CN103046961A - Robot and method for independently establishing wireless communication network for mine emergency rescue - Google Patents
Robot and method for independently establishing wireless communication network for mine emergency rescue Download PDFInfo
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- CN103046961A CN103046961A CN2013100147656A CN201310014765A CN103046961A CN 103046961 A CN103046961 A CN 103046961A CN 2013100147656 A CN2013100147656 A CN 2013100147656A CN 201310014765 A CN201310014765 A CN 201310014765A CN 103046961 A CN103046961 A CN 103046961A
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Abstract
The invention discloses a robot and method for independently establishing wireless communication network for mine emergency rescue. The robot comprises a robot body and a placing system of wireless communication network repeater. The robot body is provided with a walking mechanism. A driving mechanism, an environment information monitoring unit, a wireless communication unit and a control system are arranged inside the robot. The placing system of wireless communication network comprises a placing device of a wireless communication repeater and a wireless communication repeater. The method includes step 1, detecting and uploading coal mine environment information, communication signal strength and geography information; step 2, analyzing and processing signals; step 3, detecting and uploading wireless communication signal strength of the location of the wireless communication repeater and information about wireless communication signal strength, and step 4, circulating the steps of 1, 2 and 3 to finish wireless communication network establishing. The robot and method are novel and reasonable in design, high in intelligence, convenient in usage and operation can repair and construct coal mine communication network quickly with stable and reliable working and are suitable for promoting and using.
Description
Technical field
The present invention relates to wireless communication technology field, especially relate to a kind of downhole emergency rescuing cordless communication network and independently build robot and method.
Background technology
The performance of accident emergency communication system under the coal mine directly affects covering, downhole rescuing personnel and the rescue command center of underground communica tion network, or the communication efficiency between rescue robot and the rescue command center, has conclusive effect to implementing rescue.At present, in the face of the accidents such as coal mine gas from explosion cause communication system paralysis problem, only lay wired communication mode by the rescue personnel and set up emergency communication system, exist rescue efficiency low, the rescue personnel bears huge life risk, and the communications cable damages easily and is difficult to the shortcomings such as reparation.In order to address the above problem, independently build system in the urgent need to research with the colliery emergency management and rescue cordless communication network of the artificial main body of machine.
Summary of the invention
Technical problem to be solved by this invention is for above-mentioned deficiency of the prior art, a kind of compact conformation is provided, rationally novel in design, processing and fabricating is convenient, and intelligent degree is high, use simple operation, can repair fast and set up the underground communica tion network, working stability, reliable, practical, result of use is good, and the downhole emergency rescuing cordless communication network of being convenient to promote the use of is independently built robot.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: comprise robot body and the wireless communication relay laying system that is fixedly connected on the robot body top, on the described robot body walking mechanism is installed, the driving mechanism that walking mechanism is driven is installed in the described robot body, the environmental information monitoring means, wireless communication unit and the control system of joining with the environmental information monitoring means, described driving mechanism is controlled by control system and itself and control system are joined, described wireless communication unit and control system are joined, and described control system is carried out two-way communication by the rescue command central computer of wireless communication unit and rescue center; Described wireless communication relay laying system comprises wireless communication relay arranging device and the wireless communication relay that leaves on the wireless communication relay arranging device, be provided with the outlet of the first repeater on the described wireless communication relay arranging device, be provided with the outlet of the second repeater on the described robot body, described wireless communication relay arranging device and control system are joined.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: described walking mechanism is crawler type walking mechanism, described robot body comprises that inside is provided with the uncovered base and the top cover that is fixedly connected on the base top of cavity and top, be provided with the first depressed part on the described base, be provided with the second depressed part on the described top cover, described the first depressed part matches with the second depressed part and has consisted of the outlet of the second repeater, the quantity of described crawler type walking mechanism is the both sides that two and two described crawler type walking mechanisms are symmetricly set on described base, be provided with a plurality of gravity vents on the sidewall of described base connecting band track formula walking mechanism, described driving mechanism, the environmental information monitoring means, wireless communication unit and control system all are arranged in the base internal cavities, are provided with between described top cover and the base be used to covering described driving mechanism, the environmental information monitoring means, the Explosion-proof cap of wireless communication unit and control system.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: described environmental information monitoring means comprises for the carbon monoxide transducer that the environment carbon monoxide gas concentration is detected in real time, for the oxygen concentration sensor that the environment oxygen concentration is detected in real time, for the firedamp sensor that the environment gas density is detected in real time, for the temperature pick up that the environment temperature is detected in real time with for the video camera that image information is carried out Real-time Collection.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: described wireless communication relay arranging device comprises the arranging device housing and is arranged in the arranging device housing and is used for arranging device housing inner chamber is separated into the first dividing plate of power bin and wireless communication relay storage compartment, the top of described arranging device housing is equipped with upper cover plate, and described the first repeater outlet is arranged on the bottom of described arranging device housing; Be provided with the slip rail that is fixedly connected with the first dividing plate and the supporting rail that parallels with the slip rail in the described wireless communication relay storage compartment, space between described slip rail and the described supporting rail is that wireless communication relay is deposited track, an end is provided with the cloth Electrical Discharge Machine in the described power bin, described cloth Electrical Discharge Machine and control system are joined, the output shaft of described cloth Electrical Discharge Machine passes described the first dividing plate and the slip rail has extend in the described wireless communication relay storage compartment, be arranged on the output shaft of cloth Electrical Discharge Machine of described wireless communication relay storage compartment the first belt wheel is installed, the other end is provided with the driven shaft fixed station in the described power bin, be rotatably connected to driven shaft on the described driven shaft fixed station, described driven shaft passes described the first dividing plate and the slip rail has extend in the described wireless communication relay storage compartment, be arranged on the driven shaft of described wireless communication relay storage compartment the second belt wheel is installed, being provided with wireless communication relay in the described wireless communication relay storage compartment pushes away and puts assembly, described wireless communication relay pushes away to be put assembly and comprises that the slip that is slidingly connected on the slip rail is pullover, be rotatably connected on the sliding axle that slides on pullover, be installed in the 3rd belt wheel and the push pedal that lays that is fixedly connected on the sliding axle on the sliding axle, described sliding axle and described supporting rail are slidingly connected, described the first belt wheel, be connected with synchronous cog belt on the second belt wheel and the 3rd belt wheel.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: the quantity of described the first dividing plate is two, the quantity of corresponding described power bin is that the quantity of two and described wireless communication relay storage compartment is one, two described power bins lay respectively at the both sides of described wireless communication relay storage compartment, the quantity that described slip rail, supporting rail and wireless communication relay are deposited track is two, and it is two groups that described wireless communication relay pushes away the quantity of putting assembly.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: an end that is provided with the cloth Electrical Discharge Machine in the described power bin is provided with cloth Electrical Discharge Machine erecting bed, be fixedly connected with the motor mounting clamp on the described cloth Electrical Discharge Machine erecting bed, described cloth Electrical Discharge Machine is installed on the cloth Electrical Discharge Machine erecting bed by the motor mounting clamp; Be provided with laying motor bearings and being used for installing the driven bearing that supports driven shaft for the output shaft that the supports cloth Electrical Discharge Machine is installed on described the first dividing plate and the slip rail; Be fixedly connected with on the described slip rail and be useful on laying the motor bearings cover plate and being used for the driven bearing cover of fixing driven bearing of stationary cloth Electrical Discharge Machine bearing; Be provided be used to the sliding bearing that is rotationally connected described sliding axle on described slip is pullover.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: described wireless communication relay comprises the tumbler base and is connected to the tumbler housing on tumbler base top, be provided with gravity block in the described tumbler base, be provided with wireless communication module in the described tumbler housing and be used for power module to wireless communication module power supply, described tumbler housing top is connected with the antenna clamping head, and clamping has the antenna that joins by antenna connection wire and wireless communication module on the described antenna clamping head.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: described tumbler base be shaped as hemispherical; Described tumbler housing connects the storehouse housing by the communication storehouse housing that is connected with the tumbler base with the antenna that is connected with communication storehouse housing and consists of, and described antenna clamping head is connected to the top that antenna connects the storehouse housing; Being shaped as of described communication storehouse housing is horn-like, and it is cylindric that described antenna connects being shaped as of storehouse housing.
Above-mentioned downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: be provided with the mine intrinsic safety junction box in the housing of described communication storehouse, described wireless communication module and power module are installed in the mine intrinsic safety junction box, are provided with on the described mine intrinsic safety junction box for antenna to connect the antenna connecting hole that wire passes; The top of described tumbler base is fixedly connected with second partition, be provided with the yielding rubber pad on the described second partition, described mine intrinsic safety set of terminal box is fixedly connected on the described second partition on described yielding rubber pad and with described yielding rubber pad; Described mine intrinsic safety junction box by base plate, be fixedly connected on the box body on the base plate and the lid that is movably connected on the box body consists of, be provided with screwed hole on the described base plate, described antenna connecting hole is arranged on the box side wall.
The present invention provides also that a kind of data processing speed is fast, data-handling capacity is strong, and real-time is good, and functional reliability is high, realizes the easily autonomous building method of downhole emergency rescuing cordless communication network, it is characterized in that the method may further comprise the steps:
The detection of environmental information, communication signal strength and geography information and uploading under step 1, the coal mine: the downhole emergency rescuing cordless communication network is independently built in the robot ambulation process, by wireless communication unit the Mine Communication signal strength signal intensity is detected in real time, control system gathers the detected Mine Communication signal strength signal intensity of wireless communication unit a, and is transferred to the rescue command central computer by wireless communication unit;
The detection of step 3, the wireless communication relay present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to the rescue command central computer;
The present invention compared with prior art has the following advantages:
1, downhole emergency rescuing cordless communication network of the present invention is independently built the compact conformation of robot, and is rationally novel in design, and processing and fabricating is convenient.
2, the present invention has filled up the blank of the autonomous recovery research of emergency preplan when communication network breaks down in the subsurface environment and communication environment, so that the efficient of underground communica tion network disaster recovery has obtained huge heightening.
3, the invention enables after down-hole accident occurs, repair fast and set up the underground communica tion network, for rescue work provides communication support, and greatly reduced danger when personnel repair downhole network, ensured personnel's property safety.
4, intelligent degree of the present invention is high, uses simple operation, working stability, reliable.
5, the present invention not only can satisfy downhole rescuing personnel after the accident or rescue and detection robot to the active demand of wireless communication system, and greatly reduce rescue personnel's danger, and greatly improved the security reliability of rescue, practical, result of use is good, is convenient to promote the use of.
In sum, the present invention is rationally novel in design, and processing and fabricating is convenient, and intelligent degree is high, uses simple operation, can repair fast and set up the underground communica tion network, working stability, reliable, and practical, result of use is good, is convenient to promote the use of.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is stereogram of the present invention.
Fig. 2 is schematic block circuit diagram of the present invention.
Fig. 3 is the overall structure schematic diagram of robot body of the present invention.
Fig. 4 is the decomposition texture schematic diagram of robot body of the present invention.
Fig. 5 is the structural representation of wireless communication relay arranging device of the present invention.
Fig. 6 is the A-A view of Fig. 4.
Fig. 7 is the annexation schematic diagram of synchronous cog belt of the present invention and other each parts.
Fig. 8 is that wireless communication relay of the present invention pushes away the structural representation of putting assembly.
Fig. 9 is the stereogram of wireless communication relay of the present invention.
Figure 10 is the internal construction schematic diagram of wireless communication relay of the present invention.
Figure 11 is the structural representation of mine intrinsic safety junction box of the present invention.
Figure 12 is that colliery of the present invention downhole emergency rescuing cordless communication network is independently built the method flow diagram of robot networking.
Description of reference numerals:
1-1-base; 1-2-top cover; 1-3-gravity vent;
The 1-4-Explosion-proof cap; 2-wireless communication relay arranging device;
2-1-arranging device housing; 2-2-dividing plate one; 2-3-slip rail;
The 2-4-supporting rail; The 2-5-wireless communication relay is deposited track;
2-6-cloth Electrical Discharge Machine; 2-7-first belt wheel; 2-8-driven shaft fixed station;
2-9-driven shaft; 2-10-second belt wheel; 2-11-slip is pullover;
2-12-sliding axle; 2-13-the 3rd belt wheel; 2-14-lay push pedal;
2-15-synchronous cog belt; 2-16-cloth Electrical Discharge Machine erecting bed; 2-17-lay motor bearings;
2-18-driven bearing; 2-19-lay motor bearings cover plate;
2-20-driven bearing cover; 2-21-sliding bearing; 2-22-upper cover plate;
2-23-motor mounting clamp; 2-24-power bin; 2-25-wireless communication relay storage compartment;
3-1-tumbler base; 3-2-communication storehouse housing; 3-3-antenna connects the storehouse housing;
3-4-antenna clamping head; 3-5-antenna; 3-6-gravity block;
3-7-wireless communication module; 3-8-power module; 3-9-mine intrinsic safety junction box;
3-91-antenna connecting hole; 3-92-base plate; 3-93-box body;
3-94-lid; 3-95-screwed hole; 3-10-second partition;
3-11-yielding rubber pad; 3-12-antenna connects wire; 3-13-first bolt;
3-14-first nut; 3-15-second bolt; 3-16-second nut;
4-crawler type walking mechanism; 5-driving mechanism; 6-environmental information monitoring means;
6-1-carbon monoxide transducer; 6-2-oxygen sensor; 6-3-firedamp sensor;
6-4-temperature pick up; 6-5-video camera; 9-wireless communication unit;
10-control system; The outlet of 11-1-first repeater;
The outlet of 11-2-second repeater; 12-U-shaped stirrup; 13-rescue command central computer.
The specific embodiment
As depicted in figs. 1 and 2, downhole emergency rescuing cordless communication network of the present invention is independently built robot, comprise robot body and the wireless communication relay laying system that is fixedly connected on the robot body top, on the described robot body walking mechanism is installed, the driving mechanism 5 that walking mechanism is driven is installed in the described robot body, environmental information monitoring means 6, wireless communication unit 9 and the control system 10 of joining with environmental information monitoring means 6, described driving mechanism 5 is controlled by control system 10 and itself and control system 10 are joined, described wireless communication unit 9 joins with control system 10, and described control system 10 is carried out two-way communication by the rescue command central computer 13 of wireless communication unit 9 and rescue center; Described wireless communication relay laying system comprises wireless communication relay arranging device 2 and the wireless communication relay that leaves on the wireless communication relay arranging device 2, be provided with the first repeater outlet 11-1 on the described wireless communication relay arranging device 2, be provided with the second repeater outlet 11-2 on the described robot body, described wireless communication relay arranging device 2 joins with control system 10.
In conjunction with Fig. 3 and Fig. 4, in the present embodiment, described walking mechanism is crawler type walking mechanism 4, described robot body comprises that inside is provided with cavity and the uncovered base 1-1 and the top cover 1-2 that is fixedly connected on base 1-1 top in top, be provided with the first depressed part on the described base 1-1, be provided with the second depressed part on the described top cover 1-2, described the first depressed part matches with the second depressed part and has consisted of the second repeater outlet 11-2, the quantity of described crawler type walking mechanism 4 is the both sides that two and two described crawler type walking mechanisms 4 are symmetricly set on described base 1-1, be provided with a plurality of gravity vent 1-3 on the sidewall of described base 1-1 connecting band track formula walking mechanism 4, described driving mechanism 5, environmental information monitoring means 6, wireless communication unit 9 and control system 10 all are arranged in the base 1-1 internal cavities, are provided with between described top cover 1-2 and the base 1-1 be used to covering described driving mechanism 5, environmental information monitoring means 6, the Explosion-proof cap 1-4 of wireless communication unit 9 and control system 10.
As shown in Figure 2, in the present embodiment, described environmental information monitoring means 6 comprises for the carbon monoxide transducer 6-1 that the environment carbon monoxide gas concentration is detected in real time, for the oxygen concentration sensor 6-2 that the environment oxygen concentration is detected in real time, for the firedamp sensor 6-3 that the environment gas density is detected in real time, for the temperature pick up 6-4 that the environment temperature is detected in real time with for the video camera 6-5 that image information is carried out Real-time Collection.
In conjunction with Fig. 5, Fig. 6, Fig. 7 and Fig. 8, in the present embodiment, described wireless communication relay arranging device 2 comprises arranging device housing 2-1 and is arranged in the arranging device housing 2-1 and is used for arranging device housing 2-1 inner chamber is separated into the first dividing plate 2-2 of power bin 2-24 and wireless communication relay storage compartment 2-25, the top of described arranging device housing 2-1 is equipped with upper cover plate 2-22, and described the first repeater outlet 11-1 is arranged on the bottom of described arranging device housing 2-1; Be provided with the slip rail 2-3 that is fixedly connected with the first dividing plate 2-2 and the supporting rail 2-4 that parallels with slip rail 2-3 in the described wireless communication relay storage compartment 2-25, space between described slip rail 2-3 and the described supporting rail 2-4 is that wireless communication relay is deposited track 2-5, an end is provided with cloth Electrical Discharge Machine 2-6 in the described power bin 2-24, described cloth Electrical Discharge Machine 2-6 and control system 10 are joined, the output shaft of described cloth Electrical Discharge Machine 2-6 passes described the first dividing plate 2-2 and slip rail 2-3 has extend among the described wireless communication relay storage compartment 2-25, be arranged on the output shaft of cloth Electrical Discharge Machine 2-6 of described wireless communication relay storage compartment 2-25 the first belt wheel 2-7 is installed, the other end is provided with driven shaft 2-9 fixed station 2-8 in the described power bin 2-24, be rotatably connected to driven shaft 2-9 on the described driven shaft 2-9 fixed station 2-8, described driven shaft 2-9 passes described the first dividing plate 2-2 and slip rail 2-3 has extend among the described wireless communication relay storage compartment 2-25, be arranged on the driven shaft 2-9 of described wireless communication relay storage compartment 2-25 the second belt wheel 2-10 is installed, being provided with wireless communication relay in the described wireless communication relay storage compartment 2-25 pushes away and puts assembly, described wireless communication relay pushes away to be put assembly and comprises the pullover 2-11 of slip that is slidingly connected on the slip rail 2-3, be rotatably connected on the sliding axle 2-12 on the pullover 2-11 that slides, be installed in the 3rd belt wheel on the sliding axle 2-12 and be fixedly connected on and lay push pedal 2-14 on the sliding axle 2-12, described sliding axle 2-12 and described supporting rail 2-4 are slidingly connected, described the first belt wheel 2-7, be connected with synchronous cog belt 2-15 on the second belt wheel 2-10 and the 3rd belt wheel.
In conjunction with Fig. 5, Fig. 6, Fig. 7 and Fig. 8, in the present embodiment, the quantity of described the first dividing plate 2-2 is two, the quantity of corresponding described power bin 2-24 is that the quantity of two and described wireless communication relay storage compartment 2-25 is one, two described power bin 2-24 lay respectively at the both sides of described wireless communication relay storage compartment 2-25, the quantity that described slip rail 2-3, supporting rail 2-4 and wireless communication relay are deposited track 2-5 is two, and it is two groups that described wireless communication relay pushes away the quantity of putting assembly.
In conjunction with Fig. 5, Fig. 6, Fig. 7 and Fig. 8, in the present embodiment, an end that is provided with cloth Electrical Discharge Machine 2-6 in the described power bin 2-24 is provided with cloth Electrical Discharge Machine erecting bed 2-16, be fixedly connected with the motor mounting clamp on the described cloth Electrical Discharge Machine erecting bed 2-16, described cloth Electrical Discharge Machine 2-6 is installed on the cloth Electrical Discharge Machine erecting bed 2-16 by the motor mounting clamp; Be provided with laying motor bearings 2-17 and being used for installing the driven bearing 2-18 that supports driven shaft 2-9 for the output shaft that supports cloth Electrical Discharge Machine 2-6 is installed on described the first dividing plate 2-2 and the slip rail 2-3; Be fixedly connected with on the described slip rail 2-3 and be useful on laying motor bearings cover plate 2-19 and being used for the driven bearing cover 2-20 of fixing driven bearing 2-18 of stationary cloth Electrical Discharge Machine bearing 2-17; Be provided be used to the sliding bearing 2-21 that is rotationally connected described sliding axle 2-12 on the pullover 2-11 of described slip.
In conjunction with Fig. 9 and Figure 10, in the present embodiment, described wireless communication relay comprises tumbler base 3-1 and is connected to the tumbler housing on tumbler base 3-1 top, be provided with gravity block 3-6 in the described tumbler base 3-1, the power module 3-8 that is provided with wireless communication module 3-7 in the described tumbler housing and is used for powering to wireless communication module 3-7, described tumbler housing top is connected with antenna clamping head 3-4, and the upper clamping of described antenna clamping head 3-4 has the antenna 3-5 that joins by antenna connection wire 3-12 and wireless communication module 3-7.
In conjunction with Fig. 9 and Figure 10, in the present embodiment, described tumbler base 3-1 is shaped as hemispherical; Described tumbler housing connects storehouse housing 3-3 by the communication storehouse housing 3-2 that is connected with tumbler base 3-1 with the antenna 3-5 that is connected with communication storehouse housing 3-2 and consists of, and described antenna clamping head 3-4 is connected to the top that antenna 3-5 connects storehouse housing 3-3; Being shaped as of described communication storehouse housing 3-2 is horn-like, and it is cylindric that described antenna 3-5 connects being shaped as of storehouse housing 3-3.Be provided with mine intrinsic safety junction box 3-9 in the housing 3-2 of described communication storehouse, described wireless communication module 3-7 and power module 3-8 are installed in the mine intrinsic safety junction box 3-9, are provided with on the described mine intrinsic safety junction box 3-9 for antenna to connect the antenna connecting hole 3-91 that wire 3-12 passes; The top of described tumbler base 3-1 is fixedly connected with second partition 3-10, be provided with yielding rubber pad 3-11 on the described second partition 3-10, described mine intrinsic safety junction box 3-9 is arranged on described yielding rubber pad 3-11 upward and is fixedly connected on the described second partition 3-10 on described yielding rubber pad 3-11.Particularly, described second partition 3-10 is fixedly connected on the top of described tumbler base 5-1 by the first bolt 3-13 and the first nut 3-14, and described mine intrinsic safety junction box 3-9 and yielding rubber pad 3-11 are fixedly connected on the described second partition 3-10 by the second bolt 3-15 and the second nut 3-16.
In conjunction with Figure 11, described mine intrinsic safety junction box 3-9 by base plate 3-92, be fixedly connected on the box body 3-93 on the base plate 3-92 and the lid 3-94 that is movably connected on the box body 3-93 consists of, be provided with screwed hole 3-95 on the described base plate 3-92, described antenna connecting hole 3-91 is arranged on the box body 3-93 sidewall.
When the present invention uses, because cloth Electrical Discharge Machine 2-6 is the direct current generator from tape drive, therefore, control system 10 can directly be controlled cloth Electrical Discharge Machine 2-6, and cloth Electrical Discharge Machine 2-6 with driver can with the run signal Real-time Feedback of cloth Electrical Discharge Machine 2-6 to control system 10, realize the closed-loop control to cloth Electrical Discharge Machine 2-6.Particularly, when needs lay wireless communication relay, control system 10 control cloth Electrical Discharge Machine 2-6 rotate through suitable angle, cloth Electrical Discharge Machine 2-6 drives the first belt wheel 2-7 rotation, the first belt wheel 2-7 drives the second belt wheel 2-10 and the 3rd belt wheel 2-13 rotation by synchronous cog belt, the 3rd belt wheel 2-13 drives sliding axle 2-12 rotation, pullover 2-11 slides along slip rail 2-12 so that slide, thereby advance so that lay push pedal 2-14, promote wireless communication relay, so that near the wireless communication relay that originally was arranged in the first repeater outlet 11-1 and the second repeater outlet 11-2 falls from the first repeater outlet 11-1 and the second repeater outlet 11-2 outlet.
In conjunction with Figure 12, the autonomous building method of downhole emergency rescuing cordless communication network of the present invention may further comprise the steps:
The detection of environmental information, communication signal strength and geography information and uploading under step 1, the coal mine: the downhole emergency rescuing cordless communication network is independently built in the robot ambulation process, detect in real time by 9 pairs of Mine Communication signal strength signal intensities of wireless communication unit, control system 10 gathers wireless communication unit 9 detected Mine Communication signal strength signal intensity a, and is transferred to rescue command central computer 13 by wireless communication unit 9;
The detection of step 3, the wireless communication relay present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer 13;
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, every any simple modification, change and equivalent structure of above embodiment being done according to the technology of the present invention essence changes, and all still belongs in the protection domain of technical solution of the present invention.
Claims (10)
1. a downhole emergency rescuing cordless communication network is independently built robot, it is characterized in that: comprise robot body and the wireless communication relay laying system that is fixedly connected on the robot body top, on the described robot body walking mechanism is installed, the driving mechanism (5) that walking mechanism is driven is installed in the described robot body, environmental information monitoring means (6), wireless communication unit (9) and the control system (10) of joining with environmental information monitoring means (6), described driving mechanism (5) is controlled by control system (10) and itself and control system (10) are joined, described wireless communication unit (9) joins with control system (10), and described control system (10) is carried out two-way communication by the rescue command central computer (13) of wireless communication unit (9) and rescue center; Described wireless communication relay laying system comprises wireless communication relay arranging device (2) and leaves wireless communication relay on the wireless communication relay arranging device (2) in, be provided with the first repeater outlet (11-1) on the described wireless communication relay arranging device (2), be provided with the second repeater outlet (11-2) on the described robot body, described wireless communication relay arranging device (2) joins with control system (10).
2. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 1, it is characterized in that: described walking mechanism is crawler type walking mechanism (4), described robot body comprises that inside is provided with the uncovered base (1-1) in cavity and top and is fixedly connected on the top cover (1-2) on base (1-1) top, be provided with the first depressed part on the described base (1-1), be provided with the second depressed part on the described top cover (1-2), described the first depressed part matches with the second depressed part and has consisted of the second repeater outlet (11-2), the quantity of described crawler type walking mechanism (4) is the both sides that two and two described crawler type walking mechanisms (4) are symmetricly set on described base (1-1), be provided with a plurality of gravity vents (1-3) on the sidewall of described base (1-1) connecting band track formula walking mechanism (4), described driving mechanism (5), environmental information monitoring means (6), wireless communication unit (9) and control system (10) all are arranged in base (1-1) internal cavities, are provided with between described top cover (1-2) and the base (1-1) be used to covering described driving mechanism (5), environmental information monitoring means (6), the Explosion-proof cap (1-4) of wireless communication unit (9) and control system (10).
3. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 1, it is characterized in that: described environmental information monitoring means (6) comprises for the carbon monoxide transducer that the environment carbon monoxide gas concentration is detected in real time (6-1), for the oxygen concentration sensor (6-2) that the environment oxygen concentration is detected in real time, for the firedamp sensor (6-3) that the environment gas density is detected in real time, be used for the temperature pick up (6-4) that the environment temperature is detected in real time and the video camera (6-5) that is used for image information is carried out Real-time Collection.
4. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 1, it is characterized in that: described wireless communication relay arranging device (2) comprises arranging device housing (2-1) and is arranged in the arranging device housing (2-1) and is used for arranging device housing (2-1) inner chamber is separated into first dividing plate (2-2) of power bin (2-24) and wireless communication relay storage compartment (2-25), the top of described arranging device housing (2-1) is equipped with upper cover plate (2-22), and described the first repeater outlet (11-1) is arranged on the bottom of described arranging device housing (2-1); Be provided with the slip rail (2-3) that is fixedly connected with the first dividing plate (2-2) and the supporting rail (2-4) that parallels with slip rail (2-3) in the described wireless communication relay storage compartment (2-25), space between described slip rail (2-3) and the described supporting rail (2-4) is that wireless communication relay is deposited track (2-5), an end is provided with cloth Electrical Discharge Machine (2-6) in the described power bin (2-24), described cloth Electrical Discharge Machine (2-6) joins with control system (10), the output shaft of described cloth Electrical Discharge Machine (2-6) passes described the first dividing plate (2-2) and slip rail (2-3) has extend in the described wireless communication relay storage compartment (2-25), be arranged on the output shaft of cloth Electrical Discharge Machine (2-6) of described wireless communication relay storage compartment (2-25) the first belt wheel (2-7) is installed, the interior other end of described power bin (2-24) is provided with driven shaft (2-9) fixed station (2-8), be rotatably connected to driven shaft (2-9) on described driven shaft (2-9) fixed station (2-8), described driven shaft (2-9) passes described the first dividing plate (2-2) and slip rail (2-3) has extend in the described wireless communication relay storage compartment (2-25), be arranged on the driven shaft (2-9) of described wireless communication relay storage compartment (2-25) the second belt wheel (2-10) is installed, being provided with wireless communication relay in the described wireless communication relay storage compartment (2-25) pushes away and puts assembly, described wireless communication relay pushes away to be put assembly and comprises the slip that is slidingly connected on the slip rail (2-3) pullover (2-11), be rotatably connected on the sliding axle (2-12) on slide pullover (2-11), be installed in the 3rd belt wheel on the sliding axle (2-12) and be fixedly connected on and lay push pedal (2-14) on the sliding axle (2-12), described sliding axle (2-12) is slidingly connected described the first belt wheel (2-7) with described supporting rail (2-4), be connected with synchronous cog belt (2-15) on the second belt wheel (2-10) and the 3rd belt wheel.
5. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 4, it is characterized in that: the quantity of described the first dividing plate (2-2) is two, the quantity of corresponding described power bin (2-24) is that the quantity of two and described wireless communication relay storage compartment (2-25) is one, two described power bins (2-24) lay respectively at the both sides of described wireless communication relay storage compartment (2-25), described slip rail (2-3), the quantity that supporting rail (2-4) and wireless communication relay are deposited track (2-5) is two, and it is two groups that described wireless communication relay pushes away the quantity of putting assembly.
6. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 4, it is characterized in that: an end that is provided with cloth Electrical Discharge Machine (2-6) in the described power bin (2-24) is provided with cloth Electrical Discharge Machine erecting bed (2-16), be fixedly connected with the motor mounting clamp on the described cloth Electrical Discharge Machine erecting bed (2-16), described cloth Electrical Discharge Machine (2-6) is installed on the cloth Electrical Discharge Machine erecting bed (2-16) by the motor mounting clamp; Be provided with laying motor bearings (2-17) and being used for installing the driven bearing (2-18) that supports driven shaft (2-9) for the output shaft that supports cloth Electrical Discharge Machine (2-6) is installed on described the first dividing plate (2-2) and the slip rail (2-3); Be fixedly connected with on the described slip rail (2-3) and be useful on laying motor bearings cover plate (2-19) and being used for the driven bearing cover (2-20) of fixing driven bearing (2-18) of stationary cloth Electrical Discharge Machine bearing (2-17); Be provided be used to the sliding bearing that is rotationally connected described sliding axle (2-12) (2-21) in the described slip pullover (2-11).
7. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 1, it is characterized in that: described wireless communication relay comprises tumbler base (3-1) and is connected to the tumbler housing on tumbler base (3-1) top, be provided with gravity block (3-6) in the described tumbler base (3-1), the power module (3-8) that is provided with wireless communication module (3-7) in the described tumbler housing and is used for powering to wireless communication module (3-7), described tumbler housing top is connected with antenna clamping head (3-4), and the upper clamping of described antenna clamping head (3-4) has the antenna (3-5) that joins by antenna connection wire (3-12) and wireless communication module (3-7).
8. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 7, it is characterized in that: described tumbler base (3-1) be shaped as hemispherical; Described tumbler housing connects storehouse housing (3-3) by the communication storehouse housing (3-2) that is connected with tumbler base (3-1) with the antenna (3-5) that is connected with communication storehouse housing (3-2) and consists of, and described antenna clamping head (3-4) is connected to the top that antenna (3-5) connects storehouse housing (3-3); Being shaped as of described communication storehouse housing (3-2) is horn-like, and it is cylindric that described antenna (3-5) connects being shaped as of storehouse housing (3-3).
9. independently build robot according to downhole emergency rescuing cordless communication network claimed in claim 7, it is characterized in that: be provided with mine intrinsic safety junction box (3-9) in the described communication storehouse housing (3-2), described wireless communication module (3-7) and power module (3-8) are installed in the mine intrinsic safety junction box (3-9), are provided with on the described mine intrinsic safety junction box (3-9) for antenna to connect the antenna connecting hole (3-91) that wire (3-12) passes; The top of described tumbler base (3-1) is fixedly connected with second partition (3-10), be provided with yielding rubber pad (3-11) on the described second partition (3-10), described mine intrinsic safety junction box (3-9) is arranged on described yielding rubber pad (3-11) upward and is fixedly connected on the described second partition (3-10) on described yielding rubber pad (3-11); Described mine intrinsic safety junction box (3-9) by base plate (3-92), be fixedly connected on the box body (3-93) on the base plate (3-92) and the lid (3-94) that is movably connected on the box body (3-93) consists of, be provided with screwed hole (3-95) on the described base plate (3-92), described antenna connecting hole (3-91) is arranged on box body (3-93) sidewall.
10. one kind is utilized as claimed in claim 1 that robot carries out the method that the downhole emergency rescuing cordless communication network is independently built, and it is characterized in that the method may further comprise the steps:
The detection of environmental information, communication signal strength and geography information and uploading under step 1, the coal mine: the downhole emergency rescuing cordless communication network is independently built in the robot ambulation process, by wireless communication unit (9) the Mine Communication signal strength signal intensity is detected in real time, control system (10) gathers the detected Mine Communication signal strength signal intensity of wireless communication unit (9) a, and is transferred to rescue command central computer (13) by wireless communication unit (9);
Step 2, the analyzing and processing of environmental information and communication signal strength under the coal mine: control system (10) transfer environment information and communication signal strength data processing module carry out analyzing and processing to environmental information under the coal mine and Mine Communication signal strength signal intensity a, first Mine Communication signal strength signal intensity a is compared with the normal operational communications signal strength signal intensity of predefined equipment b, as a＜b, judge again whether environmental information can reach wireless communication relay normal operation requirement under the coal mine, when environmental information under the coal mine can reach wireless communication relay normal operation and requires, control system (10) control wireless communication relay arranging device (2) lays a wireless communication relay under coal mine, simultaneously, wireless communication relay arranging device (2) feeds back its run signal to control system (10), control system (10) is transferred to rescue command central computer (13) with the run signal of wireless communication relay arranging device (2) by wireless communication unit (9), and rescue command central computer (13) is according to wireless communication relay quantity in the back-to-back running signal number of times record wireless communication relay arranging device (2); Otherwise, when a ﹥ b, but or when environmental information can not reach wireless communication relay normal operation and requires under a＜b coal mine, all return step 1;
The detection of step 3, the wireless communication relay present position place wireless communication signals intensity that lays and self information thereof and uploading: the wireless communication relay that cloth is put under the coal mine detects in real time to the wireless communication signals intensity at its place, present position, and with its wireless communication signals intensity that detects with and MAC Address, IP address and communication information amount real-time Transmission to rescue command central computer (13);
Step 4, circulation step one are to step 3, until finish building of Underground Wireless Communication in Coal Mine network.
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