3 in the front, back, left, and right directions, thereby ensuring that the data collector will not shake, thus improving the data accuracy of path planning data collection.

[0054] The flowchart of a path planning data acquisition method described in this application is as follows:

[0055] S1. Before starting work, the location information to be measured and the travel route to the destination are recorded into the data acquisition device 3. The data acquisition device 3 transmits signals to the control module, which drives the stepper motor to drive the wheels to travel along the planned path.

[0056] S2. During the driving process, the real-time sensing module perceives the surrounding environment through millimeter-wave radar. Due to the unevenness of the mine road, the data acquisition unit 3 will shake and vibrate. The pressing component 5 uses the shaking of the car carrier 1 to convert the horizontal displacement of the balance bar 4 into vertical movement. At the same time, the air pumping component 6 collects gas through the vertical movement of the balance bar 4 and adjusts the center of gravity of the car carrier 1 and the data acquisition unit 3 in sync. By collecting the gas in the mine into the airbag 7, the data acquisition unit 3 is clamped and protected, thereby preventing the data acquisition unit 3 from shaking. The gas detector is used to detect harmful gases in the air and sends the obstacle information and the harmful gas information detected by the gas detector to the data processing module.

[0057] S3. The data processing module transmits the results calculated based on the ant colony algorithm to the data collector 3. Then, the first data collection and the second data collection are performed, and the collected data are repeatedly compared and confirmed to obtain the final optimal path.

[0058] When the trolley carrier 1 is on an uneven part of the mine road, it will shake and vibrate. The shaking of the trolley carrier 1 will cause the ball bearing 54 to roll in the rolling cavity 511 of the disc 51. According to the law of conservation of energy, the disc 51 will swing up and down around the fixed axis 53. The up and down swing of the disc 51 will drive the pressure rod 55 to move up and down, thereby driving the balance bar 4 to move up and down.

[0059] One end of the balance bar 4 moves upward, thereby driving the push rod 65 to move upward. The piston 62 at the end of the push rod 65 that moves upward also moves upward. The intake valve 63 opens, and the exhaust valve 64 closes. Air enters the air box 61 from the intake port 611 and through the intake valve 63. The shaking of the trolley carrier 1 causes the ball bearing 54 to roll in the rolling cavity 511 of the disc 51. According to the law of conservation of energy, this causes the disc 51 to swing up and down around the fixed axis 53. The up and down swing of the disc 51 drives the pressure rod 55 to move upward, thereby driving the balance bar 61 to move upward. The other end of the balance bar 4 moves upward, thereby driving the push rod 65 to move downward according to the principle of the balance bar 4. The piston 62 also moves downward. The intake valve 63 closes and the exhaust valve 64 opens, allowing air to enter the airbag 7 from the exhaust valve 64. A toxic gas detector 8 can be installed inside the airbag 7 to detect the concentration of toxic gases. The airbag 7 can also be used to clamp and protect the data acquisition device 3 to improve the stability of data acquisition. The more it shakes left and right, the stronger the clamping protection of the data acquisition device 3 by the airbag 7 becomes, and thus the stronger the stability.

[0060] The foregoing has shown and described the basic principles and beneficial effects of the present invention. However, the present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its effects and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A path planning data acquisition device, comprising a vehicle carrier (1), a protective frame (2), and a data acquisition unit (3), characterized in that: It also includes a balance bar (4), a pressure assembly (5), an air pump assembly (6), and an airbag (7). A horizontal shaft (21) is provided on the inner wall of the protective frame (2). A balance bar (4) for controlling the balance of the data acquisition device (3) is rotatably connected at the middle position of the horizontal shaft (21). A pressure assembly (5) is provided above the protective frame (2). The pressure assembly (5) realizes the conversion of the horizontal displacement of the balance bar (4) into vertical movement by shaking the trolley carrier (1). An air pump assembly (6) is provided below the balance bar (4). Gas collection is achieved by the up-and-down movement of the balance bar (4), and the center of gravity of the trolley carrier (1) and the data collector (3) is adjusted synchronously. The air inflator (6) is fixedly connected to an airbag (7) for clamping the data collector (3) on the side close to the data collector (3), thereby preventing the data collector (3) from shaking. The vertical cross section of the airbag (7) is trapezoidal, and the trapezoidal side of the airbag (7) is set as a wave structure. The airbag (7) adjusts the gas flow inside the airbag (7) through the wave structure, thereby realizing the backflow buffer of the gas flow during inflation.

2. The path planning data acquisition device according to claim 1, characterized in that: The pressing assembly (5) includes a disc (51), a pressing frame (52), a fixed shaft (53), a ball bearing (54), and a pressure rod (55). The pressing frame (52) is fixedly connected to the top of the protective frame (2). The pressing frame (52) has a pressing cavity (56) inside. The fixed shaft (53) is vertically arranged on the inner wall of the pressing frame (52). The disc (51) is rotatably connected to the middle position of the fixed shaft (53). The disc (51) is arranged inside the pressing cavity (56) to drive the balance bar (4) to move up and down. The disc (51) has a pressing cavity (56) inside. There is a rolling cavity (511), inside which are provided balls (54) that drive the disc (51) to swing up and down. A pressure rod (55) is rotatably connected to the lower surface of the disc (51). The end of the pressure rod (55) away from the disc (51) passes through the lower pressure frame (52) and the protective frame (2) and is rotatably connected to the balance bar (4). The disc (51) is shaken by the trolley carrier (1), which causes the rolling of the balls (54) in the disc (51) to be converted into the up and down movement of the pressure rod (55), thereby realizing the pressure regulation of harmful gas in the air pump assembly (6).

3. The path planning data acquisition device according to claim 2, characterized in that: The air pump assembly (6) includes an air pump box (61), a piston (62), an intake valve (63), an exhaust valve (64), and a push rod (65). The push rod (65) is rotatably connected to the end of the balance bar (4) away from the pressure bar (55). The piston (62) is fixedly connected to the end of the push rod (65) away from the balance bar (4). An intake valve (63) is provided on the piston (62). The piston (62) and the intake valve (63) are located inside the air pump box (61). An air inlet (611) is opened at the end of the air pump box (61) near the balance bar (4). The push rod... (65) It is installed from top to bottom through the air inlet (611). The air inlet (61) has an air outlet (612) on the side near the airbag (7). The air outlet (612) is equipped with a one-way exhaust valve (64). The balance bar (4) is initially horizontal and straight. The balance bar (4) is changed from horizontal and straight to cross-shaped by the rolling of the ball (54). The air inlet assembly (6) adjusts the center of gravity of the trolley carrier (1) and the data collector (3) synchronously by the up and down movement of the balance bar (4), thereby realizing the positioning of the data collector (3).

4. The path planning data acquisition device according to claim 3, characterized in that: The distance from the hinge point of the balance bar (4) and the pressure bar (55) to the two end supports of the balance bar (4) is equal to the length of the pressure bar (55). The upper surface of the balance bar (4) is set parallel to the lower surface of the disc (51). The balance bar (4) controls the pressure distribution of harmful gases in the air box (61) by its own swing amplitude.

5. The path planning data acquisition device according to claim 3, characterized in that: The airbag (7) has a U-shaped structure (71). The airbag (7) is symmetrically arranged at the left and right ends of the data acquisition device (3). The airbag (7) has a small diameter channel inside. The airbag (7) collects and diverts gas through the reciprocating motion of the piston (62) and positions the data acquisition device (3) in the horizontal direction.

6. The path planning data acquisition device according to claim 5, characterized in that: The air inlet (611) has a stepped cross-section (6111). The push rod (65) has an arc groove (651) at one end near the air inlet (611). The stepped shape (6111) adjusts the flow rate of air entering the airbag (7) by sliding with the arc groove (651) on the push rod (65) and prevents the air inlet valve (63) from being blocked.

7. The path planning data acquisition device according to claim 6, characterized in that: The piston (62) has a bowl-shaped structure. The piston (62) is driven by the push rod (65) to compress harmful gases in the air into the airbag (7). The piston (62) adjusts the pressure distribution in the airbag (7) through the bowl-shaped structure to achieve horizontal clamping of the data acquisition device (3).

8. The path planning data acquisition device according to claim 7, characterized in that: The lower end of the protective frame (2) is provided with a guide boss (22), and a spring (9) is fixedly connected to the guide boss (22). The end of the spring (9) away from the guide boss (22) is fixedly connected to a guide plate (10) for guiding the airbag (7). The guide plate (10) guides the airbag (7) in the horizontal direction, thereby preventing the data acquisition device (3) from shifting in the front and back directions.

9. A method for acquiring path planning data, characterized in that: This method is applicable to the path planning data acquisition device according to any one of claims 1-8, and the method flow is as follows: S1. Before starting work, the location information to be measured and the travel route to the destination are entered into the data acquisition device (3). The data acquisition device (3) transmits signals to the control module, which drives the stepper motor to drive the wheels to travel along the planned path. S2. During the driving process, the real-time sensing module perceives the surrounding environment through millimeter-wave radar. Due to the unevenness of the mine road, the data acquisition unit (3) will shake and vibrate. The pressure component (5) uses the shaking of the car carrier (1) to convert the horizontal displacement of the balance bar (4) into vertical movement. At the same time, the air pumping component (6) collects gas through the vertical movement of the balance bar (4) and adjusts the center of gravity of the car carrier (1) and the data acquisition unit (3) in sync. By collecting the gas in the mine into the airbag (7), the data acquisition unit (3) is clamped and protected, thereby preventing the data acquisition unit (3) from shaking. The gas detector is used to detect harmful gases in the air and sends the obstacle information and the harmful gas information detected by the gas detector to the data processing module. S3. The data processing module transmits the results calculated by the ant colony algorithm to the data collector (3), and then performs the first data collection, the second data collection, and repeats the comparison and confirmation of the collected data to obtain the final optimal path.

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