Coal mine explosion-proof monitoring robot

Abstract

The utility model provides a coal mine explosion-proof monitoring robot which comprises a mobile shell, an explosion-proof holder and a positioning radar are arranged on the top of the mobile shell, and a camera, a smoke detection assembly and a wind speed detection assembly are arranged on the explosion-proof holder; a walking mechanism is arranged at the bottom of the movable shell. A control device and a cooling device are arranged in the movable shell, the cooling device comprises a water storage tank, a spraying assembly and a lifting assembly, the water storage tank is connected with the spraying assembly, one end of the spraying assembly is connected with the lifting assembly, and the other end of the spraying assembly is located outside the movable shell; the control device is connected with the anti-explosion holder, the positioning radar, the walking mechanism and the cooling device, and a first anti-explosion door and a second anti-explosion door are arranged on the two opposite sides of the movable shell correspondingly. According to the utility model, the explosion-proof design is adopted, multifunctional monitoring is realized, and the integrated level is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of coal mine safety monitoring and relates to a coal mine explosion-proof monitoring robot. Background Art

[0002] The reliability of the safety performance of every operational link in coal mining, including mining, tunneling, hoisting, transportation, ventilation, and drainage, affects the safety of personnel and equipment working in the mine, as well as the efficiency of production operations. To ensure the safety of personnel and the normal operation of work, monitoring the underground environment is particularly important.

[0003] Currently, monitoring of underground coal mine environmental safety parameters is divided into two methods: manual inspection and automated monitoring. However, given the complex and harsh working environment of coal mines, manual inspection results are unstable, carry significant risks and uncertainties, are labor-intensive, and pose a threat to the personal safety of inspectors. Existing automated monitoring systems are mostly fixed-site monitoring systems with numerous monitoring points, dispersed functions, and a low degree of automation, making it difficult to gain a direct understanding of underground monitoring conditions. Furthermore, the equipment is bulky and has limited explosion-proof capabilities. Prolonged exposure to high temperatures and flammable gases can easily cause explosions, leading to accidents. The high failure rate not only damages the equipment but also endangers the personal safety of workers.

[0004] Therefore, there is an urgent need to provide a multifunctional coal mine monitoring system to improve its structural performance and ensure the efficient operation of coal mine work. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a coal mine explosion-proof monitoring robot, which adopts an explosion-proof design, has an automatic cooling function, high integration, good safety performance, and improves the efficiency of coal mine monitoring work.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] The utility model provides a coal mine explosion-proof monitoring robot, comprising a mobile shell, wherein an explosion-proof pan-tilt platform and a positioning radar are arranged on the top of the mobile shell, and a camera, a smoke detection component and a wind speed detection component are arranged on the explosion-proof pan-tilt platform; a walking mechanism is arranged at the bottom of the mobile shell; a control device and a cooling device are arranged inside the mobile shell, and the cooling device comprises a water storage tank, a spray component and a lifting component, the water storage tank is connected to the spray component, one end of the spray component is connected to the lifting component, and the other end is located outside the mobile shell; the control device is respectively connected to the explosion-proof pan-tilt platform, the positioning radar, the walking mechanism and the cooling device, and a first explosion-proof door and a second explosion-proof door are respectively arranged on opposite sides of the mobile shell.

[0008] This utility model has good explosion-proof performance, realizes multifunctional monitoring and protection such as image acquisition, positioning, smoke detection, wind flow detection and automatic cooling, has high integration and high accuracy, and ensures safe production in coal mines. In addition, the robot can also walk automatically without manual monitoring, which greatly improves the monitoring range and work efficiency.

[0009] As a preferred technical solution of the present invention, an electric turntable is provided on the mobile housing, the explosion-proof pan / tilt head is fixedly connected to the electric turntable, and the electric turntable is connected to the control device.

[0010] The explosion-proof pan / tilt platform of the utility model can rotate on the surface of the mobile shell to adjust the shooting angle of the camera according to different monitoring directions, thereby realizing a multi-angle and omnidirectional image acquisition function.

[0011] As an optimal technical solution of the present invention, the explosion-proof pan / tilt head is also provided with a data transmission device, the input end of the data transmission device is respectively connected to the camera, smoke detection component and wind speed detection component, and the output end of the data transmission device is communicatively connected to the control device.

[0012] As a preferred technical solution of the present invention, a support plate is movably provided on the top of the explosion-proof pan / tilt head, and a plurality of lighting lamps are provided on the support plate.

[0013] As an optimal technical solution of the present invention, the spray assembly includes a support rod, a connecting pipe and several spray sleeves; one end of the support rod is connected to the lifting assembly, and the other end extends out of the movable shell; the connecting pipe portion is located inside the support rod, and the connecting pipe is respectively connected to the water tank and several of the spray sleeves; the spray sleeve is mounted on the support rod, and the spray sleeve is provided with an atomizing nozzle.

[0014] The utility model realizes automatic on-site cooling, avoids the occurrence of safety accidents such as combustion, fire and explosion, improves production safety, and has reasonable design and is easy to maintain.

[0015] As a preferred technical solution of the present invention, a liquid level detection component is provided in the water tank, and the liquid level detection component is communicatively connected to the control device.

[0016] The utility model can monitor the water level in the water tank in real time so as to replenish water in time, thereby improving the safety of the automatic cooling operation.

[0017] As a preferred technical solution of the present invention, a multi-parameter detection component is independently provided on the first explosion-proof door and the second explosion-proof door, and the multi-parameter detection component is used to detect environmental parameters. The multi-parameter detection component is communicatively connected to the control device.

[0018] The environmental parameters of the present invention include but are not limited to ambient temperature, humidity, gas concentration, oxygen concentration, etc. Those skilled in the art can add layouts according to actual conditions.

[0019] As a preferred technical solution of the present invention, the side wall of the mobile housing is further provided with an audible and visual alarm, and the audible and visual alarm is electrically connected to the control device.

[0020] The utility model has an alarm function, which can promptly remind workers when an abnormality is detected, thereby preventing the spread of disasters and ensuring the safety of coal mine operations.

[0021] As a preferred technical solution of the present invention, a front-end obstacle detection component and a rear-end obstacle detection component are respectively provided at both ends of the mobile housing, and the front-end obstacle detection component and the rear-end obstacle detection component are independently communicatively connected to the control device.

[0022] The utility model has a roadblock detection function, which avoids obstruction of the movement of the walking mechanism and prevents collisions, facilitates the continuous movement of the mobile shell, and improves the safety and continuity of the monitoring work.

[0023] As a preferred technical solution of the present invention, an emergency stop switch is further provided on the top of the movable housing, and the emergency stop switch is electrically connected to the walking mechanism.

[0024] The walking mechanism is also provided with a speed detection component, and the speed detection component is communicatively connected to the control device.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] The utility model provides a coal mine explosion-proof monitoring robot, which adopts an explosion-proof design, realizes multifunctional safety monitoring, has a high degree of integration and automation, reduces the risk of monitoring work, greatly improves work efficiency, and ensures the safety of coal mine operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a schematic structural diagram of a coal mine explosion-proof monitoring robot provided in a specific embodiment of the present invention.

[0028] Among them, 100-mobile shell; 200-explosion-proof pan-tilt head; 300-positioning radar; 400-walking mechanism; 1-camera; 2-smoke detection component; 3-wind speed detection component; 4-control device; 6-spray component; 61-support rod; 62-connecting pipe; 63-spray sleeve; 64-atomizing nozzle; 7-lifting component; 8-first explosion-proof door; 9-electric turntable; 10-support plate; 11-lighting lamp; 12-water tank; 121-liquid level detection component; 13-multi-parameter detection component; 14-sound and light alarm; 15-front obstacle detection component; 16-rear obstacle detection component; 17-emergency stop switch; 18-speed detection component. DETAILED DESCRIPTION

[0029] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0030] It should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0032] In a specific embodiment, the utility model provides a coal mine explosion-proof monitoring robot, such as Figure 1As shown, it includes a mobile shell 100, and an explosion-proof pan-tilt head 200 and a positioning radar 300 are provided on the top of the mobile shell 100. The explosion-proof pan-tilt head 200 is provided with a camera 1, a smoke detection component 2 and a wind speed detection component 3. The camera 1 is used to collect image information, the smoke detection component 2 is used to monitor the smoke concentration in the environment, and the wind speed detection component 3 is used to monitor the wind speed in the environment. The positioning radar 300 is used to obtain the position information of the mobile shell 100 in order to adjust the monitoring path of the mobile shell 100. A walking mechanism 400 is provided at the bottom of the mobile shell 100, which is used to drive the mobile shell 100 to move automatically. A control device 4 and a cooling device are provided inside the mobile shell 100. The cooling device includes a water tank 12, a spray component 6 and a lifting component 7. The water tank 12 is connected to the spray component 6. One end of the spray component 6 is connected to the lifting component 7, and the other end is located outside the mobile shell 100. During use, the lifting assembly 7 drives the spray assembly 6 to rise and extend it out of the mobile housing 100 to perform spraying and cooling operations. After the spraying is completed, the lifting assembly 7 drives the spray assembly 6 to descend into the mobile housing 100. The control device 4 serves as a terminal for staff to operate and monitor, and is respectively connected to the explosion-proof pan / tilt head 200, positioning radar 300, travel mechanism 400, and cooling device.

[0033] The mobile housing 100 is also provided with a first explosion-proof door 8 and a second explosion-proof door on opposite sides. The first explosion-proof door 8 is openable and closable and is configured to correspond with the control device 4, facilitating operator operation. The second explosion-proof door is openable and closable and is configured to correspond with the cooling device to facilitate maintenance and inspection. Both the first and second explosion-proof doors utilize metal explosion-proof panels, effectively enhancing explosion-proof performance and reducing damage to the equipment caused by emergencies.

[0034] The mobile housing 100 is made of explosion-proof metal. To further improve its explosion-proof performance, a fireproof layer can be wrapped around the outer surface of the mobile housing 100 to provide high protection, high temperature resistance, fire resistance, and flame retardancy. The fireproof layer can be made of a fireproof material commonly used in the art, such as ceramic silicone rubber.

[0035] The camera 1 is an intrinsically safe explosion-proof camera 1, which is less susceptible to explosion, thereby improving safety and extending its service life. The present invention does not specifically limit the type and structure of the smoke detection assembly 2 and the wind speed detection assembly 3. The smoke detection assembly 2 can be a photoelectric smoke detection assembly, a thermal smoke detection assembly, a gas-sensitive smoke detection assembly, or an ionization smoke detection assembly, etc., which are well known to those skilled in the art. The wind speed detection assembly 3 can be a mechanical wind speed detection assembly or an ultrasonic wind speed detection assembly, which are well known to those skilled in the art.

[0036] The positioning radar 300 may adopt an RFID positioning device commonly used in the art to achieve precise positioning, so as to control the mobile housing 100 to move along a designated monitoring path, and to adjust the path in an emergency.

[0037] The control device 4 includes a general processing component in the art with analytical processing and computing capabilities, a general input device for receiving data, and an output device for outputting execution instructions. Examples include, but are not limited to, a central processing unit, a graphics processing unit, various dedicated artificial intelligence computing chips, various processors running machine learning model algorithms, a digital signal processor, and any appropriate processor, controller, microcontroller, etc. The control device 4 can be interconnected with other components via a digital data communication network of any form or medium.

[0038] In some embodiments, the mobile housing 100 is provided with an electric turntable 9, the explosion-proof pan-tilt head 200 is fixedly connected to the electric turntable 9, and the electric turntable 9 is connected to the control device 4 to control the rotation of the electric turntable 9, thereby driving the explosion-proof pan-tilt head 200 to rotate. The camera 1 adjusts the shooting direction along with the explosion-proof pan-tilt head 200 to perform multi-angle and all-round image acquisition operations. It should be understood by those skilled in the art that the electric turntable 9 must include the necessary rotating table, drive motor, connecting parts and fasteners for achieving a complete process, but the above content does not belong to the main improvement points of the present invention. Those skilled in the art can add their own layout based on the process flow and equipment structure selection, and the present invention does not make special requirements and specific limitations on this.

[0039] In some embodiments, the explosion-proof pan / tilt head 200 is further provided with a data transmission device, the input end of which is respectively connected to the camera 1, the smoke detection component 2, and the wind speed detection component 3, and the output end of which is communicatively connected to the control device 4. The data transmission device is used to transmit image information, smoke concentration information, and wind speed information collected by the camera 1, the smoke detection component 2, and the wind speed detection component 3 to the control device 4. The data transmission device in the present utility model includes a transmission chip commonly used in the art, such as a card reader controller, to achieve data transmission.

[0040] In some embodiments, a support plate 10 is movably mounted on the top of the explosion-proof pan / tilt head 200. A plurality of lighting lamps 11 are mounted on the support plate 10 to provide illumination. The support plate 10 of the present invention can be mounted on the top of the explosion-proof pan / tilt head 200 using bolts or slots, as is well known to those skilled in the art.

[0041] Furthermore, a lighting tube is provided on the top of the inner cavity of the mobile housing 100 to provide lighting for the staff to perform maintenance work inside the mobile housing 100.

[0042] In some embodiments, the spray assembly 6 includes a support rod 61, a connecting pipe 62, and a plurality of spray sleeves 63. One end of the support rod 61 is connected to the lifting assembly 7, and the other end extends out of the mobile housing 100. The connecting pipe 62 is partially located within the support rod 61 and connects the water tank 12 and the plurality of spray sleeves 63. The spray sleeve 63 is mounted on the support rod 61 and is equipped with an atomizing nozzle 64. During use, when the robot detects abnormal smoke concentration, it controls the cooling device to activate, uses the lifting assembly 7 to drive the spray assembly 6 to rise, and extends out of the mobile housing 100. The spray liquid in the water tank 12 is distributed through the connecting pipe 62 to each spray sleeve 63, and then sprayed out through the atomizing nozzle 64 after being atomized, achieving the effect of cooling and heat dissipation.

[0043] Furthermore, a liquid level detection component 121 is provided in the water tank 12, and the liquid level detection component 121 is communicatively connected to the control device 4 to monitor the water level in the water tank 12 in real time so as to replenish water in time, thereby improving the continuity of the automatic cooling work.

[0044] The present invention does not impose any specific limitation on the structure of the lifting assembly 7 , and any lifting structure that can realize the lifting function of driving the spray assembly 6 can be used in the present invention.

[0045] The cooling device is also provided with necessary connecting pipes 62 and switch control valves. The present invention does not make any special restrictions on this. Those skilled in the art need to make reasonable adjustments, additions or deletions according to actual production needs. It should be clear that new technical solutions generated by deleting some unnecessary connecting pipes and switch control valves, or replacing single-function switch control valves with multi-function integrated control valves and other conventional technical means commonly used and well-known by those skilled in the art also fall within the scope of disclosure and protection of the present invention.

[0046] In some embodiments, the first explosion-proof vent 8 and the second explosion-proof vent are independently provided with a multi-parameter detection component 13, which is used to detect environmental parameters and is communicatively connected to the control device 4. Exemplarily, the multi-parameter detection component 13 includes a combination of at least two of a temperature sensor, a humidity sensor, a gas sensor, and an oxygen sensor to obtain real-time environmental parameters such as ambient temperature, humidity, gas concentration, and oxygen concentration, and transmits the information to the control device 4, which then analyzes the environmental parameters to determine whether an abnormality has occurred.

[0047] In some embodiments, the side wall of the mobile housing 100 is further provided with an audible and visual alarm 14 , which is electrically connected to the control device 4 . When the robot detects an abnormality, the control device 4 immediately triggers the audible and visual alarm 14 to issue a prompt.

[0048] In some embodiments, the mobile housing 100 is provided with a front-end obstacle detection assembly 15 and a rear-end obstacle detection assembly 16, respectively, at each end. These front-end obstacle detection assembly 15 and rear-end obstacle detection assembly 16 are independently communicatively connected to the control device 4. Because coal mine tunnels are complex and varied, and various equipment and road obstacles exist along the monitoring route, the present invention incorporates a roadblock detection function by providing the front-end obstacle detection assembly 15 and rear-end obstacle detection assembly 16, thereby preventing obstructions to the movement of the traveling mechanism 400 and collisions between the mobile housing 100 and obstacles.

[0049] In some embodiments, an emergency stop switch 17 is further provided on the top of the mobile housing 100. The emergency stop switch 17 is electrically connected to the walking mechanism 400. In case of an emergency, the emergency stop switch 17 can be pressed to make the robot stop urgently.

[0050] In some embodiments, the walking mechanism 400 includes a servo motor, a driving wheel and a plurality of universal wheels arranged at the bottom of the mobile housing 100. The servo motor is used to drive the driving wheel to move, thereby driving the mobile housing 100 to move, and the universal wheels are used to adjust the walking direction.

[0051] Furthermore, the walking mechanism 400 is also provided with a speed detection component 18, which is communicatively connected to the control device 4. The speed detection component 18 is used to monitor the walking speed of the mobile housing 100 so as to control the mobile housing 100 to move at a uniform speed.

[0052] The utility model is a coal mine explosion-proof monitoring robot with explosion-proof performance, which realizes multiple functions such as real-time image acquisition, positioning, smoke detection, wind speed detection, automatic cooling, lighting, environmental parameter monitoring, obstacle area detection and emergency parking, and has high integration and safety performance.

[0053] The applicant declares that the above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Technicians in the relevant technical field should understand that any changes or substitutions that can be easily thought of by technicians in the relevant technical field within the technical scope disclosed in the present invention fall within the protection scope and disclosure scope of the present invention.

Claims

1. A coal mine explosion-proof monitoring robot, characterized in that: It includes a mobile shell, the top of which is provided with an explosion-proof pan-tilt head and a positioning radar, and the explosion-proof pan-tilt head is provided with a camera, a smoke detection component and a wind speed detection component; the bottom of the mobile shell is provided with a walking mechanism; the interior of the mobile shell is provided with a control device and a cooling device, and the cooling device includes a water tank, a spray component and a lifting component, the water tank is connected to the spray component, one end of the spray component is connected to the lifting component, and the other end is located outside the mobile shell; the control device is respectively connected to the explosion-proof pan-tilt head, positioning radar, walking mechanism and cooling device, and a first explosion-proof door and a second explosion-proof door are respectively provided on opposite sides of the mobile shell.

2. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: An electric turntable is provided on the mobile housing, the explosion-proof pan / tilt head is fixedly connected to the electric turntable, and the electric turntable is connected to the control device.

3. The coal mine explosion-proof monitoring robot according to claim 1 or 2, characterized in that: The explosion-proof pan / tilt head is further provided with a data transmission device, the input end of the data transmission device is respectively connected to the camera, the smoke detection component and the wind speed detection component, and the output end of the data transmission device is communicatively connected to the control device.

4. The coal mine explosion-proof monitoring robot according to claim 1 or 2, characterized in that: A support plate is also movably provided on the top of the explosion-proof pan / tilt platform, and a plurality of lighting lamps are provided on the support plate.

5. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: The spray assembly includes a support rod, a connecting pipe and several spray sleeves; one end of the support rod is connected to the lifting assembly, and the other end extends out of the movable shell; the connecting pipe is partially located inside the support rod, and the connecting pipe is respectively connected to the water tank and several of the spray sleeves; the spray sleeve is mounted on the support rod, and the spray sleeve is provided with an atomizing nozzle.

6. The coal mine explosion-proof monitoring robot according to claim 5, characterized in that: A liquid level detection component is provided in the water tank, and the liquid level detection component is communicatively connected to the control device.

7. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: The first explosion-proof door and the second explosion-proof door are independently provided with a multi-parameter detection component, the multi-parameter detection component is used to detect environmental parameters, and the multi-parameter detection component is communicatively connected to the control device.

8. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: The side wall of the mobile housing is also provided with an audible and visual alarm, and the audible and visual alarm is electrically connected to the control device.

9. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: A front-end obstacle detection component and a rear-end obstacle detection component are respectively provided at both ends of the mobile housing, and the front-end obstacle detection component and the rear-end obstacle detection component are independently communicatively connected to the control device.

10. The coal mine explosion-proof monitoring robot according to claim 1, characterized in that: An emergency stop switch is also provided on the top of the mobile housing, and the emergency stop switch is electrically connected to the walking mechanism; The walking mechanism is also provided with a speed detection component, and the speed detection component is communicatively connected to the control device.

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