Dark environment autonomous planning mine inspection and modeling robot

Abstract

The utility model discloses a dark environment autonomous planning mine inspection and modeling robot, which relates to the technical field of mine inspection, and comprises a wheel type mobile chassis, the center of the upper end of the wheel type mobile chassis is fixedly connected with an equipment platform, the inner cavity of the equipment platform is hollow, and the center of the inner cavity of the equipment platform is fixedly connected with a high-precision turntable; the rotating end of the high-precision rotary table upwards penetrates through the equipment platform and then is fixedly connected with an equipment mounting seat, a plurality of data acquisition devices are uniformly distributed on the side wall of the equipment mounting seat, and cleaning wiping blocks on the inner wall of the cleaning frame are in contact friction with the outer wall of the protective cover through the arranged cleaning frame; when the protective cover rotates slowly, the outer wall of the protective cover can be wiped clean, it is guaranteed that sensor signals on the data acquisition equipment penetrate through the protective cover smoothly, it is avoided that dust and dirt adhere to the outer wall of the protective cover to affect data acquisition of the data acquisition equipment, and the accuracy of data acquisition and modeling results is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of mine inspection, in particular to a mine inspection and modeling robot that autonomously plans in a dark environment. Background Art

[0002] When mining in the coal mine field, in order to ensure the smooth progress of mining work and the safety of workers, on-site inspections are often required. As a substitute for inspectors, inspection robots can collect, store, and transmit on-site images, sounds, temperature, smoke and other data in real time, reduce labor intensity and reduce labor risks. The track of the inspection robot needs to be installed on the inspection route in advance. In view of the dark environment in the mine, there is a dark environment autonomous planning mine inspection and modeling robot in the prior art. The robot is a wheeled intelligent robot designed for complex and poorly lit mine environments. It combines advanced autonomous navigation, environmental perception, modeling technology and durable design, and can autonomously complete mine inspections and three-dimensional modeling tasks without human operation.

[0003] First of all, the robot has powerful autonomous navigation capabilities. Equipped with a variety of sensors such as laser radar, infrared sensors, and ultrasonic sensors, the robot can accurately perceive the surrounding environment in completely dark or dimly lit environments, and achieve autonomous positioning, path planning, and obstacle avoidance. At the same time, the robot is also equipped with high-precision map building and positioning algorithms, which can build a map of the mine environment in real time and accurately determine its own position to ensure the accuracy and efficiency of inspection tasks.

[0004] Relevant technical personnel engaged in mine inspections have found in their work that due to the large amount of dust and sewage in the mines, the dust and sewage adhere to the detection equipment of the inspection robot, which will cause deviations or even failures in the detection of various sensors such as lidar, infrared sensors, and ultrasonic sensors. For this reason, we propose a mine inspection and modeling robot that autonomously plans in dark environments. Utility Model Content

[0005] The purpose of the utility model is to solve the problem that due to the presence of a large amount of dust and sewage in the mine, the dust and sewage adhere to the detection equipment of the inspection robot, which will cause deviations or even failures in the detection of various sensors such as laser radar, infrared sensors, and ultrasonic sensors. The utility model provides a dark environment autonomous planning mine inspection and modeling robot.

[0006] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions:

[0007] A dark environment autonomous planning mine inspection and modeling robot comprises a wheeled mobile chassis, an upper end center of the wheeled mobile chassis is fixedly connected to an equipment platform, the inner cavity of the equipment platform is hollow, and a high-precision turntable is fixedly connected to the inner cavity center of the equipment platform, the rotating end of the high-precision turntable passes through the equipment platform upward and is fixedly connected to an equipment mounting seat, and a plurality of data acquisition devices are evenly distributed on the side walls of the equipment mounting seat, a protective cover is sleeved and rotated on the outer wall of the equipment platform, and a circle of toothed ring edge is fixedly connected to the bottom of the inner wall of the protective cover, the inner wall of the toothed ring edge is provided with convex teeth, and a plurality of rotary drive motors are fixedly connected to the outer ring of the inner cavity of the equipment platform, and the output shafts of the plurality of rotary drive motors are keyed to rotary drive gears after passing through the equipment platform, and the rotary drive gears are meshed with the inner wall of the toothed ring edge for transmission, a cleaning frame is fixedly connected to the rear side of the upper end of the wheeled mobile chassis, and a cleaning wipe block is provided in the cleaning frame, and the cleaning wipe block is against the outer wall of the protective cover.

[0008] Furthermore, the cleaning rack is arranged around the rear side of the protective cover, and a groove is arranged at the center of the inner wall of the cleaning rack. An elastic pressure plate is fixedly connected to the upper end of the wheeled mobile chassis corresponding to the bottom of the cleaning rack groove, and the shape of the elastic pressure plate matches the shape of the outer wall of the protective cover. The cleaning wipe block is fixedly connected to the inner wall of the elastic pressure plate.

[0009] Furthermore, a pump box is fixedly connected to the rear side of the cleaning rack, and a cleaning water pump is arranged in the pump box. A spray head is fixedly connected to the inner wall of the cleaning rack near the upper end of the left side of the elastic pressure plate, and the spray head is connected to the output end of the cleaning water pump through a pipeline.

[0010] Furthermore, cleaning liquid storage boxes are fixedly connected to both sides of the pump box, and the input end of the cleaning water pump is connected to the bottom of the cleaning liquid storage boxes on both sides through pipelines.

[0011] Furthermore, a silicone scraper is fixedly connected to the left side of the cleaning wipe block, and the inner wall of the silicone scraper is arranged to fit the outer wall of the protective cover.

[0012] Furthermore, a drainage groove is provided at the upper end of the wheeled mobile chassis corresponding to the inner side of the elastic pressure plate, and the position of the drainage groove is aligned with the lower end of the silicone scraper.

[0013] Furthermore, the upper end of the wheeled mobile chassis and the outer wall of the equipment platform are fixedly connected with lubricating sealing gaskets, and the outer ends of the two lubricating sealing gaskets are respectively against the bottom surface of the toothed ring edge and the inner wall of the protective cover.

[0014] The beneficial effects of the utility model are as follows:

[0015] 1. The utility model uses a wheeled mobile chassis that is set up. The wheeled mobile chassis can move autonomously in a mine in a dark environment through an autonomous planning program built into an internal control terminal. Through the set equipment platform, the equipment platform is driven by an equipment mounting seat installed on a high-precision turntable to rotate the equipment mounting seat on the upper end of the equipment platform, and data is collected through a data acquisition device on the equipment mounting seat. The data acquisition device is a detection device composed of multiple sensors including a laser radar, an infrared sensor, an ultrasonic sensor, etc. Through the set protective cover, the protective cover is covered on the outside of the equipment mounting seat to form a dustproof and waterproof protective barrier for the data acquisition device on the equipment mounting seat. Through the set toothed ring edge and the rotating drive motor, the rotating drive motor drives the protective cover to rotate slowly through the engagement of the rotating drive gear with the toothed ring edge. Through the set cleaning rack, the cleaning wipe block on the inner wall of the cleaning rack contacts and rubs with the outer wall of the protective cover. When the protective cover rotates slowly, the outer wall of the protective cover can be wiped clean, thereby ensuring the smooth passage of the sensor signal on the data acquisition device, avoiding dust and dirt adhering to the outer wall of the protective cover to affect the data acquisition of the data acquisition device, and ensuring the accuracy of the data acquisition and modeling results.

[0016] 2. The utility model provides an elastic pressure plate, which can press the cleaning wipe block against the outer wall of the protective cover by its own elastic force, thereby improving the wiping effect of the protective cover. Through the provided pump box, the cleaning liquid pumped out by the cleaning water pump in the pump box can be sprayed onto the outer wall of the protective cover through the spray head. The cleaning liquid can soften the dust and sticky dirt on the outer wall of the protective cover, making it easier to wipe with the cleaning wipe block, thereby improving the cleanliness of the outer wall of the protective cover and ensuring the cleaning effect.

[0017] 3. The utility model is provided with a silicone scraper, which can scrape off the cleaning liquid and sewage on the outer wall of the protective cover, reduce the stains wiped by the cleaning wipe block, avoid excessive stains adhering to the cleaning wipe block resulting in poor cleaning effect, and improve the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the utility model;

[0019] Figure 2 It is a side sectional view of the utility model;

[0020] Figure 3 This utility model Figure 2 The enlarged view of point A in the middle;

[0021] Figure 4 It is a cross-sectional structural diagram of the cleaning brush and the soft rubber scraper of the utility model.

[0022] Figure numerals: 1. Wheeled mobile chassis; 2. Equipment platform; 3. High-precision turntable; 4. Equipment mounting base; 5. Data acquisition equipment; 6. Protective cover; 7. Toothed ring edge; 8. Rotary drive motor; 9. Rotary drive gear; 10. Cleaning rack; 11. Pump box; 12. Cleaning water pump; 13. Spray head; 14. Elastic pressure plate; 15. Cleaning wiper; 16. Silicone scraper; 17. Drain trough; 18. Cleaning liquid storage tank; 19. Lubricating sealing gasket. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model.

[0024] See also Figure 1 - Figure 4 The utility model provides a dark environment autonomous planning mine inspection and modeling robot, including a wheeled mobile chassis 1, an upper end center of the wheeled mobile chassis 1 is fixedly connected with an equipment platform 2, the inner cavity of the equipment platform 2 is hollow, and a high-precision turntable 3 is fixedly connected to the inner cavity center of the equipment platform 2, the rotating end of the high-precision turntable 3 passes through the equipment platform 2 upward and is fixedly connected with an equipment mounting seat 4, and a plurality of data acquisition devices 5 are evenly distributed on the side wall of the equipment mounting seat 4, and a protective cover 6 is sleeved and rotated on the outer wall of the equipment platform 2, and the protective cover 6 is fixedly connected to the outer wall of the equipment platform 2. A toothed ring edge 7 is fixedly connected to the bottom of the inner wall of the cover 6, and the inner wall of the toothed ring edge 7 is provided with convex teeth. A plurality of rotary drive motors 8 are fixedly connected to the outer ring of the inner cavity of the equipment platform 2. The output shafts of the plurality of rotary drive motors 8 pass through the equipment platform 2 and are keyed to be connected to rotary drive gears 9. The rotary drive gears 9 are meshed with the inner wall of the toothed ring edge 7 for transmission. A cleaning frame 10 is fixedly connected to the rear side of the upper end of the wheeled mobile chassis 1, and a cleaning wipe block 15 is provided in the cleaning frame 10, and the cleaning wipe block 15 is against the outer wall of the protective cover 6.

[0025] In this embodiment, preferably, the cleaning rack 10 is arranged around the rear side of the protective cover 6, and a groove is arranged at the center of the inner wall of the cleaning rack 10, and an elastic pressure plate 14 is fixedly connected to the upper end of the wheeled mobile chassis 1 at the bottom of the groove of the cleaning rack 10, and the shape of the elastic pressure plate 14 matches the shape of the outer wall of the protective cover 6, and the cleaning wipe block 15 is fixedly connected to the inner wall of the elastic pressure plate 14; through the set elastic pressure plate 14, the elastic pressure plate 14 can press the cleaning wipe block 15 against the outer wall of the protective cover 6 through its own elastic force, thereby improving the wiping effect of the protective cover 6.

[0026] In this embodiment, preferably, a pump box 11 is fixedly connected to the rear side of the cleaning frame 10, and a cleaning water pump 12 is arranged in the pump box 11, and a spray head 13 is fixedly connected to the upper end of the left side of the inner wall of the cleaning frame 10 near the elastic pressure plate 14, and the spray head 13 is connected to the output end of the cleaning water pump 12 through a pipeline; through the set pump box 11, the cleaning liquid pumped out by the cleaning water pump 12 in the pump box 11 can be sprayed toward the outer wall of the protective cover 6 through the spray head 13, and the cleaning liquid can soften the dust and sticky dirt on the outer wall of the protective cover 6, which is convenient for wiping by the cleaning wipe block 15, thereby improving the cleanliness of the outer wall of the protective cover 6 and ensuring the cleaning effect.

[0027] In this embodiment, preferably, cleaning liquid storage boxes 18 are fixedly connected to both sides of the pump box 11, and the input end of the cleaning water pump 12 is connected to the bottom of the cleaning liquid storage boxes 18 on both sides through pipes; through the setting of the cleaning liquid storage boxes 18, the cleaning liquid storage boxes 18 can be loaded with cleaning liquid, which is convenient for the cleaning water pump 12 to pump.

[0028] In this embodiment, preferably, a silicone scraper 16 is fixedly connected to the left side of the cleaning wipe block 15, and the inner wall of the silicone scraper 16 is arranged in contact with the outer wall of the protective cover 6; through the set silicone scraper 16, the silicone scraper 16 can scrape off the cleaning liquid and sewage on the outer wall of the protective cover 6, reduce the stains wiped by the cleaning wipe block 15, avoid excessive stains adhering to the cleaning wipe block 15, resulting in poor cleaning effect, and improve the cleaning effect.

[0029] In this embodiment, preferably, a drainage groove 17 is opened at the upper end of the wheeled mobile chassis 1 corresponding to the inner side of the elastic pressure plate 14, and the position of the drainage groove 17 is aligned with the lower end of the silicone scraper 16; the scraped sewage is collected on the silicone scraper 16, flows down along the silicone scraper 16, and through the set drainage groove 17, the drainage groove 17 can discharge the sewage directly to both sides.

[0030] In the present embodiment, preferably, the upper end of the wheeled mobile chassis 1 and the outer wall of the equipment platform 2 are fixedly connected with a lubricating sealing gasket 19, and the outer ends of the two lubricating sealing gaskets 19 are respectively against the bottom surface of the toothed ring edge 7 and the inner wall of the protective cover 6; through the provision of the lubricating sealing gasket 19, the lubricating sealing gasket 19 can improve the sealing performance of the contact position between the protective cover 6 and the wheeled mobile chassis 1 and the equipment platform 2 while reducing the rotational friction of the protective cover 6, thereby facilitating the rotation of the protective cover 6, maintaining the sealing performance of the mating position at the bottom of the protective cover 6, preventing dust from entering the inner cavity of the protective cover 6, and effectively ensuring the cleanliness of the working environment of the data acquisition equipment 5.

[0031] The working principle and use process of the utility model are as follows: when the device is used, a wheeled mobile chassis 1 is set up, and the wheeled mobile chassis 1 moves autonomously in a dark environment mine through an autonomous planning program built into an internal control terminal, and an equipment platform 2 is set up, and an equipment mounting seat 4 is installed on the equipment platform 2 through a high-precision turntable 3, and the equipment mounting seat 4 is driven to rotate on the upper end of the equipment platform 2, and data is collected through a data collection device 5 on the equipment mounting seat 4. The data collection device 5 is a detection device composed of multiple sensors including a laser radar, an infrared sensor, an ultrasonic sensor, etc., and a protective cover 6 is set up, and the protective cover 6 covers the outside of the equipment mounting seat 4 On the other hand, a dustproof and waterproof protective barrier is formed for the data acquisition device 5 on the equipment mounting seat 4. Through the toothed ring edge 7 and the rotary drive motor 8, the rotary drive motor 8 drives the protective cover 6 to rotate slowly through the engagement of the rotary drive gear 9 with the toothed ring edge 7. Through the cleaning rack 10, the cleaning wipe block 15 on the inner wall of the cleaning rack 10 contacts and rubs with the outer wall of the protective cover 6. When the protective cover 6 rotates slowly, the outer wall of the protective cover 6 can be wiped clean, thereby ensuring the smooth passage of the sensor signal on the data acquisition device 5, avoiding dust and dirt adhering to the outer wall of the protective cover 6 to affect the data acquisition of the data acquisition device 5, and ensuring the accuracy of the data acquisition and modeling results.

[0032] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dark environment autonomous planning mine inspection and modeling robot, characterized by: The invention comprises a wheeled mobile chassis (1), wherein the center of the upper end of the wheeled mobile chassis (1) is fixedly connected to an equipment platform (2), the inner cavity of the equipment platform (2) is hollow, and a high-precision turntable (3) is fixedly connected to the center of the inner cavity of the equipment platform (2), the rotating end of the high-precision turntable (3) passes through the equipment platform (2) upward and is fixedly connected to an equipment mounting seat (4), and a plurality of data acquisition devices (5) are evenly distributed on the side wall of the equipment mounting seat (4), and a protective cover (6) is sleeved and rotated on the outer wall of the equipment platform (2), and a circle of toothed parts is fixedly connected to the bottom of the inner wall of the protective cover (6). The toothed ring edge (7) is provided with convex teeth on its inner wall, and the inner cavity outer ring of the equipment platform (2) is fixedly connected with a plurality of rotary drive motors (8), and the output shafts of the plurality of rotary drive motors (8) penetrate through the equipment platform (2) and are keyed to be connected with rotary drive gears (9), and the rotary drive gears (9) are meshed with the inner wall of the toothed ring edge (7) for transmission, and the upper rear side of the wheeled mobile chassis (1) is fixedly connected with a cleaning frame (10), and a cleaning wipe block (15) is provided in the cleaning frame (10), and the cleaning wipe block (15) abuts against the outer wall of the protective cover (6).

2. The dark environment autonomous planning mine inspection and modeling robot according to claim 1, characterized in that: The cleaning frame (10) is arranged around the rear side of the protective cover (6), and a groove is arranged at the center of the inner wall of the cleaning frame (10). An elastic pressure plate (14) is fixedly connected to the upper end of the wheeled mobile chassis (1) corresponding to the bottom of the groove of the cleaning frame (10), and the shape of the elastic pressure plate (14) matches the shape of the outer wall of the protective cover (6). The cleaning wipe block (15) is fixedly connected to the inner wall of the elastic pressure plate (14).

3. The dark environment autonomous planning mine inspection and modeling robot according to claim 2, characterized in that: A pump box (11) is fixedly connected to the rear side of the cleaning frame (10), and a cleaning water pump (12) is arranged in the pump box (11). A spray head (13) is fixedly connected to the inner wall of the cleaning frame (10) near the upper end of the left side of the elastic pressure plate (14), and the spray head (13) is connected to the output end of the cleaning water pump (12) through a pipeline.

4. The dark environment autonomous planning mine inspection and modeling robot according to claim 3, characterized in that: Cleaning liquid storage boxes (18) are fixedly connected to both sides of the pump box (11), and the input end of the cleaning water pump (12) is connected to the bottom of the cleaning liquid storage boxes (18) on both sides through pipelines.

5. The dark environment autonomous planning mine inspection and modeling robot according to claim 1, characterized in that: The left side of the cleaning wipe block (15) is fixedly connected with a silicone scraper (16), and the inner wall of the silicone scraper (16) is arranged in contact with the outer wall of the protective cover (6).

6. The dark environment autonomous planning mine inspection and modeling robot according to claim 5, characterized in that: A drainage groove (17) is provided at the upper end of the wheeled mobile chassis (1) at a position corresponding to the inner side of the elastic pressure plate (14), and the position of the drainage groove (17) is aligned with the lower end of the silicone scraper (16).

7. The dark environment autonomous planning mine inspection and modeling robot according to claim 1, characterized in that: The upper end of the wheeled mobile chassis (1) and the outer wall of the equipment platform (2) are both fixedly connected with lubricating sealing gaskets (19), and the outer ends of the two lubricating sealing gaskets (19) are respectively against the bottom surface of the toothed ring edge (7) and the inner wall of the protective cover (6).

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