CN109877841A - A kind of distribution mine sensors system - Google Patents
A kind of distribution mine sensors system Download PDFInfo
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- CN109877841A CN109877841A CN201910278067.4A CN201910278067A CN109877841A CN 109877841 A CN109877841 A CN 109877841A CN 201910278067 A CN201910278067 A CN 201910278067A CN 109877841 A CN109877841 A CN 109877841A
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Abstract
The present invention discloses a kind of distributed mine sensors system, including temperature-detecting device, gas-detecting device and vision imaging device, it is equipped with control system and power supply in each device, when work is mountable to control acquisition environmental information by respective control system respectively on sniffing robot.The control system that each sensor module work is controlled in mining robot is separately positioned in each module by the present invention, and program is pre-set in the controls, control authority is distributed in each module, if a certain module work or transmission are broken down, the work and transmission for not interfering with remaining module, improve work efficiency and save resource.
Description
Technical field
The present invention relates to robot control systems.More particularly, to a kind of distributed mine sensors system.
Background technique
Mining man-controlled mobile robot mostly uses greatly wired and wireless carry out remote control both at home and abroad at present, however wired manipulation can increase
Add the weight bearing of robot body, and the movement of robot is also limited by the yoke of power cable and landform, influence its
Subsurface environment is moved freely and is smoothly advanced；Other uses the mining robot of wireless remote control, lacks travel distance mostly
Feedback and display, and wireless communication transmissions bandwidth is small and transmission range is short, video definition is severely impacted, robot body
Motion state or environmental parameter are less, Fine motor control functions shortage or deficiency etc..
Either wired manipulation or wireless manipulation are that the general control system by being arranged in robot is remote with backstage
Range controller connection, and then each working sensor connecting with robot is controlled, if general control system failure will lead to
Each sensor can not normal use, reduction working efficiency and waste of resource in entire robot.
Accordingly, it is desirable to provide a kind of distribution mine sensors system.
Summary of the invention
The purpose of the present invention is to provide a kind of distributed mine sensors system, control system uses distributed modular
System administration, is equipped with control system independent in each sensor in robot, at the same each sensor it
Between can also communicate with each other, solve that the other sensors in the control system failure of robot can not work normally asks
Topic.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of distribution mine sensors system, including temperature-detecting device, gas-detecting device and vision imaging device,
Be equipped with control system and power supply in each device, when work it is mountable on sniffing robot respectively by respective control system control
System acquisition environmental information.
Further, the temperature-detecting device includes: the first intrinsic safety electric source, Temperature processor, temperature sensor and temperature
Wireless transport module is spent, the Temperature processor is configured as sending control instruction to the temperature sensor, controls the temperature
Degree sensor acquires ambient temperature in real time, and after the temperature information of acquisition is sent to by temperature wireless transmission module
Platform.
Further, the gas-detecting device includes: the second intrinsic safety electric source, gas processer, gas sensor and gas
Body wireless transport module, the gas processer are configured as sending control instruction to the gas sensor, control the gas
Body sensor acquires surrounding environmental gases type and concentration in real time, and the gas information of acquisition is passed through gas wireless transmission module
It is sent to backstage.
Further, the gas sensor includes carbon monoxide transducer, methane transducer and SO 2 sensor.
Further, the vision imaging device include: third intrinsic safety electric source, vision processor, camera and vision without
Line transmission module, the vision processor are configured as sending control instruction to the camera, and it is real-time to control the camera
Ambient vision information is acquired, and the visual information of acquisition is sent to backstage by vision wireless transport module.
Further, it is equipped with rotatable pedestal below the camera, is respectively arranged with monocular cam above pedestal
With binocular full-view camera, the vision processor is controlled according to the parameter preset in different environments by rotating base
Different camera work.
Further, the system also includes infrared thermal imaging device, the infrared thermal imaging device includes: the 4th intrinsic safety
Power supply, thermal imaging processor, infrared camera and thermal imaging wireless transport module, the thermal imaging processor are configured as to institute
It states infrared camera and sends control instruction, control the infrared camera and acquire ambient enviroment thermal imaging information in real time, and will adopt
The thermal imaging information of collection is sent to backstage by thermal imaging wireless transport module.
Further, the system also includes sound detection device, the sound detection device includes: the 5th intrinsic safety electricity
Source, Sound Processor Unit, sound pick-up and sound wireless transport module, the Sound Processor Unit are configured as sending to the sound pick-up
Control instruction controls the sound pick-up and acquires ambient enviroment acoustic information in real time, and the acoustic information of acquisition is passed through thermal imaging
Wireless transport module is sent to backstage.
Further, the sound detection device further includes sonar, for accurately detecting mine hole depth, mine position and
Ambient condition information.
Further, it is wirelessly connected between all devices by respective unlimited revolution module in the system, when wherein one
Acquisition information can be sent to remaining any device when breaking down by the connection on a device and backstage, and be forwarded to backstage.
Beneficial effects of the present invention are as follows:
Distribution mine sensors system disclosed in technical solution of the present invention will control each biography in mining robot
The control system of sensor module work is separately positioned in each module, and pre-sets program in the controls, will be controlled
Permission processed is distributed in each module, if the work of a certain module or transmission are broken down, does not interfere with the work of remaining module
And transmission, it improves work efficiency and saves resource.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 is a kind of distributed mine sensors system schematic of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, a kind of distributed mine sensors system disclosed by the invention, including temperature-detecting device, gas
Detection device and vision imaging device, are equipped with control system and power supply in each device, and when work is mountable in detection machine
Acquisition environmental information is controlled by respective control system respectively on people.
Specifically, the sensing system is mainly used for mining industry field, each device in system is relatively independent, can be free
Combination, which is loaded into mining robot, follows robot mobile working, and wireless transport module, Ke Yiwei are configured on each device
WIFI module；It is provided with intrinsic safe power circuit in device, since environment is complicated in mine, and is combustible, configuration intrinsic safety electricity
Even if short circuit or electric spark occur for source circuit route, also it is not enough to light the flammable explosive gas of surrounding, can effectively protect device
Safety, prevent danger；The antenna of bandwidth 2.4G is also configured on device, it is effective to enhance signal transmission, transmission speed
Up to 300M/s, the control system in device is preferably linux system, and USB2.0 interface is supported to transmit.The work of device
Temperature is 0-55 °, and storage temperature is -20-70 °, it can be seen that this system can be just within the temperature range of where under normal circumstances
Often work, improves work efficiency.When work by required sensor device by interface matched with mining robot into
Row is connected and fixed, and the power supply that each device is respectively started can voluntarily work according to the program set in device, without by mine
With the control of robot control system.
Temperature-detecting device includes: the first intrinsic safety electric source, Temperature processor, temperature sensor and temperature wireless transmission mould
Block, the Temperature processor are configured as sending control instruction to the temperature sensor, and it is real-time to control the temperature sensor
Ambient temperature is acquired, and the temperature information of acquisition is sent to backstage by temperature wireless transmission module.Temperature detection dress
It sets and is additionally provided with warning module, when the temperature of temperature sensor acquisition is analyzed by Temperature processor, above or below this
When the operating temperature range that device is able to bear, Temperature processor controls warning module and sends warning information to remote back-office, together
When Temperature processor control temperature-detecting device stop working and close power supply and prevent equipment damage.
Gas-detecting device includes: the second intrinsic safety electric source, gas processer, gas sensor and gas wireless transmission mould
Block, the gas processer are configured as sending control instruction to the gas sensor, and it is real-time to control the gas sensor
Surrounding environmental gases type and concentration are acquired, and the gas information of acquisition is sent to backstage by gas wireless transmission module.
Gas sensor includes carbon monoxide transducer, methane transducer and SO 2 sensor etc., can open or close as needed
Close one such or several gas station in more targeted detection mine.
Vision imaging device includes: third intrinsic safety electric source, vision processor, camera and vision wireless transport module, institute
It states vision processor to be configured as sending control instruction to the camera, controls the camera and acquire ambient enviroment view in real time
Feel information, and the visual information of acquisition is sent to backstage by vision wireless transport module.Here camera includes monocular
Camera and binocular full-view camera, camera lower section are equipped with rotatable pedestal, can pass through visual processes according to need of work
The camera type that device control pedestal rotates more to change jobs, to reach different acquisition requirements.If need to only acquire travelling route
The area of visual field in front, gram use monocular cam, if desired confirm the visual field of surrounding in entire mine, then it is complete that binocular can be used
Scape camera greatly improves working efficiency, and the information acquired will not omit.
System further includes infrared thermal imaging device, and the infrared thermal imaging device includes: the 4th intrinsic safety electric source, at thermal imaging
Reason device, infrared camera and thermal imaging wireless transport module, the thermal imaging processor are configured as to the infrared camera
Control instruction is sent, the infrared camera is controlled and acquires ambient enviroment thermal imaging information in real time, and the thermal imaging of acquisition is believed
Breath is sent to backstage by thermal imaging wireless transport module.Infrared thermal imaging device is used cooperatively with above-mentioned vision imaging device,
It is effective using infrared thermal imaging device gram in a dark environment when vision imaging device, which realizes method, takes clearly ambient image
Biological position and profile are detected, for exploring and there is very big help in the army of rescue.
System further includes sound detection device, the sound detection device include: the 5th intrinsic safety electric source, Sound Processor Unit,
Sound pick-up and sound wireless transport module, the Sound Processor Unit are configured as sending control instruction, control to the sound pick-up
The sound pick-up acquires ambient enviroment acoustic information in real time, and the acoustic information of acquisition is sent out by thermal imaging wireless transport module
It send to backstage.Sound detection device further includes sonar, for accurately detecting mine hole depth, mine position and ambient enviroment letter
Breath.
Distribution mine sensors system disclosed in technical solution of the present invention will control each biography in mining robot
The control system of sensor module work is separately positioned in each module, and pre-sets program in the controls, will be controlled
Permission processed is distributed in each module, if the work of a certain module or transmission are broken down, does not interfere with the work of remaining module
And transmission, it improves work efficiency and saves resource.
It will be understood by those skilled in the art that embodiments herein can provide as method, apparatus (equipment) or computer
Program product.Therefore, in terms of the application can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes the meter of computer usable program code that the application, which can be used in one or more,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The application is flow chart of the reference according to method, apparatus (equipment) and computer program product of the embodiment of the present application
And/or block diagram describes.It should be understood that each process in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer programs to refer to
Enable the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (10)
1. a kind of distribution mine sensors system, which is characterized in that including temperature-detecting device, gas-detecting device and vision
Imaging device, is equipped with control system and power supply in each device, when work it is mountable on sniffing robot respectively by respective
Control system control acquisition environmental information.
2. system according to claim 1, which is characterized in that the temperature-detecting device includes: the first intrinsic safety electric source, temperature
Degree processor, temperature sensor and temperature wireless transmission module, the Temperature processor are configured as to the temperature sensor
Control instruction is sent, the temperature sensor is controlled and acquires ambient temperature in real time, and the temperature information of acquisition is passed through into temperature
Degree wireless transport module is sent to backstage.
3. system according to claim 1, which is characterized in that the gas-detecting device includes: the second intrinsic safety electric source, gas
Body processor, gas sensor and gas wireless transmission module, the gas processer are configured as to the gas sensor
Control instruction is sent, the gas sensor is controlled and acquires surrounding environmental gases type and concentration in real time, and by the gas of acquisition
Information is sent to backstage by gas wireless transmission module.
4. system according to claim 3, which is characterized in that the gas sensor includes carbon monoxide transducer, first
Alkane sensor and SO 2 sensor.
5. system according to claim 1, which is characterized in that the vision imaging device includes: third intrinsic safety electric source, view
Feel that processor, camera and vision wireless transport module, the vision processor are configured as sending to the camera and control
Instruction controls the camera and acquires ambient vision information in real time, and the visual information of acquisition is wirelessly passed by vision
Defeated module is sent to backstage.
6. system according to claim 5, which is characterized in that be equipped with rotatable pedestal, pedestal below the camera
Top is respectively arranged with monocular cam and binocular full-view camera, and the vision processor is according to being set in advance in varying environment
In parameter different camera controlled by rotating base work.
7. system according to claim 1, which is characterized in that described red the system also includes infrared thermal imaging device
Outer thermal imaging device includes: the 4th intrinsic safety electric source, thermal imaging processor, infrared camera and thermal imaging wireless transport module, institute
It states thermal imaging processor to be configured as sending control instruction to the infrared camera, controls the infrared camera and acquire in real time
Ambient enviroment thermal imaging information, and the thermal imaging information of acquisition is sent to backstage by thermal imaging wireless transport module.
8. system according to claim 1, which is characterized in that the system also includes sound detection device, the sound
Detection device includes: the 5th intrinsic safety electric source, Sound Processor Unit, sound pick-up and sound wireless transport module, the Sound Processor Unit
It is configured as sending control instruction to the sound pick-up, controls the sound pick-up and acquire ambient enviroment acoustic information in real time, and will
The acoustic information of acquisition is sent to backstage by thermal imaging wireless transport module.
9. system according to claim 8, which is characterized in that the sound detection device further includes sonar, for accurate
Detect mine hole depth, mine position and ambient condition information.
10. -9 described in any item systems according to claim 1, which is characterized in that by each between all devices in the system
From unlimited revolution module be wirelessly connected, when one of device and backstage connection break down when can will acquisition information send
To remaining any device, and it is forwarded to backstage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278067.4A CN109877841A (en) | 2019-04-08 | 2019-04-08 | A kind of distribution mine sensors system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278067.4A CN109877841A (en) | 2019-04-08 | 2019-04-08 | A kind of distribution mine sensors system |
Publications (1)
| Publication Number | Publication Date |
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| CN109877841A true CN109877841A (en) | 2019-06-14 |
Family
ID=66936488
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910278067.4A Withdrawn CN109877841A (en) | 2019-04-08 | 2019-04-08 | A kind of distribution mine sensors system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653835A (en) * | 2019-10-25 | 2020-01-07 | 深圳中科捷飞科技有限公司 | Metering room robot, metering room robot system and metering room oil production measuring method |
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|---|---|---|---|---|
| CN205375128U (en) * | 2016-01-22 | 2016-07-06 | 张万军 | Coal mine safety monitoring information system based on PLC control |
| US20170356292A1 (en) * | 2016-06-09 | 2017-12-14 | Abb Technology Ag | Robot automated mining |
| CN207180769U (en) * | 2017-10-10 | 2018-04-03 | 李喜 | A kind of underground coal mine environment monitoring device based on various topological structures |
| CN207910896U (en) * | 2018-01-09 | 2018-09-25 | 中国地质大学（武汉） | A kind of infrared thermal imaging device and infra-red thermal imaging system |
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2019
- 2019-04-08 CN CN201910278067.4A patent/CN109877841A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205375128U (en) * | 2016-01-22 | 2016-07-06 | 张万军 | Coal mine safety monitoring information system based on PLC control |
| US20170356292A1 (en) * | 2016-06-09 | 2017-12-14 | Abb Technology Ag | Robot automated mining |
| CN207180769U (en) * | 2017-10-10 | 2018-04-03 | 李喜 | A kind of underground coal mine environment monitoring device based on various topological structures |
| CN207910896U (en) * | 2018-01-09 | 2018-09-25 | 中国地质大学（武汉） | A kind of infrared thermal imaging device and infra-red thermal imaging system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653835A (en) * | 2019-10-25 | 2020-01-07 | 深圳中科捷飞科技有限公司 | Metering room robot, metering room robot system and metering room oil production measuring method |
| CN110653835B (en) * | 2019-10-25 | 2021-05-11 | 深圳中科捷飞科技有限公司 | Metering interval oil measuring and yield measuring method |
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Application publication date: 20190614 |
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