CN112965531A - Microminiature aircraft for unmanned detection of coal mine goaf and method thereof - Google Patents
Microminiature aircraft for unmanned detection of coal mine goaf and method thereof Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000003245 coal Substances 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 32
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- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910002091 carbon monoxide Inorganic materials 0.000 claims abstract description 16
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Abstract
The invention discloses a microminiature aircraft for unmanned detection of a coal mine goaf and a method thereof, the aircraft comprises an aircraft body, a driving mechanism arranged in the middle of the aircraft body, a gas monitoring system, an inertial navigation system, a visual navigation system and a tail wing, wherein the front part of the driving mechanism is provided with a crank rocker mechanism, the side part of the driving mechanism is connected with a flexible wing mechanism, the rear part of the driving mechanism is connected with a main control box, the crank rocker mechanism is connected with the driving mechanism through gear engagement, the flexible wing mechanism is connected with the crank rocker mechanism through a revolute pair, the driving mechanism provides power to drive the crank rocker mechanism, the typical mechanical structure is utilized, and the bionic, machine vision, inertial navigation, sensor technology and three-dimensional reconstruction technology are combined to realize the autonomous, and scanning detection of the fully caving goaf is completed under the condition of no human intervention, and the concentration of methane and carbon monoxide in the goaf is measured. The actual situation of the coal mine goaf can be truly reflected, and guarantee is provided for safe and efficient production of the coal mine.
Description
Technical Field
The invention relates to a microminiature aircraft and a method thereof, in particular to a microminiature aircraft and a method thereof, which are suitable for unmanned detection of a coal mine goaf for intelligent monitoring of a coal mine.
Background
With the high-speed development of the mining and supporting technology in China, the length of a working face is gradually increased, the mining rate is greatly improved, and the mining depth is gradually increased, but due to various reasons such as underdevelopment of the mining technology in the past, a large amount of non-sufficient caving goafs are formed after mining of middle and shallow coal seams, and along with the mining of deep coal seams, such goafs are gradually and fully caving, so that the safety production of coal mines is greatly threatened, common disasters include permeable goafs, spontaneous combustion of the goafs, gas explosion of the goafs, over-limited gas emission of the goafs, abnormal unfavorable geology caused by the goafs and the like, wherein the casualty loss caused by the gas explosion is the largest, and therefore, the forecast detection of complex environments of coal mining is very important.
The existing monitoring devices are mostly fixed, and the overall detection of the goaf cannot be realized due to single function; the sensing equipment has higher precision and is easy to have accidents such as precision reduction or faults and the like; the monitoring device cannot be recycled, so that the cost of manpower and material resources is increased; the detection of old goafs cannot be realized, so that the goafs become coal mine 'black boxes'.
Disclosure of Invention
The technical problem is as follows: the invention aims to overcome the defects in the prior art, and provides a microminiature aircraft for unmanned detection of a coal mine goaf and a method thereof, which can realize comprehensive and accurate detection of complex environments of the goaf and provide important guarantee for coal mine safety production.
The technical scheme is as follows: the invention relates to a microminiature aircraft for unmanned detection of a coal mine goaf, which comprises an aircraft body, a driving mechanism, a gas monitoring system, an inertial navigation system, a visual navigation system and an empennage, wherein the driving mechanism, the gas monitoring system, the inertial navigation system, the visual navigation system and the empennage are arranged in the middle of the aircraft body; the system comprises a main control machine box, an inertial navigation system, a visual navigation system, a gas monitoring system and a gas monitoring system, wherein the inertial navigation system is arranged in the main control machine box to realize real-time perception of the flight attitude of the aircraft; all parts in all the systems are provided with explosion-proof shells meeting the explosion-proof requirements of mines.
The driving mechanism comprises a driving motor, a motor shaft, a motor gear and a transmission gear; the driving motor is fixedly arranged in the main control box and provides driving force for the aircraft; a motor gear) is arranged on a motor shaft of the driving motor and transmits the driving force generated by the driving motor; the transmission gear consists of a large gear and a small gear which are coaxial, wherein the large gear is meshed with a motor gear, and the small gear is meshed with an output gear of the crank rocker mechanism.
The crank rocker mechanism comprises two crank rocker mechanism output gears, a wing connecting rod and a wing rocker which are symmetrically arranged; the two output gears are mutually meshed in equal size, are distributed in bilateral symmetry and are meshed with the pinion in the transmission gear; the wing connecting rod comprises a left wing connecting rod and a right wing connecting rod, the inner ends of the left wing connecting rod and the right wing connecting rod are respectively hinged with two output gears, and the rotation of the output gears drives the left wing connecting rod and the right wing connecting rod to reciprocate; the wing rocker comprises a left wing rocker and a right wing rocker, the inner end of the left wing rocker and the inner end of the right wing rocker are hinged with the frame to form a revolute pair, and the outer end of the left wing rocker and the outer end of the right wing rocker are connected with the wing connecting rod through a connecting rod to form a revolute pair.
The flexible wing mechanism comprises a flexible wing and a flexible wing connecting rod; the flexible wing is connected with the outer end of the wing rocker through the connecting rod, and the up-and-down swing of the wing rocker drives the flexible wing to flap up and down, so that the flapping flight action of the aircraft is realized.
The inertial navigation system comprises an MEMS micro-inertial measurement unit arranged in a main control machine box and an onboard processor connected with the MEMS micro-inertial measurement unit; the MEMS micro-inertial measurement unit comprises an integrated MEMS gyroscope, an MEMS accelerometer and an MEMS magnetic sensor, so that three-dimensional attitude change information of a pitch angle, a yaw angle and a roll angle in the motion process of the aircraft, flying speed and acceleration information of the aircraft can be acquired in real time, and autonomous navigation of the aircraft is realized.
The gas monitoring system comprises a methane sensor and a carbon monoxide sensor which are both arranged behind the main control machine box and connected with an onboard processor in the inertial navigation system, thereby realizing the unmanned monitoring of the concentration of methane and carbon monoxide in the goaf and providing a basis for judging the spontaneous combustion tendency of the residual coal in the goaf.
The visual navigation system comprises an RGB-D depth camera and an image processing unit which are integrated together, wherein the image processing unit is connected with an onboard processor in the inertial navigation system; the RGB-D depth camera comprises a modulation light source, a color camera and an infrared camera which are integrated in the RGB-D depth camera, a scene two-dimensional color image is obtained by the color camera, continuous light pulses are actively emitted to a target through the modulation light source, light signals reflected after the continuous light pulses are contacted with a target object and received by the infrared camera, and depth visual data of the scene are obtained through flight time calculation of the light pulses.
A flying method for unmanned detection of microminiature aircrafts in the coal mine gob area according to claim 1, characterized by comprising the steps of:
(1) selecting a target area, and performing obstacle identification, collision prediction and avoidance of navigation and positioning map construction, flight path planning and contour detection of the micro aircraft; the method comprises the steps that a micro aircraft navigation and positioning map is constructed, an original point cloud map is created by extracting, registering and optimally splicing depth image point cloud data, and a complete micro aircraft navigation and positioning map is obtained through Octomap post-processing;
(2) starting the micro aircraft, and setting a series of actions of flying and hovering completed by the micro aircraft; setting detection time, constructing a goaf environment map by utilizing an MEMS micro-Inertial Measurement Unit (IMU), an RGB-D depth camera, an image processing unit and an onboard processor carried in an inertial navigation system (5), and acquiring pose information in the motion process of the aircraft in real time to provide a basis for subsequent autonomous flight detection;
(3) in the flight process, the construction of an environment map based on depth visual data is divided into three parts, namely image feature point extraction, feature point registration and feature point cloud data splicing optimization, so that an original point cloud map is provided for aircraft path planning and autonomous obstacle avoidance; constructing a micro aircraft navigation map based on the original point cloud map through Octogap processing, continuously acquiring scene depth visual data in the flight process of the aircraft, and finally constructing a complete micro aircraft navigation and positioning map;
(4) in the detection process, planning a flight route based on an obstacle identification algorithm and a flight path planning algorithm, realizing autonomous safety detection of the aircraft, and storing the detected internal information of the goaf in real time; acquiring the concentrations of methane and carbon monoxide in the goaf by using a gas sensor in the flight detection process, and storing the acquired data in real time;
(5) and finishing the unmanned detection work of the coal mine goaf according to the set time, and automatically returning to the starting point.
The obstacle identification of the contour detection comprises the following steps:
step 1, identifying and extracting a barrier in front of a micro aircraft from a depth image based on the depth image acquired by an RGB-D depth camera, referring to the setting of the safe distance of a general micro aircraft, taking a space 2.5m in front of the aircraft as a current extraction interval under the condition of ensuring the efficiency and precision of image calculation processing, namely extracting the barrier existing in the space 2.5m in front of the aircraft from a background, and obtaining the overall profile of the barrier;
and 3, describing the obstacle by using an external rectangular frame in order to simplify the complexity of a subsequent collision prediction algorithm, and finally obtaining an independent and clear obstacle near-rectangular outline diagram.
The collision prediction and avoidance comprises the following steps:
step 1, establishing a cylinder protection area by taking an obstacle as a center with reference to the definition of an aerial safety area of an aircraft; judging the collision risk of the aircraft from a horizontal dimension and a vertical dimension;
and 2, avoiding the condition of possible collision by changing the course angle or the flying speed of the aircraft.
Has the advantages that: in order to better adapt to narrow and complex environmental conditions of a goaf, the bionic flapping wing type aircraft is adopted by combining insect bionics, a crank rocker is used as a main body transmission mechanism, and a flexible wing is used as a flight action executing mechanism; restoring the real environment of the fully caving goaf by using an RGB-D depth camera and a three-dimensional reconstruction technology; measuring the concentrations of methane and carbon monoxide in the goaf by adopting a gas detection system; the method adopts a combined navigation mode of inertial navigation and machine vision navigation to realize real-time acquisition of self absolute position, speed and attitude, autonomously plans a flight path and quickly senses and avoids surrounding potential obstacles. The method has the advantages that the typical mechanical structure is utilized, the bionics, the machine vision, the inertial navigation, the sensor technology and the three-dimensional reconstruction technology are combined to realize the autonomous positioning and navigation of the aircraft, the scanning detection of the fully caving goaf is completed under the condition of no human intervention, and the determination of the gas concentration of methane and carbon monoxide in the goaf is realized. The method can truly reflect the actual situation of the coal mine goaf, and provides guarantee for safe and efficient production of the coal mine. And can realize the comprehensive accurate detection to collecting space area complex environment, provide important guarantee for coal mine safety in production, main advantage compared with prior art is as follows:
(1) the provided micro bionic flapping wing air vehicle based on the crank rocker structure has the advantages of small volume, simple structure and flexible action, and can well adapt to the complex environmental conditions of a goaf;
(2) by adopting a combined navigation mode of inertial navigation and visual navigation, the micro aircraft can realize autonomous positioning and path planning under the conditions of no light and no GPS, and the detection efficiency of the goaf is greatly improved;
(3) from the actual situation that the goaf is complex, a collision risk prediction and avoidance method based on the cylinder protection zone theory is adopted, and the safe operation of the micro aircraft can be guaranteed.
(4) The methane sensor and the carbon monoxide sensor are utilized to realize dynamic determination of the gas concentration in the goaf, and a basis is provided for judgment of spontaneous combustion tendency of residual coal in the goaf.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is an explanatory view of the main mechanism of the present invention.
FIG. 3 is a schematic diagram of the combined navigation mode of the micro bionic flapping wing air vehicle.
FIG. 4(a) is a schematic diagram of the analysis of the relevant collision model of the micro bionic flapping wing air vehicle.
FIG. 4(b) is a schematic diagram of the vertical direction analysis of the relevant collision model of the micro bionic flapping wing aircraft.
FIG. 4(c) is a schematic diagram of horizontal direction analysis of a relevant collision model of the micro bionic flapping wing aircraft.
In the figure: 1-a drive mechanism; 2-crank rocker mechanism; 3-a flexible wing mechanism; 4-a gas monitoring system; 5-an inertial navigation system; 6-a visual navigation system; 7-main control box; 101-a drive motor; 102-a motor shaft; 103-motor gear; 104-a transmission gear; 201-crank rocker mechanism output gear; 202-wing link; 203-wing rocker; 301-flexible wings; 302-flexible wing connecting rods; 401-a methane sensor; 402-a carbon monoxide sensor; 501-MEMS micro inertial measurement unit; 502-an onboard processor; 601-RGB-D depth camera; 602-image processing unit.
Detailed Description
The invention will be further described with reference to examples in the drawings to which:
as shown in fig. 1, the invention relates to a microminiature aircraft for unmanned detection of a coal mine goaf, which mainly comprises an aircraft body, a driving mechanism 1 arranged in the middle of the aircraft body, a gas monitoring system 4, an inertial navigation system 5, a visual navigation system 6 and a tail wing, wherein the front part of the driving mechanism 1 is provided with a crank rocker mechanism 2, the side part of the driving mechanism 1 is connected with a flexible wing mechanism 3, the rear part of the driving mechanism 1 is connected with a main control aircraft box 7, the crank rocker mechanism 2 is connected with the driving mechanism 1 through gear engagement, the flexible wing mechanism 3 is connected with the crank rocker mechanism 2 through a revolute pair, the driving mechanism 1 provides power to drive the crank rocker mechanism 2, the flexible wing mechanism 3 is driven by gear transmission to flap up and down, and a series of actions of flying and; the inertial navigation system 5 is arranged in the main control machine box 7 to realize real-time perception of the flight attitude of the aircraft, the visual navigation system 6 is arranged right in front of the main control machine box 7 to realize autonomous flight of the aircraft by acquiring depth visual data and matching with the inertial navigation system 5, and the gas monitoring system 4 is arranged at the rear part of the main control machine box 7 to realize monitoring of the concentration of methane and carbon monoxide in the environment; all parts in all the systems are provided with explosion-proof shells meeting the explosion-proof requirements of mines.
As shown in fig. 2, the driving mechanism 1 includes a driving motor 101, a motor shaft 102, a motor gear 103, and a transmission gear 104; the driving motor 101 is fixedly arranged in the main control box 7 and provides driving force for the aircraft; the motor gear 103 is arranged on the motor shaft 102 of the driving motor and transmits the driving force generated by the driving motor; the transmission gear 104 is composed of a large gear and a small gear which are coaxial, wherein the large gear is meshed with the motor gear 103, and the small gear is meshed with an output gear 201 of the crank rocker mechanism.
The crank rocker mechanism 2 comprises two crank rocker mechanism output gears 201, a wing connecting rod 202 and a wing rocker 203 which are symmetrically arranged; the two output gears 201 are mutually meshed with equal size, are distributed in a left-right symmetrical mode and are meshed with the small gears in the transmission gear 104; the wing connecting rod 202 comprises a left wing connecting rod and a right wing connecting rod, the inner ends of the left wing connecting rod and the right wing connecting rod are respectively hinged with the two output gears 201, and the rotation of the output gears 201 drives the left wing connecting rod 202 and the right wing connecting rod 202 to do reciprocating motion; the wing rocker 203 comprises a left wing rocker and a right wing rocker, the inner end of the left wing rocker and the inner end of the right wing rocker are hinged with the frame to form a revolute pair, and the outer end of the left wing rocker and the outer end of the right wing rocker are connected with the wing connecting rod through a connecting rod to form a revolute pair.
The flexible wing mechanism 3 comprises a flexible wing 301 and a flexible wing connecting rod 302; the flexible wing 301 is connected with the outer end of the wing rocker 203 through a connecting rod 302, and the flexible wing is driven by the up-and-down swing of the wing rocker 203 to flap up and down, so that the flapping-wing flying action of the aircraft is realized.
The inertial navigation system 5 comprises an MEMS micro-inertial measurement unit 501 arranged in a main control box 7 and an onboard processor 502 connected with the MEMS micro-inertial measurement unit 501; the MEMS micro-inertial measurement unit 501 includes an integrated MEMS gyroscope, MEMS accelerometer, and MEMS magnetic sensor, so as to obtain three-dimensional attitude change information of pitch angle, yaw angle, roll angle, and flying speed and acceleration information of the aircraft in the motion process of the aircraft in real time, thereby implementing autonomous navigation of the aircraft.
The gas monitoring system 4 comprises a methane sensor 401 and a carbon monoxide sensor 402 which are both arranged at the rear part of the main control machine box 7 and are connected with an onboard processor 502 in the inertial navigation system 5, so that the concentration of methane and carbon monoxide in the goaf can be monitored without people, and a basis is provided for judging the spontaneous combustion tendency of the residual coal in the goaf.
The visual navigation system 6 comprises an integrated RGB-D depth camera 601 and an image processing unit 602, wherein the image processing unit 602 is connected with the onboard processor 502 in the inertial navigation system 5; the RGB-D depth camera 601 comprises a modulation light source, a color camera and an infrared camera which are integrated in the RGB-D depth camera 601, a scene two-dimensional color image is obtained by the color camera, continuous light pulses are actively emitted to a target through the modulation light source, light signals reflected after the continuous light pulses are contacted with a target object and received by the infrared camera, and depth visual data of the scene are obtained through the flight time calculation of the light pulses.
The image processing unit builds an environment map based on depth visual data acquired by an RGB-D depth camera, an original point cloud map is created through image feature point extraction, feature point registration and feature point cloud data splicing optimization, a miniature aircraft navigation map is obtained through Octog post-processing based on the original point cloud map, scene depth visual data are continuously acquired in the flight process of an aircraft, and finally a complete miniature aircraft navigation and positioning map is built.
The principle of the inertial navigation and visual navigation combined navigation mode is shown in fig. 3, the micro aircraft obtains the inertial navigation and visual navigation position and attitude information of the aircraft at the K-1 moment and the inertial navigation and visual navigation position and attitude information at the K moment through an MEMS micro Inertial Measurement Unit (IMU) and an RGB-D depth camera, respectively obtains the position variation and attitude variation of the aircraft in the two navigation modes, performs fusion processing calculation by using a combined filter, matches the obtained result with the inertial navigation information at the K moment, and further outputs the actual position and attitude information of the micro aircraft at the K moment in the combined navigation mode.
The flight method for unmanned detection of the microminiature aircraft in the coal mine gob comprises the following specific steps:
(1) selecting a target area, and performing obstacle identification, collision prediction and avoidance of navigation and positioning map construction, flight path planning and contour detection of the micro aircraft; the method comprises the steps that a micro aircraft navigation and positioning map is constructed, an original point cloud map is created by extracting, registering and optimally splicing depth image point cloud data, and a complete micro aircraft navigation and positioning map is obtained through Octomap post-processing; the obstacle identification of the contour detection comprises the following steps:
step 1, identifying and extracting a barrier in front of a micro aircraft from a depth image based on the depth image acquired by an RGB-D depth camera, referring to the setting of the safe distance of a general micro aircraft, taking a space 2.5m in front of the aircraft as a current extraction interval under the condition of ensuring the efficiency and precision of image calculation processing, namely extracting the barrier existing in the space 2.5m in front of the aircraft from a background, and obtaining the overall profile of the barrier;
and 3, describing the obstacle by using an external rectangular frame in order to simplify the complexity of a subsequent collision prediction algorithm, and finally obtaining an independent and clear obstacle near-rectangular outline diagram.
The collision prediction and avoidance comprises the following steps:
step 1, identifying a front obstacle of a micro aircraft and extracting the front obstacle from a depth image based on the depth image acquired by an RGB-D depth camera, removing a tiny block by adopting open operation image morphological filtering to form a closed single-connected obstacle outline area, describing the obstacle by using an external rectangular frame in order to simplify the complexity of a subsequent collision prediction algorithm, and finally obtaining an independent and clear near-rectangular outline image of the obstacle;
considering from the vertical direction, projecting the cylinder protection area and the related collision model schematic diagram along the main view plane to obtain a vertical direction collision model schematic diagram, as shown in fig. 4(b), where point P is the location of the aircraft, and point V is the location of the aircraft0For the current aircraft relative velocity, relative velocity V0The projection on the plane is V1According to the original path, the aircraft collides with the cylindrical protection area at a point Q at a certain moment, and in order to avoid the obstacle in the vertical direction, a speed increment V is required to be superposed in the vertical direction2The velocity V obtained by synthesis3Can safely avoid obstacles and has a speed increment V2＝V1(cosαtanαs-sin α), wherein V1Is a relative velocity V0Projection in the main viewing plane, V2For vertical direction velocity increment, α is velocity V1Angle alpha to the horizontal plane of point PsTo speed up the synthesisDegree V3The included angle between the P point and the horizontal plane is the P point;
considering the horizontal direction, projecting the cylinder protection zone and the related collision model schematic diagram along the top plane can obtain the horizontal direction collision model schematic diagram, as shown in fig. 4(c), the relative velocity V0The projection on the plane is V1′According to the original path, the aircraft collides with the cylinder protection area at a point Q at a certain moment, and in order to realize the purpose of avoiding the barrier in the horizontal direction, the deflection angle of the aircraft is ensured to be larger than betasI.e. along the velocity V4The aircraft can be ensured to safely avoid the obstacle by flying in the direction, and the deflection angle delta beta is betas- β, wherein β is the velocity V1′Angle of inclination with respect to the vertical plane of point P, betasIs a velocity V4And the included angle of the vertical plane of the point P.
And 3, avoiding the condition of possible collision by changing the course angle or the flying speed of the aircraft.
(2) Starting the micro aircraft, and setting a series of actions of flying and hovering completed by the micro aircraft; setting detection time, constructing a goaf environment map by utilizing an MEMS micro-Inertial Measurement Unit (IMU), an RGB-D depth camera, an image processing unit and an onboard processor carried in an inertial navigation system (5), and acquiring pose information in the motion process of the aircraft in real time to provide a basis for subsequent autonomous flight detection;
(3) in the flight process, the construction of an environment map based on depth visual data is divided into three parts, namely image feature point extraction, feature point registration and feature point cloud data splicing optimization, so that an original point cloud map is provided for aircraft path planning and autonomous obstacle avoidance; constructing a micro aircraft navigation map based on the original point cloud map through Octogap processing, continuously acquiring scene depth visual data in the flight process of the aircraft, and finally constructing a complete micro aircraft navigation and positioning map;
(4) in the detection process, planning a flight route based on an obstacle identification algorithm and a flight path planning algorithm, realizing autonomous safety detection of the aircraft, and storing the detected internal information of the goaf in real time; acquiring the concentrations of methane and carbon monoxide in the goaf by using a gas sensor in the flight detection process, and storing the acquired data in real time; the flight path planning algorithm adopts an A-x algorithm, takes the current position of the aircraft as an iteration starting point, searches non-obstacle and obstacle nodes in adjacent nodes at each moment, determines non-obstacle node coordinates meeting the minimum value by iterative calculation of an Euclidean distance function, and finally obtains an overall optimal path by connecting all optimal node coordinates from the starting point to the end point;
(5) and finishing the unmanned detection work of the coal mine goaf according to the set time, and automatically returning to the starting point.
The invention relates to a flight method of a micro aircraft for unmanned detection in a coal mine goaf, which comprises the steps of navigation and positioning map construction of the micro aircraft, flight path planning, obstacle identification and reasonable obstacle avoidance;
the method comprises the steps that a micro aircraft navigation and positioning map is constructed, an original point cloud map is created by extracting, registering and optimally splicing depth image point cloud data, and a complete micro aircraft navigation and positioning map is obtained through Octomap post-processing; the flight path planning adopts an A-x algorithm, the current position of the aircraft is used as an iteration starting point, non-obstacle and obstacle nodes in adjacent nodes at each moment are searched, the Euclidean distance function is used for iterative calculation to determine non-obstacle node coordinates meeting the minimum value, and finally the overall optimal path is obtained by connecting all optimal node coordinates from the starting point to the end point.
Claims (10)
1. The utility model provides a microminiature aircraft for unmanned detection of coal mine collecting space area, includes the organism, establishes actuating mechanism (1), gas monitoring system (4), inertial navigation system (5), vision navigation system (6) and fin in the middle part of the organism, its characterized in that: the front part of the driving mechanism (1) is provided with a crank rocker mechanism (2), the side part of the driving mechanism is connected with a flexible wing mechanism (3), the rear part of the driving mechanism is connected with a main control box (7), the crank rocker mechanism (2) is connected with the driving mechanism (1) through gear engagement, the flexible wing mechanism (3) is connected with the crank rocker mechanism (2) through a revolute pair, the driving mechanism (1) provides power to drive the crank rocker mechanism (2), and the flexible wing mechanism (3) is driven by gear transmission to flap up and down, so that a series of actions of flying and hovering are realized; the system comprises a main control machine box (7), an inertial navigation system (5), a visual navigation system (6), a gas monitoring system (4) and a gas monitoring system, wherein the inertial navigation system (5) is arranged in the main control machine box (7) to realize real-time perception of the flight attitude of the aircraft, the visual navigation system (6) is arranged right in front of the main control machine box (7) to realize autonomous flight of the aircraft by acquiring depth visual data and matching with the inertial navigation system (5), and the gas monitoring system is arranged at the rear part of the main control machine box (7) to realize monitoring of the concentration of methane and carbon monoxide in; all parts in all the systems are provided with explosion-proof shells meeting the explosion-proof requirements of mines.
2. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the driving mechanism (1) comprises a driving motor (101), a motor shaft (102), a motor gear (103) and a transmission gear (104); the driving motor (101) is fixedly arranged in the main control box (7) and provides driving force for the aircraft; the motor gear (103) is arranged on a motor shaft (102) of the driving motor and transmits the driving force generated by the driving motor; the transmission gear (104) consists of a large gear and a small gear which are coaxial, wherein the large gear is meshed with the motor gear (103), and the small gear is meshed with an output gear (201) of the crank rocker mechanism.
3. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the crank rocker mechanism (2) comprises two crank rocker mechanism output gears (201), a wing connecting rod (202) and a wing rocker (203) which are symmetrically arranged; the two output gears (201) are mutually meshed in the same size, are distributed in a bilateral symmetry mode and are meshed with the small gears in the transmission gear (104); the wing connecting rod (202) comprises a left wing connecting rod and a right wing connecting rod, the inner ends of the left wing connecting rod and the right wing connecting rod are respectively hinged with the two output gears (201), and the rotation of the output gears (201) drives the left wing connecting rod and the right wing connecting rod (202) to do reciprocating motion; the wing rocker (203) comprises a left wing rocker and a right wing rocker, the inner end of the left wing rocker and the inner end of the right wing rocker are hinged with the frame to form a revolute pair, and the outer end of the left wing rocker and the outer end of the right wing rocker are connected with the wing connecting rod through a connecting rod to form a revolute pair.
4. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the flexible wing mechanism (3) comprises a flexible wing (301) and a flexible wing connecting rod (302); the flexible wing (301) is connected with the outer end of the wing rocker (203) through a connecting rod (302), and the up-and-down swing of the wing rocker (203) drives the flexible wing to flap up and down, so that the flapping wing flying action of the aircraft is realized.
5. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the inertial navigation system (5) comprises an MEMS micro-inertial measurement unit (501) arranged in a main control box (7) and an onboard processor (502) connected with the MEMS micro-inertial measurement unit (501); the MEMS micro-inertia measurement unit (501) comprises an integrated MEMS gyroscope, an MEMS accelerometer and an MEMS magnetic sensor, so that three-dimensional attitude change information of a pitch angle, a yaw angle and a roll angle in the motion process of the aircraft, flying speed and flying acceleration information of the aircraft can be acquired in real time, and autonomous navigation of the aircraft is realized.
6. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the gas monitoring system (4) comprises a methane sensor (401) and a carbon monoxide sensor (402), which are both arranged behind the main control machine box (7) and connected with an onboard processor (502) in the inertial navigation system (5), so that the concentration of methane and carbon monoxide in the goaf can be monitored without people, and a basis is provided for judging the spontaneous combustion tendency of the residual coal in the goaf.
7. The microminiature aircraft for unmanned detection of coal mine goafs of claim 1, wherein: the visual navigation system (6) comprises an RGB-D depth camera (601) and an image processing unit (602) which are integrated together, wherein the image processing unit (602) is connected with an onboard processor (502) in the inertial navigation system (5); the RGB-D depth camera (601) comprises a modulation light source, a color camera and an infrared camera which are integrated in the RGB-D depth camera (601), a scene two-dimensional color image is obtained by the color camera, continuous light pulses are actively emitted to a target through the modulation light source, light signals reflected after the light pulses are contacted with a target object and received by the infrared camera, and depth visual data of the scene are obtained through the calculation of the flight time of the light pulses.
8. A flying method for unmanned detection of microminiature aircrafts in the coal mine gob area according to claim 1, characterized by comprising the steps of:
(1) selecting a target area, and performing obstacle identification, collision prediction and avoidance of navigation and positioning map construction, flight path planning and contour detection of the micro aircraft; the method comprises the steps that a micro aircraft navigation and positioning map is constructed, an original point cloud map is created by extracting, registering and optimally splicing depth image point cloud data, and a complete micro aircraft navigation and positioning map is obtained through Octomap post-processing;
(2) starting the micro aircraft, and setting a series of actions of flying and hovering completed by the micro aircraft; setting detection time, constructing a goaf environment map by utilizing an MEMS micro-Inertial Measurement Unit (IMU), an RGB-D depth camera, an image processing unit and an onboard processor carried in an inertial navigation system (5), and acquiring pose information in the motion process of the aircraft in real time to provide a basis for subsequent autonomous flight detection;
(3) in the flight process, the construction of an environment map based on depth visual data is divided into three parts, namely image feature point extraction, feature point registration and feature point cloud data splicing optimization, so that an original point cloud map is provided for aircraft path planning and autonomous obstacle avoidance; constructing a micro aircraft navigation map based on the original point cloud map through Octogap processing, continuously acquiring scene depth visual data in the flight process of the aircraft, and finally constructing a complete micro aircraft navigation and positioning map;
(4) in the detection process, planning a flight route based on an obstacle identification algorithm and a flight path planning algorithm, realizing autonomous safety detection of the aircraft, and storing the detected internal information of the goaf in real time; acquiring the concentrations of methane and carbon monoxide in the goaf by using a gas sensor in the flight detection process, and storing the acquired data in real time;
(5) and finishing the unmanned detection work of the coal mine goaf according to the set time, and automatically returning to the starting point.
9. The flying method for unmanned aerial vehicle detection in coal mine goaf as claimed in claim 8, wherein: the obstacle identification of the contour detection comprises the following steps:
step 1, identifying and extracting a barrier in front of a micro aircraft from a depth image based on the depth image acquired by an RGB-D depth camera, referring to the setting of the safe distance of a general micro aircraft, taking a space 2.5m in front of the aircraft as a current extraction interval under the condition of ensuring the efficiency and precision of image calculation processing, namely extracting the barrier existing in the space 2.5m in front of the aircraft from a background, and obtaining the overall profile of the barrier;
step 2, in the process of extracting the obstacle outline, partial free micro blocks can appear due to the influence of self noise of the depth image, and the micro blocks are removed by adopting open operation image morphological filtering processing to form a closed single-connection obstacle outline area;
and 3, describing the obstacle by using an external rectangular frame in order to simplify the complexity of a subsequent collision prediction algorithm, and finally obtaining an independent and clear obstacle near-rectangular outline diagram.
10. The method of claim 8, wherein the method further comprises: the collision prediction and avoidance comprises the following steps:
step 1, establishing a cylinder protection area by taking an obstacle as a center with reference to the definition of an aerial safety area of an aircraft; judging the collision risk of the aircraft from a horizontal dimension and a vertical dimension;
and 2, avoiding the condition of possible collision by changing the course angle or the flying speed of the aircraft.
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