Multi-sensor wheel type itinerant detector for underground environment of coal mine

Abstract

A multi-sensor wheel type itinerant detector for an underground coal mine environment comprises a main body structure, a control unit explosion-proof bin and an executing mechanism unit, a wireless charging unit is arranged in the middle of the lower portion of the main body structure, four driving wheels are arranged on the four sides of the lower portion of the main body structure, and the control unit explosion-proof bin is arranged in the middle of the main body structure. A push rod motor and a Wifi6 communication module are arranged above the control unit anti-explosion bin, a holder is arranged above the control unit anti-explosion bin, the execution mechanism unit is arranged on the right side face of the main body structure, and an ultrasonic left sensor and an ultrasonic right sensor are arranged on the two sides of the rear portion of the main body structure respectively. The inspection instrument provided by the utility model successfully performs field test in a plurality of underground coal mines, realizes all-directional and multi-level monitoring of underground environments by combining the multi-mode sensors, improves the accuracy and response speed of hidden danger investigation through the intelligent analysis system, greatly reduces the safety risk of the underground coal mines, and improves the safety of the underground coal mines. And a powerful guarantee is provided for coal mine safety production.

Description

Technical Field

[0001] The utility model relates to the technical field of detection instruments, in particular to a multi-sensor wheel-type inspection instrument used in underground coal mine environments. Background Art

[0002] In the past, inspections of underground coal mine environments were conducted manually. However, the underground environment of coal mines is characterized by high temperature, humidity, high dust content, and high content of toxic and harmful gases. Manual inspections are difficult to achieve comprehensive, real-time, and continuous monitoring. Moreover, the underground tunnels of coal mines are narrow and the terrain is complex. Manual driving or ordinary equipment can easily get trapped or collide. The efficiency of data collection, recording, and analysis during manual inspections of underground tunnels is low, and there may be omissions or misjudgments. The information feedback of the inspection is slow, the decision response is delayed, and the safety risk is high. Therefore, there is an urgent need to develop an inspection instrument that can integrate multiple sensors and detection instruments. Summary of the Invention

[0003] The utility model aims to solve the deficiencies of the prior art and provides a multi-sensor wheel-type inspection instrument for underground coal mine environments.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0005] A multi-sensor wheeled inspection instrument for underground coal mine environments includes a main structure, a control unit explosion-proof compartment and an actuator unit. A wireless charging unit is arranged in the middle of the lower part of the main structure, and four driving wheels are arranged on the four sides of the lower part. The middle part of the main structure is the control unit explosion-proof compartment. A push rod motor and a Wifi6 communication module are arranged above the control unit explosion-proof compartment. A pan-tilt platform is arranged above the push rod motor and the Wifi6 communication module. The actuator unit is arranged on the right side of the main structure. A macro camera, an actuator X-direction motor, an actuator Y-direction motor and an actuator Z-direction motor are integrated in the actuator unit. The actuator X-direction motor , the actuator Y-direction motor and the actuator Z-direction motor control the macro camera to perform X, Y-direction movement and Z-direction telescopic action through the guide chain. Ultrasonic left sensor and ultrasonic right sensor are respectively provided on both sides of the rear of the main structure. The front of the control unit explosion-proof warehouse is provided with H2S sensor, smoke concentration detection sensor, GD4 multi-parameter detection sensor and temperature and humidity sensor. The top of the control unit explosion-proof warehouse is provided with a laser radar, the right side of the control unit explosion-proof warehouse is provided with an acoustic and light alarm and an emergency stop button. The control unit explosion-proof warehouse communicates with the actuator unit and various sensors.

[0006] The control unit explosion-proof bin includes a vehicle control unit VCU, a control recognition host and navigation control unit MCU, a remote management module, an energy management system, a power conversion unit, a wheel driver, an inertial measurement unit IMU and a push rod motor driver, the vehicle control unit VCU communicates with the control recognition host and navigation control unit MCU and the remote management module through a CAN-1 bus, the vehicle control unit VCU controls the DO on-off output of the relay control module connected with each functional module through an RS485 bus, and simultaneously communicates with an ultrasonic left sensor and an ultrasonic right sensor through the same group of RS485 buses, the vehicle control unit VCU controls four groups of wheel drivers through a CAN-2 bus, and the energy management system collects and monitors the collected electric quantity information through the CAN-2 bus, the control recognition host and navigation control unit MCU respectively communicate with a gimbal, a laser radar, a macro camera, a push rod motor and a Wifi6 communication module and the remote management module through a NET port, the control recognition host and navigation control unit MCU are connected with the inertial measurement unit IMU through a USB port, the control recognition host and navigation control unit MCU communicate with a wireless charging unit and a GD4 multi-parameter detection sensor through RS485-1, the control recognition host and navigation control unit MCU communicate with an H2S sensor, a smoke concentration detection sensor and a temperature and humidity sensor through RS485-2, and the control recognition host and navigation control unit MCU communicate with a sound-light alarm, a push rod motor driver and each direction motor of an execution mechanism through a CAN-2 bus port.

[0007] The remote management module is a network-to-CAN and network-to-IO module, realizes remote communication of the robot with the monitoring center through the network after the robot accesses the ring network, communicates with the control recognition host and navigation control unit MCU through the network, realizes emergency starting operation of part of the module units, and realizes remote power-on and power-off operation of the whole machine.

[0008] The power conversion unit converts the DC 48V voltage provided by the lithium iron phosphate battery into the voltage required by each module device and various sensors for voltage stabilization power supply.

[0009] The Wifi6 communication module realizes wireless communication between the robot and the ring network, uploads the information collected by the robot to the monitoring center in real time, and issues the robot operation instruction issued by the monitoring center to the robot body.

[0010] The energy management system collects and monitors the collected electric quantity information, realizes management of the power consumption of the robot.

[0011] The electric quantity information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature and power consumption protection limit parameter alarm information.

[0012] The beneficial effects of the present invention are as follows: the patrol instrument of the present invention has been successfully field-tested in multiple coal mines. The combination of multi-modal sensors not only realizes all-round and multi-level monitoring of the underground environment, but also improves the accuracy and response speed of hidden danger detection through the intelligent analysis system, greatly reducing the safety risks in coal mines and providing strong guarantees for safe production in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the main view of the utility model;

[0014] Figure 2 It is a left view of the utility model;

[0015] Figure 3 It is a top view of the utility model;

[0016] Figure 4 This is a block diagram of the electrical system of the present utility model;

[0017] In the figure: 1-panel; 2-actuator Y-axis motor; 3-lidar; 4-H2S sensor; 5-smoke concentration detection sensor and GD4 multi-parameter detection sensor; 6-temperature and humidity sensor; 7-wireless charging unit; 8-push rod motor and Wifi6 communication module; 9-sound and light alarm; 10-emergency stop button; 11-sound wave detector; 12-control unit explosion-proof compartment; 13-ultrasonic left sensor and ultrasonic right sensor; 14-macro camera; 15-actuator X-axis motor; 16-actuator unit; 17-actuator Z-axis motor;

[0018] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] A multi-sensor wheeled inspection instrument for underground coal mine environments includes a main structure, a control unit explosion-proof compartment 12 and an actuator unit 16. A wireless charging unit 7 is arranged in the middle of the lower part of the main structure, and four driving wheels are arranged on the four sides of the lower part. The middle part of the main structure is the control unit explosion-proof compartment 12. A push rod motor and a Wifi6 communication module 8 are arranged above the control unit explosion-proof compartment 12. A pan / tilt 1 is arranged above the push rod motor and the Wifi6 communication module 8. The actuator unit 16 is arranged on the right side of the main structure. A macro camera 14, an actuator X-direction motor 15, an actuator Y-direction motor 2 and an actuator Z-direction motor 17 are integrated in the actuator unit 16. The actuator X-direction motor 15, The actuator Y-direction motor 2 and the actuator Z-direction motor 17 control the macro camera 14 to perform X-direction movement and Z-direction telescopic movement through the guide chain. The ultrasonic left sensor and the ultrasonic right sensor 13 are respectively provided on both sides of the rear of the main structure. The front of the control unit explosion-proof compartment 12 is provided with an H2S sensor 4, a smoke concentration detection sensor, a GD4 multi-parameter detection sensor 5 and a temperature and humidity sensor 6. The top of the control unit explosion-proof compartment 12 is provided with a laser radar 3, and the right side of the control unit explosion-proof compartment 12 is provided with an acoustic wave detector 11. The top of the pan-tilt head 1 is provided with an audible and visual alarm 9 and an emergency stop button 10. The control unit explosion-proof compartment 12 is communicated with the actuator unit 16 and various sensors.

[0021] The control unit explosion-proof warehouse 12 includes a vehicle control unit VCU, a control identification host and navigation control unit MCU, a remote management module, an energy management system, a power conversion unit, a wheel driver, an inertial measurement unit IMU and a push rod motor driver. The vehicle control unit VCU communicates with the control identification host and navigation control unit MCU and the remote management module through the CAN-1 bus. The vehicle control unit VCU performs DO on-off output control on the relay control module connected to each functional module through the RS485 bus, thereby realizing power supply control of each functional module of the whole machine. At the same time, it communicates with the ultrasonic left sensor and the ultrasonic right sensor 13 through the same group of RS485 buses. The distance of the surrounding obstacles detected by the ultrasonic left sensor and the ultrasonic right sensor 13 is collected in real time. The vehicle control unit VCU controls the four sets of wheel drives through the CAN-2 bus, thereby controlling the movement of the underground inspection instrument for coal mines. The vehicle control unit VCU collects and monitors the collected power information of the energy management system through the CAN-2 bus, thereby monitoring and managing the energy management of the entire machine. The control and identification host and the navigation control unit MCU communicate with the pan-tilt 1, laser radar 3, macro camera 14, push rod motor and Wifi6 communication module 8 and remote management module respectively through the NET port. The pan-tilt 1 includes visible light and infrared sensors. The pan-tilt 1 It mainly realizes the monitoring of the multi-angle and all-round real-time status of the site and the temperature of the equipment; the laser radar 3 mainly realizes the recognition of the surrounding environment and obstacles in the scene, and assists the robot in avoiding obstacles and moving; the macro camera 14 is integrated in the actuator unit 16 to realize the positioning of the device button and the monitoring of the window content; the Wifi6 communication module mainly realizes the communication of the information collected by the robot with the ring network and then realizes remote communication with the monitoring center; the remote management module is mainly used to control the host and navigation control unit MCU to enable remote restart and remote problem diagnosis of the underground inspection instrument for coal mines after failure; the control and identification host and the navigation control unit MCU are connected to the inertial measurement unit IM through the USB port U, inertial measurement unit IMU mainly realizes angle monitoring of the entire vehicle in the X / Y / Z directions and realizes real-time adjustment of the vehicle body orientation, thereby integrating the three parameters of the laser radar and the inertial measurement unit IMU to realize navigation control of the vehicle body; the control identification host and the navigation control unit MCU communicate with the wireless charging unit 7 and the GD4 multi-parameter detection sensor through RS485-1. The wireless charging unit 7 mainly realizes charging the battery in the vehicle body, realizing contactless charging through wireless charging to ensure the safety of the underground mine environment; the GD4 multi-parameter detection sensor includes CH4, CO, CO2, and O2, which mainly monitor the CH4, CO, CO2, and O2 gas concentrations in the monitoring environment in real time and upload them;The control and identification host and navigation control unit MCU communicate with the H2S sensor 4, smoke concentration detection sensor, and temperature and humidity sensor 6 via RS485-2. The H2S sensor 4, smoke concentration detection sensor, and temperature and humidity sensor 6 primarily monitor H2S, smoke, temperature, and humidity in the environment in real time and upload data. The control and identification host and navigation control unit MCU communicate with the sound and light alarm 9, push rod motor driver, and the actuator's directional motors via the CAN-2 bus port. The sound and light alarm 9 primarily generates sound and light alarms for abnormal phenomena such as gas concentration, smoke concentration, temperature and humidity, and vehicle body operation failures detected by the entire device, thereby providing on-site warnings. The push rod motor driver drives the push rod motor 8 to adjust the height of the pan / tilt head 1, thereby maximally meeting the temperature information collection range of the device's exterior through the visible light sensor and temperature and humidity sensor for devices at different heights on site. The actuator's directional motors consist of three integrated CAN bus-controlled motors and a macro camera 14. The three integrated CAN bus-controlled motors primarily control the actuator's Y-axis motor 2 for X and Y movement and Z-axis telescoping. The macro camera 14 assists in identification and positioning.

[0022] The remote management module is a network-to-CAN and network-to-IO module, which enables the robot to communicate remotely with the monitoring center through the network after being connected to the ring network. At the same time, it communicates with the control identification host and the navigation control unit MCU through the network to realize emergency startup operations of some module units and remote power on and off operations of the entire machine.

[0023] The power conversion unit converts the DC48V voltage provided by the lithium iron phosphate battery into the voltage required by each module device and various sensors for stable power supply.

[0024] The Wifi6 communication module enables wireless communication between the robot and the ring network, uploading the information collected by the robot to the monitoring center in real time. At the same time, the robot operation instructions issued by the monitoring center are sent to the robot body, and remote upgrade operations of the robot can also be realized.

[0025] The energy management system collects and monitors the collected power information to manage the robot's power consumption.

[0026] The power information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature and power protection limit parameter alarm information.

[0027] During application, the main structure of the robot is made of high-strength corrosion-resistant materials to ensure that it has sufficient durability and stability in the harsh environment of coal mines. At the same time, all-terrain adaptive drive wheels are installed to adapt to the complex terrain and topography of coal mines, ensuring that the robot can move stably and smoothly under various conditions; the multimodal sensor integrated in the main structure integrates a variety of sensors, such as visible light, infrared sensors, GD4 multi-parameter detection sensors, acoustic wave detectors 11, smoke concentration detection sensors, ultrasonic left sensors and ultrasonic right sensors 13 and macro cameras 14, etc., to monitor the temperature, gas concentration, dust distribution, sound abnormalities and equipment operating status in real time and comprehensively, and realize three-dimensional and multi-dimensional monitoring of the coal mine environment and equipment status. The actuator unit 16 ensures that the on-site equipment can be operated during unmanned inspection operations; the control unit explosion-proof warehouse 12 and the advanced data acquisition and processing system receive and decode in real time Analyze the data from each sensor, use the built-in artificial intelligence algorithm for data analysis, realize intelligent identification and processing of environmental data, discover potential safety hazards in advance, and promptly notify relevant personnel through the early warning system. The inspection instrument adopts autonomous navigation and obstacle avoidance technology, and adopts SLAM technology combined with ultrasonic, lidar 3 and other ranging sensors to realize the robot's autonomous navigation and dynamic obstacle avoidance in unknown environments, ensuring the smooth completion of inspection tasks; the inspection instrument integrates remote communication and cloud docking functions: with the help of Wifi6 wireless network technology, the on-site detection data collected by the robot is uploaded to the monitoring center in real time, and interacts with the cloud database, so that remote monitoring personnel can grasp the underground conditions in real time and make remote decisions and commands. In addition, it adopts an efficient and energy-saving power system and intelligent energy management strategy to optimize the robot's energy distribution and use during long-term inspection operations, ensuring its continuous and stable operation and reducing work interruptions caused by energy supply problems.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to 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 should not be understood as a limitation to the present invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0030] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0031] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or they are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A multi-sensor wheel inspection instrument for underground coal mine environment, characterized in that: The invention comprises a main structure, a control unit explosion-proof chamber (12) and an actuator unit (16); a wireless charging unit (7) is arranged in the middle of the lower part of the main structure; four driving wheels are arranged on the four sides of the lower part; the middle part of the main structure is the control unit explosion-proof chamber (12); a push rod motor and a Wifi6 communication module (8) are arranged above the control unit explosion-proof chamber (12); a pan / tilt platform (1) is arranged above the push rod motor and the Wifi6 communication module (8); the actuator unit (16) is arranged on the right side of the main structure; a macro camera (14), an actuator X-direction motor (15), an actuator Y-direction motor (2) and an actuator Z-direction motor (17) are integrated in the actuator unit (16); the actuator X-direction motor (15), the actuator Y-direction motor (2) and The actuator Z-direction motor (17) controls the macro camera (14) to move in the X and Y directions and to extend and retract in the Z direction through a guide rail chain. An ultrasonic left sensor (13) and an ultrasonic right sensor are respectively provided on both sides of the rear portion of the main structure. An H2S sensor (4), a smoke concentration detection sensor, a GD4 multi-parameter detection sensor (5), and a temperature and humidity sensor (6) are provided on the front portion of the control unit explosion-proof chamber (12). A laser radar (3) is provided on the top of the control unit explosion-proof chamber (12). An acoustic wave detector (11) is provided on the right side of the control unit explosion-proof chamber (12). An audible and visual alarm (9) and an emergency stop button (10) are provided on the top of the pan / tilt platform (1). The control unit explosion-proof chamber (12) is communicatively connected with the actuator unit (16) and various sensors.

2. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 1, characterized in that: The control unit explosion-proof warehouse (12) includes a vehicle control unit VCU, a control identification host and a navigation control unit MCU, a remote management module, an energy management system, a power conversion unit, a wheel driver, an inertial measurement unit IMU and a push rod motor driver. The vehicle control unit VCU communicates with the control identification host and the navigation control unit MCU and the remote management module through a CAN-1 bus. The vehicle control unit VCU performs DO on-off output control on the relay control module connected to each functional module through an RS485 bus, and communicates with the ultrasonic left sensor (13) and the ultrasonic right sensor through the same group of RS485 buses. The vehicle control unit VCU controls the four groups of wheel drivers through a CAN-2 bus, and collects and monitors the collected power information of the energy management system through the CAN-2 bus. The control and identification host and the navigation control unit MCU communicate with the gimbal (1), the laser radar (3), the macro camera (14), the push rod motor and the Wifi6 communication module (8) and the remote management module through the NET port respectively. The control and identification host and the navigation control unit MCU are connected to the inertial measurement unit IMU through the USB port. The control and identification host and the navigation control unit MCU communicate with the wireless charging unit (7) and the GD4 multi-parameter detection sensor through RS485-1. The control and identification host and the navigation control unit MCU communicate with the H2S sensor (4), the smoke concentration detection sensor and the temperature and humidity sensor (6) through RS485-2. The control and identification host and the navigation control unit MCU communicate with the sound and light alarm (9), the push rod motor driver and the various motors of the actuator through the CAN-2 bus port.

3. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 2, characterized in that: The remote management module is a network-to-CAN and network-to-IO module, which enables the robot to communicate remotely with the monitoring center through the network after being connected to the ring network. At the same time, it communicates with the control identification host and the navigation control unit MCU through the network to realize emergency startup operations of some module units and remote power on and off operations of the entire machine.

4. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 2, characterized in that: The power conversion unit converts the DC48V voltage provided by the lithium iron phosphate battery into the voltage required by each module device and various sensors for stable power supply.

5. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 2, characterized in that: The Wifi6 communication module enables wireless communication between the robot and the ring network, uploading the information collected by the robot to the monitoring center in real time. At the same time, the robot operation instructions issued by the monitoring center are sent to the robot body.

6. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 2, characterized in that: The energy management system collects and monitors the collected power information to manage the robot's power consumption.

7. The multi-sensor wheel inspection instrument for underground coal mine environment according to claim 6, characterized in that: The power information includes battery voltage, power consumption current, charging voltage, charging current, battery temperature and power protection limit parameter alarm information.

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