Mine operation robot based on three-dimensional laser radar

Abstract

The utility model discloses a mine operation robot based on a three-dimensional laser radar, which solves the problems of low positioning precision and poor navigation effect of the existing underground robot, and improves the load capacity of the robot. A machine body is arranged on the upper side of the chassis, wheel sets are arranged on the lower side of the chassis, and a holder is arranged on the upper side of the machine body; the upper part of the wheel set frame body is provided with a rudder steel tooth through a rudder bearing, the rudder steel tooth is connected with the driving wheel through a fork body, a photoelectric door is arranged above the rudder steel tooth, the holder comprises a laser radar and a chip, the chip is arranged in a shell on the lower side of the laser radar, and the laser radar is in communication connection with the chip; a gyroscope, a communication module and a microprocessor are fixedly arranged on the machine body, the communication module is used for receiving a wireless communication instruction of a remote controller, and the microprocessor is electrically connected with the gyroscope, the driving motor, the wheel direction encoder, the steering wheel driving motor, the magnetic encoder, the chip and the communication module; the mining robot can be widely applied to the field of mining robots.

Description

Technical Field

[0001] The utility model relates to a mine operation robot based on a three-dimensional laser radar, belonging to the technical field of underground mine robots. Background Art

[0002] In recent years, multi-sensor fusion SLAM technology has rapidly developed, and robotic platforms equipped with SLAM technology have been widely used in homes, hospitals, factories, and nursing homes. my country's mining industry has shifted from rapid development to high-quality development. Building a modern mining system and constructing new intelligent mines urgently requires strong support from emerging industries and technologies. With increasing mining depths, increasing mining difficulty, and frequent safety accidents, mining robots offer significant advantages in replacing manual labor. In mine environments, the use of autonomous robots can significantly improve the efficiency and safety of mine operations, while also saving significant human resources. Through information perception and data processing, mining robots develop optimal mining and control strategies, collaboratively completing intelligent mining, safety assurance, and emergency rescue tasks. They represent a new model and new business model for future mining development, and are crucial for improving mine safety and efficiency and promoting high-quality mining development.

[0003] In existing technologies, global positioning of mining robots primarily relies on RFID technology, using card readers and RFID cards for positioning, or on UWB technology, using radio signal communication for ranging and positioning. RFID can only identify whether a moving target underground has passed through a certain area and cannot meet the requirements for precise positioning and navigation of underground vehicles and robots. Furthermore, the deployment of RFID cards is an incalculable amount of work. UWB technology uses a UWB module to measure the distance between the robot and the UWB base station, and estimates the robot's position through a series of algorithms. However, UWB signals are easily affected by factors such as the size and shape of the underground space, the roughness of the space walls, obstacles, and the underground magnetic field during transmission, making positioning accuracy difficult to guarantee. Mine tunnels are long and narrow, and positioning base stations are separated by hundreds of meters, resulting in extremely unstable positioning accuracy errors. The construction cost of multiple UWB base stations is high, and they will also be affected by the laying of communication cables, power supply cables, etc. in mines. In addition, there are many accidents underground in coal mines, including roof collapse, rock burst, coal and gas outbursts, floods, etc. When an accident occurs, it is very easy to damage the positioning base stations, communication cables, power supply cables, etc. of the underground wireless communication positioning system, causing the system to be paralyzed, and the underground robot to be unable to locate and become paralyzed.

[0004] Therefore, there is a need for a robot capable of autonomous positioning suitable for confined spaces in mines, enabling underground operations without the need for a positioning base station. In patent CN118465758A, the China University of Mining and Technology (Beijing) proposed a global autonomous positioning and navigation method using a two-dimensional lidar. However, robots equipped with this system have proven ineffective in practical applications. Various issues, such as rough roads, complex terrain, and larger environments, can cause the entire robot system to fail, leading to operational failures. Utility Model Content

[0005] The utility model overcomes the difficulties of undulating road surfaces, complex terrain, the need for positioning base stations, and the need for a large amount of manpower and material resources to be deployed in advance, etc. in mines, and provides a mine operation robot based on three-dimensional laser radar, which solves the problems of low positioning accuracy and poor navigation effect of existing mine robots, resulting in difficult operations and failures, and improves its own load capacity.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: a mining operation robot based on three-dimensional laser radar, including a fuselage, a chassis, a wheel group and a pan-tilt platform, the fuselage is provided on the upper side of the chassis, the wheel group is provided on the lower side of the chassis, and the pan-tilt platform is provided on the upper side of the fuselage; the chassis includes: an anti-collision frame located on the outside, a cross main beam is provided in the anti-collision frame, the cross main beam is rigidly connected to the anti-collision frame, and a sheet metal integration is provided on the upper side of the cross main beam; the wheel group includes: a slide rail, a slider, a driving wheel and a wheel group frame, the slide rail is vertically fixed on the sheet metal integration, one side of the slider is matched and arranged on the slide rail, and the other side of the slider is fixed on the wheel group frame, the upper part of the wheel group frame is provided with a steering steel tooth through a steering bearing, the steering steel tooth is connected to the driving wheel through a fork body, and the driving wheel is connected to the driving wheel through itself The inner gear ring is meshed with the gear at the power output end of the driving motor fixed on the fork body, and the driving motor is provided with a wheel encoder for detecting the wheel speed, and the steering steel teeth are meshed with the gear at the power output end of the steering wheel driving motor fixed to the wheelset frame, and the steering wheel driving motor is provided with a magnetic encoder for detecting the steering angle, and a photoelectric gate is provided above the steering steel teeth. A suspension is provided between the wheelset frame and the sheet metal assembly, and the gimbal includes a laser radar and a chip, and the chip is provided in a shell on the lower side of the laser radar, and the laser radar and the chip are communicatively connected; a gyroscope, a communication module and a microprocessor are fixed on the fuselage, and the communication module is used to receive wireless communication instructions from the remote control, and the microprocessor is electrically connected to the gyroscope, driving motor, wheel encoder, steering wheel driving motor, magnetic encoder, chip and communication module respectively.

[0007] Furthermore, the sheet metal integration includes: a first sheet metal bracket, a second sheet metal bracket and a sheet metal shell, the two first sheet metal brackets and the two second sheet metal brackets are symmetrically fixed on the side surfaces of the sheet metal shell, the first sheet metal bracket and the second sheet metal bracket are respectively fixed on the upper side of the cross main beam, and a third sheet metal bracket is horizontally cantilevered on one side of the upper end of the sheet metal shell, and the pan / tilt head is fixed on the third sheet metal bracket.

[0008] Furthermore, wheel sets are provided at the four inner corners of the anti-collision frame.

[0009] Furthermore, the middle of the cavity of the sheet metal shell corresponds to the intersection center of the cross main beam in the vertical direction.

[0010] Furthermore, a plurality of sets of slide rails and sliders are provided between the sheet metal assembly and the wheel assembly frame.

[0011] Compared with the prior art, the present invention has the following beneficial effects: the present invention has an omnidirectionally movable chassis combined with a suspension system, which can flexibly adapt to complex working environments; the anti-collision design makes it easy to deal with special emergencies in mines; the use of a steering wheel set can have higher mechanical efficiency and higher endurance under the same power, and combined with a cabin surrounded by a cross-beam chassis and sheet metal parts, it has better load-bearing capacity and can carry and transport heavier objects; at the same time, the wheel set adopts an integrated design and can be quickly disassembled and repaired. The sheet metal process used in the entire vehicle is extremely lightweight and ensures strength while having a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below with reference to the accompanying drawings.

[0013] Figure 1 It is a structural diagram of the present utility model.

[0014] Figure 2 It is a structural schematic diagram of the sheet metal integrated component in this utility model.

[0015] Figure 3 This is a schematic structural diagram of the first sheet metal bracket in the present invention.

[0016] Figure 4 This is a schematic structural diagram of the second sheet metal bracket in the present invention.

[0017] Figure 5 The three-dimensional structure of the wheel group in this utility model is shown as follows Figure 1 .

[0018] Figure 6 The three-dimensional structure of the wheel group in this utility model is shown as follows Figure 2 .

[0019] Figure 7The three-dimensional structure of the wheel group in this utility model is shown as follows Figure 3 .

[0020] In the figure: 1 is the fuselage, 2 is the chassis, 21 is the anti-collision frame, 22 is the cross main beam, 23 is the sheet metal assembly, 231 is the first sheet metal bracket, 232 is the second sheet metal bracket, 233 is the sheet metal shell 233, 234 is the third sheet metal bracket, 3 is the wheel set, 31 is the slide rail, 32 is the slider, 33 is the drive wheel, 34 is the wheel set frame, 35 is the steering bearing, 36 is the steering steel tooth, 37 is the fork body, 38 is the drive motor, 39 is the wheel encoder, 310 is the steering wheel drive motor, 311 is the magnetic encoder, 312 is the photoelectric gate, 313 is the suspension, 4 is the gimbal, and 41 is the laser radar. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to specific embodiments.

[0022] like Figures 1 to 7As shown, the utility model is a mining operation robot based on three-dimensional laser radar, including a fuselage 1, a chassis 2, a wheel group 3 and a pan-tilt platform 4. The fuselage 1 is provided on the upper side of the chassis 2, the wheel group 3 is provided on the lower side of the chassis 2, and the pan-tilt platform 4 is provided on the upper side of the fuselage 1; the chassis 2 includes: an anti-collision frame 21 located on the outside, a cross main beam 22 is provided in the anti-collision frame 21, the cross main beam 22 is rigidly connected to the anti-collision frame 21, and a sheet metal integrated part 23 is provided on the upper side of the cross main beam 22; the The wheel set 3 includes: a slide rail 31, a slider 32, a driving wheel 33 and a wheel set frame 34. The slide rail 31 is vertically fixed on the sheet metal integrated component 23. One side of the slider 32 is matched with the slide rail 31. The other side of the slider 32 is fixed on the wheel set frame 34. The upper part of the wheel set frame 34 is provided with a steering steel tooth 36 through a steering bearing 35. The steering steel tooth 36 is connected to the driving wheel 33 through a fork body 37. The driving wheel 33 is connected to the fork body 37 through its own inner gear ring. The gears at the power output end of the drive motor 38 are meshed, and the drive motor 38 is provided with a wheel encoder 39 for detecting the wheel speed. The steering steel teeth 36 are meshed with the gears at the power output end of the steering wheel drive motor 310 fixed to the wheel set frame 34. The steering wheel drive motor 310 is provided with a magnetic encoder 311 for detecting the steering angle. A photoelectric gate 312 is provided above the steering steel teeth 36. A suspension 313 is provided between the wheel set frame 34 and the sheet metal integrated component 23. The pan / tilt platform 4 includes The laser radar 41 and the chip are arranged in the shell on the lower side of the laser radar 41, and the laser radar 41 and the chip are communicatively connected; a gyroscope, a communication module and a microprocessor are fixedly arranged on the fuselage 1, and the communication module is used to receive wireless communication instructions from the remote control, and the microprocessor is electrically connected to the gyroscope, the drive motor 38, the wheel direction encoder 39, the steering wheel drive motor 310, the magnetic encoder 311, the chip and the communication module respectively; a wheel group 3 is provided at the four inner corners of the anti-collision frame 21.

[0023] The sheet metal assembly 23 includes: a first sheet metal bracket 231, a second sheet metal bracket 232 and a sheet metal shell 233. The two first sheet metal brackets 231 and the two second sheet metal brackets 232 are symmetrically fixed on the sides of the sheet metal shell 233, and the first sheet metal bracket 231 and the second sheet metal bracket 232 are respectively fixed on the upper side of the cross main beam 22. A third sheet metal bracket 234 is horizontally cantilevered on one side of the upper end of the sheet metal shell 233, and the pan-tilt head 4 is fixed on the third sheet metal bracket 234; the middle part of the cavity of the sheet metal shell 233 corresponds to the intersection center of the cross main beam 22 in the vertical direction; multiple sets of slide rails 31 and sliders 32 are arranged between the sheet metal assembly 23 and the wheel assembly frame 34.

[0024] The utility model has an omnidirectional mobile chassis with a suspension system, which can flexibly adapt to complex working environments; the anti-collision design makes it easy to deal with special emergencies in the mine; the use of a steering wheel group can achieve higher mechanical efficiency and higher endurance under the same power, and with the cabin surrounded by a cross-beam chassis and sheet metal parts, it has better load-bearing capacity and can handle and transport heavier objects; at the same time, the wheel group adopts an integrated design and can be quickly disassembled and repaired. The sheet metal process used in the entire vehicle is extremely lightweight and ensures strength while being low in cost. The standardized design of each component makes it easier to upgrade or replace specific parts in the future, and it is also convenient for customization and installation according to specific application requirements. The entire vehicle uses a semi-solid three-dimensional laser radar to collect a 360-degree point cloud of the surrounding environment of the mine operation robot and output an odometer, which effectively improves the positioning accuracy of the mine operation robot and achieves accurate navigation, can stably reach the operating position, and improves the efficiency of the operation.

[0025] In the embodiment of the present invention, the design of the bottom of the chassis body adopts a thin-walled large-section aluminum tube with a size of 20*20*1mm. This material choice not only provides sufficient strength and rigidity, but also helps to improve the performance of the entire chassis due to its lightweight characteristics. By building a cross-shaped aluminum frame as the main beam, the chassis forms a solid base, which not only enhances the stability of the overall structure, but also provides multiple connection points to facilitate the installation and fixation of other components. The anti-collision frame is connected to the main beam by angle brackets. This connection method is not only simple in structure, but also can effectively improve the rigidity and bending resistance of the overall structure. The use of angle brackets also helps to disperse the force and reduce the direct impact on the chassis during a collision, thereby protecting key components from damage. On the basis of ensuring that the chassis has sufficient bending and compression resistance, circular and slot-shaped weight-reducing holes are cleverly designed on the non-bending stress-bearing surface of the aluminum tube. These weight-reducing holes not only help to reduce the weight of the chassis and achieve a lightweight design, but also minimize the impact on structural strength through precise layout and shape design. Circular and slot-shaped weight-reducing holes are the most traditional weight-reducing hole designs. They have good processability and are easy to implement with a drill or hole opener. Circular weight-reducing holes can effectively avoid stress concentration and reduce the risk of crushing and deformation because of their uniform force. This design can reduce weight while maintaining structural integrity and durability. Slot-shaped weight-reducing holes provide another effective way to reduce weight. They are usually arranged along the direction of less force to reduce the impact of material removal on structural strength. The design of the slot-shaped holes can also be adjusted as needed to meet different weight-reduction and strength requirements. The design of the chassis body adopts the concept of modularization and integration. Through the carefully designed coupling connection of multiple main parts, a strong and stable closed force structure is constructed. This design method not only improves the overall performance of the chassis, but also facilitates assembly, maintenance and upgrades.

[0026] In the embodiments of this utility model, the sheet metal integrated component design is the core of the overall structure, fully leveraging the processing advantages and design potential of sheet metal materials. Sheet metal processing can produce parts of various complex shapes and structures through cutting, bending, and stamping, providing great flexibility and creative space in mechanical structure design. In this design, the chassis-bottom plate and chassis-top cover are connected vertically and integrally through a carefully designed sheet metal process. This integrated design not only simplifies the assembly process but also enhances the overall structural strength and stability. Multiple functions, such as power unit mounting, hardware circuit installation and protection, and battery rack installation, are cleverly integrated into this single sheet metal component. This integrated design avoids the structural complexity and unreasonable stress distribution caused by the excessive number of components in traditional designs, while also reducing the difficulty of assembly and maintenance. The relatively light weight of sheet metal components helps reduce the weight of the entire chassis, which is of great significance for improving energy efficiency and maneuverability. Lightweight design is gaining increasing attention in modern mechanical engineering, not only reducing energy consumption but also improving system responsiveness and controllability. Furthermore, sheet metal processing can often be accomplished through automated production lines. This streamlined approach significantly improves production efficiency and shortens production cycles. Automated production also helps maintain consistent product quality and reduces human error. Due to the high efficiency and large-scale production capabilities of sheet metal processing, component processing costs are relatively low, satisfying market demand for low-cost products and making the final product more competitive.

[0027] In this embodiment of the utility model, the suspension system consists of two MGN9H model slide rails, which work together to form a linear motion structure. This design not only creates a rigid rectangular frame but also maintains a compact structure, optimizing space utilization while ensuring overall structural rigidity and synchronization of all components. The slides slide along guide rails on the chassis, a layout that allows for direct connection to the steering servo. This design ensures that the wheels always maintain vertical contact with the ground, maintaining a constant wheelbase both in straight driving and during cornering. This not only simplifies vehicle maneuverability but also improves wheel contact with the ground, enhancing grip and driving stability. The shock absorbers are designed with a near-vertical connection, which is more beneficial for the load on the shock absorber shaft. This allows for more direct absorption and distribution of impacts caused by road irregularities, reducing lateral stress on the suspension system and thus improving durability and ride comfort. The power unit is designed for ease of maintenance. When replacement or repair is required, simply remove the shock absorbers and the power unit can be easily slid out along the guide rails. This design significantly simplifies maintenance, reducing both time and cost.

[0028] In this embodiment of the utility model, the wheel bearings utilize a pair of deep-groove ball bearings. This type of bearing is popular for its excellent radial load-carrying capacity and low friction. The bearings are precisely mounted on a hollow flanged shaft. This design not only reduces overall weight but also provides a greater cross-sectional moment of inertia, thereby enhancing the shaft's bending resistance. To ensure bearing stability and accuracy, custom plates are used on both sides of the shaft to axially constrain the bearings. This restraint prevents axial displacement of the bearings, ensuring precise bearing positioning and wheel stability. On the left side, a nut-to-bearing adjustment mechanism is used to adjust the position of the shaft sleeve. This method allows precise adjustment of the bearing clearance—the gap between the rolling elements and the bearing rings within the bearing. Proper clearance adjustment improves rotational accuracy, increases rigidity, and reduces vibration and noise caused by improper clearance. This precise clearance adjustment is crucial for improving the load capacity of the wheel shaft. It ensures stable bearing performance under high loads and extends bearing life. The hollow flanged shaft design also offers other advantages. Because it is hollow inside, hardware such as cables, air pipes or hydraulic lines can be easily routed inside the shaft, which not only saves space but also helps keep the equipment neat and organized.

[0029] In an embodiment of the present invention, the photoelectric gate is electrically connected to the microprocessor and is used to calibrate the magnetic encoder 311 to zero when the magnetic encoder 311 detects the rotation angle of the steering steel teeth 36 due to excessive accumulated encoder errors caused by rugged roads. After running for a period of time, the system will automatically calibrate the magnetic encoder 311 that detects the rotation angle of the steering steel teeth 36.

[0030] In an embodiment of the present invention, the rudder steel teeth 36 cooperate with the steering wheel drive motor 310 to work with a reduction ratio of 1:9. Such a reduction ratio not only meets the demand for smooth transmission, but also ensures that the size of the driven gear matches the overall design, thereby realizing a compact and efficient transmission structure. Since the module of the driven gear is small, traditional machining methods may be difficult to meet the precision requirements, so laser engraving technology was selected and 304 stainless steel was used for processing. Laser engraving can not only ensure the precision and complexity of the gear, but also 304 stainless steel has good corrosion resistance and strength, and is suitable for use in various environments. In order to ensure the installation accuracy of the gear, a pin hole positioning method is adopted and connected to the machined parts. Pin hole positioning is a simple and effective positioning method that can ensure the precise alignment of the gears during the installation process, thereby improving the efficiency and reliability of the entire transmission system.

[0031] In the embodiment of the present invention, the rudder bearing 35 uses a KA025 model uniform cross-section thin-walled deep groove ball bearing. This type of bearing has a small clearance and can withstand large radial and axial loads. It has a low friction coefficient and can achieve high-speed operation. It is also light in weight, which helps to reduce the weight of the entire system and improve maneuverability. The steering wheel carrier is made of aluminum milling parts, and the motor fixing seat is precisely positioned by plugging bolts. The motor fixing seat and the motor boss adopt an interference fit to ensure the fixing accuracy of the motor, thereby ensuring the performance and stability of the entire steering system. Considering that the connection of the steering wheel carrier is a cantilever beam structure, in order to optimize the stress conditions of the parts, the installation of the slider adopts an orthogonal connection method. This design not only shortens the length of the force arm and reduces bending stress, but also improves the structure's resistance to frontal and side impacts, thereby enhancing the stability and durability of the entire system.

[0032] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A mine operation robot based on three-dimensional laser radar, characterized in that: The invention comprises a fuselage (1), a chassis (2), a wheel set (3) and a gimbal (4), wherein the fuselage (1) is provided on the upper side of the chassis (2), the wheel set (3) is provided on the lower side of the chassis (2), and the gimbal (4) is provided on the upper side of the fuselage (1); the chassis (2) comprises: an anti-collision frame (21) located on the outside, a cross main beam (22) is provided inside the anti-collision frame (21), the cross main beam (22) is rigidly connected to the anti-collision frame (21), and a sheet metal integrated component (23) is provided on the upper side of the cross main beam (22); the wheel set (3) comprises: a sliding A rail (31), a slider (32), a driving wheel (33) and a wheel assembly frame (34), wherein the slide rail (31) is vertically fixed on the sheet metal integrated component (23), one side of the slider (32) is matched and set on the slide rail (31), and the other side of the slider (32) is fixedly set on the wheel assembly frame (34), and the upper part of the wheel assembly frame (34) is provided with a steering steel tooth (36) through a steering bearing (35), and the steering steel tooth (36) is connected to the driving wheel (33) through a fork body (37), and the driving wheel (33) is connected to the driving wheel (33) through its own inner gear ring. The wheel assembly frame (34) and the sheet metal integrated component (23) are connected to the wheel assembly frame (34) and the wheel assembly frame (34) and the sheet metal integrated component (23) respectively. The wheel assembly frame (34) and the sheet metal integrated component (23) are connected to the wheel assembly frame (34) and the wheel assembly frame (34) and the sheet metal integrated component (23) respectively. The wheel assembly frame (34) and the sheet metal integrated component (23) are connected to the wheel assembly frame (34) and the wheel assembly frame (34) and the sheet metal integrated component (23) respectively. The wheel assembly frame (34) and the sheet metal integrated component (23) are connected to the wheel assembly frame (34) and the wheel assembly frame (34) and the sheet metal integrated component (23) respectively. A suspension (313) is provided between the two components, the gimbal (4) includes a laser radar (41) and a chip, the chip is provided in a housing on the lower side of the laser radar (41), and the laser radar (41) and the chip are communicatively connected; a gyroscope, a communication module and a microprocessor are fixedly provided on the fuselage (1), the communication module is used to receive wireless communication instructions from the remote controller, and the microprocessor is electrically connected to the gyroscope, the drive motor (38), the wheel encoder (39), the steering wheel drive motor (310), the magnetic encoder (311), the chip and the communication module respectively.

2. The mine operation robot based on three-dimensional laser radar according to claim 1, characterized in that: The sheet metal integrated component (23) comprises: a first sheet metal bracket (231), a second sheet metal bracket (232) and a sheet metal shell (233); the two first sheet metal brackets (231) and the two second sheet metal brackets (232) are symmetrically fixed to the side surfaces of the sheet metal shell (233); the first sheet metal bracket (231) and the second sheet metal bracket (232) are respectively fixed to the upper side of the cross main beam (22); a third sheet metal bracket (234) is horizontally cantilevered and integrally provided on one side of the upper end of the sheet metal shell (233); and the pan / tilt platform (4) is fixedly provided on the third sheet metal bracket (234).

3. The mine operation robot based on three-dimensional laser radar according to claim 1, characterized in that: Wheel sets (3) are provided at the four inner corners of the anti-collision frame (21).

4. The mine operation robot based on three-dimensional laser radar according to claim 2, characterized in that: The middle of the cavity of the sheet metal shell (233) corresponds to the intersection center of the cross main beam (22) in the vertical direction.

5. The mine operation robot based on three-dimensional laser radar according to claim 1, characterized in that: A plurality of sets of slide rails (31) and sliders (32) are provided between the sheet metal integrated component (23) and the wheel assembly frame (34).

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