Mining anti-explosion large-dip-angle track inspection robot

Abstract

The utility model provides a mining anti-explosion large-dip-angle track inspection robot which comprises a robot body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body and a track inspection robot main body, the traction driving module is mounted on the robot body, and the traction driving module is used for driving the robot body to move along the track; the information acquisition unit is installed on the robot body, the information acquisition unit is used for acquiring inspection information, and the inspection information at least comprises operation state information and environment condition information of the belt conveyor; and the control module is electrically connected with the information acquisition unit and the traction driving module, the control module generates a control instruction based on the inspection information, the traction driving module controls starting and stopping of the robot body based on the control instruction, and the problem that in the prior art, manual inspection affects safety is solved.

Description

Technical Field

[0001] The utility model relates to the field of equipment operation status monitoring, in particular to an explosion-proof high-angle track inspection robot for mining. Background Art

[0002] Coal transportation is a crucial intermediate step in the coal production process. Belt conveyors are highly efficient coal transportation equipment and are widely used in coal production. However, accidents such as longitudinal belt tearing, belt breakage, and belt deviation are prone to occur during transportation, resulting in equipment damage, production halts, and even endangering worker safety. Furthermore, the complex, harsh, and poorly lit environment of coal mines poses significant challenges to personnel inspections. Accidents such as longitudinal belt tearing, belt breakage, and belt deviation are prone to occur during transportation, resulting in equipment damage, production halts, and even endangering worker safety. Furthermore, the complex, harsh, and poorly lit environment of coal mines poses significant challenges to personnel inspections. Utility Model Content

[0003] The main purpose of the utility model is to provide a mining explosion-proof large-angle track inspection robot to solve the problem of manual inspection affecting safety in the prior art.

[0004] To achieve the above objectives, according to one aspect of the present invention, a mining explosion-proof high-angle track inspection robot is provided. The mining explosion-proof high-angle track inspection robot comprises: a robot body, which is arranged on the track of a belt conveyor; a traction drive module, which is mounted on the robot body and is used to drive the robot body to move along the track; an information acquisition unit, which is mounted on the robot body and is used to obtain inspection information, the inspection information including at least: operating status information and environmental information of the belt conveyor; and a control module, which is electrically connected to the information acquisition unit and the traction drive module, and generates control instructions based on the inspection information. The traction drive module controls the start and stop of the robot body based on the control instructions.

[0005] Furthermore, the information collection unit includes: an audio and video collection module, which is used to obtain the operating status information of the belt conveyor; a sensor module, which is used to obtain the environmental condition information around the belt conveyor; the audio and video collection module and the sensor module are electrically connected to the control module respectively.

[0006] Furthermore, the audio and video acquisition module includes: an audio acquisition sensor, which is used to collect audio signals during the inspection process of the robot body; a control module is electrically connected to the audio acquisition sensor; and the control module generates an alarm signal based on the audio signal.

[0007] Furthermore, the audio and video acquisition module includes: an image recognition module, which is used to identify and detect image information of the belt conveyor, and the image at least includes: deviation information of the belt conveyor and status information of rollers of the belt conveyor.

[0008] Furthermore, the audio and video acquisition module includes: an infrared thermal imaging module, which is used to identify the thermal image of a person to perform personnel detection.

[0009] Furthermore, the sensor module includes: an obstacle avoidance sensor, which is used to obtain obstacle information around the robot body. The obstacle information at least includes: obstacle position information and obstacle size information. The control module is electrically connected to the obstacle avoidance sensor, and the control module generates an emergency stop signal based on the obstacle information.

[0010] Furthermore, the sensor module includes: a gas sensor, which is used to detect gas data of the target gas, and the target gas includes at least: methane, oxygen, carbon monoxide and carbon dioxide. The control module is electrically connected to the gas sensor, and the control module determines whether the gas data exceeds a preset threshold. If it is determined that the gas data exceeds the preset threshold, the control module generates an alarm signal.

[0011] Furthermore, the sensor module includes: a temperature and humidity sensor, which is used to obtain temperature information and humidity information.

[0012] Furthermore, the mining explosion-proof high-angle track inspection robot also includes: a charging module, the charging module is connected to the robot body, and the charging module is used to charge the robot body.

[0013] Furthermore, the mining explosion-proof high-angle track inspection robot also includes: a wireless communication module, which is arranged on the robot body and is used to realize wireless communication between the control module and the information collection unit and the traction drive module.

[0014] By applying the technical solution of the present invention, the robot body runs on a track, avoiding personnel from conducting inspections in harsh and dangerous coal mine environments, significantly reducing the risk of casualties. At the same time, the information acquisition unit can monitor the operating status and environmental conditions of the belt conveyor in real time. When an abnormality is detected (such as excessive temperature or excessive gas concentration), the control module can immediately generate corresponding control instructions to enable the traction drive module 20 to drive the robot to take emergency measures, such as stopping operation, sounding an alarm or evacuating to a safe area, effectively preventing accidents. The robot replaces manual operations, reducing the working time of coal miners in high-risk and harsh environments, improving working conditions and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 The figure shows a schematic structural diagram of a first embodiment of a mining explosion-proof high-angle track inspection robot according to the present utility model;

[0017] Figure 2 The figure shows a schematic structural diagram of a second embodiment of the mining explosion-proof high-angle track inspection robot according to the present invention;

[0018] Figure 3 FIG2 shows a schematic structural diagram of a third embodiment of a mining explosion-proof high-angle track inspection robot according to the present utility model;

[0019] Figure 4 The figure shows a flow chart of a control method of a mining explosion-proof high-angle track inspection robot according to the present invention.

[0020] The above drawings include the following reference numerals:

[0021] 10. Robot body;

[0022] 20. Traction drive module;

[0023] 30. Information collection unit;

[0024] 31. Audio and video acquisition module; 311. Audio acquisition sensor; 312. Image recognition module; 313. Infrared thermal imaging module;

[0025] 32. Sensor module; 321. Obstacle avoidance sensor; 322. Gas sensor; 323. Temperature and humidity sensor;

[0026] 40. Control module;

[0027] 50. Charging module;

[0028] 60. Wireless communication module. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0033] Combine Figures 1 to 3 As shown, according to a specific embodiment of the utility model, a mining explosion-proof high-angle track inspection robot is provided.

[0034] Specifically, if Figure 1As shown, the explosion-proof high-angle track inspection robot for mining includes: a robot body 10, which is arranged on the track of the belt conveyor; a traction drive module 20, which is installed on the robot body 10, and the traction drive module 20 is used to drive the robot body 10 to move along the track; an information acquisition unit 30, which is installed on the robot body 10, and the information acquisition unit 30 is used to obtain inspection information, and the inspection information includes at least: operating status information and environmental status information of the belt conveyor; a control module 40, which is electrically connected to the information acquisition unit 30 and the traction drive module 20, and the control module 40 generates control instructions based on the inspection information, and the traction drive module 20 controls the start and stop of the robot body 10 based on the control instructions.

[0035] In this embodiment, the robot body 10 runs on a track, avoiding personnel from conducting inspections in a harsh and dangerous coal mine environment, significantly reducing the risk of casualties. At the same time, the information acquisition unit 30 can monitor the operating status and environmental conditions of the belt conveyor in real time. When an abnormality is detected (such as excessive temperature or excessive gas concentration), the control module 40 can immediately generate corresponding control instructions to enable the traction drive module 20 to drive the robot to take emergency measures, such as stopping operation, issuing an alarm, or evacuating to a safe area, effectively preventing accidents. The robot replaces manual operations, reducing the working time of coal miners in high-risk and harsh environments, improving working conditions, and improving safety.

[0036] Furthermore, the information collection unit 30 includes an audio and video collection module 31 for acquiring information about the operating status of the belt conveyor, and a sensor module 32 for acquiring information about the environmental conditions surrounding the belt conveyor. Both the audio and video collection module 31 and the sensor module 32 are electrically connected to the control module 40. The electrical connection between the information collection unit 30 and the control module 40 not only enables real-time and comprehensive acquisition of the operating status and environmental conditions of the belt conveyor, but also improves the efficiency and safety of inspections through data fusion and remote decision-making.

[0037] Furthermore, the audio and video acquisition module 31 includes an audio acquisition sensor 311, which is used to collect audio signals from the robot body 10 during inspections. The control module 40 is electrically connected to the audio acquisition sensor 311 and generates an alarm signal based on the audio signals. The audio acquisition sensor 311 can monitor audio signals during the inspection process in real time, such as abnormal sounds from the conveyor belt and changes in ambient noise. When the control module detects specific audio anomalies, it can quickly generate an alarm signal, promptly notify the operator, or automatically take measures to prevent potential safety incidents.

[0038] Furthermore, the audio and video acquisition module 31 includes an image recognition module 312, which is used to identify and detect image information from the belt conveyor. The image information includes at least information about belt deviation and the status of the belt conveyor's rollers. The image recognition module 312 collects and recognizes image information from the belt conveyor, specifically detecting belt deviation and roller status. Through real-time image analysis, the robot can respond instantly, adjust its operating status, or send an alert to the operator through the control module, thus preventing equipment damage and production stoppages caused by belt deviation or roller anomalies.

[0039] Furthermore, the audio and video acquisition module 31 includes an infrared thermal imaging module 313, which is used to identify personnel heat maps for personnel detection. Infrared thermal imaging technology can generate personnel heat maps and effectively identify personnel locations, especially in low-light or low-visibility mine environments. This ensures that the robot does not pose a threat to on-site personnel when performing inspection tasks, and can also promptly detect personnel who may be in dangerous environments, improving personnel safety.

[0040] Furthermore, the sensor module 32 includes an obstacle avoidance sensor 321, which is used to obtain obstacle information around the robot body 10. This obstacle information includes at least the location and size of the obstacle. The control module 40 is electrically connected to the obstacle avoidance sensor 321 and generates an emergency stop signal based on the obstacle information. The obstacle avoidance sensor can obtain obstacle information around the robot, including its location and size. Once an obstacle is detected, the control module can immediately generate an emergency stop signal to prevent the robot from colliding with the obstacle, thereby ensuring the safety of equipment and personnel.

[0041] Furthermore, the sensor module 32 includes a gas sensor 322 for detecting gas data of a target gas, which includes at least methane, oxygen, carbon monoxide, and carbon dioxide. The control module 40 is electrically connected to the gas sensor 322. The control module 40 determines whether the gas data exceeds a preset threshold. If it is determined that the gas data exceeds the preset threshold, the control module 40 generates an alarm signal. The gas sensor 322 can detect the concentration of the target gas (such as methane, oxygen, carbon monoxide, etc.) in real time, which is particularly important for environments such as mines where flammable and explosive gases may pose a risk. The control module can determine whether to generate an alarm signal based on whether the gas data exceeds the preset threshold, so that timely measures can be taken to avoid explosions or poisoning accidents caused by gas leaks.

[0042] Furthermore, sensor module 32 includes a temperature and humidity sensor 323 for acquiring temperature and humidity information. This sensor can obtain temperature and humidity information within the mine, which is crucial for monitoring the equipment's operating environment and preventing damage from overheating or moisture. By continuously monitoring temperature and humidity, the control module can adjust the robot's operating status in real time and record environmental data for equipment maintenance and optimization, thereby improving the equipment's stability and service life.

[0043] Furthermore, the mining explosion-proof high-angle rail inspection robot further includes a charging module 50, which is connected to the robot body 10 and is used to charge the robot body 10. The charging module 50 uses a wirelessly rechargeable lithium battery, which can achieve a more convenient wireless charging function.

[0044] Furthermore, the mining explosion-proof high-angle track inspection robot also includes: a wireless communication module 60, which is arranged on the robot body 10, and the wireless communication module 60 is used to realize wireless communication between the control module 40 and the information collection unit 30 and the traction drive module 20.

[0045] The wireless communication module 60 includes an RFID card reader and a wireless transceiver, enabling wireless data transmission between the robot and the control unit. The RFID card reader uses radio frequency to achieve two-way communication, while the wireless transceiver transmits and receives signals via radio waves, providing two-way communication capabilities for sending and receiving information.

[0046] The traction drive module 20 controls the traction system to enable the inspection robot to circulate back and forth within the track. The traction drive module includes a control motor and a traction system. The traction drive module is installed on the inspection robot body.

[0047] According to another aspect of the present invention, a control method for a mining explosion-proof high-angle track inspection robot is provided. Figure 4 This is a flow chart of the control method for the mining explosion-proof high-angle track inspection robot. The specific steps are as follows:

[0048] Step 1: Initialize registers, set interrupt parameters, associate interrupt routines, and initialize each module.

[0049] Step 2: Each sensor collects information and reads the collected information into the input register as an input signal.

[0050] Step 3: Transfer the input signal to the control module to realize the different functional control of the robot.

[0051] Step 4: After the control module completes executing different functions, it refreshes the output register and outputs the results.

[0052] Step 5: Determine whether the MCU has stopped running. If the MCU has stopped running, exit the program; otherwise, return to step 2 and loop through steps 2 to 4.

[0053] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0054] The control system for the explosion-proof, high-angle, wireless charging rail inspection robot for mining is equipped with multiple sensors. It collects and analyzes input signals, determines the signals, and issues forward, stop, reverse, and alarm signals to ensure the safety and reliability of the inspection robot's operation. If the temperature, gas concentration, roller length, and other information collected by the inspection robot's sensors exceed set safety values, the control system issues an alarm signal, ensuring safety and efficiency during production.

[0055] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0056] In addition to the above, it should be noted that references to "one embodiment," "another embodiment," "an embodiment," and the like in this specification refer to specific features, structures, or characteristics described in conjunction with that embodiment as being included in at least one embodiment generally described in this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in conjunction with any embodiment, it is intended that such feature, structure, or characteristic, when implemented in conjunction with other embodiments, also fall within the scope of the present invention.

[0057] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A mining explosion-proof high-angle track inspection robot, characterized in that: include: A robot body (10), wherein the robot body (10) is arranged on a track of a belt conveyor; a traction drive module (20), the traction drive module (20) being mounted on the robot body (10), the traction drive module (20) being used to drive the robot body (10) to move along the track; An information collection unit (30), the information collection unit (30) being mounted on the robot body (10), and the information collection unit (30) being used to obtain inspection information, the inspection information at least including: operating status information of the belt conveyor and environmental status information; A control module (40) is electrically connected to the information acquisition unit (30) and the traction drive module (20), the control module (40) generates a control instruction based on the inspection information, and the traction drive module (20) controls the start and stop of the robot body (10) based on the control instruction.

2. The mining explosion-proof high-angle track inspection robot according to claim 1, characterized in that: The information collection unit (30) comprises: An audio and video acquisition module (31), the audio and video acquisition module (31) is used to obtain operating status information of the belt conveyor; A sensor module (32), the sensor module (32) being used to obtain environmental condition information around the belt conveyor; The audio and video acquisition module (31) and the sensor module (32) are electrically connected to the control module (40) respectively.

3. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The audio and video acquisition module (31) comprises: An audio acquisition sensor (311) is used to acquire audio signals during the inspection process of the robot body (10); the control module (40) is electrically connected to the audio acquisition sensor (311); and the control module (40) generates an alarm signal based on the audio signal.

4. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The audio and video acquisition module (31) comprises: An image recognition module (312) is used to recognize and detect image information of a belt conveyor, wherein the image at least includes: deviation information of the belt conveyor and status information of rollers of the belt conveyor.

5. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The audio and video acquisition module (31) comprises: An infrared thermal imaging module (313) is used to identify a person's thermal image to perform person detection.

6. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The sensor module (32) comprises: An obstacle avoidance sensor (321) is used to obtain obstacle information around the robot body (10), wherein the obstacle information at least includes: obstacle position information and obstacle size information; the control module (40) is electrically connected to the obstacle avoidance sensor (321); and the control module (40) generates an emergency stop signal based on the obstacle information.

7. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The sensor module (32) comprises: A gas sensor (322) is used to detect gas data of a target gas, wherein the target gas includes at least methane, oxygen, carbon monoxide, and carbon dioxide. The control module (40) is electrically connected to the gas sensor (322). The control module (40) determines whether the gas data exceeds a preset threshold value. When it is determined that the gas data exceeds the preset threshold value, the control module (40) generates an alarm signal.

8. The mining explosion-proof high-angle track inspection robot according to claim 2, characterized in that: The sensor module (32) comprises: A temperature and humidity sensor (323) is used to obtain temperature information and humidity information.

9. The mining explosion-proof high-angle track inspection robot according to claim 1, characterized in that: The mining explosion-proof high-angle track inspection robot also includes: A charging module (50) is connected to the robot body (10), and the charging module (50) is used to charge the robot body (10).

10. The mining explosion-proof high-angle track inspection robot according to claim 1, characterized in that: The mining explosion-proof high-angle track inspection robot also includes: A wireless communication module (60) is provided on the robot body (10), and the wireless communication module (60) is used to realize wireless communication between the control module (40), the information acquisition unit (30), and the traction drive module (20).

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