Device for detecting accumulated water in damaged area of old kiln

Abstract

The utility model provides a detection device for accumulated water in a damaged area of an old kiln. A robot body is provided with a driving system, a detection system and a drainage system; the driving system is an advancing track which is correspondingly arranged below the robot body; the drainage system comprises a water pump, a drainage pipe and a water tank, the water tank is rotationally connected into the robot body through a guide pipe, the water pump is arranged on the side of the water tank, a water inlet pipe of the water pump extends to the bottom of the robot body, and a water outlet pipe of the water pump is correspondingly connected with the guide pipe. One end of the drainage pipe is connected to the lower edge of the water tank; according to the method, the accumulated water condition of the old kiln damage area can be efficiently, accurately and comprehensively detected, drainage operation can be implemented in time, and the safety risk caused by accumulated water in the old kiln damage area is effectively reduced.

Description

Technical Field

[0001] This utility model belongs to the technical field of coal mine safety detection equipment, specifically relating to a water accumulation detection device in the damaged area of ​​an old mine. Background Technology

[0002] During coal mining, old mine damage areas present numerous safety hazards due to their complex geological conditions and historical mining practices, with water accumulation being a particularly prominent issue. Water accumulation in these areas not only disrupts normal coal mining operations but can also trigger water inrush accidents, seriously threatening the lives of underground workers.

[0003] Currently, the detection of water accumulation in damaged areas of old coal mines mainly relies on manual exploration and traditional geophysical methods. Manual exploration requires workers to venture into dangerous areas, facing significant safety risks; while traditional geophysical methods can detect water accumulation to some extent, they suffer from low accuracy and lack of real-time feedback, making it difficult to meet the actual needs of safe coal mine production.

[0004] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a device for detecting water accumulation in the damaged area of ​​an old kiln.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A device for detecting water accumulation in the damaged area of ​​an old kiln includes a drive system, a detection system, and a drainage system on the robot body.

[0008] in,

[0009] The drive system is a tracked vehicle, which is correspondingly positioned below the robot body.

[0010] The detection system is located at the front end of the robot body and includes a laser rangefinder and a camera;

[0011] The drainage system includes a water pump, a drain pipe, and a water tank. The water tank is rotatably connected inside the robot body via a conduit. The water pump is located on the side of the water tank. The water pump's inlet pipe extends to the bottom of the robot body. The water pump's outlet pipe is correspondingly connected to the conduit. The upper end of the conduit extends into the water tank and is rotatably and sealingly connected to the water tank.

[0012] One end of the drain pipe is connected to the lower edge of the water tank, and the other end is wrapped around the outside of the water tank.

[0013] Preferably, the robot body has a shell corresponding to the water tank on its upper part, and the upper edge of the shell has a pull-out opening corresponding to the drain pipe.

[0014] Preferably, the lower end of the conduit is connected between the outlet pipe and the inlet pipe of the water pump via an electrically controlled valve.

[0015] Preferably, the drainage system further includes a drive motor, and a driven gear is provided at the bottom of the water tank, which is concentrically distributed with the conduit. The main shaft of the drive motor meshes with the driven gear through the drive gear.

[0016] Preferably, the robot body is also equipped with a control system, and the detection system, drainage system and drive system are correspondingly connected to the control system.

[0017] Preferably, the main body is provided with a power supply corresponding to the control system;

[0018] The control system is connected to a communication module, which is connected to a control terminal.

[0019] Preferably, the detection system also includes a searchlight.

[0020] Preferably, a filter screen is provided at the inlet of the water inlet pipe.

[0021] Preferably, the robot body is provided with a mud-pushing plate at the front.

[0022] Beneficial effects: This application can efficiently and accurately detect the water accumulation in the old kiln damage area and implement drainage operations in a timely manner, effectively reducing the safety risks caused by water accumulation in the old kiln damage area. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. Wherein:

[0024] Figure 1 A simplified structural diagram of the robot provided in a specific embodiment of this utility model;

[0025] Figure 2 A simplified cross-sectional view of the robot in a specific embodiment provided by this utility model;

[0026] Figure 3 This is a schematic diagram of the internal structure of the robot in a specific embodiment of this utility model.

[0027] In the diagram: 1. Outer shell; 2. Tracks; 3. Searchlight; 4. Water pump; 5. Laser rangefinder; 6. Camera; 7. Drain pipe; 8. Pusher plate; 9. Water tank; 10. Pipe; 11. Drive motor; 12. Drive gear; 13. Driven gear; 14. Outlet pipe; 15. Electric valve; 16. Inlet pipe. Detailed Implementation

[0028] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art are within the protection scope of this utility model.

[0029] In the description of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not require that this utility model be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this utility model. The terms "connected" and "linked" used in this utility model should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] like Figure 1-3As shown, a water accumulation detection device for old kiln damage areas includes a drive system, a detection system, and a drainage system on the robot body. The drive system consists of a walking track 2, a commercially available module with anti-slip textures on its surface to increase stability on the complex terrain of the old kiln damage area. The walking track 2 comprises two robust and durable tracks, each wrapped around multiple specially designed rollers, which are tightly connected to a built-in drive motor 11. The drive motor 11 provides stable power output to the tracks, enabling the robot to move freely under the complex ground conditions of the old kiln damage area. The unique anti-slip texture on the track surface increases friction with the ground, ensuring the robot maintains a stable walking posture even on muddy, slippery, or rugged surfaces, preventing slippage or tipping over. The outer shell 1 tightly encloses the key components inside the robot, and the tracks 2 are correspondingly located under the robot body to drive the robot body to move towards the detection area. The detection system is located at the front of the robot body and includes a laser rangefinder 5 and a camera 6. The laser rangefinder and camera 6 can monitor the surrounding environment. The detection system enables real-time and accurate detection of water accumulation areas, and can detect detailed information such as the location, range, and depth of the water accumulation. This overcomes the problems of the danger of manual detection and the insufficient accuracy and inability to provide real-time feedback of traditional water accumulation detection methods.

[0032] The drainage system includes a water pump 4, a drain pipe 7, and a water tank 9. The water tank 9 is rotatably connected to the inside of the robot body via a conduit 10. One end of the drain pipe 7 is connected to the lower edge of the water tank 9, and the other end is wrapped around the outside of the water tank 9. The drain pipe 7 is wrapped around the water tank 9, and the water tank 9 can release or retract the drain pipe 7 as needed. The drain pipe 7 is made of high-strength, wear-resistant material to ensure that there will be no cracking or leakage during the drainage process.

[0033] Water pump 4 is located on the side of water tank 9 and is used to pump out accumulated water from the damaged area of ​​the old kiln. A mud screen is installed at the water inlet of the pipe to filter out impurities in the water and prevent them from entering the water pump 4 and causing damage. The water inlet pipe 16 of water pump 4 extends to the bottom of the robot body, and the water outlet pipe 14 of water pump 4 is connected to the conduit 10. The upper end of the conduit 10 extends into water tank 9 and is rotatably sealed to water tank 9, so that the rotation of water tank 9 will not affect the normal operation of drain pipe 7. An electric valve can be installed on drain pipe 7.

[0034] The robot provided in this application can initiate drainage operations in a timely manner based on the detection results, ensuring the safe progress of coal mining operations, effectively reducing the risk of water inrush accidents, and greatly reducing the detection burden and hazardous work intensity of the staff.

[0035] In this embodiment, the robot body is provided with a shell 1 corresponding to the water tank 9 on the top. The robot body is provided with a sturdy shell 1. The shell 1 is made of high-strength and corrosion-resistant materials to protect the internal equipment from the harsh environment of the old kiln damage area, such as coal and rock falling, water erosion, etc. The upper edge of the shell 1 is provided with a pull-out opening corresponding to the drain pipe 7.

[0036] In an optional embodiment, the drainage system further includes a drive motor 11, and a passive gear 13 is provided at the bottom of the water tank 9, which is concentrically distributed with the conduit 10. The main shaft of the drive motor 11 meshes with the passive gear 13 through the drive gear 12.

[0037] In this embodiment, the water pump 4, as the core component of the drainage system, is a high-power, corrosion-resistant pump. Its strong suction power allows for rapid extraction of water from the damaged old kiln area, ensuring efficient drainage. A filter screen is installed at the inlet of the water pump 4's inlet pipe 16 to effectively intercept various impurities such as mud, sand, and coal slag in the water, preventing these impurities from entering the pump 4 and the drainage pipe 7, thus preventing blockages or damage and ensuring stable operation of the drainage system. The drainage pipe 7 plays a crucial role in the entire drainage process. Specifically, the drainage pipe 7 is wound around the water tank 9, a unique design that allows for flexible adjustment of its length. Specifically, the length of the drainage pipe 7 can be precisely controlled by rotating the passive gear 13 to rotate the water tank 9. When the robot needs to operate in waterlogged areas at different distances or adjust the drainage position in complex terrain, the length of the drainage pipe 7 can be adjusted according to actual needs, enhancing the adaptability and convenience of the drainage system.

[0038] The water tank 9, installed inside the robot body, has a large capacity and is used to temporarily store filtered water transported through the drain pipes 7. When the water tank is nearly full, the robot can adopt different drainage methods depending on the actual situation. On the one hand, the robot can transport the water to a designated location for discharge; on the other hand, it can also connect to an external drainage system to achieve continuous drainage operations, further improving drainage efficiency and meeting drainage needs in different scenarios.

[0039] Furthermore, in order to control the direction of water inlet and outlet, the lower end of the conduit 10 is connected between the outlet pipe 14 and the inlet pipe 16 of the water pump 4 via an electric control valve 15. The electric control valve 15 switches between the two pipes. When water needs to be pumped into the water tank 9, the electric control valve 15 controls the outlet pipe 14 and the inlet pipe 16 to disconnect, so that water enters the outlet pipe 14 from the inlet pipe 16 via the water pump 4, and then enters the water tank 9. When water needs to be drained from the water tank 9, the electric control valve 15 controls the outlet pipe 14 and the inlet pipe 16 to connect, so that the water inside can be directly discharged to the outside via the electric control valve 15 and the inlet pipe 16.

[0040] In one optional embodiment, the water-accumulating robot also includes a control system. This control system acts as the robot's "brain," coordinating the work of various systems to achieve automated operation. The control system is a CPU controller integrated on a circuit board. The detection system, drainage system, and drive system are electrically connected to the control system via data lines. The CPU controller can quickly analyze and process the data collected by the detection system. Based on the data analysis results, the control host sends corresponding control commands to the robot's drive motor 11, the adjustment mechanism of the mud-pushing auxiliary device, and the water pump 4 of the drainage system, enabling the robot to autonomously walk, perform detection operations, and carry out drainage operations.

[0041] The main unit is equipped with a power supply for the corresponding control system. This power supply provides computers to each system. The laser ranging module, image acquisition module, and environmental perception module in the detection system transmit the acquired data to the CPU controller of the control system in real time. The CPU controller is connected to a communication module, which can send the detected information to the control terminal. The communication module can connect to the control terminal via a wireless or wired network. The control terminal can be a mobile phone or a computer, used to issue operating commands to the control system.

[0042] In one optional embodiment, the laser ranging module, image acquisition module, and environmental perception module in the detection system transmit the collected data to the CPU controller of the control system in real time. The CPU controller uses this data to determine the environmental conditions around the robot, identifying the presence, location, extent, and depth of accumulated water. If water is detected, the control unit immediately sends a start command to the drainage system, controlling the water pump 4 to begin pumping. Simultaneously, it adjusts the discharge direction of the drainage pipe 7 and the storage strategy of the water storage container based on the water level. During robot operation, the control system also adjusts the robot's walking path and speed in real time based on data from the detection system, ensuring the robot can safely and efficiently complete the detection and drainage tasks. For example, when the laser ranging module detects an obstacle ahead, the control unit controls the drive motor 11 to adjust the track's movement direction, allowing the robot to avoid the obstacle; when the image acquisition module identifies a large water accumulation area, the control unit increases the power of the water pump 4 to improve pumping efficiency.

[0043] In an optional embodiment, the detection system further includes a searchlight 3. The camera 6 works in conjunction with two high-power searchlights 3 to achieve comprehensive and accurate environmental detection. A laser rangefinder 5 is mounted on the front of the robot. By emitting a laser beam and receiving the reflected laser signal, it can measure the distance between the robot and obstacles or potential water accumulation areas extremely quickly and accurately. This provides crucial information for the robot's path planning, enabling the control system to plan a safe and efficient route and help the robot intelligently avoid obstacles. Simultaneously, it also provides important support for detecting water accumulation areas.

[0044] In well-lit conditions, the high-definition camera 6 can clearly capture environmental details in the damaged area of ​​the old kiln, providing rich information for subsequent image analysis. In the dimly lit area, two high-powered searchlights 3 play a crucial role. Mounted near the camera 6, the searchlights 3 possess high brightness and wide-angle illumination characteristics, providing ample light in dark environments to illuminate the area around the robot. The high-definition camera 6, in conjunction with the searchlights 3, can capture clear environmental images even in low light or wet conditions.

[0045] In this embodiment, the images captured by camera 6 are transmitted to the control system in real time. The control system has pre-installed software (conventional software and technology) that uses image recognition algorithms to analyze and process these images, identifying various objects, terrain features, and potential signs of water accumulation. Through image analysis, the potential water accumulation areas detected by the lidar detection module can be further confirmed, and more detailed information such as the extent and depth of water accumulation can be obtained, providing strong support for subsequent drainage operations.

[0046] In one optional embodiment, a mud-pushing plate 8 is provided in front of the robot body. The mud-pushing plate 8 can be adjusted in angle as needed, and can push away silt and debris in front of the robot during its movement to ensure that the robot moves forward smoothly.

[0047] Furthermore, an adjustment mechanism for the pusher plate 8 is installed at the front end of the robot body. The pusher plate 8 is hinged to the robot body via a robotic arm. The adjustment mechanism can be a hydraulic rod or an electric rod, and it is connected between the robotic arm and the robot body. This mechanism allows for flexible adjustment of the angle and height of the pusher plate 8 according to actual operational needs. When the robot encounters mud or debris accumulation during its movement, the pusher plate 8 can be lowered and adjusted to a suitable angle via the adjustment mechanism, easily pushing away obstacles and creating conditions for the robot's smooth progress.

[0048] In summary, the robot is transported to a safe location near the damaged old kiln area. The operator starts the robot via a control terminal, and the robot's power module activates, supplying power to all components. The robot slowly enters the damaged area via its tracks. During its movement, the laser rangefinder 5 continuously measures the distance to obstacles ahead and transmits the data to the CPU controller of the control system. Based on the data from the laser rangefinder 5 and a pre-set path planning algorithm, the CPU controller controls the robot's direction of travel to prevent collisions with obstacles. Simultaneously, the camera 6 begins capturing environmental images of the damaged old kiln area. Ambient lights automatically illuminate areas with low light levels to provide illumination for the camera 6. The captured images are analyzed by a processor, and image recognition algorithms are used to identify areas with accumulated water.

[0049] Once the robot detects a waterlogged area, the processor activates water pump 4 to extract water through a pipe. A screen at the suction port filters impurities from the water, preventing them from entering pump 4. The extracted water is then transported to a designated location via drain pipe 7, with valves controlling the flow rate and direction of drainage as needed. Drain pipe 7 is then released from water tank 9, ensuring smooth drainage. During drainage, the robot can reposition itself based on the water level to achieve more efficient drainage.

[0050] During the robot's exploration and drainage processes, the communication module inside the control box transmits collected data, such as laser ranging data, camera image data, and drainage status, to the terminal equipment of the ground operator in real time. The operator can then view the condition of the damaged area of ​​the old kiln through the terminal equipment and send control commands to the robot as needed. For example, adjusting the robot's walking direction or controlling the drainage flow rate.

[0051] After completing the detection and drainage tasks, the operator sends a command via the control terminal to guide the robot back to a safe location along its original path. During the return process, the robot continues to monitor the surrounding environment using the laser rangefinder 5 and camera 6 to ensure a safe return. After returning, the robot undergoes inspection and maintenance for future use.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be within the scope of protection of the pending claims of the present utility model.

Claims

1. A device for detecting water accumulation in a dead zone of a kiln, characterized by The robot body is equipped with a drive system, a detection system, and a drainage system; in, The drive system is a tracked vehicle, which is correspondingly positioned below the robot body. The detection system is located at the front end of the robot body and includes a laser rangefinder and a camera; The drainage system includes a water pump, a drain pipe, and a water tank. The water tank is rotatably connected inside the robot body via a conduit. The water pump is located on the side of the water tank. The water pump's inlet pipe extends to the bottom of the robot body. The water pump's outlet pipe is correspondingly connected to the conduit. The upper end of the conduit extends into the water tank and is rotatably and sealingly connected to the water tank. One end of the drain pipe is connected to the lower edge of the water tank, and the other end is wrapped around the outside of the water tank.

2. The old kiln destruction zone water accumulation detection device according to claim 1, characterized by, The robot body is provided with an outer shell corresponding to the water tank on its upper part, and the upper edge of the outer shell is provided with a pull-out opening corresponding to the drain pipe.

3. The old kiln destruction zone water accumulation detection device according to claim 1, characterized by, The lower end of the conduit is connected between the outlet pipe and the inlet pipe of the water pump via an electrically controlled valve.

4. The old kiln destruction zone water accumulation detection device according to claim 1, characterized by, The drainage system also includes a drive motor, and a driven gear is provided at the bottom of the water tank, which is concentrically distributed with the conduit. The main shaft of the drive motor meshes with the driven gear through the drive gear.

5. The apparatus according to claim 1, wherein The robot body is also equipped with a control system, and the detection system, drainage system and drive system are correspondingly connected to the control system.

6. The old kiln destruction zone water accumulation detection device according to claim 5, characterized by The main body is equipped with a power supply that is connected to the control system. The control system is connected to a communication module, which is connected to a control terminal.

7. The apparatus according to claim 1, wherein The detection system also includes a searchlight.

8. The apparatus according to claim 1, wherein A filter screen is installed at the inlet of the water inlet pipe.

9. The apparatus according to claim 1, wherein The robot body is equipped with a mud-pushing plate at the front.

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