Mobile detection vehicle suitable for underground safe operation environment of underground mine and use method of mobile detection vehicle

Abstract

The invention discloses a mobile detection vehicle suitable for an underground safe operation environment of an underground mine and a using method of the mobile detection vehicle, and relates to the field of mine detection vehicles, the mobile detection vehicle comprises a box body and an avoiding mobile structure installed at the bottom of the box body, the avoiding mobile structure comprises a radar sensor and a mobile motor, and a main controller is installed on one side face in the box body; a radar sensor is installed on the front end face of the bottom of the box body, the top of the box body is open and provided with a matched cover plate, two bottom plates are arranged at the bottom of the box body, bent arms are installed at the two ends of each bottom plate, a moving motor is installed on one end side of each bent arm, and the output end of each moving motor rotationally penetrates through the corresponding bent arm. Real-time detection of front obstacles is achieved, collision accidents are effectively avoided, the safety of underground mine underground operation of the mobile detection vehicle is improved, small ground broken stones or mounds can be avoided, and the adaptability and stability of the mobile detection vehicle are improved.

Description

Technical Field

[0001] This invention relates to the field of mine inspection vehicles, specifically a mobile inspection vehicle suitable for safe underground mining operations and its usage method. Background Technology

[0002] Mine inspection vehicles are specialized vehicles developed specifically for mines based on specific technologies. These vehicles are typically equipped with advanced detection instruments and workbenches for real-time monitoring of key parameters such as gas and environmental conditions within the mine.

[0003] To prevent the presence of toxic gases inside the mine, we use remotely controlled mine inspection vehicles for internal inspections. However, remote control has caused the mine inspection vehicles to accidentally collide with walls or mounds of earth, resulting in damage. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile inspection vehicle and its usage method that effectively improves the safety of mobile inspection vehicles and is suitable for safe operation in underground mines, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mobile inspection vehicle suitable for safe operation in underground mines, comprising a housing and a collision avoidance movement structure installed at its bottom, the collision avoidance movement structure including a radar sensor and a moving motor, a main controller installed on one side inside the housing, a radar sensor installed on the front face of the bottom of the housing, an open top of the housing with a matching cover plate, two base plates at the bottom of the housing, curved arms installed at both ends of the base plates, a moving motor installed on one end of each curved arm, the output end of the moving motor rotating through the curved arm and fixedly connected to a moving wheel; steering structures for driving the base plates to turn are installed on both sides of the housing; a multi-angle shooting structure is installed on the front face of the housing; and a gas detection structure is installed inside the housing.

[0006] Preferably, two parallel support plates are installed at the top of the box body. A ball screw is rotatably installed at the center of the support plate. A sleeve is slidably fitted at the bottom end of the ball screw. The bottom end of the sleeve is fixedly inserted through the bottom of the box body, and the inserted end is rotatably connected to the bottom plate through a bearing. A worm gear is fixedly connected to the top end of the ball screw. A lifting motor is installed on the rear end face inside the box body. A worm is connected to the output end of the lifting motor. The other end of the worm is rotatably connected to the front end face inside the box body.

[0007] Preferably, a U-shaped plate is fixedly connected to the bottom of both ends of the base plate, the top of the curved arm is rotatably connected to the U-shaped plate through a first pin, and a first clamping plate is fixedly connected to both ends of the U-shaped plate. One end of the shock absorber is rotatably connected to the first clamping plate through a first pin, and the other end is rotatably connected to one side of the curved arm through a first pin.

[0008] Preferably, the steering structure includes a steering cylinder and a telescopic rod. The telescopic rod is fixedly connected to the top of one end of the base plate, and a swing arm is fixedly connected to the top of the telescopic rod. The housing is fixedly connected to a second clamping plate and a third clamping plate arranged in parallel near the swing arm. The other end of the swing arm is rotatably connected to the second clamping plate through a second pin. The tail end of the steering cylinder is rotatably connected to the third clamping plate through a second pin, and the top end is rotatably connected to the side of the swing arm through a second pin.

[0009] Preferably, the multi-angle shooting structure includes a first steering motor, a second steering motor, and a camera. The first steering motor is installed on the front end of the housing, and its output end passes through the housing and is fixedly connected to a U-shaped steering plate. The outer side of the vertically positioned camera is rotatably connected to the U-shaped steering plate through a third pin. The bottom of the camera has a horizontal curved rod and a vertical curved rod. One end of the vertical curved rod is rotatably connected to the outer side of the camera through a third pin. The adjacent ends of the vertical curved rod and the horizontal curved rod are rotatably connected through a third pin. A support plate is fixedly connected to the front end of the housing near the horizontal curved rod. The output end of the second steering motor, which is fixedly mounted on the support plate, is connected to the horizontal curved rod.

[0010] Preferably, the gas detection structure includes a fan and a gas sensor, with ventilation cavities on both the front and rear faces of the housing, a fan installed on the rear face inside the housing, and a gas sensor installed at the bottom of the housing at the fan position.

[0011] Preferably, a buckle box is fixedly connected to the front end of the box, a ventilation cavity is opened on the top of the buckle box, a first dust filter is installed on the top of the buckle box, and a second dust filter is installed on the rear end of the box.

[0012] Preferably, a storage battery is installed at the bottom of the enclosure, the main controller is electrically connected to the storage battery, and the main controller is equipped with a Wi-Fi module.

[0013] Preferably, the first steering motor drives the camera to rotate left or right by α degrees, where α is 13-18 degrees, and the second steering motor drives the camera to rotate forward or backward by β degrees, where β is 12-15 degrees.

[0014] Another object of the present invention is to disclose a method for using the aforementioned mobile inspection vehicle suitable for safe working environments in underground mines, comprising the following steps: Step S1: The mobile inspection vehicle can be connected to a remote person's mobile phone via a remote Wi-Fi module, and the corresponding mobile APP can be downloaded for remote control. The mobile motor can be started remotely, and the output end of the mobile motor will rotate, driving the mobile wheels to rotate, so that the mobile inspection vehicle can move in the underground mine. At the same time, the radar sensor will detect obstacles in front in real time. When an obstacle is detected, the signal will be transmitted to the main controller, and the main controller will control the mobile motor to stop working to avoid collision. Step S2: During the movement, when it is necessary to adjust the direction of the box, the two steering cylinders are activated. The output end of the steering cylinder pushes the swing arm. The swing arm is rotatably connected to the second clamping plate and the steering cylinder through the second pin, thereby driving the base plate and the box to rotate and achieve steering. The moving lifting motor is connected by the worm gear and worm drive, which drives the two ball screws to rotate, thereby completing the overall height increase of the box and avoiding small stones or piles of soil on the ground. The shock absorber can buffer the vibration during the movement and improve the stability of the moving inspection vehicle. Step S3: Start the first steering motor and the second steering motor. The output of the first steering motor drives the U-shaped steering plate to rotate. The U-shaped steering plate is rotatably connected to the camera through the third pin, so that the camera can rotate in the horizontal direction. The output of the second steering motor drives the horizontal bending rod to rotate. The horizontal bending rod is rotatably connected to the vertical bending rod through the third pin. The vertical bending rod is rotatably connected to the camera through the third pin, so that the camera can rotate in the vertical direction to achieve multi-angle shooting. Step S4: Start the fan. The fan draws underground air into the chamber, which is then detected by the gas sensor. The detection data is transmitted to the main controller, which analyzes and processes the data to determine whether the underground gas is safe. At the same time, the first and second dust filters prevent dust from entering the chamber, protecting the gas sensor, and also allow for ventilation and heat dissipation. The blown air passes over the camera area, reducing the risk of tunnel dust falling into the camera area and obstructing the view. The main controller communicates with the mobile phone via Wi-Fi module, transmitting the detection data and captured images to the APP center in real time for remote monitoring. The battery provides power to the mobile inspection vehicle.

[0015] Compared with the prior art, the beneficial effects of the present invention are: I. The mobile inspection vehicle of the present invention, through the cooperation of radar sensors and main controller, realizes real-time detection of obstacles in front, effectively avoids collision accidents, and improves the safety of the mobile inspection vehicle in underground mine operations.

[0016] Second, the mobile inspection vehicle, through the coordination of steering cylinders, ball screws and lifting motors, achieves flexible adjustment of the direction and overall height of the container, and can avoid small stones or piles of soil on the ground, thus improving the adaptability and stability of the mobile inspection vehicle.

[0017] Third, the shock absorbers effectively buffer vibrations during movement, further improving the stability and service life of the mobile testing vehicle.

[0018] Fourth, the multi-angle shooting structure allows the camera to rotate at a certain angle in both the horizontal and vertical directions, enabling multi-angle shooting of the underground mine environment and providing more comprehensive and accurate image information for safety monitoring.

[0019] Fifth, the gas detection structure enables real-time monitoring of underground gas composition and assessment of gas safety, providing strong protection for the lives of underground workers. Simultaneously, the dust filter effectively prevents dust from entering the housing, protecting the gas sensor, while also allowing for ventilation and heat dissipation, reducing the impact of tunnel dust on the camera's field of view. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the entire invention from another angle; Figure 3 This is a three-dimensional structural diagram of the present invention excluding the cover plate, the first dust barrier, and the second dust barrier; Figure 4 for Figure 3 A schematic diagram of the three-dimensional structure from another angle; Figure 5 This is a partial three-dimensional magnified structural diagram of the obstacle avoidance and movement structure in this invention; Figure 6 for Figure 3 A magnified view of the structure at point A in the middle; Figure 7 for Figure 5 A magnified schematic diagram of the structure at point B in the middle; Figure 8 This is a diagram of the control module of the present invention; Figure 9 This is a schematic diagram of the horizontal rotation of the camera in this invention; Figure 10 This is a schematic diagram of the camera's elevation angle rotation according to the present invention.

[0021] In the diagram: 1. Housing; 2. Alignment moving structure; 201. Radar sensor; 202. Moving motor; 203. Moving wheel; 204. Bending arm; 205. U-shaped plate; 206. Base plate; 207. Lifting motor; 208. Worm gear; 209. Support plate; 2010. Worm; 2011. Sleeve; 2012. Ball screw; 2013. Bearing; 2014. First pin; 2015. First clamping plate; 2016. Shock absorber; 3. Steering structure; 301. Steering cylinder; 302. Second pin; 303. Second clamping plate; 304. 305. Plywood; 306. Telescopic rod; 307. Swing arm; 4. Multi-angle shooting structure; 408. First steering motor; 409. Second steering motor; 4000. Horizontal bending rod; 4001. Vertical bending rod; 401. Third pin; 402. U-shaped steering plate; 403. Support plate; 404. Camera; 5. Gas detection structure; 501. First dust filter; 502. Second dust filter; 503. Buckle box; 504. Ventilation cavity; 505. Fan; 506. Gas sensor; 6. Cover plate; 7. Main controller; 8. Battery; 9. Wi-Fi module. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figure 1-8 The illustration shows a mobile detection vehicle and its usage method suitable for safe operation in underground mines. It includes a housing 1 and a collision avoidance movement structure 2 installed at its bottom. The collision avoidance movement structure 2 includes a radar sensor 201 and a movement motor 202. A main controller 7 is installed on one side inside the housing 1. The radar sensor 201 is installed on the front face of the bottom of the housing 1. The top of the housing 1 is open and fitted with a matching cover plate 6. Two base plates 206 are provided at the bottom of the housing 1. Bending arms 204 are installed at both ends of the base plates 206. A movement motor 202 is installed on one end of each bending arm 204. The output end of the movement motor 202 rotates through the bending arm 204 and is fixedly connected to a movement wheel 203. Steering structures 3 are installed on both sides of the housing 1 to drive the base plates 206 to turn. A multi-angle shooting structure 4 is installed on the front face of the housing 1. A gas detection structure 5 is installed inside the housing 1.

[0024] Please see Figure 4 and Figure 5Two parallel support plates 209 are installed at the top of the box body 1. A ball screw 2012 is rotatably mounted at the center of the support plate 209. A sleeve 2011 is slidably fitted at the bottom end of the ball screw 2012. The bottom end of the sleeve 2011 is fixedly inserted through the bottom of the box body 1, and the inserted end is rotatably connected to the bottom plate 206 through a bearing 2013. A worm gear 208 is fixedly connected to the top end of the ball screw 2012. A lifting motor 207 is installed on the rear end face inside the box body 1. A worm gear 2010 is connected to the output end of the lifting motor 207. The other end of the worm gear 2010 is rotatably connected to the front end face inside the box body 1.

[0025] The worm 2010 meshes with the worm wheel 208. Driven by the lifting motor 207, the worm 2010 drives the worm wheel 208 to rotate, which in turn causes the ball screw 2012 to rotate. Since the sleeve 2011 and the ball screw 2012 are connected by threads, when the ball screw 2012 rotates, the sleeve 2011 will slide up and down along the ball screw 2012, thereby driving the base plate 206 and its moving structure to adjust in height. This design allows the mobile inspection vehicle to flexibly adjust the height of its bottom structure under different terrains or operational requirements, enhancing its adaptability and operating range.

[0026] See Figure 5 and Figure 7 The bottom of the base plate 206 is fixedly connected to the bottom of both ends of the base plate 206. The top of the curved arm 204 is rotatably connected to the U-shaped plate 205 through the first pin 2014. The bottom of the U-shaped plate 205 is fixedly connected to the first clamping plate 2015 near both ends. One end of the shock absorber 2016 is rotatably connected to the first clamping plate 2015 through the first pin 2014, and the other end is rotatably connected to one side of the curved arm 204 through the first pin 2014.

[0027] This design allows the curved arm 204 to rotate at a certain angle on the U-shaped plate 205. At the same time, the shock absorber 2016 effectively absorbs the vibration generated by the mobile inspection vehicle during its movement, ensuring the stability and accuracy of the inspection equipment.

[0028] See Figure 2 , Figure 3 and Figure 4 The steering structure 3 includes a steering cylinder 301 and a telescopic rod 305. The telescopic rod 305 is fixedly connected to the top of one end of the base plate 206. The top of the telescopic rod 305 is fixedly connected to a swing arm 306. The housing 1 is fixedly connected to a parallel second clamping plate 303 and a third clamping plate 304 near the swing arm 306. The other end of the swing arm 306 is rotatably connected to the second clamping plate 303 through a second pin 302. The tail end of the steering cylinder 301 is rotatably connected to the third clamping plate 304 through a second pin 302, and the top end is rotatably connected to the side of the swing arm 306 through a second pin 302.

[0029] The design of this steering structure 3 makes the mobile inspection vehicle more flexible and stable when performing steering operations. The telescopic function of the telescopic rod 305 can adjust the relative position between the swing arm 306 and the housing 1, thereby changing the turning radius and turning angle of the mobile inspection vehicle to adapt to different operational needs and space constraints. At the same time, the setting of the second clamping plate 303 and the third clamping plate 304 provides a stable support point for the steering cylinder 301 and the swing arm 306, ensuring the stability and reliability of the steering structure.

[0030] See Figure 3 and Figure 6 The multi-angle shooting structure 4 includes a first steering motor 401, a second steering motor 402, and a camera 408. The first steering motor 401 is installed on the front end of the housing 1, and its output end passes through the housing 1 and is fixedly connected to a U-shaped steering plate 406. The outer side of the vertically arranged camera 408 is rotatably connected to the U-shaped steering plate 406 through a third pin 405. The bottom of the camera 408 has a horizontal curved rod 403 and a vertical curved rod 404. One end of the vertical curved rod 404 is rotatably connected to the outer side of the camera 408 through a third pin 405. The adjacent ends of the vertical curved rod 404 and the horizontal curved rod 403 are rotatably connected through a third pin 405. A support plate 407 is fixedly connected to the front end of the housing 1 near the horizontal curved rod 403. The output end of the second steering motor 402, which is fixedly installed on the support plate 407, is connected to the horizontal curved rod 403.

[0031] This multi-angle shooting structure 4 design greatly enhances the shooting capability and flexibility of the mobile inspection vehicle in the safe working environment of underground mines. The first steering motor 401 drives the U-shaped steering plate 406 to rotate horizontally, and its rotation angle is within a fan-shaped range, that is, when viewed directly from the direction of the multi-angle shooting structure 4 of the mobile inspection vehicle, it drives the camera 408 to rotate left or right by α degrees, where α is 13-18 degrees. The rotation angle is similar to the angle corresponding to a clock from 10 pm to 2 am. Figure 9 As shown, this causes the camera 408 to adjust its horizontal angle. The outer side of the camera 408 is connected to the U-shaped steering plate 406 via the third pin 405. The second steering motor 402 drives the horizontal bending rod 403 to rotate its elevation angle, allowing the camera 408 to adjust its elevation angle within a certain range, further expanding the shooting range, i.e., from the side view of the multi-angle shooting structure 4 of the mobile inspection vehicle. This causes the camera 408 to rotate forward or backward by β degrees, where β is 12-15 degrees. Figure 10 As shown.

[0032] See Figure 1 , Figure 2 , Figure 3 and Figure 4The gas detection structure 5 includes a fan 505 and a gas sensor 506. Ventilation chambers 504 are provided on both the front and rear faces of the housing 1. The fan 505 is installed on the rear face inside the housing 1. The gas sensor 506 is installed at the bottom inside the housing 1 at the position of the fan 505.

[0033] When the fan 505 is working, it can draw outside air into the housing 1 and circulate it through the ventilation cavity 504. During the air circulation process, the air will come into contact with the gas sensor 506 to complete the detection.

[0034] See Figure 1 and Figure 2 A buckle box 503 is fixedly connected to the front end of the box 1. A ventilation cavity 504 is opened on the top of the buckle box 503. A first dust filter 501 is installed on the top of the buckle box 503. A second dust filter 502 is installed on the rear end of the box 1. The first dust filter 501 and the second dust filter 502 effectively prevent external dust and impurities from entering the housing 1, providing good protection for the internal detection equipment and imaging structure.

[0035] See Figure 8 The bottom of the housing 1 is equipped with a storage battery 8, and the main controller 7 is electrically connected to the storage battery 8. The main controller 7 is equipped with a Wi-Fi module 9. It should be noted that the camera 408 is equipped with a light, which can provide necessary lighting for the camera 408 in the case of insufficient light underground, so as to ensure that the captured images are clear and accurate.

[0036] A method for using a mobile inspection vehicle suitable for safe working environments in underground mines includes the following steps: Step S1: The mobile inspection vehicle can be remotely controlled via the remote Wi-Fi module 9 and connected to a remote mobile phone. The corresponding mobile APP can be downloaded for remote control. The mobile motor 202 is remotely started, and the output end of the mobile motor 202 rotates, driving the mobile wheel 203 to rotate, so that the mobile inspection vehicle can move in the underground mine. At the same time, the radar sensor 201 detects obstacles in front in real time. When an obstacle is detected, the signal is transmitted to the main controller 7, and the main controller 7 controls the mobile motor 202 to stop working to avoid collision. Step S2: During the movement, when it is necessary to adjust the direction of the box 1, the two steering cylinders 301 are activated. The output end of the steering cylinder 301 pushes the swing arm 306. The swing arm 306 is rotatably connected to the second clamping plate 303 and the steering cylinder 301 through the second pin 302, thereby driving the base plate 206 and the box 1 to rotate, thus achieving steering. The moving lifting motor 207 is connected to the worm gear 208 and the worm 2010, which drives the two ball screws 2012 to rotate, thereby completing the overall height increase of the box 1, which can avoid small stones or piles of soil on the ground; the shock absorber 2016 can buffer the vibration during the movement and improve the stability of the moving inspection vehicle. Step S3: Start the first steering motor 401 and the second steering motor 402. The output of the first steering motor 401 drives the U-shaped steering plate 406 to rotate. The U-shaped steering plate 406 is rotatably connected to the camera 408 through the third pin 405, so that the camera 408 can rotate in the horizontal direction. The output of the second steering motor 402 drives the horizontal bending rod 403 to rotate. The horizontal bending rod 403 is rotatably connected to the vertical bending rod 404 through the third pin 405. The vertical bending rod 404 is rotatably connected to the camera 408 through the third pin 405, so that the camera 408 can rotate in the vertical direction, realizing multi-angle shooting and having a certain degree of flexibility in angle adjustment. Step S4: Start the fan 505. The fan 505 draws underground air into the housing 1. After being detected by the gas sensor 506, the detection data is transmitted to the main controller 7. The main controller 7 analyzes and processes the data to determine whether the underground gas is safe. At the same time, the first dust filter 501 and the second dust filter 502 can prevent dust from entering the housing 1, protecting the gas sensor 506. They can also provide ventilation and heat dissipation inside the housing. The blown air passes through the camera area 408, reducing the amount of tunnel dust falling into the camera area and obstructing the view. The main controller 7 communicates with the mobile phone through the Wi-Fi module 9, transmitting the detection data and captured images to the APP center in real time to achieve remote monitoring. The battery 8 provides power support for the mobile inspection vehicle.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising" – "including" or any other variations thereof are intended to cover non-exclusive inclusion, such that a process – method – article or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process – method – article or apparatus.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile inspection vehicle suitable for safe operation in underground mines, comprising a housing (1) and a clearance movement structure (2) installed at its bottom, characterized in that, The avoidance moving structure (2) includes a radar sensor (201) and a moving motor (202). A main controller (7) is installed on one side inside the box (1). A radar sensor (201) is installed on the front face of the bottom position of the box (1). The top of the box (1) is open and a matching cover plate (6) is installed. Two base plates (206) are set at the bottom of the box (1). Bending arms (204) are installed at both ends of the base plates (206). A moving motor (202) is installed on one side of the bending arm (204). The output end of the moving motor (202) rotates through the bending arm (204) and is fixedly connected to a moving wheel (203). A steering structure (3) for driving the base plates (206) to turn is installed on both sides of the box (1). A multi-angle shooting structure (4) is installed on the front face of the box (1). A gas detection structure (5) is installed inside the box (1).

2. The mobile inspection vehicle suitable for safe operation in underground mines according to claim 1, characterized in that: Two parallel support plates (209) are installed at the top of the box (1). A ball screw (2012) is rotatably installed at the center of the support plate (209). A sleeve (2011) is slidably fitted at the bottom end of the ball screw (2012). The bottom end of the sleeve (2011) is fixedly inserted through the bottom of the box (1), and the inserted end is rotatably connected to the bottom plate (206) through a bearing (2013). A worm gear (208) is fixedly connected to the top end of the ball screw (2012). A lifting motor (207) is installed on the rear end face inside the box (1). A worm gear (2010) is connected to the output end of the lifting motor (207). The other end of the worm gear (2010) is rotatably connected to the front end face inside the box (1).

3. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 2, characterized in that: The bottom of the base plate (206) is fixedly connected to the bottom of both ends of the base plate (206). The top of the curved arm (204) is rotatably connected to the U-shaped plate (205) through the first pin (2014). The bottom of the U-shaped plate (205) is fixedly connected to the first clamping plate (2015) near both ends. One end of the shock absorber (2016) is rotatably connected to the first clamping plate (2015) through the first pin (2014), and the other end is rotatably connected to one side of the curved arm (204) through the first pin (2014).

4. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 3, characterized in that: The steering structure (3) includes a steering cylinder (301) and a telescopic rod (305). The top of one end of the base plate (206) is fixedly connected to the telescopic rod (305), and the top of the telescopic rod (305) is fixedly connected to the swing arm (306). The box body (1) is fixedly connected to the parallel second clamping plate (303) and the third clamping plate (304) near the swing arm (306). The other end of the swing arm (306) is rotatably connected to the second clamping plate (303) through the second pin (302). The tail end of the steering cylinder (301) is rotatably connected to the third clamping plate (304) through the second pin (302), and the top end is rotatably connected to the side of the swing arm (306) through the second pin (302).

5. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 1, characterized in that: The multi-angle shooting structure (4) includes a first steering motor (401), a second steering motor (402), and a camera (408). The first steering motor (401) is installed on the front end of the housing (1), and its output end passes through the housing (1) and is fixedly connected to a U-shaped steering plate (406). The vertically set camera (408) is rotatably connected to the U-shaped steering plate (406) through a third pin (405). The bottom of the camera (408) has a horizontal bending rod (403) and a... A vertical bending rod (404) is rotatably connected to the outside of the camera (408) through a third pin (405) at one end. The vertical bending rod (404) and the horizontal bending rod (403) are rotatably connected to each other through a third pin (405). A tray (407) is fixedly connected to the front end of the box (1) near the horizontal bending rod (403). The output end of the second steering motor (402) is fixedly installed on the tray (407) and connected to the horizontal bending rod (403).

6. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 1, characterized in that: The gas detection structure (5) includes a fan (505) and a gas sensor (506). Ventilation chambers (504) are provided on both the front and rear sides of the housing (1). A fan (505) is installed on the rear side inside the housing (1). A gas sensor (506) is installed at the bottom of the housing (1) at the position of the fan (505).

7. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 6, characterized in that: The front end of the box (1) is fixedly connected to a buckle box (503), the top of the buckle box (503) is provided with a ventilation cavity (504), the top of the buckle box (503) is equipped with a first dustproof net (501), and the rear end of the box (1) is equipped with a second dustproof net (502).

8. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 1, characterized in that: The bottom of the enclosure (1) is equipped with a storage battery (8), and the main controller (7) is electrically connected to the storage battery (8). The main controller (7) is equipped with a Wi-Fi module (9).

9. A mobile inspection vehicle suitable for safe operation in underground mines according to claim 5, characterized in that: The first steering motor (401) drives the camera (408) to rotate left or right by α degrees, and the second steering motor (402) drives the camera (408) to rotate forward or backward by β degrees.

10. A method for using a mobile inspection vehicle suitable for safe underground mining operations according to any one of claims 1-9, characterized in that, Includes the following steps: Step S1: The mobile inspection vehicle can be connected to a remote mobile phone via the remote Wi-Fi module (9), and the corresponding mobile APP can be downloaded for remote control. The mobile motor (202) is remotely started. The output end of the mobile motor (202) rotates, driving the mobile wheel (203) to rotate, so that the mobile inspection vehicle can move in the underground mine. At the same time, the radar sensor (201) detects obstacles in front in real time. When an obstacle is detected, the signal is transmitted to the main controller (7). The main controller (7) controls the mobile motor (202) to stop working to avoid collision. Step S2: During the movement, when it is necessary to adjust the direction of the box (1), start the two steering cylinders (301). The output end of the steering cylinder (301) pushes the swing arm (306). The swing arm 306 is rotatably connected to the second clamping plate (303) and the steering cylinder (301) through the second pin (302), thereby driving the base plate (206) and the box (1) to rotate and achieve steering. The moving lifting motor (207), worm gear (208) and worm (2010) are connected to drive the two ball screws (2012) to rotate, thereby completing the overall height increase of the box (1) and avoiding small gravel or soil piles on the ground; the shock absorber (2016) can buffer the vibration during the movement and improve the stability of the moving inspection vehicle; Step S3: Start the first steering motor (401) and the second steering motor (402). The output end of the first steering motor 401 drives the U-shaped steering plate (406) to rotate. The U-shaped steering plate (406) is rotatably connected to the camera (408) through the third pin 405, so that the camera (408) can rotate in the horizontal direction. The output end of the second steering motor (402) drives the horizontal bending rod (403) to rotate. The horizontal bending rod (403) is rotatably connected to the vertical bending rod (404) through the third pin (405). The vertical bending rod (404) is rotatably connected to the camera (408) through the third pin (405), so that the camera (408) can rotate in the vertical direction to achieve multi-angle shooting. Step S4: Start the fan (505). The fan (505) draws the underground air into the housing 1. After being detected by the gas sensor (506), the detection data is transmitted to the main controller (7). The main controller (7) analyzes and processes the data to determine whether the underground gas is safe. At the same time, the first dust filter (501) and the second dust filter (502) can block dust from entering the housing (1), protect the gas sensor (506), and also allow the interior to be ventilated and cooled. The blown gas passes through the camera (408) area, reducing the tunnel dust falling into the camera (408) area and causing obstruction of the view. The main controller (7) communicates with the mobile phone through the Wi-Fi module (9) to transmit the detection data and captured images to the APP center in real time to realize remote monitoring. The battery (8) provides power support for the mobile detection vehicle.

Images