Mine operation helmet based on SLAM
By designing a detachable mine work helmet and combining handheld SLAM and differential GPS, the instability problem of traditional SLAM equipment when fixed in a head-mounted position was solved, achieving high-precision mine positioning and map building, and improving the safety and efficiency of operations.
Patent Information
- Application Number
- CN202520679814.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2026-02-24
- Estimated Expiration
- 2035-04-11
AI Technical Summary
In traditional mining operations, SLAM equipment is affected by head movement when fixed in a head-mounted position, resulting in unstable environmental information acquisition. This is especially inconvenient to operate in complex mines, and traditional measurement methods are time-consuming, labor-intensive, and have limited accuracy.
A SLAM-based mining helmet was designed, featuring a detachable shell and a handheld SLAM mode. It combines differential GPS, a binocular camera, and an IMU, allowing for convenient shell disassembly and assembly and angle stabilization via button operation, ensuring high-precision positioning and map building within the mine.
It improves the safety and efficiency of mine operations, and achieves high-precision positioning and map building through handheld SLAM operation, reducing the impact of equipment movement on information collection and enhancing the convenience and stability of operation.
Smart Images
Figure CN223929598U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of mining operation technology, and more specifically, to a SLAM-based mining operation helmet. Background Technology
[0002] SLAM is an abbreviation for Simultaneous Localization and Mapping. The basic principle of SLAM is to collect environmental information through sensors. As the subject moves, it continuously receives data from the sensors and uses this data to update its position estimate and environmental map. This process is real-time, meaning that the subject is constantly updating the map and position information while moving.
[0003] Traditional mine surveying methods, such as theodolites and total stations, are not only time-consuming and labor-intensive, but also have limited accuracy, especially in the complex and ever-changing mine environment, where it is difficult to guarantee accuracy and safety. SLAM technology, however, can collect environmental information inside the mine in real time and quickly construct a 3D map of the mine. At the same time, this technology can accurately determine the location of workers in the mine, providing reliable safety assurance for mine operations.
[0004] Currently, in underground mining exploration, SLAM is integrated into helmets to ensure operational safety. While this is convenient for workers, the head-mounted device moves with the worker's head, which can affect the device's ability to collect environmental information. This is especially true in complex underground mining operations, where workers often need to use a handheld SLAM device, which is inconvenient. Therefore, improvements and optimizations are needed. Utility Model Content
[0005] To overcome the shortcomings of existing technologies, this utility model provides a SLAM-based mining helmet with the advantages of easy assembly and disassembly.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a SLAM-based mine operation helmet, including an operation helmet, a differential GPS is provided on the top of the operation helmet, a fixing plate is fixedly installed on the right side of the operation helmet, fixing grooves are provided on the front and rear sides of the bottom of the fixing plate, a rotating rod is rotatably installed inside the two sets of fixing grooves, a connecting block is fixedly installed in the middle of the rotating rod, and an installation plate is fixedly installed on the right side of the connecting block;
[0007] The mounting plate has a housing at its bottom and a connecting post fixedly mounted on the top of the housing. One end of the connecting post extends into the interior of the mounting plate, and a wedge is movably mounted inside the connecting post. A connecting groove is formed inside the mounting plate. One end of the wedge and the inner wall of the connecting post are elastically connected by a first spring. The other end of the wedge and the connecting groove abut against each other. A computing board, an IMU, and a battery are fixedly mounted inside the housing. A display screen is provided on the left side of the housing, and a binocular camera is provided on the right side of the housing. A threaded groove is formed at the bottom of the housing.
[0008] As a preferred embodiment of this utility model, both sets of fixed grooves are provided with movable grooves inside, and the movable grooves are circumferentially arranged on the inner wall of the fixed grooves. Limiting holes are provided on both the front and rear sides of the rotating rod, and the number and position of the limiting holes correspond to the movable grooves.
[0009] As a preferred embodiment of this utility model, a telescopic groove is provided inside the right side of the mounting plate, and a button is movably installed inside the telescopic groove.
[0010] As a preferred embodiment of this utility model, a control lever is fixedly installed on the left side of the button, and the left side of the button and the telescopic groove are elastically connected by a second spring.
[0011] As a preferred embodiment of this utility model, a clamp is fixedly installed on the front side of the work helmet, a handle is fixedly installed inside the clamp, and a threaded rod is fixedly installed on the right end of the handle, with the threaded rod and the threaded groove corresponding to each other.
[0012] As a preferred embodiment of this utility model, a limiting post is movably installed inside the limiting hole, and one end of the limiting post and the limiting hole are elastically connected by a third spring.
[0013] As a preferred embodiment of this utility model, one end of the limiting post located inside the movable groove is dome-shaped, and the dome-shaped end of the limiting post abuts against the movable groove.
[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0015] 1. This utility model allows the control lever to press the wedge into the interior of the connecting column by pressing the button, making it convenient for workers to remove the outer shell and assemble the outer shell and handle. By inserting the connecting column into the mounting plate, the wedge is fixed into the connecting groove through the elastic potential energy of the first spring. Compared with traditional devices, this device not only integrates SLAM into the work helmet, making it convenient for workers to locate inside the mine, but also makes it more convenient for workers to operate by holding the outer shell when high-precision positioning and map building are required, thus improving the safety and efficiency of the operation.
[0016] 2. This utility model, through the design of the limiting post inside the rotating rod and the design of the movable groove inside the fixed groove, ensures that when the rotating rod rotates with the connecting block, the limiting post is squeezed into the movable groove. When the movable groove aligns with the limiting hole again, the limiting post will reset through the elastic potential energy of the third spring. Compared with traditional devices, this device can ensure that the opening angle of the binocular camera and the display screen is stable without being subjected to external force after the mounting plate rotates, and it is convenient for staff to make adjustments, thus improving work efficiency. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of this utility model;
[0018] Figure 2 This is a schematic diagram of the grip structure of this utility model;
[0019] Figure 3 This is a schematic diagram of the mounting plate structure of this utility model;
[0020] Figure 4 This is a schematic diagram of the threaded groove structure of this utility model;
[0021] Figure 5 This is a schematic diagram of the connecting column structure of this utility model;
[0022] Figure 6 This is a schematic diagram of the outer shell structure of this utility model;
[0023] Figure 7 This is a schematic diagram of the rotating rod structure of this utility model;
[0024] Figure 8 This is a schematic diagram of the limiting column structure of this utility model.
[0025] In the diagram: 1. Work helmet; 2. Differential GPS; 3. Fixing plate; 4. Fixing groove; 5. Connecting block; 6. Rotating rod; 7. Mounting plate; 8. Outer shell; 9. Connecting post; 10. Wedge; 11. First spring; 12. Connecting groove; 13. Control rod; 14. Telescopic groove; 15. Second spring; 16. Button; 17. Binocular camera; 18. Calculation board; 19. IMU; 20. Battery; 21. Display screen; 22. Grip; 23. Clamp; 24. Threaded rod; 25. Threaded groove; 26. Movable groove; 27. Limiting post; 28. Limiting hole; 29. Third spring. Detailed Implementation
[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0027] like Figures 1 to 8 As shown, this utility model provides a SLAM-based mine operation helmet, including a work helmet 1, a differential GPS 2 is provided on the top of the work helmet 1, a fixing plate 3 is fixedly installed on the right side of the work helmet 1, fixing grooves 4 are provided on the front and rear sides of the bottom of the fixing plate 3, a rotating rod 6 is rotatably installed inside the two sets of fixing grooves 4, a connecting block 5 is fixedly installed in the middle of the rotating rod 6, and an installation plate 7 is fixedly installed on the right side of the connecting block 5.
[0028] The bottom of the mounting plate 7 is provided with a housing 8, and the top of the housing 8 is fixedly installed with a connecting post 9. One end of the connecting post 9 extends into the interior of the mounting plate 7, and a wedge 10 is movably installed inside the connecting post 9. The interior of the mounting plate 7 is provided with a connecting groove 12. One end of the wedge 10 and the inner wall of the connecting post 9 are elastically connected by a first spring 11. The other end of the wedge 10 and the connecting groove 12 abut against each other. The interior of the housing 8 is fixedly installed with a computing board 18, an IMU 19 and a battery 20. The left side of the housing 8 is provided with a display screen 21, the right side of the housing 8 is provided with a binocular camera 17, and the bottom of the housing 8 is provided with a threaded groove 25.
[0029] When visibility is poor inside the mine and it is impossible to locate one's own area, workers can wear a work helmet 1 to work. At this time, the workers can turn on the battery 20 for power, and the operation of differential GPS 2 will correct GPS positioning errors by receiving differential signals from ground base stations, thereby improving positioning accuracy. The binocular camera 17 captures the stereo information of the environment to realize 3D reconstruction and distance measurement. Secondly, the computing board (18 Jetson Or in NX) is responsible for processing data from various sensors, running SLAM algorithm, and realizing positioning and map building functions. Finally, IMU 19 provides the helmet's attitude and acceleration information to assist the SLAM algorithm in positioning and attitude estimation. Workers can observe the reconstructed image through the display screen 21.
[0030] For more detailed high-precision positioning and map building, a head-mounted SLAM headset is inconvenient. The operator can press button 16 with one hand and hold the outer shell 8 with the other. At this time, button 16 and control lever 13 simultaneously push the wedge 10 into the interior of the connecting post 9. Furthermore, the connection between the connecting post 9 and the mounting plate 7 is released, and the operator can easily remove the outer shell 8. During installation, the operator only needs to insert the connecting post 9 into the interior of the mounting plate 7, so that the wedge 10 can enter the interior of the connecting groove 12 through the elastic potential energy of the first spring 11 to complete the fixation. Then the operator can remove the handle 22 from the clamp 23 and connect the threaded rod 24 to the threaded groove 25 at the bottom of the outer shell 8 to form a handheld SLAM.
[0031] By pressing button 16, the control lever 13 presses the wedge 10 into the interior of the connecting post 9, making it convenient for the operator to remove the outer shell 8 and then connect the outer shell 8 and the handle 22. By inserting the connecting post 9 into the mounting plate 7, the wedge 10 is fixed inside the connecting groove 12 by the elastic potential energy of the first spring 11. Compared with traditional devices, this device not only integrates SLAM into the work helmet 1, making it convenient for operators to locate inside the mine, but also makes it easier for operators to operate by holding the outer shell 8 when high-precision positioning and map building are required, thus improving the safety and efficiency of the operation.
[0032] The two sets of fixed grooves 4 are provided with movable grooves 26 inside. The movable grooves 26 are circumferentially arranged on the inner wall of the fixed grooves 4. Limiting holes 28 are provided on both the front and rear sides of the rotating rod 6. The number and position of the limiting holes 28 correspond to the movable grooves 26.
[0033] At this time, the operator rotates the mounting plate 7, which in turn drives the two sets of rotating rods 6 to rotate. When the rotating rods 6 rotate, the dome-shaped end of the limiting post 27 inside the limiting hole 28 abuts against the movable groove 26. Furthermore, due to the dome-shaped design of the limiting post 27, the limiting post 27 is squeezed into the movable groove 26 when the rotating rod 6 rotates. When the movable groove 26 aligns with the limiting hole 28 again, the limiting post 27 will be reset by the elastic potential energy of the third spring 29, thereby limiting the mounting plate 7 and ensuring that the mounting plate 7 can maintain the opening angle without being subjected to external force.
[0034] By designing the internal limiting post 27 of the rotating rod 6 and the internal movable groove 26 of the fixed groove 4, the limiting post 27 is squeezed into the movable groove 26 when the rotating rod 6 rotates with the connecting block 5. When the movable groove 26 aligns with the limiting hole 28 again, the limiting post 27 will be reset by the elastic potential energy of the third spring 29. Compared with traditional devices, this device can ensure that the opening angle of the binocular camera 17 and the display screen 21 is stable without being subjected to external force after the mounting plate 7 rotates, and it is convenient for staff to make adjustments, thus improving work efficiency.
[0035] The mounting plate 7 has a telescopic groove 14 on its right side, and a button 16 is movably installed inside the telescopic groove 14.
[0036] A control lever 13 is fixedly installed on the left side of the button 16, and the left side of the button 16 and the telescopic groove 14 are elastically connected by a second spring 15.
[0037] The work helmet 1 is fixedly installed with a clamp 23 on the front side, and a handle 22 is fixed inside the clamp 23. A threaded rod 24 is fixedly installed on the right end of the handle 22, and the threaded rod 24 and the threaded groove 25 correspond to each other.
[0038] Among them, a limiting post 27 is movably installed inside the limiting hole 28, and one end of the limiting post 27 is elastically connected to the limiting hole 28 by a third spring 29.
[0039] The limiting post 27 has a dome-shaped end inside the movable groove 26, and the dome-shaped end of the limiting post 27 abuts against the movable groove 26.
[0040] Working principle and usage process of this utility model:
[0041] When visibility is poor inside the mine and it is impossible to locate one's own area, workers can wear work helmets 1 to carry out their work. At this time, the workers rotate the mounting plate 7, which will drive the two sets of rotating rods 6 to rotate. When the rotating rods 6 rotate, the dome-shaped end of the limiting post 27 inside the limiting hole 28 will abut against the movable groove 26. Furthermore, due to the dome-shaped design of the limiting post 27, the limiting post 27 will be squeezed into the movable groove 26 when the rotating rod 6 rotates. When the movable groove 26 is aligned with the limiting hole 28 again, the limiting post 27 will be reset by the elastic potential energy of the third spring 29, thereby limiting the mounting plate 7 and ensuring that the mounting plate 7 can maintain the opening angle without being subjected to external force.
[0042] The operator can turn on the battery 20 for power, and the differential GPS2 will receive differential signals from the ground base station to correct GPS positioning errors, thereby improving positioning accuracy. The binocular camera 17 captures stereo information of the environment to achieve 3D reconstruction and ranging. Next, the computing board 18 Jetson Or in NX is responsible for processing data from various sensors, running SLAM algorithms, and realizing positioning and map building functions. Finally, the IMU 19 provides helmet attitude and acceleration information to assist the SLAM algorithm in positioning and attitude estimation. The operator can observe the reconstructed image through the display screen 21.
[0043] For more detailed high-precision positioning and map building, a head-mounted SLAM headset is inconvenient. The operator can press button 16 with one hand and hold the outer shell 8 with the other. At this time, button 16 and control lever 13 simultaneously push the wedge 10 into the interior of the connecting post 9. Furthermore, the connection between the connecting post 9 and the mounting plate 7 is released, and the operator can easily remove the outer shell 8. During installation, the operator only needs to insert the connecting post 9 into the interior of the mounting plate 7, so that the wedge 10 can enter the interior of the connecting groove 12 through the elastic potential energy of the first spring 11 to complete the fixation. Then the operator can remove the handle 22 from the clamp 23 and connect the threaded rod 24 to the threaded groove 25 at the bottom of the outer shell 8 to form a handheld SLAM.
[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A SLAM-based mining helmet, comprising a helmet (1), characterized in that: The top of the work helmet (1) is equipped with a differential GPS (2), and a fixing plate (3) is fixedly installed on the right side of the work helmet (1). Fixing grooves (4) are opened on both the front and rear sides of the bottom of the fixing plate (3). Rotating rods (6) are rotatably installed inside the two sets of fixing grooves (4). A connecting block (5) is fixedly installed in the middle of the rotating rod (6), and an installation plate (7) is fixedly installed on the right side of the connecting block (5). The bottom of the mounting plate (7) is provided with a shell (8), and the top of the shell (8) is fixedly installed with a connecting post (9). One end of the connecting post (9) penetrates into the interior of the mounting plate (7), and a wedge (10) is movably installed inside the connecting post (9). A connecting groove (12) is opened inside the mounting plate (7). One end of the wedge (10) and the inner wall of the connecting post (9) are elastically connected by a first spring (11). The other end of the wedge (10) and the connecting groove (12) abut against each other. A computing board (18), an IMU (19) and a battery (20) are fixedly installed inside the shell (8). A display screen (21) is provided on the left side of the shell (8), and a binocular camera (17) is provided on the right side of the shell (8). A threaded groove (25) is opened at the bottom of the shell (8).
2. The SLAM-based mining helmet according to claim 1, characterized in that: Both sets of fixed grooves (4) have movable grooves (26) inside. The movable grooves (26) are circumferentially arranged on the inner wall of the fixed grooves (4). Limiting holes (28) are opened on both the front and rear sides of the rotating rod (6). The number and position of the limiting holes (28) correspond to the movable grooves (26).
3. A SLAM-based mining helmet according to claim 1, characterized in that: The mounting plate (7) has an internal telescopic groove (14) on the right side, and a button (16) is movably installed inside the telescopic groove (14).
4. A SLAM-based mining helmet according to claim 3, characterized in that: A control lever (13) is fixedly installed on the left side of the button (16), and the left side of the button (16) and the telescopic groove (14) are elastically connected by a second spring (15).
5. A SLAM-based mining helmet according to claim 1, characterized in that: The work helmet (1) is fixedly installed with a clamp (23) on the front side. A handle (22) is fixed inside the clamp (23). A threaded rod (24) is fixedly installed on the right end of the handle (22). The threaded rod (24) and the threaded groove (25) correspond to each other.
6. A SLAM-based mining helmet according to claim 2, characterized in that: A limiting post (27) is movably installed inside the limiting hole (28), and one end of the limiting post (27) and the limiting hole (28) are elastically connected by a third spring (29).
7. A SLAM-based mining helmet according to claim 6, characterized in that: The end of the limiting post (27) located inside the movable groove (26) is dome-shaped, and the dome-shaped end of the limiting post (27) abuts against the movable groove (26).