Wheel type underground inspection host for coal mine

Abstract

A wheel type underground inspection host for a coal mine is characterized in that a host explosion-proof bin comprises a vehicle control unit (VCU), a control identification host, a navigation control unit (MCU), an energy management system, a remote management module, an inertial measurement unit (IMU) and a power conversion unit, the vehicle control unit VCU communicates with the control recognition host, the navigation control unit MCU and the remote management module through a CAN-1 bus, controls wheels of the inspection instrument body through a CAN-2, and collects and monitors electric quantity information collected by the energy management system through the CAN-2. The host of the utility model comprises the RS485 communication interface, the network communication interface, the CAN communication interface, the equipment control function module and the external power supply interface, thereby realizing the omnibearing and multi-level monitoring of the underground environment, and being suitable for coal mine underground environment monitoring and equipment management.

Description

Technical Field

[0001] The utility model relates to the field of inspection robots, in particular to a wheeled underground inspection host for coal mines. Background Art

[0002] The underground environment of coal mines is characterized by high temperature, humidity, a large amount of dust, and a high content of toxic and harmful gases. It is difficult for manual inspections to achieve comprehensive, real-time, and continuous monitoring. Moreover, the underground roadways of coal mines are narrow and the terrain is complex, and manual driving or ordinary equipment is prone to being trapped or colliding. When manually inspecting the underground roadways of coal mines, the efficiency of data collection, recording, and analysis is low, and there may be omissions or misjudgments. The information feedback of the inspection is slow, the decision-making response is lagged, the work efficiency is low, and the safety risk is high. Summary of the Invention

[0003] The utility model aims to solve the deficiencies of the prior art and provides a wheeled underground inspection host for coal mines.

[0004] To achieve the above object, the utility model adopts the following technical solutions:

[0005] A wheeled underground inspection host for coal mines, the host explosion-proof bin includes a vehicle control unit VCU, a control and identification host, a navigation control unit MCU, an energy management system, a remote management module, an inertial measurement unit IMU, and a power conversion unit. The vehicle control unit VCU includes two groups of CAN interfaces and one group of RS485 interfaces. The vehicle control unit VCU communicates with the control and identification host, the navigation control unit MCU, and the remote management module through the CAN-1 bus. The vehicle control unit VCU controls the wheels of the inspection instrument main body through CAN-2 and realizes the collection and monitoring of the collected power information by the energy management system through CAN-2. The vehicle control unit VCU performs DO on-off output control on the relay control module through the RS485 bus, controls the power supply of each functional module of the entire inspection instrument, and the vehicle control unit VCU externally leads out a 485 port through a safety barrier.

[0006] The control and identification host and the navigation control unit MCU include five groups of network communication ports, two groups of RS485 interfaces, two groups of CAN interfaces, and one group of USB interfaces. One group of network communication ports communicates with the remote management module inside the host, and the remaining four groups of network communication ports are respectively led out to the outside of the host through safety barriers for the expansion of RS485 devices. One of the two groups of CAN interfaces is connected to the CAN-1 bus on the vehicle control unit VCU for communication, and the other group of CAN interfaces is led out to the outside of the host through a safety barrier for the expansion of CAN devices. One group of USB interfaces is connected to the inertial measurement unit IMU.

[0007] The remote management module mentioned above is a network-to-CAN and network-to-IO module. After connecting the host to the ring network, it communicates remotely with the monitoring center through the network. At the same time, it communicates with the control recognition host and the navigation control unit MCU through the network to realize the emergency start operation of some module units and the remote power-on and power-off operation of the host.

[0008] The power conversion unit mainly realizes the conversion of the DC48V voltage provided by the lithium iron phosphate battery into the required power supply voltages for each module device and sensor and provides regulated power supply. Inside the host, DC48V is converted to DC24V and DC12V through DCDC, and then converted and output through the intrinsically safe power module to provide intrinsically safe power supply to the outside of the host, respectively outputting 1 path of DC18V and 4 paths of DC12V intrinsically safe power supply, with rated output currents of 1.5A, 1A, 1A, 1A, and 2.0A respectively, and equipped with overvoltage, overcurrent protection, and short-circuit current limitation.

[0009] The energy management system collects and monitors the collected power information to realize the management of the power consumption of the inspection host. The power information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature, and power consumption protection limit parameter trigger alarm information.

[0010] The beneficial effects of the present utility model are as follows: The host of the present utility model includes an RS485 communication interface, a network communication interface, a CAN communication interface, a device control function module, and an external power supply interface, realizing all-round and multi-level monitoring of the underground environment, being applicable to the monitoring of the coal mine underground environment and equipment management. The host is modularly designed, which is convenient for maintenance and upgrade, reduces the maintenance cost, improves the work efficiency, and provides a stable power supply for the peripheral devices of the host through a dedicated intrinsically safe output power supply interface, while ensuring safety when used in the complex underground environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is the block diagram of the host electrical system of the present utility model;

[0012] Figure 2 is the schematic diagram showing the positions of each interface of the front-side MCU of the present utility model;

[0013] Figure 3 is the schematic diagram showing the positions of each interface of the left-side MCU of the present utility model;

[0014] In the figure: 1 - Network communication port; 2 - RS485 interface; 3 - CAN interface;

[0015] The following will be described in detail with reference to the embodiments of the present utility model and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present utility model will be further described below with reference to the drawings and embodiments:

[0017] A wheeled underground inspection host for coal mines. The explosion-proof bin of the host includes a vehicle control unit VCU, a control and identification host, a navigation control unit MCU, an energy management system, a remote management module, an inertial measurement unit IMU, and a power conversion unit. The vehicle control unit VCU includes two groups of CAN interfaces 3 and one group of RS485 interfaces 2. The vehicle control unit VCU communicates with the control and identification host, the navigation control unit MCU, and the remote management module through the CAN-1 bus. The vehicle control unit VCU controls the wheels of the inspection instrument body through CAN-2 and collects and monitors the power information collected by the energy management system through CAN-2, thereby realizing the monitoring and management of the overall energy management of the machine. The vehicle control unit VCU controls the DO on-off output of the relay control module through the RS485 bus and controls the power supply of each functional module of the entire inspection instrument. The vehicle control unit VCU leads out a 485 port externally through a safety barrier.

[0018] The control and identification host and the navigation control unit MCU include five groups of network communication ports 1, two groups of RS485 interfaces 2, two groups of CAN interfaces 3, and one group of USB interfaces. One group of network communication ports 1 communicates with the remote management module inside the host, and the remaining four groups of network communication ports 1 are respectively led out to the outside of the host through safety barriers for the expansion of RS485 devices. One of the two groups of CAN interfaces 3 is connected to the CAN-1 bus on the vehicle control unit VCU for communication, and the other group of CAN interfaces 3 is led out to the outside of the host after passing through the safety barrier for the expansion of CAN devices. One group of USB interfaces is connected to the inertial measurement unit IMU.

[0019] The remote management module is a network-to-CAN and network-to-IO module. After connecting the host to the ring network, it communicates remotely with the monitoring center through the network, and at the same time communicates with the control and identification host and the navigation control unit MCU through the network, realizing the emergency startup operation of some module units and the remote power-on and power-off operation of the host.

[0020] The power conversion unit mainly realizes the conversion of the DC48V voltage provided by the lithium iron phosphate battery into the required power supply voltages for each module device and sensor and provides regulated power supply. Inside the host, DC48V is converted to DC24V and DC12V through DCDC, and then converted and output through the intrinsically safe power module to provide intrinsically safe power supply to the outside of the host, respectively outputting 1 path of DC18V and 4 paths of DC12V intrinsically safe power supply, with rated output currents of 1.5A, 1A, 1A, 1A, and 2.0A respectively, equipped with overvoltage, overcurrent protection, and short-circuit current limitation.

[0021] The described energy management system collects and monitors the collected power consumption information to manage the power consumption of the inspection host. The power consumption information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature, and power consumption protection limit parameter trigger alarm information.

[0022] During application, the RS485 interface 2 set on the host supports communication connection with a mine intrinsically safe RS485 communication interface sensor. The maximum transmission distance is 3m. The network communication interface 1 supports communication connection with a mine intrinsically safe Ethernet communication interface respectively, with an adaptive transmission rate of 100Mbps / 1000Mbps and a maximum transmission distance of 3m. The CAN interface 3 supports communication connection with a mine intrinsically safe CAN interface respectively, with an adaptive transmission rate of 100Mbps / 1000Mbps and a maximum transmission distance of 3m. The external power supply interface includes at least five intrinsically safe power output interfaces, respectively outputting 1 DC18V and 4 DC12V intrinsically safe power supplies, with rated output currents of 1.5A, 1A, 1A, 1A, and 2.0A respectively, equipped with overvoltage, overcurrent protection, and short-circuit current limitation. The combination of multiple communication protocol stacks and multi-modal sensors built into the host not only realizes all-round and multi-level monitoring of the underground environment.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0025] In the present utility model, unless otherwise clearly specified and defined, the terms "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] The above has made an exemplary description of the present utility model in conjunction with the accompanying drawings. Obviously, the specific implementation of the present utility model is not limited by the above methods. As long as various improvements are made by adopting the method concept and technical solution of the present utility model, or directly applied to other occasions without improvement, they are all within the protection scope of the present utility model.

Claims

1. A wheeled underground inspection host for coal mines, characterized in that: The main engine explosion-proof chamber includes a vehicle control unit (VCU), a control and identification main engine, a navigation control unit (MCU), an energy management system, a remote management module, an inertial measurement unit (IMU), and a power conversion unit. The vehicle control unit (VCU) includes two groups of CAN interfaces (3) and one group of RS485 interfaces (2). The vehicle control unit (VCU) communicates with the control and identification main engine, the navigation control unit (MCU), and the remote management module through the CAN-1 bus. The vehicle control unit (VCU) controls the wheels of the inspection instrument main body through CAN-2 and collects and monitors the power information collected by the energy management system through CAN-2. The vehicle control unit (VCU) controls the DO on / off output of the relay control module through the RS485 bus and controls the power supply of each functional module of the whole inspection instrument. The vehicle control unit (VCU) leads out a 485 port through the safety barrier.

2. A wheeled underground inspection host for coal mines according to claim 1, characterized in that: The control and identification main engine and the navigation control unit (MCU) include five groups of network communication ports (1), two groups of RS485 interfaces (2), two groups of CAN interfaces (3), and one group of USB interfaces. One group of network communication ports (1) communicates with the remote management module inside the main engine, and the remaining four groups of network communication ports (1) are respectively led out to the outside of the main engine through the safety barrier for the expansion of RS485 devices. One of the two groups of CAN interfaces (3) is connected to the CAN-1 bus on the vehicle control unit (VCU) for communication, and the other group of CAN interfaces (3) is led out to the outside of the main engine after passing through the safety barrier for the expansion of CAN devices. One group of USB interfaces is connected to the inertial measurement unit (IMU).

3. The wheeled underground inspection host for coal mines according to claim 2, characterized in that: The remote management module is a network-to-CAN and network-to-IO module. After connecting the main engine to the ring network, it communicates remotely with the monitoring center through the network. At the same time, it communicates with the control and identification main engine and the navigation control unit (MCU) through the network to realize the emergency startup operation of some module units and the remote power-on and power-off operation of the main engine.

4. The wheeled underground inspection host for coal mines according to claim 3, characterized in that: The power conversion unit mainly realizes the conversion of the DC48V voltage provided by the lithium iron phosphate battery into the required power supply voltages for each module device and sensor and provides regulated power supply. Inside the main engine, DC48V is converted into DC24V and DC12V through DCDC, and then converted and output through the intrinsically safe power module for intrinsically safe power supply to the outside of the main engine, respectively outputting 1 path of DC18V and 4 paths of DC12V intrinsically safe power supplies, with rated output currents of 1.5A, 1A, 1A, 1A, and 2.0A respectively, equipped with overvoltage, overcurrent protection, and short-circuit current limitation.

5. The wheeled underground inspection host for coal mines according to claim 4, characterized in that, The energy management system collects and monitors the collected power information to realize the management of the power consumption of the inspection main engine. The power information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature, and trigger alarm information of power consumption protection limit parameters.

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