CN112505253B - Intelligent coal detection method and detection system - Google Patents
Intelligent coal detection method and detection system Download PDFInfo
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- CN112505253B CN112505253B CN202011307660.6A CN202011307660A CN112505253B CN 112505253 B CN112505253 B CN 112505253B CN 202011307660 A CN202011307660 A CN 202011307660A CN 112505253 B CN112505253 B CN 112505253B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention is suitable for the technical field of coal mining equipment, and provides an intelligent coal detection method and a detection system, which comprise the following steps: inputting the height of a detection rod in a controller; starting a first motor to enable a detection system to perform detection walking in a mine hole, and continuously detecting the distance between a base and an upper obstacle by a distance measuring sensor; if the distance between the base and the barrier above is less than the height of the detection rod, the detection data is input into the controller; a data processing unit of the controller calculates the maximum angle of the detection rod to be inclined; detecting the actual tilting angle of the detection rod through an angular displacement sensor; and controlling the work of the rebound driving piece through the actual angle and the maximum angle. The invention also provides an intelligent coal detection system. Therefore, the invention has the advantages of simple structure, good detection effect, high safety, no need of manual control of the detection device, high automation degree and labor cost reduction.
Description
Technical Field
The invention relates to the technical field of coal mining equipment, in particular to an intelligent coal detection method and a detection system.
Background
In the coal mining process of a coal mine, in order to avoid the situation that combustible, explosive and toxic gas exists in a mine tunnel due to unsmooth ventilation, gas detection is often required to be carried out on the mine tunnel, and most of detection systems in the prior art are detection robots.
After the robot enters a mine hole, the robot is usually designed to be small and exquisite for having stronger obstacle crossing capability, and generally, the robot with the height exceeding 1m cannot be designed. However, the coal mine safety regulations stipulate that the detection height of dangerous gases such as gas cannot be lower than 1.5m.
The patent with publication number CN102601802A discloses an automatic resilience type detection mechanism of a coal mine detection robot, which can detect gas at a high position exceeding 1.5m, and can fall down when encountering an obstacle, so as to avoid the damage of the detector.
In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.
Disclosure of Invention
Aiming at the defects, the invention aims to provide an intelligent coal detection method and a detection system, which have the advantages of simple structure, good detection effect, high safety, no need of manual control of a detection device, high automation degree and labor cost reduction.
In order to achieve the purpose, the invention provides an intelligent coal detection method, which comprises the following steps:
firstly, inputting the height of a detection rod in a controller;
placing the detection system in the mine hole, and starting a first motor to enable the detection system to perform detection walking in the mine hole; in the walking process, the distance measuring sensor continuously detects the distance between the base and an obstacle above the base;
step three, if the distance between the base and the obstacle above the base detected by the distance measuring sensor is larger than the height of the detection rod, the detection data are ignored; if the distance between the base and an upper obstacle is smaller than the height of the detection rod, the distance measurement sensor inputs detection data into the controller;
fourthly, calculating the maximum angle of the detection rod which should be inclined by a data processing unit of the controller;
fifthly, the controller controls the rebound driving piece to work, so that the detection rod is inclined, an actual inclined angle of the detection rod is detected through an angle displacement sensor, and the actual angle detected by the angle displacement sensor is transmitted to the controller;
step six, comparing the actual angle with the maximum angle by a data processing unit of the controller; controlling the work of the rebound driving piece through the actual angle and the maximum angle;
seventhly, the distance between the base and the obstacle above the base, which is detected by the distance measuring sensor, is larger than the height of the detecting rod, and the duration time of the detection of the distance measuring sensor is larger than 10s, the controller controls the rebound driving piece to work, so that the detecting rod returns to the vertical state again.
According to the intelligent coal detection method, the invention also provides a detection system for the intelligent coal detection method, which comprises a base, wherein a driving structure and an anti-collision structure are arranged in the base, and a detection structure is arranged at the upper part of the base;
the detection structure comprises a detection rod, the top end of the detection rod is fixedly connected with a detector, the bottom end of the detection rod is connected with a universal ball, the universal ball is clamped in a ball seat, and a side groove is formed in one side of the ball seat; a rebound assembly is arranged on one side of the detection rod and comprises a rebound rod, the rebound rod is obliquely arranged, one end of the rebound rod is hinged with a sliding ball, the sliding ball is clamped in a sliding groove, and the sliding groove is fixedly connected with the detection rod; the other end of the rebound rod is connected with a rebound driving piece;
a distance measuring sensor for detecting the distance between the base and an obstacle above the base is arranged on the base; and an angular displacement sensor for detecting the inclination angle of the detection rod is arranged at the bottom of the detection rod.
According to the intelligent coal detection system, the driving structure comprises a plurality of groups of driving wheels symmetrically arranged on two sides of the base, the driving wheels positioned on the same side are all connected with a crawler belt in a winding manner, the inner side of the crawler belt is meshed with the driving wheels, and the driving wheels are connected with a driving assembly;
the anti-collision structure comprises an anti-collision plate arranged at the front end of the base, and the anti-collision plate is connected with the buffer structure; the gas cylinder is connected with the two air bags, and the gas cylinder is electrically connected with the buffer structure.
According to the intelligent coal detection system, the buffer cavity is internally provided with a partition plate which divides the buffer cavity into a left cavity and a right cavity, the buffer structure is arranged in the left cavity, and the gas cylinder is arranged in the right cavity; the buffer structure comprises a first buffer rod, the first buffer rod movably penetrates into the left cavity, the end part of the first buffer rod is connected with the driving plate, and a part of the first buffer rod, which is positioned between the driving plate and the left side wall of the buffer cavity, is sleeved with a first buffer spring; the buffer structure further comprises a driven plate, the driven plate is connected with a second buffer rod, the second buffer rod movably penetrates through a fixed plate, the fixed plate is fixed in the left cavity, and a part, located between the driven plate and the fixed plate, of the second buffer rod is sleeved with a second buffer spring; and a touch switch which is used correspondingly to the second buffer rod is also arranged on one side of the separation plate, which is positioned in the left cavity, and the touch switch is electrically connected with an electromagnetic valve of the gas cylinder.
According to the intelligent coal detection system, the driving assembly comprises a first motor arranged on the base, the first motor is connected with a driving wheel, the driving wheel is meshed with a driven wheel, the driven wheel is fixedly sleeved with a driving shaft, and two ends of the driving shaft are respectively connected with the driving wheel.
According to the intelligent coal detection system, the height of the detection rod is not lower than 1.5m.
According to the intelligent coal detection system, the rebound rod and the horizontal plane form an included angle of 35-60 degrees.
According to the intelligent coal detection system, the detection rod is positioned between one side opposite to the rebound rod and the base, and the elastic piece is connected between the detection rod and the base.
According to the intelligent coal detection system, the elastic piece is a spring or a rubber band.
The invention aims to provide an intelligent coal detection method and a detection system, wherein a driving structure and an anti-collision structure are arranged on a base, the driving structure drives the detection system to perform detection operation in a mine hole, and the anti-collision structure can perform anti-collision protection on the base of the detection system, reduce the damage of the impact force of an obstacle on the base and improve the safety performance of the detection system; the upper part of the base is provided with a detection structure, the detection structure is also provided with a rebound assembly, the detection structure can detect air with the height of more than 1.5m, the regulation of coal mine safety regulations is achieved, when an obstacle exists, the rebound assembly can enable the detection rod to fall down, and the phenomenon that the detector is damaged due to the fact that the detector is collided by the overhigh obstacle is avoided; the collision avoidance structure and the detection structure are connected with the controller, and the falling of the detection structure is controlled through the controller, so that manual control is not needed. In conclusion, the beneficial effects of the invention are as follows: simple structure, it is effectual to survey, and the security is high, and detection device need not manual control, and degree of automation is high, reduces the cost of labor.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic top view of the base of the present invention;
FIG. 3 is a schematic top view of the side channel of the present invention;
in the figure: 1-base, 11-driving wheel, 12-driving shaft, 13-driven wheel, 14-driving wheel, 15-first motor and 16-crawler; 2-detection rod, 21-detector, 22-universal ball, 23-ball seat and 24-side groove; 3-rebound rod, 31-sliding ball, 311-sliding groove; 32-rebound driving rod, 321-fixed block; 4-elastic piece, 5-anticollision plate, 51-first buffer rod, 52-driving plate, 53-first buffer spring, 54-fixing plate, 55-driven plate, 56-second buffer rod, 57-second buffer spring and 58-tact switch; 6-buffer chamber, 61-partition plate, 62-gas cylinder, 63-pipeline, 64-gas bag; 7-angular displacement sensor, 71-distance measuring sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, the invention provides an intelligent coal detection system, which comprises a base 1, wherein a driving structure and an anti-collision structure are arranged in the base 1, and a detection structure is arranged at the upper part of the base 1.
The detection structure comprises a detection rod 2, the height of the detection rod 2 is not lower than 1.5m, the top end of the detection rod 2 is fixedly connected with a detector 21, the bottom end of the detection rod 2 is connected with a universal ball 22, the universal ball 22 is clamped in a ball seat 23, the universal ball 22 can rotate in the ball seat 23, and the ball seat 23 is fixedly connected with a base 1; referring to fig. 3, a side groove 24 is formed at one side of the ball seat 23, when the detection rod 2 is in a vertical state, the universal ball 22 is clamped in the ball seat 23, and when the detection rod 2 needs to be tilted to one side, the universal ball 22 can rotate in the ball seat 23, so that the detection rod 2 connected to the upper portion of the universal ball 22 tilts to the side groove 24. A rebound assembly is arranged on one side of the detection rod 2 and comprises a rebound rod 3, and the rebound rod 3 is obliquely arranged, wherein an included angle of 35-60 degrees is formed between the rebound rod 3 and the horizontal plane; one end of the rebound rod 3 is hinged with a sliding ball 31, the sliding ball 31 is clamped in the sliding groove 311, the sliding ball 31 can slide up and down in the sliding groove 311, and the sliding groove 311 is fixedly connected with the detection rod 2; the other end of rebound rod 3 is connected with rebound driving member 32, rebound driving member 32 rigid coupling fixed block 321, fixed block 321 sets up on base 1.
In the use, rebound driving piece 32 works, makes rebound rod 3 shrink, because rebound rod 3 articulated sliding ball 31 joint in spout 311, spout 311 rigid coupling detecting rod 2, consequently, rebound rod 3's shrink will drive detecting rod 2 and topple over to the direction that rebound rod 3 shrank. During the tilting of the detection rod 2, the angle between the rebound rod 3 and the sliding ball 31 changes, and the sliding ball 31 slides in the chute 311.
In the present invention, the rebound driver 32 is a cylinder, and the rebound rod 3 is a piston shaft of the cylinder.
Preferably, an elastic member 4 is connected between the opposite side of the detection rod 2 from the resilient rod 3 and the base 1, and the elastic member 4 is a spring or a rubber band. When the detection rod 2 is inclined towards the direction of the contraction of the rebound rod 3, the elastic part 4 is stretched, and when the detection rod 2 returns to the vertical state again, the elastic part 4 is reset; the elastic member 4 can help the detection rod 2 to smoothly return to the vertical state, and plays a certain supporting role for the detection rod 2 in the vertical state.
Referring to fig. 2, the driving structure includes a plurality of groups of driving wheels 11 symmetrically disposed on both sides of the base 1, the driving wheels 11 located on the same side are all connected with a caterpillar band 16 in a winding manner, the inner side of the caterpillar band 16 is engaged with the driving wheels 11, and the driving wheels 11 are connected with the driving assembly; drive assembly is including setting up first motor 15 on base 1, and drive wheel 14 is connected to first motor 15, and drive wheel 14 and from driving wheel 13 intermeshing, from driving wheel 13 fixed cup joint drive shaft 12, drive wheel 11 is connected respectively at the both ends of drive shaft 12.
In the working process, the driving wheel 14 is driven to rotate by the first motor 15, the driving wheel 14 drives the driven wheel 13 to rotate, so that the driving shaft 12 is driven to rotate, the driving shaft 12 drives the driving wheels 11 at the two ends of the driving shaft to rotate, the crawler belt 16 drives the base 1 to move forwards and backwards, and the detection system can smoothly complete the detection work in the mine hole. In the present invention, at least three sets of driving wheels 11 are provided.
The anti-collision structure comprises an anti-collision plate 5 arranged at the front end of the base 1, and the anti-collision plate 5 is connected with the buffer structure; the inside of base 1 still is equipped with cushion chamber 6, is equipped with division board 61 in the cushion chamber 6, and division board 61 separates cushion chamber 6 for left chamber and right chamber, sets up above-mentioned buffer structure in the left chamber, is provided with gas cylinder 62 in the right chamber, is equipped with high-pressure gas in the gas cylinder 62, and gas cylinder 62 passes through pipeline 63 and connects two gasbags 64, and gasbag 64 sets up in the both sides of cushion chamber 6, and sets up in the border position that base 1 is close to crashproof board 5 department.
The buffer structure comprises a first buffer rod 51, the first buffer rod 51 movably penetrates into the left cavity of the buffer cavity 6, the end part of the first buffer rod 51 is connected with the driving plate 52, and the part, located between the driving plate 52 and the left side wall of the buffer cavity 6, of the first buffer rod 51 is sleeved with a first buffer spring 53; the buffer structure further comprises a driven plate 55, the driven plate 55 is connected with a second buffer rod 56, the second buffer rod 56 movably penetrates through the fixing plate 54, the fixing plate 54 is fixed in the left cavity of the buffer cavity 6, and a part, located between the driven plate 55 and the fixing plate 54, of the second buffer rod 56 is sleeved with a second buffer spring 57; a tact switch 58 corresponding to the second buffer rod 56 is further arranged on one side of the partition plate 61 in the left cavity, and the tact switch 58 is electrically connected with an electromagnetic valve of the gas cylinder 62.
When the detection system advances in a mine, if the detection system encounters an obstacle, the obstacle firstly impacts the anti-collision plate 5, the anti-collision plate 5 drives the first buffer rod 51 and the active plate 52 to move towards the right side in the buffer cavity 6, and if the impact force is smaller, the impact force is buffered through the first buffer rod 51 and the first buffer spring 53, so that the obstacle is prevented from directly impacting the base; if the impact force is large, the driving plate 52 can impact the driven plate 55, the driven plate 55 drives the second buffer rod 56 to continuously move towards the right side, the second buffer rod 56 impacts the tact switch 58, the tact switch 58 transmits a signal to the electromagnetic valve of the gas cylinder 62, the electromagnetic valve is opened, high-pressure gas is guided into the two air bags 64 through the pipeline 63, the air bags 64 are rapidly expanded and ejected out of the buffer cavity 6 after being inflated, and the ejected air bags 64 are filled between the anti-collision plate 5 and the front end face of the base 1, so that the effects of shock absorption and protection are achieved, and the damage of the impact force to the base 1 is reduced.
In the present invention, the rebound driver 32, the tact switch 58 and the solenoid valve of the gas cylinder 62 are all connected to the controller. When the tact switch 58 receives the impact signals sequentially transmitted by the anti-collision plate 5, the driving plate 52 and the driven plate 55, the tact switch 58 transmits the signals to the controller, and the controller controls the rebound driving member 32 to work, so that the detection rod 2 is laid down, and the phenomenon that an overhigh obstacle collides with the detector 21 to damage the detector 21 is avoided. After crossing an obstacle, detector 21 can be reset, and the height of detector 21 can be fully satisfied with the detection of gas.
A distance measuring sensor 71 for detecting the distance between the base 1 and an obstacle above is arranged on the base 1, and in the invention, the distance measuring sensor 71 is an ultrasonic distance measuring sensor; an angular displacement sensor 7 for detecting the inclination angle of the detection rod 2 is arranged at the bottom of the detection rod 2. The distance measuring sensor 71 and the angular displacement sensor 7 are both electrically connected to the controller.
The invention also provides an intelligent coal detection method, which comprises the following steps:
step one, inputting the height h of the detection rod 2 into the controller.
Secondly, placing the detection system in the mine hole, and starting the first motor 15 to enable the detection system to perform detection walking in the mine hole; during the traveling, the distance measuring sensor 71 constantly detects the distance a between the base 1 and the obstacle above.
Step three, if the distance a between the base 1 and the obstacle above the base detected by the distance measuring sensor 71 is greater than the height h of the detection rod 2, the detection data are ignored; if the distance a between the base 1 and the upper obstacle is smaller than the height h of the detection rod 2, the detection data is input into the controller.
The data processing unit of the step four controller calculates the maximum angle a at which the probe rod 2 should be tipped, i.e. sin α = a/h.
And step five, the controller controls the rebound driving piece 32 to work, so that the detection rod 2 tilts, the actual tilting angle beta of the detection rod 2 is detected by the angle displacement sensor 7, and the actual tilting angle beta detected by the angle displacement sensor 7 is transmitted to the controller.
And step six, the data processing unit of the controller compares the actual angle beta with the maximum angle alpha, and controls the work of the rebound driving element 32 according to the actual angle beta and the maximum angle alpha. When the beta is less than alpha, the top end of the detection rod 2 is lower than an upper obstacle, which indicates that the detection rod 2 can safely pass through the obstacle, and the controller can control the rebound driving piece 32 to stop working; when the beta is larger than or equal to alpha, the topmost end of the detection rod 2 is higher than the upper obstacle or is at the same height with the upper obstacle, which indicates that the detection rod 2 cannot safely pass through the obstacle, and the controller needs to control the rebound driving piece 32 to continue working.
Seventhly, if the distance a between the base 1 and the obstacle above the base detected by the distance measuring sensor 71 is greater than the height h of the detecting rod 2 and the time detected by the distance measuring sensor 71 lasts for more than 10s, which indicates that the detecting rod 2 has safely passed through the previous obstacle, the controller can control the rebound driving member 32 to work, so that the detecting rod 2 returns to the vertical state again.
In conclusion, the driving structure and the anti-collision structure are arranged on the base, the driving structure drives the detection system to perform detection operation in the mine hole, and the anti-collision structure can perform anti-collision protection on the base of the detection system, reduce the damage of the impact force of the obstacle on the base and improve the safety performance of the detection system; the upper part of the base is provided with a detection structure, the detection structure is also provided with a rebound assembly, the detection structure can detect air with the height of more than 1.5m, the regulation of coal mine safety regulations is achieved, when an obstacle exists, the rebound assembly can enable the detection rod to fall down, and the phenomenon that the detector is damaged due to the fact that the detector is collided by the overhigh obstacle is avoided; the collision avoidance structure and the detection structure are connected with the controller, and the falling of the detection structure is controlled by the controller, so that manual control is not needed. In conclusion, the beneficial effects of the invention are as follows: simple structure, it is effectual to survey, and the security is high, and detection device need not manual control, and degree of automation is high, reduces the cost of labor.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. An intelligent coal detection method is characterized by comprising the following steps:
firstly, inputting the height of a detection rod in a controller;
secondly, placing the detection system in the mine hole, and starting a first motor to enable the detection system to perform detection walking in the mine hole; in the walking process, the distance measuring sensor continuously detects the distance between the base and an obstacle above the base;
step three, if the distance between the base and an obstacle above the base, which is detected by the distance measuring sensor, is greater than the height of the detection rod, detection data are ignored; if the distance between the base and an upper obstacle is smaller than the height of the detection rod, the distance measurement sensor inputs detection data into the controller;
step four, a data processing unit of the controller calculates the maximum angle of the detection rod which should be inclined;
fifthly, the controller controls the rebound driving piece to work, so that the detection rod tilts, an actual tilting angle of the detection rod is detected through an angular displacement sensor, and the actual tilting angle detected by the angular displacement sensor is transmitted to the controller;
step six, comparing the actual angle with the maximum angle by a data processing unit of the controller; controlling the work of the rebound driving piece through the actual angle and the maximum angle;
seventhly, if the distance between the base and an obstacle above the base, which is detected by the distance measuring sensor, is greater than the height of the detecting rod, and the duration time of detection of the distance measuring sensor is greater than 10s, the controller controls the rebound driving piece to work, so that the detecting rod returns to the vertical state again;
the detection system used in the intelligent detection method comprises: the device comprises a base, a driving structure and an anti-collision structure are arranged in the base, and a detection structure is arranged at the upper part of the base;
the detection structure comprises a detection rod, the top end of the detection rod is fixedly connected with a detector, the bottom end of the detection rod is connected with a universal ball, the universal ball is clamped in a ball seat, and one side of the ball seat is provided with a side groove; a rebound assembly is arranged on one side of the detection rod and comprises a rebound rod, the rebound rod is obliquely arranged, one end of the rebound rod is hinged with a sliding ball, the sliding ball is clamped in a sliding groove, and the sliding groove is fixedly connected with the detection rod; the other end of the rebound rod is connected with a rebound driving piece;
a distance measuring sensor for detecting the distance between the base and an obstacle above the base is arranged on the base; and an angle displacement sensor for detecting the inclination angle of the detection rod is arranged at the bottom of the detection rod.
2. The intelligent coal detection method according to claim 1, wherein the driving structure comprises a plurality of groups of driving wheels symmetrically arranged on two sides of the base, the driving wheels on the same side are wound with a crawler belt, the inner side of the crawler belt is meshed with the driving wheels, and the driving wheels are connected with a driving assembly;
the anti-collision structure comprises an anti-collision plate arranged at the front end of the base, and the anti-collision plate is connected with the buffer structure; the gas cylinder is connected with the two air bags, and the gas cylinder is electrically connected with the buffer structure.
3. An intelligent coal detection method according to claim 2, wherein a partition plate is arranged in the buffer cavity and divides the buffer cavity into a left cavity and a right cavity, the buffer structure is arranged in the left cavity, and the gas cylinder is arranged in the right cavity; the buffer structure comprises a first buffer rod, the first buffer rod movably penetrates into the left cavity, the end part of the first buffer rod is connected with the driving plate, and a part of the first buffer rod, which is positioned between the driving plate and the left side wall of the buffer cavity, is sleeved with a first buffer spring; the buffer structure further comprises a driven plate, the driven plate is connected with a second buffer rod, the second buffer rod movably penetrates through a fixed plate, the fixed plate is fixed in the left cavity, and a part, located between the driven plate and the fixed plate, of the second buffer rod is sleeved with a second buffer spring; and a touch switch which is used correspondingly to the second buffer rod is also arranged on one side of the separation plate, which is positioned in the left cavity, and the touch switch is electrically connected with an electromagnetic valve of the gas cylinder.
4. An intelligent coal detection method as claimed in claim 3, wherein the driving assembly comprises a first motor disposed on the base, the first motor is connected with a driving wheel, the driving wheel is engaged with a driven wheel, the driven wheel is fixedly sleeved with a driving shaft, and two ends of the driving shaft are respectively connected with the driving wheel.
5. The intelligent coal detection method according to claim 4, wherein the height of the detection rod is not lower than 1.5m.
6. The intelligent coal detection method according to claim 4, wherein the rebound rod and a horizontal plane form an included angle of 35 to 60 degrees.
7. An intelligent coal detection method according to claim 4, wherein an elastic member is connected between the side of the detection rod opposite to the rebound rod and the base.
8. The intelligent coal detection method according to claim 7, wherein the elastic member is a spring or a rubber band.
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| CN201320762Y (en) * | 2008-12-19 | 2009-10-07 | 山东省科学院自动化研究所 | Environment feeler arm for searching robots underground |
| CN102601802A (en) * | 2011-01-21 | 2012-07-25 | 中国矿业大学 | Automatic resilient detection mechanism for coal mine detection robot |
| EP3269913A1 (en) * | 2016-07-15 | 2018-01-17 | REHAU AG + Co | Motor vehicle |
| CN209795394U (en) * | 2019-04-23 | 2019-12-17 | 浙江农业商贸职业学院 | Novel automobile anti-collision beam |
| CN111086014A (en) * | 2019-12-31 | 2020-05-01 | 安徽延达智能科技有限公司 | Explosion-proof and intrinsically safe type dangerous gas inspection robot |
| CN211541289U (en) * | 2020-02-12 | 2020-09-22 | 重庆科创职业学院 | Lifting type detection mechanism of underground coal mine detection robot |
| CN111619683A (en) * | 2020-06-08 | 2020-09-04 | 神华神东煤炭集团有限责任公司 | Detection equipment used in coal mine tunnel and control method thereof |
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