Underground mining unmanned detection automatic avoiding device

Abstract

The utility model provides an underground mining unmanned detection automatic avoiding device, and belongs to the technical field of underground detection. The underground mining unmanned detection automatic avoiding device comprises an adjusting assembly and a protection assembly, a lifting seat is arranged on one side of a robot body, the height of a camera can be adjusted through the lifting seat, positions of different heights can be detected, 360-degree dead-angle-free detection can be achieved through an electric rotating disc, and the safety of the robot body is improved. The detection effect is improved, the blocking effect can be achieved through the baffle, when a falling object exists on the camera, the baffle can prevent the camera from being damaged by the falling object, the buffering effect can be achieved through the buffering piece, due to the fact that the supporting frame and the elastic clamping base are in sliding clamping connection, the supporting frame and the baffle are convenient to disassemble and assemble through the clamping connection mode, and the practicability is high. And the applicability is improved, so that the camera is conveniently protected, the camera is prevented from being damaged or damaged by a falling object, and the practicability is improved.

Description

Technical Field

[0001] This application relates to the field of underground detection, and more specifically, to an underground mine unmanned detection and automatic avoidance device. Background Art

[0002] As is well known, the working conditions in a mine are complex. If the situation in the mine is unknown and one rashly goes down the mine, there is a high risk of life-threatening. The ventilation in the mine is not only poor, but also there are a large amount of dust and toxic gases. Therefore, it is very necessary to detect the interior of the mine before going down the mine. We mostly use detection robots. The robot realizes the ability to autonomously plan a path and avoid obstacles when encountering obstacles through the comprehensive application of technologies involving environmental perception, algorithm processing, motion control system, and artificial intelligence. For example, a detection robot for underground use with the Chinese patent application number CN201521145029.5 includes a main body, crawlers, two hydraulic cylinders, and an explosion-proof motor; two parallel columns are fixedly connected to one end of the main body, a support plate is connected to the columns, the two hydraulic cylinders are placed on the main body, and the push rods of the two hydraulic cylinders respectively pass through the lower plate of the support plate and are fixedly connected to the upper plate. The support plate can move up and down along the columns in the vertical direction; the explosion-proof motor is placed on the lower plate of the support plate, the connecting shaft of the explosion-proof motor passes through the upper plate, and the end of the connecting shaft of the explosion-proof motor passing through the upper plate is connected to an installation box for installing a sensor to be measured. The installation box is a square structure with an open upper part and a hollow interior. The beneficial effects of the present utility model are: simple structure, can effectively adjust the detection height of the detection robot, and the detection sensor can achieve 360-degree dead-angle-free detection, providing safety protection for the personnel working underground.

[0003] However, the above solution still has certain defects: First, the camera device is exposed inside the installation box, which is not convenient for protecting the camera device and is likely to cause damage to the camera device by falling objects during detection, thus reducing the practicability. Summary of the Utility Model

[0004] In order to make up for the above deficiencies, this application provides an underground mine unmanned detection and automatic avoidance device, aiming to improve the problem that in the related technology, the camera device is exposed inside the installation box, which is not convenient for protecting the camera device and is likely to cause damage to the camera device by falling objects during detection, thus reducing the practicability.

[0005] The embodiment of this application provides an underground mine unmanned detection and automatic avoidance device, which includes an adjustment component and a protection component.

[0006] The adjustment assembly includes a robot body, a lifting seat, an electric rotating disk, and a camera. The lifting seat is arranged on one side of the robot body. The electric rotating disk is arranged on one side of the lifting seat. The camera is arranged on one side of the electric rotating disk. The protection assembly includes an elastic clamping seat, a support frame, a buffer member, and a baffle. The elastic clamping seat is arranged on one side of the lifting seat. The support frame is slidably clamped with the elastic clamping seat. The buffer member is correspondingly arranged on one side of the support frame. The baffle is fixedly connected to the buffer member.

[0007] In a specific implementation, the lifting seat includes a hydraulic cylinder, a support plate, and a limiting column. The support plate is fixedly connected to the output end of the hydraulic cylinder. The limiting column is correspondingly arranged on one side of the robot body. The support plate is slidably connected to the limiting column.

[0008] In the above implementation process, the user can start the hydraulic cylinder, and the support plate can be moved through the hydraulic cylinder, so as to adjust the height of the camera.

[0009] In a specific implementation, sliders are arranged on both sides of the support plate.

[0010] In the above implementation process, sliders are arranged on both sides of the support plate, and the sliders can play a connecting role.

[0011] In a specific implementation, a chute is arranged on one side of the limiting column. The slider is slidably connected to the chute.

[0012] In the above implementation process, a chute is arranged on one side of the limiting column, and the chute can play a limiting role.

[0013] In a specific implementation, the elastic clamping seat includes a shell, a plug rod, and a first spring. The plug rod penetrates and connects the two ends of the shell. One end of the first spring is fixedly connected to the shell, and the other end of the first spring is fixedly connected to the plug rod.

[0014] In the above implementation process, the plug rod and the first spring can play a clamping role.

[0015] In a specific implementation, the support frame includes an L-shaped plate and a frame plate. The L-shaped plate is slidably connected to the shell. The frame plate is fixedly connected to the L-shaped plate.

[0016] In the above implementation process, the L-shaped plate can play a connecting role, and the frame plate can play a supporting role.

[0017] In a specific implementation, through holes are arranged on both sides of the L-shaped plate. The plug rod is slidably connected to the through holes.

[0018] In the above implementation process, through holes are provided on both sides of the L-shaped plate. When the L-shaped plate needs to be disassembled, the user can insert the rods at both ends of the housing, so that the rods are separated from the through holes, and then the L-shaped plate can be removed from the inside of the housing. Conversely, the L-shaped plate can be installed by operating in the reverse way.

[0019] In a specific embodiment, the buffer member includes a cylinder, a support block and a second spring. The support block is slidably connected to the cylinder, the second spring is disposed inside the cylinder, and the second spring is fixedly connected to the support block.

[0020] In the above implementation process, the second spring can play a buffering role.

[0021] Compared with the prior art, the beneficial effects of the present application are as follows: First, the height of the camera can be adjusted through the lifting seat, and positions at different heights can be detected. And through the electric rotating disk, the camera can achieve 360-degree dead-angle-free detection, improving the detection effect. And the baffle can play a role in blocking. When there are falling objects above, the baffle can prevent the camera from being damaged by the falling objects. The buffer member can play a buffering role. Since the support frame is slidably clamped with the elastic clamping seat, the clamping connection method is convenient for disassembling and installing the support frame and the baffle, improving the applicability, and thus facilitating the protection of the camera, preventing the falling objects from causing damage or injury to the camera, thereby improving the practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 FIG. 1 is a schematic structural diagram of a first perspective of an underground mine unmanned detection and automatic avoidance device provided by an embodiment of the present application;

[0024] Figure 2 FIG. 2 is a schematic structural diagram of the lifting seat provided by an embodiment of the present application;

[0025] Figure 3 FIG. 3 is a schematic structural diagram of the support frame provided by an embodiment of the present application;

[0026] Figure 4 FIG. 4 is a schematic structural diagram of a second perspective of the buffer member provided by an embodiment of the present application.

[0027] In the figure: 100 - adjustment component; 110 - robot body; 120 - lifting seat; 121 - hydraulic cylinder; 122 - support plate; 1221 - slider; 123 - limit post; 1231 - chute; 130 - electric rotating disk; 140 - camera; 200 - protection component; 210 - elastic clamping seat; 211 - housing; 212 - inserting rod; 213 - first spring; 220 - support frame; 221 - L-shaped plate; 2211 - through hole; 222 - frame plate; 230 - buffer; 231 - cylinder; 232 - support block; 233 - second spring; 240 - baffle plate. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application.

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] Please refer to Figures 1-4 , the present application provides an underground mine use unmanned detection and automatic avoidance device, which includes an adjustment component 100 and a protection component 200. The adjustment component 100 can adjust the detection height and angle, and the protection component 200 can play a protective role.

[0031] Please refer to Figures 1-2, the adjustment assembly 100 includes a robot body 110, a lifting seat 120, an electric rotating disk 130, and a camera 140. The lifting seat 120 is disposed on one side of the robot body 110, the electric rotating disk 130 is disposed on one side of the lifting seat 120, and the camera 140 is disposed on one side of the electric rotating disk 130. The robot body 110 uses a binocular stereo vision module as an obstacle detection sensor to sense the underground environment information, detect the distribution of obstacles in real time, and construct an occupancy grid map. Then, a three-dimensional point cloud is constructed through an octree structure model, the point cloud data is structurally described using a tree structure, and it is mapped into the occupancy grid map to obtain the regional distribution of obstacles. Finally, a fuzzy control strategy is adopted to process the distribution of the obstacles detected in real time in the occupancy grid map. The distribution of the obstacles in the occupancy grid map at the current moment and the running speed of the mobile robot are used as the input variables of the fuzzy controller. The steering angle and acceleration of the robot body 110 at the next moment are calculated through a fuzzy control algorithm, so as to realize the intelligent obstacle avoidance control of the underground robot body 110. According to the actual occupied space of the robot body 110, an external bounding box is designed to further stabilize the control algorithm, and intelligent obstacle avoidance is carried out in combination with the obstacle avoidance strategy to prevent the robot body 110 from colliding with obstacles. The experimental results show that this method can accurately describe the distribution of underground obstacles, enable the robot body 110 to accurately and autonomously perform obstacle avoidance operations according to the designed fuzzy control rules, and thus realize adaptive movement.

[0032] In some specific embodiments, the lifting seat 120 includes a hydraulic cylinder 121, a support plate 122, and a limit post 123. The support plate 122 is fixedly connected to the output end of the hydraulic cylinder 121. The limit post 123 is correspondingly disposed on one side of the robot body 110. The support plate 122 is slidably connected to the limit post 123. The user can start the hydraulic cylinder 121, and the support plate 122 can be moved through the hydraulic cylinder 121, so as to adjust the height of the camera 140. Sliders 1221 are disposed on both sides of the support plate 122. The sliders 1221 can play a connecting role. A chute 1231 is disposed on one side of the limit post 123. The slider 1221 is slidably connected to the chute 1231. The chute 1231 can play a limiting role.

[0033] Please refer to Figures 1-4, the protection component 200 includes an elastic clamping seat 210, a support frame 220, a buffer member 230, and a baffle 240. The elastic clamping seat 210 is disposed on one side of the lifting seat 120. The support frame 220 is slidably clamped with the elastic clamping seat 210. The buffer member 230 is correspondingly disposed on one side of the support frame 220. The baffle 240 is fixedly connected to the buffer member 230. The elastic clamping seat 210 includes a housing 211, a plug rod 212, and a first spring 213. The plug rod 212 is connected through both ends of the housing 211. One end of the first spring 213 is fixedly connected to the housing 211, and the other end of the first spring 213 is fixedly connected to the plug rod 212. The plug rod 212 and the first spring 213 can play a role in clamping.

[0034] In some specific implementation embodiments, the support frame 220 includes an L-shaped plate 221 and a frame plate 222. The L-shaped plate 221 is slidably connected to the housing 211. The frame plate 222 is fixedly connected to the L-shaped plate 221. The L-shaped plate 221 can play a role in connection, and the frame plate 222 can play a role in support. Through holes 2211 are provided on both sides of the L-shaped plate 221. The plug rod 212 is slidably connected to the through holes 2211. When it is necessary to disassemble the L-shaped plate 221, the user can pull the plug rods 212 at both ends of the housing 211, so that the plug rods 212 are separated from the through holes 2211, and then the L-shaped plate 221 can be removed from the inside of the housing 211. Conversely, the operation can be used for its installation. The buffer member 230 includes a cylinder 231, a support block 232, and a second spring 233. The support block 232 is slidably connected to the cylinder 231. The second spring 233 is disposed inside the cylinder 231. The second spring 233 is fixedly connected to the support block 232. The second spring 233 can play a role in buffering.

[0035] The working principle of the underground mine use unmanned detection and automatic avoidance device: The user can start the hydraulic cylinder 121. Through the hydraulic cylinder 121, the support plate 122 can be moved, so that the height of the camera 140 can be adjusted, and the positions at different heights can be detected. And through the electric rotating disk 130, the camera 140 can achieve 360-degree dead-angle-free detection, improving the detection effect. And through the baffle 240, a blocking effect can be achieved. When there are falling objects above, the baffle 240 can prevent the camera 140 from being damaged by the falling objects. Through the buffer member 230, a buffering effect can be achieved. When it is necessary to disassemble the L-shaped plate 221, the user can pull the plug rods 212 at both ends of the housing 211, so that the plug rods 212 are separated from the through holes 2211, and then the L-shaped plate 221 can be removed from the inside of the housing 211. Conversely, the operation can be used for its installation. The clamping connection method is convenient for disassembling and installing the support frame 220 and the baffle 240, improving the applicability, and further facilitating the protection of the camera 140, preventing the falling objects from causing damage or injury to the camera 140, thereby improving the practicability.

[0036] It should be noted that the specific model specifications of the robot body 110, the hydraulic cylinder 121, the electric rotating disk 130, and the camera 140 need to be selected according to the actual specifications of the device, etc. The specific selection calculation method adopts the existing technology in this field, so it will not be elaborated in detail here.

[0037] The power supply and its principle of the robot body 110, the hydraulic cylinder 121, the electric rotating disk 130, and the camera 140 are clear to those skilled in the art and will not be elaborated in detail here.

[0038] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0039] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An unmanned detection and automatic avoidance device for underground mines, characterized in that: include An adjustment component (100), the adjustment component (100) comprising a robot body (110), a lifting seat (120), an electric rotating disk (130) and a camera (140), the lifting seat (120) being arranged on one side of the robot body (110), the electric rotating disk (130) being arranged on one side of the lifting seat (120), and the camera (140) being arranged on one side of the electric rotating disk (130); A protection component (200), the protection component (200) comprising an elastic clamping seat (210), a support frame (220), a buffer member (230) and a baffle (240), the elastic clamping seat (210) being arranged on one side of the lifting seat (120), the support frame (220) being slidably engaged with the elastic clamping seat (210), the buffer member (230) being correspondingly arranged on one side of the support frame (220), and the baffle (240) being fixedly connected with the buffer member (230).

2. The unmanned detection and automatic avoidance device for underground mines according to claim 1 is characterized in that: The lifting seat (120) comprises a hydraulic cylinder (121), a support plate (122) and a limiting column (123); the support plate (122) is fixedly connected to the output end of the hydraulic cylinder (121); the limiting column (123) is arranged corresponding to one side of the robot body (110); and the support plate (122) is slidably connected to the limiting column (123).

3. The unmanned detection and automatic avoidance device for underground mines according to claim 2 is characterized in that: Slide blocks (1221) are provided on both sides of the support plate (122).

4. The unmanned detection and automatic avoidance device for underground mines according to claim 3 is characterized in that: A sliding groove (1231) is provided on one side of the limiting column (123), and the sliding block (1221) is slidably connected to the sliding groove (1231).

5. The unmanned detection and automatic avoidance device for underground mines according to claim 1 is characterized in that: The elastic holder (210) comprises a shell (211), an insert rod (212) and a first spring (213); the insert rod (212) is connected through both ends of the shell (211); one end of the first spring (213) is fixedly connected to the shell (211); and the other end of the first spring (213) is fixedly connected to the insert rod (212).

6. The unmanned detection and automatic avoidance device for underground mines according to claim 5 is characterized in that: The support frame (220) comprises an L-shaped plate (221) and a frame plate (222); the L-shaped plate (221) is slidably connected to the housing (211); and the frame plate (222) is fixedly connected to the L-shaped plate (221).

7. The unmanned detection and automatic avoidance device for underground mines according to claim 6 is characterized in that: Through holes (2211) are provided on both sides of the L-shaped plate (221), and the insertion rod (212) is slidably connected to the through holes (2211).

8. The unmanned detection and automatic avoidance device for underground mines according to claim 1 is characterized in that: The buffer member (230) comprises a cylinder (231), a support block (232) and a second spring (233); the support block (232) is slidably connected to the cylinder (231); the second spring (233) is arranged inside the cylinder (231); and the second spring (233) is fixedly connected to the support block (232).

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