All-terrain robot for exploring mineral in abandoned mine

Abstract

The utility model discloses an all-terrain robot for exploring mineral under an abandoned mine, which relates to the technical field of coal mine safety and environment monitoring and comprises a chassis system, a track mechanism, an unmanned exploration system and an environment monitoring and early warning system. The chassis system comprises a main machine body and a protective shell, the protective shell is arranged on the upper surface of the main machine body, and a cavity is formed between the protective shell and the main machine body; the crawler belt mechanisms are welded to the two sides of the main machine body through circular cross beams. The unmanned exploration system comprises a high dynamic range camera, an ultrasonic sensor, a GPS (Global Positioning System), a central control box and an intelligent control panel; the unmanned exploration system is arranged at the top of the chassis system; the environment monitoring and early warning system is distributed at the bottom and the side portion of the chassis system, and the all-terrain robot not only achieves all-around environment and mineral exploration, but also can monitor key safety indexes in a mine in real time.

Description

Technical Field

[0001] The utility model relates to the technical field of coal mine safety and environmental monitoring, in particular to an all-terrain unmanned robot for exploring minerals in abandoned mines. Background Art

[0002] With the continued exploitation of mineral resources, many mines have been abandoned. However, these abandoned mines may still contain valuable mineral resources. In order to effectively and safely explore these resources, there is an urgent need for intelligent equipment that can operate efficiently and accurately in harsh mine environments. While the mine exploration equipment currently on the market can meet certain needs, it has significant deficiencies in mobility, intelligence, and environmental adaptability, especially in abandoned mines with cramped spaces and complex terrain. In addition, the extremely harsh environment of abandoned mines places extremely high demands on the safety performance of exploration equipment.

[0003] In response to these problems, this utility model patent proposes an all-terrain unmanned robot that integrates multiple advanced technologies for exploring minerals in abandoned mines. Its innovation and practicality are reflected in its ability to move freely according to the mine environment, conduct all-round exploration and monitor safety indicators in real time, bringing breakthrough progress to mineral exploration in abandoned mines. Utility Model Content

[0004] The purpose of this utility model is to provide an all-terrain robot for exploring minerals in abandoned mines. It integrates cutting-edge technologies such as all-electric drive, autonomous navigation, remote monitoring, environmental monitoring and early warning, and intelligent lighting, significantly improving the intelligence, safety, and efficiency of exploration. Its innovation lies in its unique all-terrain crawler walking mechanism, which enables the robot to move freely in complex terrain. At the same time, the integration of an advanced unmanned exploration system with an environmental monitoring and early warning system not only enables comprehensive environmental and mineral exploration, but also enables real-time monitoring of key safety indicators within the mine. With its high degree of maneuverability, flexibility, and intelligence, this utility model provides an innovative solution for rare mineral exploration in abandoned mines.

[0005] The utility model provides an all-terrain robot for exploring minerals in abandoned mines, comprising a chassis system, a crawler mechanism, an unmanned exploration system, and an environmental monitoring and early warning system;

[0006] The chassis system includes a main body and a protective shell, wherein the protective shell is arranged on the upper surface of the main body, and a cavity is formed between the protective shell and the main body;

[0007] The crawler mechanism is welded on both sides of the main body through circular cross beams;

[0008] The unmanned exploration system includes a high dynamic range camera, an ultrasonic sensor, a GPS positioning system, a central control box and an intelligent control panel, and the unmanned exploration system is arranged on top of the chassis system;

[0009] The environmental monitoring and early warning system includes a sensor network, an external communication device and an audible and visual alarm device, and the environmental monitoring and early warning system is distributed at the bottom and sides of the chassis system.

[0010] Preferably, the upper surface of the main body is a groove structure, and a crossbar connection is provided in the middle of the groove structure;

[0011] A battery box is provided on one side of the upper surface of the main body and a central control box is provided on the other side. An electric motor is provided on the central side of the upper surface of the main body near the track mechanism. A motor driver is provided on the central side of the upper surface of the main body. One side of the electric motor is fixed to the edge of the groove structure of the main body and a cooling device is provided on the other side.

[0012] A protective safety door is provided in front of the main body.

[0013] Preferably, the chassis system is provided with an LED light, a sensor antenna and an emergency stop button on the outside. The LED lights are respectively arranged in front of and behind the protective shell. The sensor antenna is located at a rear corner of the protective shell. The emergency stop button is arranged at the rear of the main body and is electrically connected to the central control box, and is used to stop the robot from moving in an emergency.

[0014] Preferably, the crawler mechanism includes a crawler, a driving wheel, a guide wheel, a load-bearing wheel, a tensioning device, a traction wheel, an inner load-bearing curved arm, an outer load-bearing curved arm, a belt, a pulley, a fixed connecting plate and a protective plate, and the crawler mechanism has the crawler as its outer contour;

[0015] The driving wheel is located at the front end of the crawler mechanism, and the driving wheel is connected to the outer load-bearing curved arm through the fixed connecting plate. The inner load-bearing curved arm is arranged on the inner side of the outer load-bearing curved arm. The upper ends of the inner load-bearing curved arm and the outer load-bearing curved arm are connected by the tensioning device. The middle of the inner load-bearing curved arm and the outer load-bearing curved arm is connected by a steel round pipe. Two load-bearing wheels are provided at the bottom of the outer load-bearing curved arm.

[0016] The guide wheel is located above the rear end of the crawler mechanism, and a load-bearing wheel is provided below the guide wheel, and the load-bearing wheel is connected to the guide wheel through a fixed connecting plate;

[0017] The guide wheel is connected to the inner load-bearing curved arm through the fixed connecting plate, and a load-bearing wheel is provided at the bottom of the inner load-bearing curved arm; the protective plate is provided between the crawler mechanism and the main body;

[0018] The pulley is in transmission connection with the motor via the belt.

[0019] Preferably, the unmanned exploration system includes a camera, an ultrasonic sensor, a GPS positioning system, a central control box and an intelligent control panel;

[0020] The camera is installed on the top of the protective shell, the ultrasonic sensors are installed at the four corners of the outer side of the main body, and the intelligent control panel is arranged on the left side of the protective safety door.

[0021] Preferably, the environmental monitoring and early warning system includes a sensor network, an external communication device, and an audible and visual alarm device;

[0022] The sensor network specifically includes temperature sensors, humidity sensors, noise sensors, light sensors, and gas concentration sensors;

[0023] The temperature sensor is arranged at the rear of the protective housing, and the humidity sensor is arranged at both sides of the central control box;

[0024] The noise sensor is arranged behind the battery box inside the main body;

[0025] The gas concentration sensor and light sensor are arranged on the protective safety door;

[0026] The sound and light alarm device is arranged in front of the protective shell of the robot;

[0027] The external communication device is arranged on the right side of the protective safety door.

[0028] Preferably, an ARM central processing unit is installed inside the central control box.

[0029] Preferably, the sensing antenna is electrically connected to the central control box for wireless communication, and the sensing antenna can be replaced with wired control conduction.

[0030] Preferably, the LED lamp is connected to a light sensor, and the brightness of the lighting device is automatically adjusted according to real-time data from the light sensor.

[0031] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. Through the uniquely designed all-terrain crawler walking mechanism, the unmanned robot of this utility model can move freely in the complex terrain of abandoned mines, significantly improving its maneuverability and flexibility.

[0033] 2. This utility model is equipped with an advanced unmanned exploration system, including a 360° rotating high dynamic range camera and ultrasonic sensors, which can achieve all-round environmental monitoring and mineral exploration.

[0034] 3. Taking into account the potential safety hazards in abandoned mines, the utility model specially designs an environmental monitoring and early warning system, which uses a variety of sensors to monitor key indicators such as temperature, humidity, and harmful gas concentration in the mine in real time.

[0035] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present disclosure (a);

[0037] Figure 2 is a schematic diagram of the overall structure of an embodiment of the present disclosure (b);

[0038] Figure 3 A schematic diagram of a crawler mechanism according to an embodiment of the present disclosure;

[0039] Figure 4 This is a schematic diagram of the interior of the main body of an embodiment of the present disclosure;

[0040] Figure 5 It is a front view of an embodiment of the present disclosure;

[0041] Figure 6 This is a structural diagram of the crawler mechanism of the embodiment of the present disclosure.

[0042] Reference numerals

[0043] 1. Track; 2. Guide wheel; 3. Inner load-bearing arm; 4. Outer load-bearing arm; 5. Tensioner; 6. Load-bearing wheel; 7. Drive wheel; 8. Pulley; 9. Belt; 10. Towing pulley; 11. Protective plate; 12. Fixed connecting plate; 13. Main body; 14. Protective shell; 15. LED light; 16. Sound and light alarm device; 17. Camera; 18. Sensor antenna; 19. Temperature sensor; 20. Ultrasonic sensor; 21. Emergency stop button; 22. Battery box; 23. Noise sensor; 24. Motor; 25. Humidity sensor; 26. Cooling device; 27. Central control box; 28. Motor driver; 29. Intelligent control panel; 30. Gas concentration sensor; 31. Protective safety door; 32. Light sensor; 33. External communication device; 34. GPS positioning. DETAILED DESCRIPTION

[0044] The technical solution of the present utility model is further described below through the accompanying drawings and embodiments.

[0045] Unless otherwise defined, technical or scientific terms used in the present invention should have the common meanings understood by persons having ordinary skills in the field to which the present invention belongs.

[0046] The terms "include" or "comprising" and similar expressions used in this utility model mean that the elements preceding the word include the elements listed after the word, and do not exclude the possibility of also including other elements. The directions or positional relationships indicated by the terms "inside", "outside", "upper", "lower", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations on this utility model. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. In this utility model, unless otherwise clearly specified and limited, terms such as "attachment" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to the specific circumstances.

[0047] like Figure 1-5 As shown, the utility model discloses an all-terrain robot for exploring minerals in abandoned mines. The overall appearance design of the robot meets the explosion-proof design standards for mining, including a chassis system, a crawler mechanism, an unmanned exploration system and an environmental monitoring and early warning system.

[0048] The chassis system includes a main body 13 and a protective shell 14. The protective shell 14 is arranged on the upper surface of the main body 13, and there is a cavity between the protective shell 14 and the main body 13.

[0049] Furthermore, the upper surface of the main body 13 is a groove structure, and a crossbar connection is provided in the middle of the groove structure;

[0050] A battery case 22 is located on one side of the upper surface of the main body 13, and a central control box 27 is located on the other side. The battery cells are high-performance, explosion-proof AGMo lithium batteries, and the battery case 22 is made of a sturdy, fire-resistant metal material with excellent protective properties. The battery management system (BMS) is responsible for monitoring and managing the operating status of the battery pack, detecting parameters such as the voltage, current, and temperature of the battery cells in real time to ensure that the battery pack operates within a safe range. An electric motor 24 is located in the center of the upper surface of the main body 13, near the track mechanism. The motor driver 28 is equipped with an Intel Core i9 processor and is responsible for receiving signals from sensors and the navigation system and calculating the control parameters of the motor 24 based on these signals. By precisely controlling the speed, torque, and power of the motor 24, the robot achieves smooth acceleration, deceleration, and steering functions. The motor 24 uses an efficient, low-noise, explosion-proof motor 24 with low maintenance costs. The motor driver is located in the center of the upper surface of the main body 13. One side of the motor 24 is fixed to the edge of the groove structure of the main body 13, and the other side is provided with a cooling device 26. The cooling device 26 uses air cooling to achieve effective heat dissipation through a radiator.

[0051] A protective safety door 31 is provided in front of the main body 13 . The battery cells can be removed and replaced by opening the protective safety door 31 at the front end of the main body 13 with a key.

[0052] Furthermore, an LED light 15, a sensor antenna 18 and an emergency stop button 21 are provided on the outside of the chassis system. The LED light 15 is respectively arranged in front of and behind the protective shell 14. The sensor antenna 18 is located in a rear corner of the protective shell 14. The emergency stop button 21 is arranged at the rear of the main body 13 and is electrically connected to the central control box 27, which is used to stop the robot from moving in an emergency.

[0053] The crawler mechanism is welded to both sides of the main body 13 through circular crossbeams, which can achieve efficient movement on complex terrain;

[0054] Further, such as Figure 6 As shown, the crawler mechanism includes a crawler 1, a driving wheel 7, a guide wheel 2, a load-bearing wheel 6, a tensioner 5, a drag wheel 10, an inner load-bearing curved arm 3, an outer load-bearing curved arm 4, a belt 9, a pulley 8, a fixed connecting plate 12 and a protective plate 11. The crawler mechanism is designed based on the complex environment of abandoned mines and has strong terrain adaptability.

[0055] The crawler mechanism has crawler 1 as the outer contour;

[0056] The driving wheel 7 is located at the front end of the crawler mechanism. The driving wheel 7 is connected to the outer load-bearing curved arm 4 through a fixed connecting plate 12. The inner load-bearing curved arm 3 is arranged inside the outer load-bearing curved arm 4. The upper ends of the inner load-bearing curved arm 3 and the outer load-bearing curved arm 4 are connected by a tensioning device 5. The middle of the inner load-bearing curved arm 3 and the outer load-bearing curved arm 4 is connected by a steel round tube. Two load-bearing wheels 6 are provided at the bottom of the outer load-bearing curved arm 4.

[0057] The guide wheel 2 is located above the rear end of the crawler mechanism, and a load-bearing wheel 6 is provided below the guide wheel 2. The load-bearing wheel 6 is connected to the guide wheel 2 through a fixed connecting plate 12;

[0058] The guide wheel 2 is connected to the inner load-bearing arm 3 through a fixed connecting plate 12, and a load-bearing wheel 6 is provided at the bottom of the inner load-bearing arm 3; the protective plate 11 is provided between the crawler mechanism and the main body 13;

[0059] The pulley 8 is connected to the motor 24 via a belt 9;

[0060] The traction wheel 10 is arranged on the top inner side of the crawler track 1 .

[0061] The unmanned exploration system includes a high-dynamic-range camera 17, an ultrasonic sensor 20, a GPS positioner 34, a central control box 27, and an intelligent control panel 29. The system is mounted atop the chassis and provides comprehensive environmental monitoring and mineral exploration capabilities. Furthermore, the environmental monitoring and early warning system integrates temperature, humidity, noise, light, and gas concentration sensors, as well as external communication and audio-visual alarm devices 16 to ensure mine environmental safety. The unmanned exploration system is equipped with a 360-degree rotating high-dynamic-range camera. The high-dynamic-range camera 17 can freely rotate from 0 to 360 degrees according to the conditions of the abandoned mine, facilitating monitoring and exploration of different areas.

[0062] The environmental monitoring and early warning system includes a sensor network, an external communication device 33 and an audible and visual alarm device 16. The environmental monitoring and early warning system is distributed at the bottom and sides of the chassis system.

[0063] Furthermore, the unmanned exploration system includes a camera 17, an ultrasonic sensor 20, a GPS positioning 34, a central control box 27 and an intelligent control panel 29;

[0064] The camera 17 is installed on the top of the protective shell 14 , the ultrasonic sensors 20 are installed at the four corners of the outer side of the main body 13 , and the intelligent control panel 29 is set on the left side of the protective safety door 31 .

[0065] Further, such as Figure 4 and Figure 5 As shown, the environmental monitoring and early warning system includes a sensor network, an external communication device 33 and an audible and visual alarm device 16;

[0066] The sensor network specifically includes temperature sensors 19, humidity sensors 25, noise sensors 23, light sensors 32, and gas concentration sensors. This sensor network senses the mine environment in real time, collects environmental data, and transmits it to the central processing unit. Located in the central control box 27, the central processing unit is responsible for receiving and analyzing data from the sensor network. It uses advanced algorithms to process data, identify potential safety hazards, and issue corresponding warnings through the external communication device 33, notifying operators and the management center.

[0067] like Figure 5 As shown, the temperature sensor 19 is arranged behind the protective housing 14, and the humidity sensor 25 is arranged on both sides of the central control box 27;

[0068] The noise sensor 23 is arranged behind the battery box 22 inside the main body 13;

[0069] The gas concentration sensor 30 and the light sensor 32 are installed on the protective safety door 31;

[0070] The sound and light alarm device 16 is provided in front of the robot protective housing 14;

[0071] The external communication device 33 is disposed on the right side of the protective safety door 31 .

[0072] Furthermore, the central control box 27 is internally provided with an ARM central processing unit for writing motion programs and controlling the motion of the system.

[0073] Furthermore, the sensing antenna 18 is electrically connected to the central control box 27 for wireless communication, and the sensing antenna 18 can be replaced with wired control conduction.

[0074] Furthermore, the LED lamp 15 is connected to the light sensor 32 and automatically adjusts the brightness of the lighting device according to the real-time data of the light sensor 32 .

[0075] During use, the operator starts the exploration robot by operating the intelligent control panel 29 on site. After the robot is started, it first performs a self-test, and the ARM central processor coordinates the self-test of each module to ensure that each component is working properly.

[0076] The robot can realize programmed self-controlled walking and remote controlled walking. In terms of vision, the high dynamic range camera 17 installed on the top of the robot collects mine environment information in real time, and the image processor DSP processes it to extract the two-dimensional information of the mine path in the image.

[0077] In terms of ultrasonic obstacle avoidance, ultrasonic sensors 20 installed at the front, back, left, and right corners of the robot collect obstacle information around the robot in real time.

[0078] The GPS positioning 34 is located at the bottom of the robot and is used in conjunction with the high-definition camera 17 to determine the robot's location by identifying specific landmarks or patterns.

[0079] The robot's decision-making and planning are handled by an ARM CPU located in the central control box 27 within the device, which processes all sensor data and performs path planning, decision-making, and navigation control. After the ARM CPU processes the information and issues instructions, the motor controller receives them. The Intel Core i9 processor within the motor controller interprets the instructions from the CPU and, based on real-time sensor data and path planning information, controls the robot's electric motor 24 through the motor driver to adjust driving speed, direction, and obstacle avoidance strategies.

[0080] During the mineral exploration process, the camera 17 or other detection equipment carried by the robot will conduct detailed inspections of the mine environment and transmit the data to the remote monitoring center in real time.

[0081] After completing the pre-set exploration mission, the robot returns to its starting point or a designated safe area along a pre-set path. During the return process, various systems continue to operate to ensure the robot's safe return. The robot transmits data collected during the exploration, including environmental data and image information, to a remote monitoring center via sensor antenna 18.

[0082] This utility model patent significantly improves the intelligence and safety of abandoned mine exploration by integrating multiple cutting-edge technologies, providing new technical support for the effective development of mineral resources.

[0083] The all-terrain crawler 1 walking mechanism enables the robot to move freely in complex terrain, greatly improving the maneuverability and flexibility of exploration.

[0084] It not only realizes all-round environmental and mineral exploration, but also can monitor key safety indicators in the mine in real time, demonstrating a high degree of practicality and innovation.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An all-terrain robot for exploring minerals in abandoned mines, characterized in that: Including chassis system, crawler mechanism, unmanned exploration system and environmental monitoring and early warning system; The chassis system includes a main body and a protective shell, wherein the protective shell is arranged on the upper surface of the main body, and a cavity is formed between the protective shell and the main body; The crawler mechanism is welded on both sides of the main body through circular cross beams; The unmanned exploration system includes a high dynamic range camera, an ultrasonic sensor, a GPS positioning system, a central control box and an intelligent control panel, and the unmanned exploration system is arranged on top of the chassis system; The environmental monitoring and early warning system includes a sensor network, an external communication device and an audible and visual alarm device, and the environmental monitoring and early warning system is distributed at the bottom and sides of the chassis system.

2. The all-terrain robot for exploring minerals in abandoned mines according to claim 1, characterized in that: The upper surface of the main body is a groove structure, and a crossbar connection is provided in the middle of the groove structure; A battery box is provided on one side of the upper surface of the main body and a central control box is provided on the other side. An electric motor is provided on the central side of the upper surface of the main body near the track mechanism. A motor driver is provided on the central side of the upper surface of the main body. One side of the electric motor is fixed to the edge of the groove structure of the main body and a cooling device is provided on the other side. A protective safety door is provided in front of the main body.

3. The all-terrain robot for exploring minerals in abandoned mines according to claim 2, characterized in that: The chassis system is equipped with an LED light, a sensor antenna and an emergency stop button on the outside. The LED lights are respectively arranged in front of and behind the protective shell. The sensor antenna is located in a rear corner of the protective shell. The emergency stop button is arranged at the rear of the main body and is electrically connected to the central control box, which is used to stop the robot from moving in an emergency.

4. The all-terrain robot for exploring minerals in abandoned mines according to claim 3, characterized in that: The crawler mechanism includes a crawler belt, a driving wheel, a guide wheel, a load-bearing wheel, a tensioning device, a traction wheel, an inner load-bearing curved arm, an outer load-bearing curved arm, a belt, a pulley, a fixed connecting plate and a protective plate; The crawler mechanism has the crawler as its outer contour; The driving wheel is located at the front end of the crawler mechanism, and the driving wheel is connected to the outer load-bearing curved arm through the fixed connecting plate. The inner load-bearing curved arm is arranged on the inner side of the outer load-bearing curved arm. The upper ends of the inner load-bearing curved arm and the outer load-bearing curved arm are connected by the tensioning device. The middle of the inner load-bearing curved arm and the outer load-bearing curved arm are connected by a steel round pipe. Two load-bearing wheels are provided at the bottom of each of the inner load-bearing curved arm and the outer load-bearing curved arm. The guide wheel is located above the rear end of the crawler mechanism, and a load-bearing wheel is provided below the guide wheel, and the load-bearing wheel is connected to the guide wheel through a fixed connecting plate; The guide wheel is connected to the inner load-bearing curved arm through the fixed connecting plate; The protective plate is arranged between the track mechanism and the main body; The pulley is connected to the motor through the belt; The traction wheel is arranged on the top inner side of the crawler track.

5. The all-terrain robot for exploring minerals in abandoned mines according to claim 4, characterized in that: The unmanned exploration system includes a camera, an ultrasonic sensor, a GPS positioning system, a central control box and an intelligent control panel; The camera is installed on the top of the protective shell, the ultrasonic sensors are installed at the four corners of the outer side of the main body, and the intelligent control panel is arranged on the left side of the protective safety door.

6. The all-terrain robot for exploring minerals in abandoned mines according to claim 5, characterized in that: The environmental monitoring and early warning system includes a sensor network, an external communication device, and an audible and visual alarm device; The sensor network specifically includes temperature sensors, humidity sensors, noise sensors, light sensors, and gas concentration sensors; The temperature sensor is arranged at the rear of the protective housing, and the humidity sensor is arranged at both sides of the central control box; The noise sensor is arranged behind the battery box inside the main body; The gas concentration sensor and the light sensor are arranged on the protective safety door; The sound and light alarm device is arranged in front of the protective shell of the robot; The external communication device is arranged on the right side of the protective safety door.

7. The all-terrain robot for exploring minerals in abandoned mines according to claim 6, characterized in that: An ARM central processing unit is installed inside the central control box.

8. The all-terrain robot for exploring minerals in abandoned mines according to claim 7, characterized in that: The sensor antenna is electrically connected to the central control box for wireless communication, and the sensor antenna can be replaced with wired control conduction.

9. The all-terrain robot for exploring minerals in abandoned mines according to claim 8, characterized in that: The LED lamp is connected to a light sensor and automatically adjusts the brightness of the lighting device according to real-time data from the light sensor.

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