CN109882244A - Intelligent map building system of underground inspection robot - Google Patents
Intelligent map building system of underground inspection robot Download PDFInfo
- Publication number
- CN109882244A CN109882244A CN201910249203.7A CN201910249203A CN109882244A CN 109882244 A CN109882244 A CN 109882244A CN 201910249203 A CN201910249203 A CN 201910249203A CN 109882244 A CN109882244 A CN 109882244A
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- crusing robot
- radar
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- protective shell
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Abstract
The invention discloses an intelligent mapping system of an underground inspection robot, which comprises an inspection robot, a wireless communication module, a depth camera and a laser radar, wherein a data acquisition module comprises the depth camera, a thermal infrared imager and a laser range finder; according to the intelligent mapping system of the underground inspection robot, when the mapping positioning module maps and positions that the deviation between the position information acquired in real time and the actual position information on the point cloud map is large, alarm information is sent to the ground control station to remind workers of the ground control station, and the laser radar is arranged in the radar protective shell, so that the damage of the laser radar caused by the external severe environment when the laser radar does not work can be avoided.
Description
Technical field
The present invention relates to underground crusing robot field, in particular to a kind of underground crusing robot intelligently builds drawing system.
Background technique
Coal mine is dangerous high-incidence area, if the leaky extremely easy generation mine disaster of supervision, miners just go deep into underground activities,
Danger coefficient is high, therefore inside mine hole in the case of will monitor and understand in time, to as far as possible arrange potential danger
It removes.In order to guarantee the safety of underground work personnel and the normal operation of production, it is real that existing enterprise can arrange patrol officer to carry out
When monitor inspection, but in some bad environments, the complicated dangerous work of situation, it is difficult to ensure patrol officer's life security, such as
Rain and snow weather, high temperature, high and cold, underground mine and high-tension electricity equipment etc..Worker's inspection is replaced using crusing robot, in well
Lower hazardous environment can be with the life security of effective guarantee patrol officer, and the drawbacks of can successfully solve above-mentioned manual inspection.
Crusing robot just arrives foreign environment, it is necessary first to construct the environmental map, then can realize avoidance and lead
The functions such as boat.The vision system of traditional crusing robot relies on RGB image acquisition equipment to carry out environment sensing, building ground mostly
Figure, planning path and target identification, but during atual detection, it is easy to happen the location information detected and physical location
The case where information deviates, existing crusing robot are not alarmed this thing happens, cannot allow ground control station
Staff find the problem in time, and crusing robot is during building figure, needs to carry out barrier using laser radar
Detection, but laser radar is usually exposed on crusing robot surface, when not in use, is easy to be influenced by extraneous adverse circumstances,
To influence the service life of laser radar.
Summary of the invention
The main purpose of the present invention is to provide a kind of underground crusing robots intelligently to build drawing system, can effectively solve to carry on the back
The problems in scape technology.
To achieve the above object, the invention provides the following technical scheme: a kind of underground crusing robot intelligently builds drawing system,
Central processing unit including crusing robot, wireless communication module, depth camera and laser radar, on the crusing robot
It is connected with kinematic system, inertial navigation system, route planning module, wireless communication module and data acquisition module, the data acquisition
Module includes depth camera, thermal infrared imager and laser range finder, and the central processing unit of the crusing robot is connected with report
Alert module is also equipped on the crusing robot and builds figure locating module, described to build figure locating module tie point cloud map, described
It builds figure locating module and is connected with comparison module, detection of obstacles module and inertia measuring module, the detection of obstacles module is
Laser radar, the laser radar are mounted on inside radar protective shell, and the radar protective shell is fixed at the top of crusing robot.
Preferably, the laser radar is fixed on mounting blocks, and there are two sliding block, institutes for the mounting blocks bottom integrated molding
It states laser radar protective shell bottom and is fixed with twice sliding rail one, the sliding rail one is corresponding with sliding block, and the radar protective shell leans on
Nearly crusing robot front end offers door body, and the mounting blocks are fixedly connected with electric telescopic rod one far from door body side, described
One other end of electric telescopic rod is bolted on radar protective shell inner wall.
Preferably, the radar protective shell is fixed with sliding rail two, the door body and radar close to door body side upper and lower ends
Protective shell contact side offers sliding slot corresponding with sliding rail two, and the door body passes through spiral shell close to radar protective shell side one end
Nail is fixed with fixed plate, is fixedly connected with electric telescopic rod two between the fixed plate and radar protection shell side wall.
Preferably, the door body is fluted far from opening up on the inside of fixed plate one end, is fixed in the groove by screw
Cleaning brush, the cleaning brush are banister brush.
Preferably, the inertia measuring module includes accelerometer and gyroscope.
Preferably, the alarm module is reminded using voice alarm or short message barrage.
Preferably, mine lamp is installed at the top of the crusing robot.
Compared with prior art, the invention has the following beneficial effects:
1), this kind of underground crusing robot intelligently builds drawing system, by the way that alarm module is arranged, builds figure when building figure locating module
Location finding in real time collected location information and point cloud map on actual position information deviation it is larger when, send warning message
To ground control station, to staff one prompting of ground control station, to take corresponding measure to be sent to accurate location
Whether crusing robot, or artificial inspection crusing robot break down；
2) it, by the way that laser radar to be placed in inside radar protective shell, to play a protective role to laser radar, can avoid
Damage of external world's adverse circumstances to laser radar when not working, in use, using electric telescopic rod one by laser radar to being pushed forward,
Make it close to door body, then pushing door body open using electric telescopic rod two can normal use laser radar；
3), by the setting of cleaning brush, during the door body of radar protective shell is opened, cleaning brush can inswept laser thunder
The surface reached is conducive to improve detection of obstacles accuracy, extends laser thunder so as to the coal ash on its surface is clean
The service life reached.
Detailed description of the invention
Fig. 1 is that a kind of underground crusing robot of the present invention intelligently builds drawing system overall schematic；
Fig. 2 is the radar protective shell schematic diagram that a kind of underground crusing robot of the present invention intelligently builds drawing system；
Fig. 3 is the radar protective shell door body schematic diagram that a kind of underground crusing robot of the present invention intelligently builds drawing system；
The partial enlarged view of Fig. 4 Fig. 2；
Fig. 5 is that a kind of underground crusing robot of the present invention intelligently builds drawing system integrated connection block diagram；
Fig. 6 be a kind of underground crusing robot of the present invention intelligently build drawing system build figure locating module schematic diagram.
In figure: 1, crusing robot；2, wireless communication module；3, mine lamp；4, depth camera；5, thermal infrared imager；6,
Laser range finder；7, radar protective shell；8, laser radar；9, electric telescopic rod one；10, sliding rail one；11, mounting blocks；12, sliding
Block；13, door body；14, sliding rail two；15, sliding slot；16, cleaning brush；17, fixed plate；18, electric telescopic rod two；19, groove.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in figures 1 to 6, a kind of 1 intelligence of underground crusing robot builds drawing system, including crusing robot 1, wireless telecommunications
Module 2, depth camera 4 and laser radar 8, the central processing unit on crusing robot 1 are connected with kinematic system, inertial navigation system
System, route planning module, wireless communication module 2 and data acquisition module, central processing unit are ARM11 main control chip, line communication
Module 2 uses SX1278 cake core, and data acquisition module includes depth camera 4, thermal infrared imager 5 and laser range finder 6, is patrolled
The central processing unit of inspection robot 1 is connected with alarm module, is also equipped on crusing robot 1 and builds figure locating module, and it is fixed to build figure
Position module connection points cloud map, builds figure locating module and is connected with comparison module, detection of obstacles module and inertia measuring module, hinders
Hindering analyte detection module is laser radar 8, and laser radar 8 is RPLIDAR-A1 type radar, and laser radar 8 is mounted on radar protective shell
Inside 7, radar protective shell 7 is fixed on 1 top of crusing robot.
Alarm module is reminded using voice alarm or short message barrage.
Inertia measuring module includes accelerometer and gyroscope.
By using above-mentioned technical proposal, by the way that alarm module is arranged, when building figure locating module, to build figure location finding real-time
When actual position information deviation on collected location information and point cloud map is larger, sends warning message to ground and control
It stands, to staff one prompting of ground control station, to take corresponding measure that accurate location is sent to crusing robot
1, or artificially check whether crusing robot 1 breaks down.
Embodiment 2
As shown in Figs 1-4, laser radar 8 is fixed on mounting blocks 11, and there are two sliding blocks for the integrated molding of 11 bottom of mounting blocks
12,7 bottom of laser radar protective shell is fixed with twice sliding rail 1, and sliding rail 1 is corresponding with sliding block 12, and radar protective shell 7 leans on
Nearly 1 front end of crusing robot offers door body 13, and mounting blocks 11 are fixedly connected with electric telescopic rod 1 far from 13 side of door body,
One 9 other end of electric telescopic rod is bolted on 7 inner wall of radar protective shell.
By using above-mentioned technical proposal, by the way that laser radar 8 to be placed in inside radar protective shell 7, thus to laser thunder
It plays a protective role up to 8, damage of external world's adverse circumstances to laser radar 8 when can avoid not working, in use, being stretched using electronic
Laser radar 8 to being pushed forward, is made it close to door body 13 by contracting bar 1, then pushes door body 13 open using electric telescopic rod 2 18
Normal use laser radar 8.
Embodiment 3
As shown in Figs 1-4, radar protective shell 7 is fixed with sliding rail 2 14 close to 13 side upper and lower ends of door body, door body 13 with
Radar protective shell 7 contacts side and offers sliding slot 15 corresponding with sliding rail 2 14, and door body 13 is close to 7 side one of radar protective shell
End is fixed with fixed plate 17 by screw, is fixedly connected with electric telescopic rod two between 7 side wall of fixed plate 17 and radar protective shell
18。
For door body 13 far from opening up fluted 19 on the inside of 17 one end of fixed plate, groove 19 is interior to be fixed with cleaning brush by screw
16, cleaning brush 16 is banister brush.
Mine lamp 3 is installed at the top of crusing robot 1.
By using above-mentioned technical proposal, by the setting of cleaning brush 16, in the mistake that the door body 13 of radar protective shell 7 is opened
Cheng Zhong, cleaning brush 16 can the surface of inswept laser radar 8 be conducive to improve so as to the coal ash on its surface is clean
Detection of obstacles accuracy extends the service life of laser radar 8.
It should be noted that the present invention, which is that a kind of underground crusing robot 1 is intelligent, builds drawing system, when in use, depth is taken the photograph
Acquisition 1 surrounding enviroment information of crusing robot, laser radar 8 are adopted in real time in real time for camera 4, thermal infrared imager 5 and laser range finder 6
Collect obstacle information, builds figure locating module for patrolling according to the foundation of the image information and obstacle information on 1 periphery of crusing robot
The electronic map of 1 local environment of robot is examined, and is compared by comparing module with point cloud map, is built when building figure locating module
Figure location finding in real time collected location information and point cloud map on actual position information deviation it is larger when, alarm module hair
Send warning message to ground control station, to staff one prompting of ground control station, to take corresponding measure will be accurate
Position is sent to crusing robot 1, or whether artificial inspection crusing robot 1 breaks down.Laser radar 8 is not being used
When, laser radar 8 is pulled back using electric telescopic rod 1, makes it away from door body 13, and close using electric telescopic rod 2 18
Door body 13 makes its protection inside radar protective shell 7, to play a protective role to laser radar 8, when can avoid not working outside
Damage of boundary's adverse circumstances to laser radar 8.It pushes it against 13 one end of door body again when using laser radar 8, and opens door body
13 can normal use, radar protective shell 7 door body 13 open during, can use the cleaning brush installed in door body 13
The surface of 16 inswept laser radars 8, so as to the coal ash on its surface is clean, it is accurate to be conducive to improve detection of obstacles
Degree extends the service life of laser radar 8.
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 underground crusing robot intelligently builds drawing system, including crusing robot (1), wireless communication module (2), depth are taken the photograph
Camera (4) and laser radar (8), the central processing unit on the crusing robot (1) be connected with kinematic system, inertial navigation system,
Route planning module, wireless communication module (2) and data acquisition module, which is characterized in that the data acquisition module includes deep
Degree video camera (4), thermal infrared imager (5) and laser range finder (6), the central processing unit of the crusing robot (1) are connected with
Alarm module is also equipped on the crusing robot (1) and builds figure locating module, it is described with building figure locating module tie point cloud
Figure, the figure locating module of building are connected with comparison module, detection of obstacles module and inertia measuring module, the detection of obstacles
Module is laser radar (8), and the laser radar (8) is mounted on radar protective shell (7) inside, and the radar protective shell (7) is solid
It is scheduled at the top of crusing robot (1).
2. a kind of underground crusing robot according to claim 1 intelligently builds drawing system, which is characterized in that the laser thunder
It is fixed on mounting blocks (11) up to (8), there are two sliding block (12), the laser radars for mounting blocks (11) the bottom integrated molding
Protective shell (7) bottom is fixed with twice sliding rail one (10), and the sliding rail one (10) is corresponding with sliding block (12), the radar protection
Shell (7) offers door body (13) close to crusing robot (1) front end, and the mounting blocks (11) are far from the fixed company in door body (13) side
It is connected to electric telescopic rod one (9), electric telescopic rod one (9) other end is bolted on radar protective shell (7) inner wall
On.
3. a kind of underground crusing robot according to claim 2 intelligently builds drawing system, which is characterized in that the radar is protected
Protective case (7) is fixed with sliding rail two (14) close to door body (13) side upper and lower ends, and the door body (13) connects with radar protective shell (7)
Touching side offers sliding slot (15) corresponding with sliding rail two (14), and the door body (13) is close to radar protective shell (7) side one
End is fixed with fixed plate (17) by screw, is fixedly connected with electricity between the fixed plate (17) and radar protective shell (7) side wall
Dynamic telescopic rod two (18).
4. a kind of underground crusing robot according to claim 3 intelligently builds drawing system, which is characterized in that the door body
(13) far from opening up fluted (19) on the inside of fixed plate (17) one end, cleaning brush is fixed with by screw in the groove (19)
(16), the cleaning brush (16) is banister brush.
5. a kind of underground crusing robot according to claim 1 intelligently builds drawing system, which is characterized in that the inertia is surveyed
Measuring module includes accelerometer and gyroscope.
6. a kind of underground crusing robot according to claim 1 intelligently builds drawing system, which is characterized in that the alarm mould
Block is reminded using voice alarm or short message barrage.
7. a kind of underground crusing robot according to claim 1 intelligently builds drawing system, which is characterized in that the survey monitor
Mine lamp (3) are installed at the top of device people (1).
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| CN201910249203.7A CN109882244B (en) | 2019-03-29 | 2019-03-29 | Intelligent map building system of underground inspection robot |
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| CN109882244B CN109882244B (en) | 2021-06-11 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110297256A (en) * | 2019-07-23 | 2019-10-01 | 国网四川省电力公司信息通信公司 | Emergency route generation method is maked an inspection tour based on the man-machine room of laser radar scanning data machine |
| CN110700888A (en) * | 2019-11-15 | 2020-01-17 | 山东大学 | Automatic monitoring and early warning system and method for underground water and harmful gas in tunnel construction period |
| CN110847972A (en) * | 2019-11-26 | 2020-02-28 | 成都轨道建设管理有限公司 | Tunnel safety detection early warning system for subway construction |
| CN111402445A (en) * | 2020-03-30 | 2020-07-10 | 国网河北省电力有限公司沧州供电分公司 | Cloud database-based inspection system |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN111830532A (en) * | 2020-07-22 | 2020-10-27 | 厦门市和奕华光电科技有限公司 | Multi-module multiplexing laser radar and sweeping robot |
| CN111980751A (en) * | 2020-07-30 | 2020-11-24 | 中煤科工集团西安研究院有限公司 | Portable mining roadway multi-source sensor scanning device and construction method |
| CN112034861A (en) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | Bionic autonomous robot autonomous obstacle avoidance system and obstacle avoidance method thereof |
| CN112747746A (en) * | 2020-12-25 | 2021-05-04 | 珠海市一微半导体有限公司 | Point cloud data acquisition method based on single-point TOF, chip and mobile robot |
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| CN113799149A (en) * | 2021-09-03 | 2021-12-17 | 上海务进消防安全设备有限公司 | Intelligent inspection robot |
| CN114102550A (en) * | 2021-12-01 | 2022-03-01 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Laser three-dimensional remote control dust removal mapping device of crawler-type robot |
| CN114165288A (en) * | 2021-12-15 | 2022-03-11 | 中国矿业大学(北京) | Coal mine dynamic disaster monitoring and alarming method based on image recognition depth characteristics |
| CN114415165A (en) * | 2022-03-30 | 2022-04-29 | 微感科技(南通)有限公司 | Microwave radar detection device with high environmental adaptability |
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| CN110297256A (en) * | 2019-07-23 | 2019-10-01 | 国网四川省电力公司信息通信公司 | Emergency route generation method is maked an inspection tour based on the man-machine room of laser radar scanning data machine |
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| CN111402445A (en) * | 2020-03-30 | 2020-07-10 | 国网河北省电力有限公司沧州供电分公司 | Cloud database-based inspection system |
| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN111672045B (en) * | 2020-05-21 | 2021-11-30 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
| CN111830532A (en) * | 2020-07-22 | 2020-10-27 | 厦门市和奕华光电科技有限公司 | Multi-module multiplexing laser radar and sweeping robot |
| CN111980751A (en) * | 2020-07-30 | 2020-11-24 | 中煤科工集团西安研究院有限公司 | Portable mining roadway multi-source sensor scanning device and construction method |
| CN112034861A (en) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | Bionic autonomous robot autonomous obstacle avoidance system and obstacle avoidance method thereof |
| CN112747746A (en) * | 2020-12-25 | 2021-05-04 | 珠海市一微半导体有限公司 | Point cloud data acquisition method based on single-point TOF, chip and mobile robot |
| CN113687382A (en) * | 2021-08-17 | 2021-11-23 | 衢州光明电力投资集团有限公司赋腾科技分公司 | Internal measuring robot for foundation pit |
| CN113799149A (en) * | 2021-09-03 | 2021-12-17 | 上海务进消防安全设备有限公司 | Intelligent inspection robot |
| CN114102550A (en) * | 2021-12-01 | 2022-03-01 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Laser three-dimensional remote control dust removal mapping device of crawler-type robot |
| CN114102550B (en) * | 2021-12-01 | 2023-08-29 | 山东省地质矿产勘查开发局第五地质大队（山东省第五地质矿产勘查院） | Laser three-dimensional remote control dust removal mapping device of crawler robot |
| CN114165288A (en) * | 2021-12-15 | 2022-03-11 | 中国矿业大学(北京) | Coal mine dynamic disaster monitoring and alarming method based on image recognition depth characteristics |
| CN114165288B (en) * | 2021-12-15 | 2023-02-17 | 中国矿业大学(北京) | Coal mine dynamic disaster monitoring and alarming method based on image recognition depth characteristics |
| CN114415165A (en) * | 2022-03-30 | 2022-04-29 | 微感科技(南通)有限公司 | Microwave radar detection device with high environmental adaptability |
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