CN112373693B - Explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mine - Google Patents
Explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mine Download PDFInfo
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- 231100000681 Certain safety factor Toxicity 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
- B64D7/08—Arrangements of rocket launchers or releasing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses an explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mines, which comprises an unmanned aerial vehicle mechanism, a monitoring mechanism and a platform, wherein the unmanned aerial vehicle mechanism, the monitoring mechanism and the platform are connected in a wireless mode. This unmanned aerial vehicle can be through the ultrasonic sensing module of its upper end when the colliery flies in the pit to continuously launching ultrasonic signal all around, when meetting the obstacle, recycle ultrasonic sensing module and receive and block the signal, and send it for power control module, switch on the electric current in the electro-magnet of obstacle that one side through power control module control miniature power, utilize the electro-magnet to attract the armature piece that is located same horizontal position simultaneously, armature piece moves and drives the elastic component that resets and the inboard removal of activity guide arm to electromagnet one side, because the magnetism of rectangular magnet and main magnetic path is opposite, also produce certain repulsion force when main magnetic path is close to rectangular magnet, make unmanned aerial vehicle mechanism whole move towards the direction of keeping away from the obstacle, certain effect of independently keeping away from the obstacle has also been played.
Description
Technical Field
The invention relates to the technical field of underground coal mine inspection and rescue equipment, in particular to an explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mines.
Background
The underground environment is complex, and particularly after a coal mine disaster accident occurs, rapid and effective rescue is important work for reducing casualties and property loss. Because the mine environment is unknown, the key point is that the underground environment information needs to be quickly acquired in decision commands of daily inspection and disaster rescue. Adopt unmanned aerial vehicle to get into the mine and carry out the environment and listen, can solve this problem betterly. Unmanned aerial vehicle that the environment was listened not only can survey the environmental information of mine, can survey toxic gas after the calamity simultaneously, for example: gas, carbon monoxide, etc. to provide information for the safety of the rescue team, and also to search for information of trapped or injured miners. In recent years, the development of unmanned aerial vehicles is rapid, and four-rotor electric unmanned aerial vehicles are mainly used.
The general autonomic obstacle avoidance ability of four rotor unmanned aerial vehicle of current explosion-proof type is relatively poor, and can only keep away the obstacle to its one side or specific area when keeping away the obstacle, easily takes place to strike and its stability can relatively poor, easily takes place the image when utilizing the camera monitoring mine and rocks or inclines with the obstacle.
Aiming at the problems, the invention provides an explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mines, which has the advantages of stronger automatic obstacle avoiding capability, multidirectional obstacle avoidance, difficult collision with obstacles, stronger stability, difficult image shaking or inclination when a camera is used for monitoring underground mines and the like.
Disclosure of Invention
The invention aims to provide an explosion-proof quad-rotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mines, which has the advantages of strong automatic obstacle avoiding capability, multi-azimuth obstacle avoiding capability, difficult collision with obstacles, strong stability, difficult image shaking or inclination when monitoring underground mines by using a camera and the like, and can solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an explosion-proof four-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mines comprises an unmanned aerial vehicle mechanism, a monitoring mechanism and a platform, the unmanned aerial vehicle mechanism comprises an upper fixed platform structure, a machine body and a stability maintaining base structure, wherein a positioning seat is fixedly arranged in an inner cavity of the upper fixed platform structure, electromagnets are arranged on the periphery of the outer side of the positioning seat, a micro power supply is arranged at the upper end of the positioning seat and electrically connected with the electromagnets, the upper end of the micro power supply is connected with an ultrasonic sensing module through a rotating rod, the bottom end of the upper fixed platform structure is provided with a machine body, four corners of the bottom surface of the machine body are provided with positioning rods, a first magnetic sticker is further arranged in the center of the bottom surface of the machine body, the bottom end of the machine body is inserted into the stability maintaining base structure through a positioning rod, a wireless communication module A is installed in the inner cavity of the machine body, and the unmanned aerial vehicle mechanism is wirelessly connected with the monitoring mechanism through the wireless communication module A;
the monitoring mechanism comprises a CPU module, a data storage module, a display module, an early warning module and a wireless communication module B, wherein the wireless communication module B is used for receiving signals sent by the wireless communication module A and sending command signals to the wireless communication module A.
Furthermore, the outer wall of the upper fixed platform structure is provided with a guide rail, a long-strip magnet and a main magnet all around, one side of the main magnet close to the guide rail is provided with a slider corresponding to the guide rail, the main magnet is movably connected with the guide rail through the slider, the guide rail and the slider are mutually matched, and the long-strip magnet and the main magnet are opposite in magnetism.
Furthermore, a movable guide rod is installed at the bottom end of the inner side of the main magnetic block, and one end of the movable guide rod, which is far away from the main magnetic block, extends into the inner cavity of the upper fixed table structure and is connected with the armature block through a reset elastic piece.
Furthermore, the bottom end of the armature block is provided with a limiting rod, one end of the limiting rod, which is far away from the armature block, extends into the inner cavity of the machine body, and the inner side of the bottom end of the limiting rod is fixedly provided with an induction sheet.
Further, a location section of thick bamboo is all installed to the outside four corners department of fuselage, the top of a location section of thick bamboo is provided with the rotor blade, and only the bottom of three group's location section of thick bamboos has set firmly the acquisition unit, the acquisition unit is used for detecting the colliery temperature in the pit, pressure and toxic gas content, and send data for monitoring mechanism through wireless communication module A, wireless communication module A is connected to its output, and the acquisition unit is by temperature acquisition module respectively, pressure acquisition module and gaseous collection module constitute, and temperature acquisition module is a model number DS18B 20's digital temperature sensor.
Further, the outside of fuselage all is provided with camera module all around, camera module passes through wireless communication module A wireless connection display module, and the outside of fuselage still installs the spout of blowing all around, be provided with in the inner chamber of fuselage with the miniature electronic air pump of spout quantity assorted that blows, the one end that miniature electronic air pump is close to the response piece has set firmly distance sensor, the miniature electronic air pump of distance sensor electric connection, and the output of miniature electronic air pump passes through the trachea and connects the spout of blowing, the antiskid foot rest is still installed to the bottom both sides of fuselage, and be provided with power control module in the inner chamber of fuselage, power control module is electric connection supersound sensing module and miniature power respectively.
Further, the stable base structure of dimension includes arc frame plate, lower arc frame plate and shock attenuation ball, goes up the arc frame plate and is connected through the shock attenuation ball down between the arc frame plate, and the both ends of shock attenuation ball insert the arc frame plate and arc frame plate down through spacing post of inserting respectively, and all cup jointed seal ring on spacing post of inserting and the junction outer wall of last arc frame plate and lower arc frame plate.
Furthermore, the surface of the upper arc-shaped frame plate is provided with a positioning hole, the positioning hole is matched with the positioning rod, a second magnetic paste with the same magnetism as the first magnetic paste is further arranged at the center of the surface of the upper arc-shaped frame plate, mounting grooves and balance airflow plates are arranged on two sides of the upper arc-shaped frame plate, and two ends of each balance airflow plate are connected with the inner wall of each mounting groove through rotating shafts.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides an explosion-proof four-rotor unmanned aerial vehicle capable of automatically avoiding obstacles in a coal mine, a main magnetic block is movably connected with a guide rail through a sliding block, the guide rail and the sliding block are matched with each other, and the strip magnet and the main magnetic block have opposite magnetism, so that an unmanned aerial vehicle mechanism can continuously transmit ultrasonic signals to the periphery through an ultrasonic sensing module at the upper end of the unmanned aerial vehicle mechanism when flying in the coal mine, when encountering obstacles, the ultrasonic sensing module is used for receiving the blocking signals and sending the blocking signals to a power supply control module, the power supply control module is used for controlling a micro power supply to switch on the current in an electromagnet at the obstacle side, the electromagnet is used for attracting an armature block positioned on the same horizontal position, the armature block moves to one side of the electromagnet and drives a reset elastic piece and a movable guide rod to move inwards, and the main magnetic block connected with the outer side of the movable guide rod also slides to the direction of the strip magnet through the sliding block, because the magnetism of rectangular magnet and main magnetic path is opposite, also produce certain repulsion force when main magnetic path is close to rectangular magnet, make unmanned aerial vehicle mechanism whole to the direction of keeping away from the obstacle remove, also played certain effect of independently keeping away from the obstacle, and unmanned aerial vehicle mechanism also can carry out diversified obstacle avoidance, and the security performance has also obtained very big promotion.
2. The invention provides an explosion-proof four-rotor unmanned aerial vehicle capable of automatically avoiding obstacles in a coal mine, wherein a distance sensor is fixedly arranged at one end, close to an induction sheet, of a miniature electric air pump, the distance sensor is electrically connected with the miniature electric air pump, the output end of the miniature electric air pump is connected with an air blowing nozzle through an air pipe, in the process that an armature block is close to an electromagnet, a limiting rod and the induction sheet which are connected with the bottom end of the armature block are also synchronously close to the miniature electric air pump which is arranged at one side of the armature block, after the induction sheet measured by the distance sensor reaches a preset safe distance value, the induction sheet sends a signal to the miniature electric air pump and starts the miniature electric air pump, the air pipe is used for blowing air to the nozzle for conveying, meanwhile, the air blowing nozzle is used for discharging air flow, the reaction force of the air flow on the obstacles is used for moving the whole unmanned aerial vehicle mechanism to the direction far away from the obstacles again, and the unmanned aerial vehicle mechanism is prevented from impacting the obstacles when small repulsive force is generated between a main magnetic block and a strip magnet to influence the use of the unmanned aerial vehicle mechanism on the obstacles And (4) service life.
3. The invention provides an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mines, an upper arc-shaped frame plate and a lower arc-shaped frame plate are connected through damping balls, mounting grooves and a balance airflow plate are arranged on two sides of the upper arc-shaped frame plate, and two ends of the balance airflow plate are connected with the inner wall of the mounting grooves through rotating shafts, so that the vibration generated by air flow can be reduced by the damping balls when an unmanned aerial vehicle mechanism flies, the flying stability is improved, meanwhile, a certain safety coefficient can be improved when collision occurs in the flying process, the rotating shafts can be rotated and the balance airflow plate can be lifted to a horizontal position when the unmanned aerial vehicle mechanism flies, the unmanned aerial vehicle mechanism is prevented from inclining during flying, the direction can be adjusted to the horizontal position by the balance airflow plate in time, and image shaking or inclination can be avoided when a camera module is used for monitoring the underground situation.
Drawings
FIG. 1 is a system topology diagram of an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mine;
FIG. 2 is a block diagram of a general system composition structure of an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mine;
FIG. 3 is a block diagram of a monitoring mechanism of an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mine;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle mechanism of an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mine;
fig. 5 is an enlarged structural schematic diagram of a part a in fig. 4 of the explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles autonomously for the underground coal mine of the invention;
FIG. 6 is a schematic structural view of a stability maintaining base of the explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mine;
FIG. 7 is a schematic structural diagram of a fuselage of an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mine;
fig. 8 is a schematic view of an upper fixed platform structure and a plane structure inside a fuselage of the explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for underground coal mine;
fig. 9 is an enlarged structural schematic diagram of a part B in fig. 8 of the explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles autonomously for the underground coal mine of the invention.
In the figure: 1. an unmanned aerial vehicle mechanism; 11. an upper fixed table structure; 111. positioning seats; 1111. an electromagnet; 112. a micro power supply; 1121. a rotating rod; 11211. an ultrasonic sensing module; 113. a guide rail; 114. a strip magnet; 115. a main magnetic block; 1151. a slider; 1152. a movable guide rod; 11521. a restoring elastic member; 1153. an armature block; 11531. a limiting rod; 1154. an induction sheet; 12. a body; 121. positioning a rod; 122. a first magnetic paste; 123. a wireless communication module A; 124. a positioning cylinder; 1241. a rotor blade; 1242. a collection unit; 12421. a temperature acquisition module; 12422. a pressure intensity acquisition module; 12423. a gas collection module; 125. a camera module; 126. a blowing nozzle; 127. a miniature electric air pump; 1271. a distance sensor; 1272. an air tube; 128. an anti-skid foot rest; 129. a power supply control module; 13. maintaining the stable base structure; 131. an upper arc-shaped frame plate; 1311. positioning holes; 1312. a second magnetic paste; 1313. installing a groove; 1314. a balanced airflow plate; 13141. a rotating shaft; 132. a lower arc-shaped frame plate; 133. a shock absorbing ball; 1331. limiting and inserting the column; 13311. a sealing gasket; 2. a monitoring mechanism; 21. a CPU module; 22. a data storage module; 23. a display module; 24. an early warning module; 25. a wireless communication module B; 3. a platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2 and 4-5, an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mines comprises an unmanned aerial vehicle mechanism 1, a monitoring mechanism 2 and a platform 3, which are all connected with each other in a wireless manner, the unmanned aerial vehicle mechanism 1 comprises an upper fixed platform structure 11, a machine body 12 and a stability-maintaining base structure 13, a positioning seat 111 is fixedly arranged in an inner cavity of the upper fixed platform structure 11, electromagnets 1111 are arranged on the outer periphery of the positioning seat 111, a micro power supply 112 is arranged at the upper end of the positioning seat 111, the micro power supply 112 is electrically connected with the electromagnets 1111, the upper end of the micro power supply 112 is connected with an ultrasonic sensing module 11211 through a rotating rod 1121, the machine body 12 is arranged at the bottom end of the upper fixed platform structure 11, positioning rods 121 are arranged at four corners of the bottom surface of the machine body 12, a first magnetic paste 122 is further arranged at the center of the bottom surface of the machine body 12, the stability-maintaining base structure 13 is inserted through the positioning rods 121, a wireless communication module A123 is installed in the inner cavity of the machine body 12, and the unmanned aerial vehicle mechanism 1 is wirelessly connected with the monitoring mechanism 2 through the wireless communication module A123; the periphery of the outer wall of the upper fixed table structure 11 is provided with a guide rail 113, a long magnetic body 114 and a main magnetic block 115, one side of the main magnetic block 115 close to the guide rail 113 is provided with a sliding block 1151 corresponding to the guide rail 113, the main magnetic block 115 is movably connected with the guide rail 113 through the sliding block 1151, the guide rail 113 and the sliding block 1151 are mutually matched, and the magnetism of the long magnetic body 114 and the magnetism of the main magnetic block 115 are opposite, so that the unmanned aerial vehicle mechanism 1 can continuously transmit ultrasonic signals to the periphery through an ultrasonic sensing module 11211 at the upper end of the unmanned aerial vehicle mechanism 1 when flying under a coal mine, when encountering an obstacle, the ultrasonic sensing module 11211 is used for receiving the blocking signal and sending the blocking signal to a power control module 129, the power control module 129 is used for controlling a micro power supply 112 to connect the current in an electromagnet 1111 at the obstacle side, meanwhile, the electromagnet 1111 is used for attracting the armature block 1153 located at the same horizontal position, the armature block 1153 moves to one side of the electromagnet 1111 and drives a reset elastic piece 11521 and a movable guide rod 2 to move, and the main magnetic block 115 who is connected with the activity guide 1152 outside also utilizes slider 1151 to slide to the direction of rectangular magnet 114, because the magnetism of rectangular magnet 114 is opposite with main magnetic block 115, also produce certain repulsion force when main magnetic block 115 is close to rectangular magnet 114, make unmanned aerial vehicle mechanism 1 whole to the direction of keeping away from the obstacle remove, certain effect of independently keeping away from the obstacle has also been played, and unmanned aerial vehicle mechanism 1 also can carry out diversified obstacle avoidance, the security performance has also obtained very big promotion.
Referring to fig. 3, an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mines, a monitoring mechanism 2 comprises a CPU module 21, a data storage module 22, a display module 23, an early warning module 24 and a wireless communication module B25, and the wireless communication module B25 is used for receiving signals sent by the wireless communication module a123 and sending command signals to the wireless communication module a 123.
Referring to fig. 2 and fig. 6-8, an explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles independently for an underground coal mine is provided, wherein a movable guide rod 1152 is installed at the bottom end of the inner side of a main magnet block 115, and one end, far away from the main magnet block 115, of the movable guide rod 1152 extends into an inner cavity of an upper fixed table structure 11 and is connected with an armature block 1153 through a reset elastic piece 11521; a limiting rod 11531 is arranged at the bottom end of the armature block 1153, one end of the limiting rod 11531, which is far away from the armature block 1153, extends into the inner cavity of the machine body 12, and an induction sheet 1154 is fixedly arranged on the inner side of the bottom end of the limiting rod 11531; the four corners of the outer side of the fuselage 12 are respectively provided with a positioning cylinder 124, the top end of the positioning cylinder 124 is provided with a rotor blade 1241, the bottom ends of only three groups of positioning cylinders 124 are fixedly provided with an acquisition unit 1242, the acquisition unit 1242 is used for detecting the temperature, pressure and toxic gas content in the underground coal mine and sending data to the monitoring mechanism 2 through a wireless communication module A123, the output end of the acquisition unit 1242 is connected with the wireless communication module A123, the acquisition unit 1242 is respectively composed of a temperature acquisition module 12421, a pressure acquisition module 12422 and a gas acquisition module 12423, and the temperature acquisition module 12421 is a digital temperature sensor with a model number DS18B 20; the periphery of the outer side of the body 12 is provided with the camera modules 125, the camera modules 125 are wirelessly connected with the display module 23 through the wireless communication module A123, the periphery of the outer side of the body 12 is also provided with the air blowing nozzles 126, the inner cavity of the body 12 is provided with the miniature electric air pumps 127 of which the number is matched with that of the air blowing nozzles 126, one ends of the miniature electric air pumps 127 close to the induction sheets 1154 are fixedly provided with the distance sensors 1271, the distance sensors 1271 are electrically connected with the miniature electric air pumps 127, the output ends of the miniature electric air pumps 127 are connected with the air blowing nozzles 126 through air pipes 1272, so that in the process that the armature block 1153 is close to the electromagnet 1111, the limiting rods 11531 and the induction sheets 1154 connected to the bottom end of the armature block 1153 are also close to the miniature electric air pumps 127 on one side of the armature block synchronously, and after the induction sheets 1154 measured by the distance sensors 1271 reach a preset safe distance value, the armature block sends signals to the miniature electric air pumps 127 and starts the miniature electric air pumps 127, the air pipe 1272 is used for conveying air to the air blowing nozzle 126, meanwhile, the air blowing nozzle 126 discharges air flow, the whole unmanned aerial vehicle mechanism 1 is moved towards the direction far away from the obstacle again by using the reaction force of the air flow to the obstacle, the unmanned aerial vehicle mechanism 1 is prevented from colliding with the obstacle to influence the service life of the unmanned aerial vehicle mechanism when a small repulsive force is generated between the main magnetic block 115 and the strip magnet 114, the anti-skidding foot frames 128 are further mounted on two sides of the bottom end of the machine body 12, the power supply control module 129 is arranged in the inner cavity of the machine body 12, and the power supply control module 129 is respectively and electrically connected with the ultrasonic sensing module 11211 and the micro power supply 112; the stability maintaining base structure 13 comprises an upper arc-shaped frame plate 131, a lower arc-shaped frame plate 132 and a damping ball 133, the upper arc-shaped frame plate 131 is connected with the lower arc-shaped frame plate 132 through the damping ball 133, two ends of the damping ball 133 are respectively inserted into the upper arc-shaped frame plate 131 and the lower arc-shaped frame plate 132 through limiting insertion columns 1331, and sealing gaskets 13311 are sleeved on the outer walls of the joints of the limiting insertion columns 1331 with the upper arc-shaped frame plate 131 and the lower arc-shaped frame plate 132; the surface of the upper arc frame plate 131 is provided with a positioning hole 1311, the positioning hole 1311 is matched with the positioning rod 121, and a second magnetic paste 1312 having the same magnetic property as the first magnetic paste 122 is further disposed at the center of the surface of the upper arc-shaped frame plate 131, and both sides of the upper arc frame plate 131 are provided with a mounting groove 1313 and a balance airflow plate 1314, both ends of the balance airflow plate 1314 are connected with the inner wall of the mounting groove 1313 through a rotation shaft 13141, so that the unmanned aerial vehicle mechanism 1 can utilize the damping ball 133 to reduce the vibration generated by air flow during flying, improve the flying stability, and simultaneously improve certain safety factor when collision occurs during flying, when the flight is about to occur, the rotation shaft 13141 can be rotated and the balance airflow plate 1314 can be lifted to the horizontal position, so that the inclination during flight is prevented, the direction can be adjusted to the horizontal position in time by using the balance airflow plate 1314, and the image shaking or inclination during the condition of monitoring the mine by using the camera module 125 is avoided.
The working principle is as follows: when flying in a coal mine, the unmanned aerial vehicle mechanism 1 can continuously transmit ultrasonic signals to the periphery through the ultrasonic sensing module 11211 at the upper end of the unmanned aerial vehicle mechanism 1, when encountering an obstacle, the ultrasonic sensing module 11211 is used for receiving the blocking signal and sending the blocking signal to the power supply control module 129, the power supply control module 129 is used for controlling the micro power supply 112 to switch on the current in the electromagnet 1111 at the side of the obstacle, meanwhile, the electromagnet 1111 is used for attracting the armature block 1153 positioned at the same horizontal position, the armature block 1153 moves to one side of the electromagnet 1111 and drives the reset elastic piece 11521 and the movable guide rod 1152 to move inwards, the main magnetic block 115 connected with the outer side of the movable guide rod 1152 also slides towards the direction of the strip magnet 114 through the sliding block 1151, and due to the fact that the magnetism of the strip magnet 114 is opposite to that a certain repulsive force is generated when the main magnetic block 115 approaches the strip magnet 114, the unmanned aerial vehicle mechanism 1 is promoted to move towards the direction far away from the obstacle, meanwhile, in the process that the armature block 1153 approaches the electromagnet 1111, the limiting rod 11531 and the induction sheet 1154 connected to the bottom end of the armature block 1153 also approach the micro electric air pump 127 positioned on one side of the armature block synchronously, after the induction sheet 1154 detected by the distance sensor 1271 reaches a preset safe distance value, the induction sheet sends a signal to the micro electric air pump 127 and starts the micro electric air pump 127, the air pipe 1272 is used for conveying air to the air blowing nozzle 126, meanwhile, the air flow is discharged through the air blowing nozzle 126, and the whole unmanned aerial vehicle mechanism 1 is moved towards the direction far away from the obstacle again through the counterforce of the air flow on the obstacle.
In summary, the following steps: the invention provides an explosion-proof four-rotor unmanned aerial vehicle capable of automatically avoiding obstacles in a coal mine, wherein a positioning seat 111 is fixedly arranged in an inner cavity of an upper fixed platform structure 11, electromagnets 1111 are arranged on the periphery of the outer side of the positioning seat 111, a micro power supply 112 is arranged at the upper end of the positioning seat 111, the micro power supply 112 is electrically connected with the electromagnets 1111, the upper end of the micro power supply 112 is connected with an ultrasonic sensing module 11211 through a rotating rod 1121, a main magnetic block 115 is movably connected with a guide rail 113 through a sliding block 1151, the guide rail 113 and the sliding block 1151 are matched with each other, the magnetism of a long magnetic body 114 is opposite to that of the main magnetic block 115, so that the unmanned aerial vehicle mechanism 1 can continuously transmit ultrasonic signals to the periphery through the ultrasonic sensing module 11211 on the upper end when flying in the coal mine, when an obstacle is encountered, the ultrasonic sensing module 11211 is used for receiving the blocking signals and transmitting the blocking signals to a power supply control module 129, the power supply control module 129 is used for controlling the current in the electromagnet 1111 on the side of the obstacle side of the micro power supply 112, meanwhile, the electromagnet 1111 is used for attracting the armature block 1153 which is positioned on the same horizontal position, the armature block 1153 moves to one side of the electromagnet 1111 and drives the reset elastic piece 11521 and the movable guide rod 1152 to move inwards, and the main magnetic block 115 which is connected with the outer side of the movable guide rod 1152 also slides to the direction of the long magnetic body 114 by using the sliding block 1151, because the magnetism of the long magnetic body 114 is opposite to that of the main magnetic block 115, a certain repulsive force is generated when the main magnetic block 115 approaches to the long magnetic body 114, so that the whole unmanned aerial vehicle mechanism 1 moves towards the direction far away from the obstacle, and a certain autonomous obstacle avoidance function is also realized, and the unmanned aerial vehicle mechanism 1 can also carry out multidirectional obstacle avoidance, the safety performance is greatly improved, in addition, the machine body 12 is installed at the bottom end of the upper fixed platform structure 11, positioning rods 121 are arranged at four corners of the bottom surface of the machine body 12, and a first magnetic sticker 122 is also arranged at the center of the bottom surface of the machine body 12, the bottom end of the machine body 12 is inserted with the stability maintaining base structure 13 through the positioning rod 121, the wireless communication module a123 is installed in the inner cavity of the machine body 12, the unmanned aerial vehicle mechanism 1 is wirelessly connected with the monitoring mechanism 2 through the wireless communication module a123, the end, close to the induction sheet 1154, of the micro electric air pump 127 is fixedly provided with the distance sensor 1271, the distance sensor 1271 is electrically connected with the micro electric air pump 127, the output end of the micro electric air pump 127 is connected with the air blowing nozzle 126 through the air pipe 1272, so that in the process that the armature block 1153 is close to the electromagnet 1111, the limiting rod 11531 and the induction sheet 1154 connected to the bottom end of the armature block 1153 are also synchronously close to the micro electric air pump 127 on one side of the armature block, after the induction sheet 1154 detected by the distance sensor 1271 reaches a preset safe distance value, the armature block sends a signal to the micro electric air pump 127 and starts the micro electric air pump 127, and the air blowing nozzle 126 is air-delivered by the air pipe 1272, meanwhile, the air flow is discharged by the air blowing nozzle 126, the whole unmanned aerial vehicle mechanism 1 is moved towards the direction far away from the obstacle again by the reaction force of the air flow to the obstacle, the influence on the service life of the unmanned aerial vehicle mechanism 1 when the small repulsive force is generated between the main magnetic block 115 and the strip magnet 114 is prevented, the upper arc-shaped frame plate 131 and the lower arc-shaped frame plate 132 are connected through the damping ball 133, the mounting groove 1313 and the balance air flow plate 1314 are arranged on both sides of the upper arc-shaped frame plate 131, and both ends of the balance air flow plate 1314 are connected with the inner wall of the mounting groove 1313 through the rotating shaft 13141, so that the vibration generated by the air flow can be reduced by the damping ball 133 when the unmanned aerial vehicle mechanism 1 flies, the flying stability is improved, meanwhile, a certain safety coefficient can be improved when collision occurs in the flying process, the rotating shaft 13141 can be rotated and the balance air flow plate 1314 can be lifted to the horizontal position, the inclination is prevented during flight and the direction can be adjusted to a horizontal position in time by the balance airflow plate 1314, so that the image shaking or inclination is avoided when the camera module 125 is used for monitoring the situation in the mine.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (4)
1. The utility model provides a colliery is four rotor unmanned aerial vehicle of explosion-proof type that can independently keep away barrier in pit, includes unmanned aerial vehicle mechanism (1), monitoring mechanism (2) and platform (3), and all connects its characterized in that through wireless mode each other: the unmanned aerial vehicle mechanism (1) comprises an upper fixed platform structure (11), a machine body (12) and a stability maintaining base structure (13), wherein a positioning seat (111) is fixedly arranged in an inner cavity of the upper fixed platform structure (11), electromagnets (1111) are arranged on the periphery of the outer side of the positioning seat (111), a micro power supply (112) is arranged at the upper end of the positioning seat (111), the micro power supply (112) is electrically connected with the electromagnets (1111), the upper end of the micro power supply (112) is connected with an ultrasonic sensing module (11211) through a rotating rod (1121), the machine body (12) is arranged at the bottom end of the upper fixed platform structure (11), positioning rods (121) are arranged at four corners of the bottom surface of the machine body (12), a first magnetic sticker (122) is further arranged at the center of the bottom surface of the machine body (12), the stability maintaining base structure (13) is inserted into the bottom end of the machine body (12), a wireless communication module A (123) is arranged in the inner cavity of the machine body (12), the unmanned aerial vehicle mechanism (1) is in wireless connection with the monitoring mechanism (2) through the wireless communication module A (123);
a guide rail (113), a long-strip magnet (114) and a main magnet block (115) are mounted on the periphery of the outer wall of the fixed table structure (11), a sliding block (1151) corresponding to the guide rail (113) is arranged on one side, close to the guide rail (113), of the main magnet block (115), the main magnet block (115) is movably connected with the guide rail (113) through the sliding block (1151), the guide rail (113) and the sliding block (1151) are matched with each other, and the long-strip magnet (114) and the main magnet block (115) are opposite in magnetism;
a movable guide rod (1152) is installed at the bottom end of the inner side of the main magnetic block (115), one end, far away from the main magnetic block (115), of the movable guide rod (1152) extends into an inner cavity of the upper fixed table structure (11) and is connected with an armature block (1153) through a reset elastic piece (11521);
a limiting rod (11531) is arranged at the bottom end of the armature block (1153), one end of the limiting rod (11531) far away from the armature block (1153) extends into the inner cavity of the machine body (12), and an induction sheet (1154) is fixedly arranged on the inner side of the bottom end of the limiting rod;
the periphery of the outer side of the machine body (12) is provided with a camera module (125), the camera module (125) is wirelessly connected with the display module (23) through a wireless communication module A (123), the periphery of the outer side of the machine body (12) is also provided with air blowing nozzles (126), the inner cavity of the machine body (12) is internally provided with micro electric air pumps (127) the quantity of which is matched with that of the air blowing nozzles (126), one end of each micro electric air pump (127) close to the induction sheet (1154) is fixedly provided with a distance sensor (1271), the distance sensor (1271) is electrically connected with the micro electric air pump (127), the output end of the miniature electric air pump (127) is connected with the air blowing nozzle (126) through an air pipe (1272), two sides of the bottom end of the machine body (12) are also provided with anti-skid foot stands (128), a power supply control module (129) is arranged in the inner cavity of the machine body (12), and the power supply control module (129) is respectively and electrically connected with the ultrasonic sensing module (11211) and the micro power supply (112);
the monitoring mechanism (2) comprises a CPU module (21), a data storage module (22), a display module (23), an early warning module (24) and a wireless communication module B (25), wherein the wireless communication module B (25) is used for receiving signals sent by the wireless communication module A (123) and sending command signals to the wireless communication module A (123).
2. The explosion-proof type quadrotor unmanned aerial vehicle capable of avoiding obstacles automatically for the underground coal mine as claimed in claim 1, which is characterized in that: the outside four corners department of fuselage (12) all installs location section of thick bamboo (124), the top of location section of thick bamboo (124) is provided with rotor blade (1241), and only the bottom of three sets of location section of thick bamboos (124) has set firmly acquisition unit (1242), acquisition unit (1242) are used for detecting the temperature in the pit of colliery, pressure and toxic gas content, and send data for monitoring mechanism (2) through wireless communication module A (123), wireless communication module A (123) are connected to its output, and acquisition unit (1242) are respectively by temperature acquisition module (12421), pressure acquisition module (12422) and gaseous acquisition module (12423) are constituteed, and temperature acquisition module (12421) are the digital temperature sensor of a type DS18B 20.
3. The explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mines as claimed in claim 2, which is characterized in that: the stability maintaining base structure (13) comprises an upper arc-shaped frame plate (131), a lower arc-shaped frame plate (132) and a damping ball (133), the upper arc-shaped frame plate (131) is connected with the lower arc-shaped frame plate (132) through the damping ball (133), the two ends of the damping ball (133) are respectively inserted into the upper arc-shaped frame plate (131) and the lower arc-shaped frame plate (132) through limiting insertion columns (1331), and sealing gaskets (13311) are sleeved on the outer walls of the joints of the limiting insertion columns (1331) and the upper arc-shaped frame plate (131) and the lower arc-shaped frame plate (132).
4. The explosion-proof quad-rotor unmanned aerial vehicle capable of avoiding obstacles automatically for underground coal mines as claimed in claim 3, which is characterized in that: go up the surface of arc frame plate (131) and seted up locating hole (1311), match each other between locating hole (1311) and locating lever (121), and the surperficial central point department of going up arc frame plate (131) still is provided with second magnetic paste (1312) the same with first magnetic paste (122) magnetism, and the both sides of going up arc frame plate (131) all are provided with mounting groove (1313) and balanced air current board (1314), and the inner wall of mounting groove (1313) is connected through pivot (13141) at the both ends of balanced air current board (1314).
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| CN114379805A (en) * | 2022-02-28 | 2022-04-22 | 山东交通学院 | Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device |
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| CN106564582B (en) * | 2016-04-27 | 2022-06-24 | 北京远度互联科技有限公司 | Unmanned plane |
| CN105882993A (en) * | 2016-05-16 | 2016-08-24 | 深圳市智璟科技有限公司 | Quickly-detachable holder and unmanned aerial vehicle |
| CN206494140U (en) * | 2017-02-22 | 2017-09-15 | 威海市华美航空科技有限公司 | Unmanned machine head load rapid dismounting apparatus |
| CN206750138U (en) * | 2017-05-22 | 2017-12-15 | 东莞市光点电子科技有限公司 | A kind of unmanned vertical conveyor |
| CN207433827U (en) * | 2017-07-05 | 2018-06-01 | 北京邮电大学 | A kind of small-sized panorama camera clouds terrace system |
| CN107554792A (en) * | 2017-07-25 | 2018-01-09 | 南昌航空大学 | A kind of unmanned aerial vehicle onboard equipment safety case |
| CN108482660B (en) * | 2018-04-16 | 2020-07-31 | 铜陵市兆林工贸有限责任公司 | Community security protection unmanned aerial vehicle |
| CN108682187B (en) * | 2018-05-17 | 2020-12-11 | 东台昊之峰建设工程有限公司 | Novel magnetic levitation obstacle avoidance device |
| CN108688808A (en) * | 2018-06-16 | 2018-10-23 | 翁洪立 | A kind of high-tension line obstacle elimination machine |
| CN109159895B (en) * | 2018-10-27 | 2023-12-22 | 西安科技大学 | Unmanned aerial vehicle for detecting environments of disaster areas of coal mine and detection method |
| CN110182365B (en) * | 2019-06-13 | 2022-05-10 | 煤炭科学研究总院 | Four rotor unmanned aerial vehicle of explosion-proof type in pit in colliery |
| CN210894530U (en) * | 2019-08-13 | 2020-06-30 | 山东旷为信息科技有限公司 | Intelligent coke oven straight-moving temperature measurement robot |
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