CN109866235A - A kind of crusing robot applying to underground coal mine - Google Patents
A kind of crusing robot applying to underground coal mine Download PDFInfo
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- CN109866235A CN109866235A CN201910261562.4A CN201910261562A CN109866235A CN 109866235 A CN109866235 A CN 109866235A CN 201910261562 A CN201910261562 A CN 201910261562A CN 109866235 A CN109866235 A CN 109866235A
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Abstract
The invention discloses a kind of crusing robots for applying to underground coal mine, including under body and upper vehicle body, the left and right sides of the under body is mating to be provided with four-wheel drive module, and four-wheel drive module includes four wheels, driving motor and built-in power, the driving motor and built-in power fit under body, the navigation module that the present invention passes through setting, pass through the building of laser radar, subsurface environment is scanned, to obtain three-dimensional imaging, then autonomous building map and the walking of contexture by self route are carried out by LNM module board, to realize rail-free independent navigation, and pass through visible image capturing head and infrared thermal imager real-time image acquisition, if the camera lens of visible image capturing head generates mist, then wiper independently slides, guarantee clearly Image Acquisition, if navigation module breaks down, it can remotely monitor Manual operation is switched to by WIFI control module on platform, provides more one layer of guarantees for the use of entire robot.
Description
Technical field
The present invention relates to robot field, in particular to a kind of crusing robot for applying to underground coal mine.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
There are certain drawbacks in a kind of existing crusing robot for applying to underground coal mine, firstly, existing when in use
Crusing robot can realize that independent navigation but cannot flexibly realize autonomous switching when machine breaks down, manually grasped
Make, if the wheel adherence properties of robot are not high or when encountering ditch low-lying area, the case where being easy to happen skidding or rollover, thus
The safety of crusing robot is reduced, the intelligence degree of the robot is to be improved, for this purpose, we have proposed a kind of utilizations
In the crusing robot of underground coal mine.
Summary of the invention
The main purpose of the present invention is to provide a kind of crusing robot for applying to underground coal mine, can effectively solve to carry on the back
The problems in scape technology.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of crusing robot applying to underground coal mine, including under body and upper vehicle body, the left and right two of the under body
Side is mating to be provided with four-wheel drive module, and four-wheel drive module includes four wheels, driving motor and built-in power, described
Driving motor and built-in power fit under body, and the forward position of the under body is equipped with anticollision mechanism, under described
Body top, which is located at the position of upper vehicle body side, is equipped with Multifunction Sensor, and installs communication module in the other side, described
Communication module includes antenna, and the inside of the under body sets up formula and is provided with circuit main board, the Multifunction Sensor and communication
Module is electrically connected with circuit main board,
Navigation module and sound pick-up are separately installed at the surrounding position of the upper bodywork surface, and navigation module includes swashing
Optical radar and LNM module board, and the front and rear sides of vehicle body are located at, the top of the upper vehicle body is equipped with photographing module, and
Photographing module includes visible image capturing head, holder and infrared thermal imager, the visible image capturing head and infrared thermal imager
The both ends of holder rotatable components are separately mounted to, the photographing module and circuit main board are electrically connected.
Preferably, the surface spot welded type of the circuit main board is equipped with single-chip microcontroller and WIFI control module, and single-chip microcontroller
Model AT89C5l single-chip microcontroller, and single-chip microcontroller uses PLC Programmable Technology.
Preferably, the camera lens bottom of the visible image capturing head is equipped with wiper, and wiper and circuit main board are electrical
Connection.
Preferably, the two sides of the under body are equipped with baffle by bolt, and baffle is located at the part right above wheel
For the plastic plate of arcuate structure.
Preferably, sagittate anti-skid chequer is uniformly provided at the wheel face of the wheel, and the radial surface of wheel is surround
The position of axle is uniformly provided with annular groove, and several rotatable balls are arranged in insertion in a ring groove.
Preferably, the anticollision mechanism is rubber material, and section is triangular structure, and anticollision mechanism is in the horizontal plane
Extend under body 4-6cm, and the rearward position in the inside of anticollision mechanism and corresponding under body offers several heat release holes.
Preferably, the under body front side opens up fluted at the position right above anticollision mechanism, and in groove
Ultrasonic module is installed, the ultrasonic module includes two groups of ultrasonic probes, wherein one group is parallel to the ground, another group and ground shape
It is arranged at 45 degree, and towards ground, the ultrasonic module and circuit main board are electrically connected.
Compared with prior art, the present invention provides a kind of crusing robots for applying to underground coal mine, and have has as follows
Beneficial effect:
1, subsurface environment is scanned by the building of laser radar by the navigation module of setting, to obtain three
Then dimension imaging carries out autonomous building map and the walking of contexture by self route by LNM module board, to realize that rail-free is autonomous
Navigation, and by visible image capturing head and infrared thermal imager real-time image acquisition, if the camera lens of visible image capturing head generates
Mist, then wiper independently slides, and guarantees that clearly Image Acquisition can be in long-range control and monitor console if navigation module breaks down
It is upper that manual operation is switched to by WIFI control module, more one layer of guarantees are provided for the use of entire robot；
2, it is moved by setting wheel, baffle, ball and anticollision mechanism, robot by four-wheel drive, setting
Baffle is used to stop to carry the impurity such as sludge of underground under vehicle wheel rotation, and the baffle is easy to disassemble, thus easy to clean, ball by
In gravity, keeps opposing stationary with wheel in the axial direction, certain counterweight effect is played, in conjunction with setting for vehicle wheel non-slip line
Meter has ensured the robot safety mobile in underground humidity road section surface, grip performance has been improved, to guarantee entire robot
Stability when mobile, anticollision mechanism is due to being that rubber material can play certain buffer function when hitting.
3, by setting ultrasonic module and Multifunction Sensor, two ultrasonic probes utilize the principle of ultrasonic wave positioning, right
The front of robot and positioned at robot traveling ground region carry out localization by ultrasonic, each served as automatic obstacle avoiding and trial trench
The effect of jogging makes the four-wheel drive of robot in ultrasound detection to the position for having hollow and irrigation canals and ditches under the control of single-chip microcontroller
Module reduces output power, guarantees that robot slowly moves ahead, avoids turning on one's side, can be to real under mine by Multifunction Sensor
Existing methane detection, temperature sensing, carbon monoxide detecting, carbon dioxide detection, hydrogen sulfide detection, sulfur dioxide detection, oxygen are visited
It surveys and wind speed detection, the detection circuit for forming integral type carries out real-time monitoring, obtained data are wireless by communication module
It is transmitted to remote monitoring end, to realize real time monitoring.
Part is not directed in the device to be the same as those in the prior art or can be realized by using the prior art.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram for the crusing robot for applying to underground coal mine of the present invention；
Fig. 2 is a kind of partial structure side view for the crusing robot for applying to underground coal mine of the present invention；
Fig. 3 is a kind of under body cross-sectional view for the crusing robot for applying to underground coal mine of the present invention；
Fig. 4 is a kind of enlarged drawing of Fig. 1 partial structurtes A for the crusing robot for applying to underground coal mine of the present invention；
Fig. 5 is a kind of Multifunction Sensor structure chart for the crusing robot for applying to underground coal mine of the present invention；
Fig. 6 is a kind of automatically controlled flow chart for the crusing robot for applying to underground coal mine of the present invention.
In figure: 1, under body；2, upper vehicle body；3, wheel；4, anti-skid chequer；5, anticollision mechanism；6, heat release hole；7, wiper；
8, visible image capturing head；9, holder；10, infrared thermal imager；11, sound pick-up；12, antenna；13, Multifunction Sensor；14, swash
Optical radar；15, LNM module board；16, baffle；17, annular groove；18, ball；19, circuit main board；20, ultrasonic module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Embodiment 1
As shown in figures 1 to 6, a kind of crusing robot applying to underground coal mine, including under body 1 and upper vehicle body 2, get off
The left and right sides of body 1 is mating to be provided with four-wheel drive module, and four-wheel drive module include four wheels 3, driving motor and
Built-in power, driving motor and built-in power fit under body 1, and the forward position of under body 1 is equipped with anticollision mechanism
5,1 top of under body, which is located at the position of upper 2 side of vehicle body, is equipped with Multifunction Sensor 13, and installs communication mould in the other side
Block, communication module include antenna 12, and the inside of under body 1 sets up formula and is provided with circuit main board 19, Multifunction Sensor 13 and logical
Module is interrogated to be electrically connected with circuit main board 19,
Navigation module and sound pick-up 11 are separately installed at the surrounding position on upper 2 surface of vehicle body, and navigation module includes swashing
Optical radar 14 and LNM module board 15, and the front and rear sides of vehicle body 2 are located at, the top of upper vehicle body 2 is equipped with photographing module,
And photographing module includes visible image capturing head 8, holder 9 and infrared thermal imager 10, it is seen that light video camera head 8 and infrared thermal imaging
Instrument 10 is separately mounted to the both ends of 9 rotatable components of holder, and photographing module and circuit main board 19 are electrically connected.
As shown in figure 3, the surface spot welded type of circuit main board 19 is equipped with single-chip microcontroller and WIFI control module, and single-chip microcontroller
Model AT89C5l single-chip microcontroller, and single-chip microcontroller uses PLC Programmable Technology.
As shown in Figure 1, the camera lens bottom of visible image capturing head 8 is equipped with wiper 7, and wiper 7 and circuit main board 19
It is electrically connected.
Subsurface environment is scanned by the building of laser radar 14 by the navigation module of setting, to obtain three
Imaging is tieed up, then carries out independently constructing map and the walking of contexture by self route by LNM module board 15, to realize rail-free certainly
Leading boat, and by 10 real-time image acquisition of visible image capturing head 8 and infrared thermal imager, if the mirror of visible image capturing head 8
Head generates mist, then wiper 7 independently slides, and guarantees that clearly Image Acquisition can be long-range if navigation module breaks down
Manual operation is switched to by WIFI control module on control and monitor console, provides more one layer of guarantees for the use of entire robot.
Embodiment 2
As shown in figures 1 to 6, a kind of crusing robot applying to underground coal mine, on the basis of embodiment 1, under body 1
Two sides baffle 16 is equipped with by bolt, and baffle 16 is located at the plastic plate that the part right above wheel 3 is arcuate structure.
As shown in Figure 1, being uniformly provided with sagittate anti-skid chequer 4 at the wheel face of wheel 3, and the radial surface ring of wheel 3
It is uniformly provided with annular groove 17 around the position of axle, and is embedded in several rotatable balls 18 of setting in annular groove 17.
As shown in figure 3, anticollision mechanism 5 is rubber material, section is triangular structure, and anticollision mechanism 5 is in horizontal plane
On extend under body 4-6cm, and the rearward position in the inside of anticollision mechanism 5 and corresponding under body 1 offers several dissipate
Hot hole 6 drives air-flow to carry out cooling effect to the element under body 1 under the autonomous of robot.
By setting wheel 3, baffle 16, ball 18 and anticollision mechanism 5, robot is moved by four-wheel drive, if
The baffle 16 set is used to stop lower impurity, the baffles 16 such as the sludge of underground of carrying of the rotation of wheel 3 easy to disassemble, thus convenient clear
It washes, ball 18 keeps opposing stationary with wheel 3 in the axial direction due to gravity, certain counterweight effect is played, in conjunction with vehicle
The design for taking turns 3 anti-skid chequers 4 has ensured the robot safety mobile in underground humidity road section surface, has improved grip performance, thus
Guarantee stability when entire robot is mobile, anticollision mechanism 5 is due to being that rubber material can play certain buffering when hitting
Effect.
Embodiment 3
As shown in figures 1 to 6, on the basis of embodiment 1, it is located at the position right above anticollision mechanism 5 on front side of under body 1
Open up fluted, and ultrasonic module 20 be installed in groove, ultrasonic module 20 includes two groups of ultrasonic probes, wherein one group with ground
Face is parallel, and another group forms 45 degree with ground, and be arranged towards ground, and ultrasonic module 20 and circuit main board 19 are electrically connected.
By setting ultrasonic module 20 and Multifunction Sensor 13, two ultrasonic probes utilize the principle of ultrasonic wave positioning,
Front to robot and the region progress localization by ultrasonic positioned at robot traveling ground, have each served as automatic obstacle avoiding and spy
The effect of ditch jogging, ultrasound detection to the position for having hollow and irrigation canals and ditches make the four-wheel drive of robot under the control of single-chip microcontroller
Module reduces output power, guarantees that robot slowly moves ahead, avoids turning on one's side, can be under mine by Multifunction Sensor 13
Realize methane detection, temperature sensing, carbon monoxide detecting, carbon dioxide detection, hydrogen sulfide detection, sulfur dioxide detection, oxygen
Detection and wind speed detection, formed integral type detection circuit carry out real-time monitoring, by obtained data by communication module without
Line is transmitted to remote monitoring end, to realize real time monitoring.
It should be noted that the present invention is a kind of crusing robot for applying to underground coal mine, firstly, robot is by swashing
The building of optical radar 14, is scanned subsurface environment, to obtain three-dimensional imaging, is then carried out certainly by LNM module board 15
Main building map and the walking of contexture by self route to realize rail-free independent navigation, and pass through visible image capturing head 8 and infrared
10 real-time image acquisition of thermal imaging system, if the camera lens of visible image capturing head 8 generates mist, then wiper 7 independently slides, and guarantees
Clearly Image Acquisition can be people by the switching of WIFI control module on long-range control and monitor console if navigation module breaks down
Work operation, provides more one layer of guarantees for the use of entire robot,
Robot is moved by four-wheel drive, and the baffle 16 of setting is used to stop the rotation of wheel 3 is lower to carry underground
The impurity such as sludge, the baffle 16 is easy to disassemble, thus easy to clean, ball 18 is protected with wheel 3 in the axial direction due to gravity
It holds opposing stationary, plays certain counterweight effect, in conjunction with the design of 3 anti-skid chequer 4 of wheel, ensured robot in underground humidity
The mobile safety of road section surface, improves grip performance, to guarantee stability when entire robot is mobile, anticollision mechanism 5
Due to being that rubber material can play certain buffer function when hitting, under the autonomous of robot, air-flow is driven to pass through
Several heat release holes 6 that the rearward position of the inside of anticollision mechanism 5 and corresponding under body 1 opens up, thus to the element under body 1
Cooling effect is carried out,
Meanwhile two ultrasonic probes utilize the principle of ultrasonic wave positioning, front to robot and are located at robot row
Localization by ultrasonic is carried out into the region on ground, has each served as the effect of automatic obstacle avoiding and trial trench jogging, ultrasound detection is to there is hollow
It with the position of irrigation canals and ditches, reduces the four-wheel drive module of robot by output power, guarantees that robot is slow
It is slow to move ahead, it avoids turning on one's side, can be aoxidized to methane detection, temperature sensing, one is realized under mine by Multifunction Sensor 13
Carbon detection, carbon dioxide detection, hydrogen sulfide detection, sulfur dioxide detection, oxygen detection and wind speed detection, form integral type
Detection circuit carries out real-time monitoring, by obtained data by communication module wireless transmission to remote monitoring end, to realize reality
When monitor, carry realize audio analysis function sound pick-up 11, built-in multiple audio files, to the sound acquired in normal operation
When having an exception can and alarm, the robot replace artificial, reduce patrol worker labour degree.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of crusing robot for applying to underground coal mine, including under body (1) and upper vehicle body (2), which is characterized in that described
The left and right sides of under body (1) is mating to be provided with four-wheel drive module, and four-wheel drive module includes four wheels (3), driving
Motor and built-in power, the driving motor and built-in power fit under body (1), before the under body (1)
Side position is equipped with anticollision mechanism (5), and under body (1) top, which is located at the position of upper vehicle body (2) side, is equipped with more function
Energy sensor (13), and communication module is installed in the other side, the communication module includes antenna (12), the under body (1)
Internal erection formula is provided with circuit main board (19), and the Multifunction Sensor (13) and communication module are electric with circuit main board (19)
Property connection,
Navigation module and sound pick-up (11), and navigation module packet are separately installed at the surrounding position on upper vehicle body (2) surface
Laser radar (14) and LNM module board (15) are included, and is located at the front and rear sides of vehicle body (2), the top of the upper vehicle body (2)
End is equipped with photographing module, and photographing module includes visible image capturing head (8), holder (9) and infrared thermal imager (10), described
Visible image capturing head (8) and infrared thermal imager (10) are separately mounted to the both ends of holder (9) rotatable components, the camera shooting mould
Block and circuit main board (19) are electrically connected.
2. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the circuit master
The surface spot welded type of plate (19) is equipped with single-chip microcontroller and WIFI control module, and the model AT89C5l single-chip microcontroller of single-chip microcontroller, and
Single-chip microcontroller uses PLC Programmable Technology.
3. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the visible light
The camera lens bottom of camera (8) is equipped with wiper (7), and wiper (7) and circuit main board (19) are electrically connected.
4. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the under body
(1) two sides are equipped with baffle (16) by bolt, and it is arcuate structure that baffle (16), which is located at the part right above wheel (3),
Plastic plate.
5. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the wheel
(3) it is uniformly provided at wheel face sagittate anti-skid chequer (4), and the radial surface of wheel (3) is uniform around the position of axle
It offers annular groove (17), and is embedded in several rotatable balls (18) of setting in annular groove (17).
6. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the anti-collision machine
Structure (5) is rubber material, and section is triangular structure, and anticollision mechanism (5) extends under body (1) 4- in the horizontal plane
6cm, and the rearward position in the inside of anticollision mechanism (5) and corresponding under body (2) offers several heat release holes (6).
7. a kind of crusing robot for applying to underground coal mine according to claim 1, it is characterised in that: the under body
(1) front side opens up fluted at the position right above anticollision mechanism (5), and ultrasonic module (20) are equipped in groove,
The ultrasonic module (20) includes two groups of ultrasonic probes, wherein one group parallel to the ground, another group forms 45 degree, and court with ground
It is arranged to the ground, the ultrasonic module (20) and circuit main board (19) are electrically connected.
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| CN201910261562.4A CN109866235A (en) | 2019-04-02 | 2019-04-02 | A kind of crusing robot applying to underground coal mine |
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| CN201910261562.4A CN109866235A (en) | 2019-04-02 | 2019-04-02 | A kind of crusing robot applying to underground coal mine |
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