CN116698018B - Navigation positioning auxiliary device and coal mine tunnel navigation positioning system - Google Patents
Navigation positioning auxiliary device and coal mine tunnel navigation positioning system Download PDFInfo
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- CN116698018B CN116698018B CN202310986460.5A CN202310986460A CN116698018B CN 116698018 B CN116698018 B CN 116698018B CN 202310986460 A CN202310986460 A CN 202310986460A CN 116698018 B CN116698018 B CN 116698018B
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- 239000003245 coal Substances 0.000 title abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 51
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- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 8
- 239000003550 marker Substances 0.000 claims description 8
- 229910052709 silver Inorganic materials 0.000 claims description 8
- 239000004332 silver Substances 0.000 claims description 8
- 238000007747 plating Methods 0.000 claims description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- General Physics & Mathematics (AREA)
- Toxicology (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The application relates to the technical field of coal mine tunnel navigation, and provides a navigation positioning auxiliary device and a coal mine tunnel navigation positioning system; the navigation positioning auxiliary device comprises a base and identification modules, wherein a plurality of groups of identification modules are arranged, and all the identification modules are arranged on the base in a regular arrangement; the identification module comprises a first identification piece or a second identification piece and a locking mechanism arranged between the identification piece and the base, wherein the first identification piece and the second identification piece are mutually switched through the locking mechanism. Based on the method, accurate navigation and positioning can be performed when the walking robot travels in the coal mine tunnel, so that normal operation of the walking robot is facilitated.
Description
Technical Field
The application relates to the technical field of coal mine tunnel navigation, in particular to a navigation positioning auxiliary device and a coal mine tunnel navigation positioning system.
Background
Coal mines refer to places rich in coal resources and are generally divided into underground coal mines and open pit coal mines, wherein the underground coal mines are used for mining roadways to collect coal mines; because the coal mine tunnel has the characteristics of long and narrow space and complicated geology, in order to facilitate the mining work of the coal mine, the laser radar is required to be used for carrying out space mapping on the coal mine tunnel so as to form a space map, and the walking robot can be navigated and positioned by means of the space map so as to guide the walking robot to travel in the coal mine tunnel, and the method is used for various aspects such as article transportation, environment monitoring, conveying equipment monitoring and maintenance and the like.
However, in the practical navigation application of the walking robot, as each place of the coal mine roadway is of a similar mine wall structure, the geographic features of different places are not obvious; moreover, as the excavation operation is carried out, the geographic characteristics of each place change, so that position deviation easily occurs when the walking robot navigates, and the position where the walking robot walks to a roadway is difficult to accurately judge, thereby influencing the use function and the monitoring function of the follow-up walking robot.
Disclosure of Invention
Based on the above, the application provides the navigation positioning auxiliary device and the coal mine tunnel navigation positioning system, which can accurately navigate and position the walking robot when the walking robot moves in the coal mine tunnel, so that the normal operation of the walking robot is facilitated.
In a first aspect, the present application provides a navigation positioning assistance device, which adopts the following technical scheme:
a navigation positioning auxiliary device comprises a base and identification modules, wherein the identification modules are provided with a plurality of groups, and all the identification modules are regularly arranged on the base; the identification module comprises a first identification piece or a second identification piece and a locking mechanism arranged between the identification piece and the base, wherein the first identification piece and the second identification piece are mutually switched through the locking mechanism.
By adopting the technical scheme, the navigation positioning auxiliary device can be fixed in a long and narrow space like a tunnel or a coal mine tunnel through the base, each group of identification modules which are regularly arranged on the surface of the base are operated and arranged, the identification piece at the initial position is assumed to be a first identification piece, the identification piece which is pressed by the identification piece to be locked by the locking mechanism is assumed to be a second identification piece, and different arrangement images can be formed by arranging the first identification pieces and the second identification pieces at different positions.
The navigation positioning auxiliary device with the set arrangement images is arranged at a specific position of the long and narrow space, when the walking robot navigates through the space map obtained by previous mapping, the light waves emitted by the scanning instrument are reflected and received through the first identification piece, and the second identification piece cannot reflect the light waves or the intensity of the reflected light waves is weaker, so that unique coding information can be formed, and the specific position of the long and narrow space can be accurately known by the walking robot through the coding information, so that the walking robot can work normally.
Optionally, the locking mechanism includes a first fixing piece, a second fixing piece, a limiting piece and a rotating ring, the first fixing piece is fixed on the marking piece, the limiting piece is axially slidably installed on the first fixing piece, and a first spring for forcing the limiting piece and the first fixing piece to be far away from each other is arranged between the limiting piece and the first fixing piece; the limiting part is provided with a locking part locally;
the second fixing piece is fixed on the base, the first fixing piece is movably connected with the second fixing piece, and a second spring for enabling the first fixing piece and the second fixing piece to be far away from each other is arranged between the first fixing piece and the second fixing piece; the second fixing piece is provided with a mounting groove, and the rotating ring is clamped in the mounting groove and is rotationally arranged in the mounting groove; the rotating ring is provided with a matching groove for matching and limiting with the locking part;
a torsion structure for forcing the rotating ring to rotate is arranged between the first fixing piece and the rotating ring, so that when the identification piece is pressed for the first time, the rotating ring rotates to enable the locking part to be matched with the matching groove for limiting; when the marker is pressed for the second time, the rotary ring rotates again to disengage the locking part from the matching groove.
Through adopting foretell technical scheme, when the sign spare is in initial position, locking part does not cooperate spacingly with the cooperation groove, and first mounting and second mounting keep away from each other under the elasticity effect of second spring for interval between sign spare and the base reaches the biggest, and the sign spare can be first sign spare this moment, can reflect the light wave in order to be received by the scanning instrument.
When an operator presses the identification piece to move in a direction approaching to the base, the limit piece firstly moves a certain distance into the rotating ring; after the mark piece is continuously pressed to enable the locking part to enter the functional part of the matching groove, the rotating ring is automatically forced to rotate through the torsion structure, so that the locking part and the functional part of the matching groove can be abutted and limited; after the external force is removed, the first fixing piece moves in the direction away from the limiting piece under the action of the elastic force of the first spring, but the identification piece is still lower than other first identification pieces, at the moment, the identification piece can be correspondingly a second identification piece, and different arrangement images can be formed through the position arrangement of each first identification piece and each second identification piece.
When the worker presses the identification piece again, the rotating ring rotates again through the torsion structure, the locking part can be smoothly separated from the functional part of the matching groove, the first fixing piece returns to the initial position again under the action of the elastic force of the first spring, the identification piece can be smoothly switched between the first identification piece and the second identification piece, and the operation of the worker is facilitated.
Optionally, the matching groove comprises a limit area and a through hole area communicated with the limit area, and the limit area extends along the circumferential direction of the inner wall of the mounting groove, is connected end to end and is coaxially arranged with the mounting groove; the through hole areas are provided with a plurality of locking parts, the locking parts are distributed around the central axis of the rotating ring at equal intervals, enter the limiting area from the through hole areas, and enable the locking parts to be matched with the limiting area to be limited after the rotating ring rotates.
By adopting the technical scheme, when the first identification piece at the initial position is pressed to move towards the direction close to the base, the locking part can enter the matching groove through the through hole area, so that the limit piece smoothly enters the rotating ring; after the locking part enters the junction of the through hole area and the limiting area, the rotating ring is automatically forced to rotate through the torsion structure, and the locking part can enter the limiting area and is clamped in the limiting area, so that the limiting part and the rotating ring are relatively fixed, and the first identifier is smoothly switched into the second identifier. When the identification piece is pressed again, the rotating ring rotates again through the torsion structure, the locking part can enter the junction of the next through hole area and the limiting area, after the external force is removed, the limiting piece can leave the limiting area through the through hole area under the action of the elastic force of the first spring, and the second identification piece is switched to the first identification piece again.
Optionally, the torsion structure comprises a guide part and a guide groove matched with the guide part, wherein the guide part is arranged on the first fixing piece and is provided with a first guide surface; the guide grooves are arranged in a plurality, and all the guide grooves are uniformly distributed around the central axis of the rotating ring; the inner end wall of the guide groove is provided with a second guide surface matched with the first guide surface, and the distance from the second guide surface to the notch of the guide groove is gradually reduced from one side of the guide groove to the other side of the guide groove;
the inner wall of the limit area is embedded with a first magnet, the locking part is embedded with a second magnet, when the guide part is completely positioned in the guide groove, the first magnet is partially opposite to the second magnet, so that small-amplitude rotation of the rotating ring is generated by the magnetic attraction of the first magnet and the second magnet after the first fixing piece is reset through the first spring and the guide part is separated from the guide groove, and the guide part is opposite to the next adjacent guide groove.
Through adopting foretell technical scheme, when staff presses first sign spare and makes it to being close to the direction of base and remove, the guide part on the first mounting can get into the guide slot of swivel becket, continues to force this sign spare inwards to remove, and the first guide surface of guide part can support in the second guide surface of guide slot, and then the rotation of guide swivel becket production certain angle for locking part card locates inside the spacing region.
When the external force is removed, the first fixing piece moves away from the second fixing piece under the action of the elastic force of the second spring, the rotating ring can rotate in a small amplitude through the magnetic attraction between the first magnet and the second magnet, so that the guiding part faces the next guiding groove, and then the guiding part can enter the guiding groove by pressing the identification piece again, so that the rotating ring is forced to rotate again.
Optionally, the side of the label close to the base is provided with wave-absorbing paper, the width of the wave-absorbing paper is matched with that of the label, and the wave-absorbing paper extends to the outer side of the label; when the identification piece is a second identification piece, the wave absorbing paper on two adjacent first identification pieces positioned on the outer sides of the second identification piece jointly covers the second identification piece.
By adopting the technical scheme, the wave-absorbing paper is arranged on the side surface of the identification piece, which is close to the base, and when the first identification piece is pressed to enable the identification piece to move towards the direction, which is close to the base, and the identification piece is switched to the second identification piece, the wave-absorbing paper of the two adjacent first identification pieces on the outer side can jointly cover the surface of the second identification piece; the wave absorbing paper has the function of absorbing light waves, so that the intensity of the reflected light waves can be further weakened, the scanning instrument can be more facilitated to accurately receive the light waves to form coded information, the navigation positioning accuracy is improved, and the possibility of false detection is reduced.
Optionally, the side of the identifier close to the base is provided with an inner groove, a plastic sheet is fixed in the inner groove, and the wave absorbing paper is adhered to the side of the plastic sheet far away from the base.
Through adopting foretell technical scheme, through being fixed in the side that the sign piece is close to the base with plastic sheet, paste the wave absorbing paper in plastic sheet again and fix, plastic sheet itself has good plastic reset ability and certain bending resistance ability, when pressing to make it switch into the second sign piece to the sign piece, can reduce the possibility that the indentation appears in wave absorbing paper or local fifty percent discount through plastic reset ability of plastic sheet to the wave absorbing paper covers the second sign piece smoothly, keeps good navigation positioning accuracy.
Optionally, surrounding frames are arranged around the circumference of all the identification modules, and the surrounding frames are fixed on the base; the first wind pressure mechanism is arranged on the inner side of the enclosure frame and is positioned between the identification module and the base, and the airflow direction of the first wind pressure mechanism and the length direction of the wave-absorbing paper are arranged in the same direction.
Through adopting foretell technical scheme, through setting up first wind pressure mechanism and make it provide air current wind pressure to the region between identification module and the base, because the direction of air current wind pressure is the same with the length direction of wave-absorbing paper, wave-absorbing paper receives the effect of air current wind pressure can keep flattening state, also is favorable to wave-absorbing paper smoothly to cover the second identification piece, keeps good positioning accuracy.
Optionally, a second wind pressure mechanism for forming a wind wall is installed on the inner side of the enclosure frame, and the wind wall is located on one side, far away from the base, of the identification module.
By adopting the technical scheme, the second wind pressure mechanism is arranged to provide wind pressure for the side, far away from the base, of the identification module to form the wind wall, so that the possibility that dust in the long and narrow space is adsorbed and covered on the surface of the identification piece can be reduced, and the identification piece can keep good light wave reflection intensity; and through the cooperation of first wind pressure mechanism and second wind pressure mechanism, can make between first wind pressure mechanism and the second wind pressure mechanism form clean region.
Optionally, a silver plating layer is arranged on the side surface of the identification piece far away from the base.
By adopting the technical scheme, the silver coating arranged on the surface of the identifier can improve the reflectivity of the light wave, is more beneficial to the scanning instrument to receive the reflected light wave and convert the reflected light wave into the coding information to determine the navigation position.
In a second aspect, the application provides a coal mine tunnel navigation positioning system, which adopts the following technical scheme:
the coal mine tunnel navigation positioning system comprises a walking robot and the navigation positioning auxiliary devices, wherein the navigation positioning auxiliary devices are arranged in a plurality and are equidistantly arranged along the tunnel direction; the walking robot is provided with a scanning instrument for reading images arranged by the groups of identification modules:
by adopting the technical scheme, the navigation positioning auxiliary devices are equidistantly arranged along the direction of the coal mine roadway, and the navigation positioning auxiliary devices at different arrangement positions are set, so that all the first identification pieces and all the second identification pieces are arranged in a specific sequence to form a unique arrangement image; when the walking robot navigates through the space map obtained by the previous mapping, the light waves received by the scanning instrument can form unique coding information, the specific position of the walking robot to the long and narrow space can be accurately known through the coding information, and the navigation positioning precision is improved, so that the normal operation of the walking robot is facilitated.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the identification pieces are mutually switched between the first identification pieces and the second identification pieces by pressing the identification pieces, different arrangement images can be formed by arranging the first identification pieces and the second identification pieces at different positions, and the walking robot receives unique coding information through the scanning instrument, so that the specific position of the long and narrow space where the walking robot is positioned can be accurately known, and the normal operation of the walking robot is facilitated;
2. the identification pieces can be smoothly switched between the first identification piece and the second identification piece in a twice pressing mode, so that operation of operators is facilitated;
3. through setting up the wave absorbing paper, when the sign spare was the second sign spare, two adjacent wave absorbing paper in the outside can cover jointly in second sign spare surface, weakens the intensity of reflected light wave, more is favorable to the scanning instrument to accurately receive the light wave and forms encoded information, improves navigation positioning's precision, reduces the possibility of misdetection.
Drawings
FIG. 1 is a schematic overall structure of embodiment 1;
FIG. 2 is a half cross-sectional view of the locking mechanism of embodiment 1;
FIG. 3 is an exploded view of the locking mechanism of example 1;
FIG. 4 is a schematic view of the structure of the stopper in embodiment 1;
fig. 5 is a schematic structural view of the rotating ring in embodiment 1;
FIG. 6 is a schematic view showing a partial structure of the side of the first fixing member away from the tag in embodiment 1;
FIG. 7 is a schematic view showing the fitting relationship between the locking portion and the rotary ring when the index member is pressed for the first time in embodiment 1;
FIG. 8 is a schematic view showing the bottom structure of the identification module in embodiment 2;
fig. 9 is a schematic overall structure of embodiment 2;
fig. 10 is a schematic structural view of the enclosure frame in embodiment 2.
Reference numerals illustrate: 1. a base; 11. a containment frame; 2. an identification module; 3. a marking piece; 31. a first identification member; 32. a second identification member; 33. silver plating; 34. an inner groove; 4. a locking mechanism; 41. a first fixing member; 411. a first abutting portion; 412. a movable groove; 413. a first positioning portion; 414. a guide section; 415. a first guide surface; 42. a second fixing member; 421. a plug-in groove; 422. a second abutting portion; 423. a mounting groove;
43. a limiting piece; 431. a second positioning portion; 432. a locking part; 433. a central tray body; 434. a locking piece; 435. a second magnet; 44. a rotating ring; 441. a mating groove; 442. a limit area; 443. a vent region; 444. a ring protrusion; 445. a guide groove; 446. a second guide surface; 447. a first magnet; 45. a first spring; 46. a second spring; 5. wave absorbing paper; 6. a plastic sheet; 7. a first wind pressure mechanism; 8. a second wind pressure mechanism; 81. and an air outlet grid.
Detailed Description
The application is described in further detail below with reference to fig. 1-10.
Example 1
The embodiment of the application discloses a navigation positioning auxiliary device.
Referring to fig. 1, a navigation positioning auxiliary device includes a base 1 and recognition modules 2, wherein a plurality of groups of recognition modules 2 are provided, all the recognition modules 2 are regularly arranged on the base 1, and gaps exist between adjacent recognition modules 2. In this embodiment, the arrangement manner of the identification modules 2 is a checkerboard arrangement, but in other embodiments, the identification modules 2 may be arranged in various regular manners, such as a straight line arrangement or a central circumferential arrangement, and the arrangement manner is not limited to the manner provided in this embodiment; the advantage of the checkerboard arrangement of the identification modules 2 in this embodiment is that the size of the base 1 can be reduced, and thus the space of the navigation positioning auxiliary device is reduced, and the navigation positioning auxiliary device is convenient to carry and install.
The identification module 2 comprises an identification piece 3 and a locking mechanism 4, wherein the identification piece 3 is connected to the base 1 through the locking mechanism 4; with specific reference to fig. 2, a silver plating layer 33 is electroplated on the side of the identifier 3 away from the base 1, so as to improve the light wave reflectivity of the identifier 3. Returning to fig. 1, the locking mechanism 4 has a self-locking function, the tag 3 in the initial position may be the first tag 31, and the tag 3 after being locked by the locking mechanism 4 to change the position is correspondingly set as the second tag 32, that is, the tag 3 may be switched between the first tag 31 and the second tag 32 by pressing the tag 3 to change the state of the locking mechanism 4.
Referring to fig. 2 and 3, the locking mechanism 4 includes a first fixing member 41, a second fixing member 42, a stopper 43, and a rotating ring 44; the first fixing piece 41 and the second fixing piece 42 are square columns, the first fixing piece 41 is fixed on one side, far away from the silver coating 33, of the marking piece 3, a first abutting portion 411 is arranged at one end, far away from the marking piece 3, of the first fixing piece 41, and the width of the first abutting portion 411 is larger than that of the first fixing piece 41.
The second fixing piece 42 is fixed on the base 1, the end surface of the second fixing piece 42, which is far away from the base 1, is provided with a plugging groove 421, the plugging groove 421 is rectangular, and the groove width of the plugging groove 421 is equal to the width of the first abutting part 411; the first abutting portion 411 is movably inserted into the inserting groove 421 to realize the movable connection between the first fixing member 41 and the second fixing member 42. The inner wall of the slot opening of the plugging slot 421 is provided with a second abutting part 422 which is integrally formed, the slot width of the second abutting part 422 is equal to the width of the first fixing piece 41, and the first fixing piece 41 can be prevented from being separated from the second fixing piece 42 by abutting and matching the first abutting part 411 and the second abutting part 422.
The second spring 46 is further installed in the inserting groove 421, one end of the second spring 46 abuts against the inner end wall of the inserting groove 421, and the other end of the second spring 46 abuts against the first abutting portion 411; the second spring 46 can always generate elastic force acting on the first fixing piece 41, so that the first fixing piece 41 is forced to move away from the second fixing piece 42, the distance between the marker 3 and the base 1 is maximized, and the marker is in the initial position and is the first marker 31.
The end face of the first fixing member 41 far away from the identifier 3 is provided with a movable groove 412, the movable groove 412 is also rectangular, and the inner wall of the notch of the movable groove 412 is provided with a first positioning part 413 which is integrally formed. The limiting piece 43 is a square column, and the width of the limiting piece 43 is equal to the groove width of the first positioning part 413, so that the limiting piece 43 can pass through the first positioning part 413 and axially move in the movable groove 412; the end of the limiting member 43 is provided with a second positioning portion 431 integrally formed, the width of the second positioning portion 431 is equal to the width of the movable groove 412, and the limiting member 43 can be prevented from being separated from the first fixing member 41 by abutting and matching between the first positioning portion 413 and the second positioning portion 431.
In addition, a first spring 45 is installed inside the movable groove 412, one end of the first spring 45 abuts against an inner end wall of the movable groove 412, and the other end of the first spring 45 abuts against the second positioning portion 431; the first spring 45 can always generate an elastic force acting on the stopper 43 to force the stopper 43 to move in a direction away from the first fixing member 41.
The limiting member 43 is provided with a locking portion 432 locally, in this embodiment, the locking portion 432 is located at one end of the limiting member 43 away from the first positioning portion 413, and the locking portion 432 and the first positioning portion 413 are formed integrally; in other embodiments, the locking portion 432 may be disposed in the middle of the limiting member 43 or at other positions, which is not limited to the manner provided in the present embodiment. Referring to fig. 4, the locking portion 432 includes a central plate 433 integrally formed with the stopper 43 and a plurality of locking pieces 434 provided on an outer peripheral side of the central plate 433, and all the locking pieces 434 are disposed at equal intervals around a central axis of the central plate 433.
Returning to fig. 2 and 3, the second fixing member 42 is provided with a mounting groove 423, and the mounting groove 423 is located at the bottom of the insertion groove 421 and is communicated with the insertion groove 421; the mounting groove 423 is an annular groove, and the inner diameter of the mounting groove 423 is larger than the width of the plugging groove 421 at the side far away from the second abutting part 422; the rotating ring 44 is rotatably mounted in the mounting groove 423, and the rotating ring 44 partially abuts against the transition position of the mounting groove 423 and the inserting groove 421 to limit the axial movement of the rotating ring 44. Referring to fig. 5, the inner peripheral wall of the rotary ring 44 is provided with a fitting groove 441 for fitting and limiting the locking portion 432, and when the locking portion 432 and the fitting groove 441 are fitted and limited, the distance between the tag 3 and the base 1 is reduced, and the second tag 32 can be smoothly switched.
The mating groove 441 includes a limiting area 442 and a through hole area 443 communicated with the limiting area 442, the limiting area 442 extends along the circumferential direction of the inner wall of the mounting groove 423 to form an annular groove connected end to end, and the limiting area 442 and the rotating ring 44 are kept coaxial; the axial width of the restraining region 442 is equal to the thickness of the locking piece 434. The number of the through hole areas 443 is equal to that of the locking parts 432, and all the through hole areas 443 are equidistantly distributed around the central axis of the rotating ring 44; the extending direction of each opening area 443 is the same as the axial direction of the rotating ring 44, and one end of the opening area 443 away from the limiting area 442 penetrates through the end face of the rotating ring 44.
Referring back to fig. 2, in the present embodiment, each locking piece 434 is disposed in each through hole area 443 correspondingly, and at this time, a stroke space exists between the locking portion 432 and the limiting area 442; by pressing the marker 3 to move the stopper 43 in a direction approaching the stopper region 442, the lock piece 434 of the lock portion 432 can enter the junction between the stopper region 442 and the through-hole region 443. The torsion structure for forcing the rotating ring 44 to rotate is further arranged between the first fixing piece 41 and the rotating ring 44, the locking part 432 is firstly propped against the inner wall of the limiting area 442 in the pressing process of the identifier 3, then the limiting piece 43 moves inwards towards the movable groove 412 after being stressed and presses the first spring 45, the first fixing piece 41 continues to move, the rotating ring 44 can be forced to rotate through the torsion structure, and the locking piece 434 is further clamped in the limiting area 442, so that the self-locking function of the locking mechanism 4 is realized.
Referring to fig. 5 and 6, the torsion structure includes a plurality of guide portions 414 and guide grooves 445 adapted thereto, the guide portions 414 are formed in plurality, each guide portion 414 is formed on the end surface of the first fixing member 41 away from the identifier 3 uniformly, and all the guide portions 414 are disposed equidistantly around the central axis of the first fixing member 41. In addition, the side of the guide portion 414 remote from the first fixing member 41 is provided with a first guide surface 415.
The end surface of the rotating ring 44 facing the first fixing member 41 is provided with an integrally formed ring protrusion 444, a plurality of guide grooves 445 are provided, and each guide groove 445 is provided on the end surface of the ring protrusion 444 away from the rotating ring 44; all of the guide grooves 445 are uniformly distributed around the central axis of the ring boss 444. The inner end wall of the guide groove 445 is provided with a second guide surface 446, and the second guide surface 446 can be in fit contact with the first guide surface 415; the distance from the second guide surface 446 to the notch of the guide groove 445 gradually decreases from one side of the arc direction of the guide groove 445 to the other side of the arc direction; when the first fixing member 41 is forced to move so that the guiding portion 414 enters the guiding groove 445, the first guiding surface 415 of the guiding portion 414 gradually abuts against the second guiding surface 446 of the guiding groove 445, so as to automatically drive the rotating ring 44 to rotate.
Referring to fig. 4 and 5, the inner wall of the limit area 442 is embedded with a plurality of first magnets 447, and all the first magnets 447 are distributed equidistantly around the central axis of the rotating ring 44; each lock piece 434 of the lock portion 432 is embedded with a second magnet 435, and the second magnet 435 and the first magnet 447 are opposite in magnetic property. Referring also to fig. 7, after the first holder 41 is forced to move so that the guide portion 414 enters the guide groove 445, the first magnet 447 and the second magnet 435 are disposed partially facing each other.
After the first pressing is completed, the external force is removed, so that the first fixing piece 41 moves away from the limiting piece 43 under the action of the elastic force of the first spring 45, and the guide part 414 can be completely separated from the guide groove 445; the rotating ring 44 can rotate by a small extent by the magnetic attraction between the first magnet 447 and the second magnet 435, and the guiding portion 414 can face the next adjacent guiding groove 445; then, the marker 3 is pressed for the second time, so that the lock block 434 can perform the junction between the next through hole area 443 and the limit area 442, so that the locking portion 432 is separated from the limit area 442 under the action of the elastic force of the first spring 45 and the second spring 46, and the marker 3 returns to the initial position again.
The implementation principle of the navigation positioning auxiliary device of the embodiment of the application is as follows:
the navigation positioning auxiliary device can be fixed in a long and narrow space like a tunnel or a coal mine tunnel through the base 1; after the installation is completed, the identification modules 2 of each group are arranged in an operation mode, the identification piece 3 at the initial position is a first identification piece 31, the identification piece 3 which is kept self-locking by the locking mechanism 4 after being pressed is a second identification piece 32, and different arrangement images can be formed through different positions of each first identification piece 31 and each second identification piece 32.
When the walking robot navigates through the space map obtained by the earlier stage mapping, the light wave emitted by the scanning instrument is reflected and received by the first identifier 31, and the second identifier 32 fails to reflect the light wave or the reflected light wave is weak in intensity, so that unique coding information can be formed, and the specific position of the long and narrow space can be accurately known by the walking robot through the coding information, so that the walking robot can work normally.
Example 2
The embodiment of the application discloses a navigation positioning auxiliary device.
Referring to fig. 8, in the navigation positioning auxiliary device disclosed in the embodiment of the present application, the other components are the same as those in embodiment 1, and are not described in detail herein; the difference from embodiment 1 is that the side surface of the identifier 3 far away from the silver plating layer 33 is provided with the wave-absorbing paper 5, when the identifier 3 is the second identifier 32, the wave-absorbing paper 5 on two adjacent first identifiers 31 positioned outside the second identifier 32 covers the second identifier 32 together, so as to improve the accuracy of navigation positioning and reduce the possibility of false detection.
Specifically, the side surface of the identifier 3, which is close to the base 1, is provided with two inner grooves 34, and the two inner grooves 34 are symmetrically arranged on two opposite sides of the first fixing piece 41; the plastic sheet 6 is fixed in the inner groove 34, and the wave absorbing paper 5 is stuck to the side surface of the plastic sheet 6 far away from the base 1; the width of the wave absorbing paper 5 is equal to the width between the identification pieces 3, and the wave absorbing paper 5 extends partially and is exposed outside the identification pieces 3. So that the outside wave-absorbing paper 5 can smoothly cover the second tag 32 when the tag 3 is the second tag 32.
In addition, the plastic sheet 6 has good plastic resetting capability and certain bending resistance, and when two adjacent identifiers 3 are the first identifiers 31, the adjacent plastic sheets 6 respectively positioned on the two first identifiers 31 can be mutually abutted and kept in a bending state; when the mark 3 is pressed to be switched into the second mark 32, the possibility of indentation or partial doubling of the wave-absorbing paper 5 can be reduced through the plastic resetting capability of the plastic sheet 6, so that the wave-absorbing paper 5 can smoothly cover the second mark 32, and good navigation positioning accuracy is maintained.
Referring to fig. 9, an enclosure frame 11 is arranged around the periphery of the identification module 2, and the enclosure frame 11 is fixedly connected to the base 1; it should be noted that, the inside of the enclosure frame 11 is also fixedly embedded with the wave-absorbing paper 5 and the plastic sheet 6, when the identifier 3 near the inner edge of the enclosure frame 11 is pressed and then is switched to the second identifier 32, the adjacent wave-absorbing paper 5 of the enclosure frame 11 and the wave-absorbing paper 5 on the other identifier 3 adjacent to the second identifier 32 can jointly cover the second identifier 32, so as to maintain good navigation positioning accuracy.
It should be noted that, the side of the enclosure frame 11 away from the base 1 may also be plated with a silver coating to serve as a recognition base for the images arranged by the respective markers 3.
Referring to fig. 10, a first wind pressure mechanism 7 and a second wind pressure mechanism 8 are installed on the inner side of the enclosure frame 11, the first wind pressure mechanism 7 is located between the identification module 2 and the base 1, and the second negative pressure mechanism is located on one side of the identification module 2 away from the base 1; the specific structures of the first wind pressure mechanism 7 and the second wind pressure mechanism 8 are the same, and the second wind pressure mechanism 8 is taken as an example for explanation in this embodiment, and the other first wind pressure mechanism 7 will not be described again.
Referring specifically to fig. 9, the second wind pressure mechanism 8 includes an air outlet grid 81 and a negative pressure grid embedded inside the enclosure frame 11, and the air outlet grid 81 and the negative pressure grid are respectively arranged on two opposite inner side walls of the enclosure frame 11; the enclosure frame 11 is internally provided with a positive pressure component for providing wind pressure for the air outlet grid 81, and the enclosure frame 11 is internally provided with a negative pressure component for providing negative pressure for the negative pressure grid, so that an air wall can be formed between the air outlet grid 81 and the negative pressure grid to block dust, and the dust is reduced to be adsorbed and covered on the surface of the identifier 3.
In addition, the air flow direction of the first air pressure mechanism 7 is arranged in the same direction as the length direction of the wave absorbing paper 5; the first wind pressure mechanism 7 provides air flow wind pressure for the area between the identification module 2 and the base 1, and as the direction of the air flow wind pressure is the same as the length direction of the wave-absorbing paper 5, the wave-absorbing paper 5 can be kept in a flattened state under the action of the air flow wind pressure, and the wave-absorbing paper 5 is also beneficial to smoothly covering the second identification piece 32, so that good positioning accuracy is maintained; and through the cooperation of first wind pressure mechanism 7 and second wind pressure mechanism 8, can make between first wind pressure mechanism 7 and the second wind pressure mechanism 8 form clean region, further reduce the dust absorption and cover the condition emergence on the surface of sign 3.
The implementation principle of the navigation positioning auxiliary device of the embodiment of the application is as follows:
after the navigation positioning auxiliary device is fixed in a long and narrow space like a tunnel or a coal mine tunnel, the identification piece 3 is pressed to be switched into a second identification piece 32, the wave absorbing paper 5 of two adjacent first identification pieces 31 outside the second identification piece 32 can jointly cover the surface of the second identification piece 32, the intensity of reflected light waves can be further weakened through the effect of absorbing light waves by the wave absorbing paper 5, the scanning instrument can be more favorably used for accurately receiving light waves to form coded information, the navigation positioning precision is improved, and the possibility of false detection is reduced.
Example 3
The embodiment of the application also discloses a coal mine tunnel navigation positioning system.
A coal mine tunnel navigation positioning system comprising a walking robot and the navigation positioning auxiliary device shown in the embodiment 1 or the embodiment 2; the navigation positioning auxiliary devices are arranged in a plurality, and all the navigation positioning auxiliary devices are equidistantly arranged along the direction of the coal mine roadway. The concrete arrangement mode can be that one is arranged at intervals of 10 meters along a coal mine roadway or at intervals of 20 meters or 30 meters, and the concrete arrangement mode is selectively set according to actual needs; the navigation positioning support devices at different arrangement positions are set so that the first markers 31 and the second markers 32 are arranged in a specific order to form a unique arrangement image.
The walking robot is provided with a scanning instrument for reading images arranged by the groups of identification modules 2, the scanning instrument selected in the embodiment is a laser radar, the laser radar has the advantages of high precision and strong anti-interference, the laser radar is used for transmitting light waves to the navigation positioning auxiliary device, the first identification piece 31 can reflect the light waves, and the light wave reflectivity of the second identification piece 32 is lower, so that the reflected light waves can be received to form unique coded information.
The implementation principle of the coal mine tunnel navigation positioning system provided by the embodiment of the application is as follows:
when the walking robot navigates through the space map obtained by previous mapping, the light waves received by the laser radar at the specific position can form unique coding information, and the specific position of the walking robot to the long and narrow space can be accurately known by comparing the coding information with the information processing module of the walking robot, so that the navigation positioning precision is improved, and the normal operation of the walking robot is facilitated.
The above is a preferred embodiment of the present application, and is not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (8)
1. A navigation positioning assistance device, characterized in that: the device comprises a base (1) and identification modules (2), wherein the identification modules (2) are provided with a plurality of groups, and all the identification modules (2) are regularly arranged on the base (1); the identification module (2) comprises an identification piece (3) and a locking mechanism (4) arranged between the identification piece (3) and the base (1), wherein the identification piece (3) is a first identification piece (31) or a second identification piece (32), and the first identification piece (31) and the second identification piece (32) are mutually switched through the locking mechanism (4);
the identification pieces (3) at the initial positions are first identification pieces (31), the identification pieces (3) which are kept self-locking by the locking mechanism (4) after being pressed are second identification pieces (32), and different arrangement images are formed by arranging the first identification pieces (31) and the second identification pieces (32) at different positions;
the side surface of the identification piece (3) close to the base (1) is provided with wave-absorbing paper (5), the width of the wave-absorbing paper (5) is matched with that of the identification piece (3), and the wave-absorbing paper (5) extends to the outer side of the identification piece (3) locally; when the identification piece (3) is a second identification piece (32), the wave absorbing paper (5) on two adjacent first identification pieces (31) positioned on the outer sides of the second identification piece (32) are covered on the second identification piece (32) together; the side of the identification piece (3) far away from the base (1) is provided with a silver plating layer (33).
2. The navigation positioning assistance device according to claim 1, wherein: the locking mechanism (4) comprises a first fixing piece (41), a second fixing piece (42), a limiting piece (43) and a rotating ring (44), wherein the first fixing piece (41) is fixed on the identification piece (3), the limiting piece (43) is axially and slidably arranged on the first fixing piece (41), and a first spring (45) for forcing the limiting piece (43) and the first fixing piece (41) to be far away from each other is arranged between the limiting piece (43) and the first fixing piece (41); a locking part (432) is arranged on part of the limiting piece (43);
the second fixing piece (42) is fixed on the base (1), the first fixing piece (41) is movably connected with the second fixing piece (42), and a second spring (46) for enabling the first fixing piece (41) and the second fixing piece (42) to be far away from each other is arranged between the first fixing piece (41) and the second fixing piece (42); the second fixing piece (42) is provided with a mounting groove (423), and the rotating ring (44) is clamped in the mounting groove (423) and is rotationally arranged in the mounting groove (423); the rotating ring (44) is provided with a matching groove (441) for matching and limiting with the locking part (432);
a torsion structure for forcing the rotating ring (44) to rotate is arranged between the first fixing piece (41) and the rotating ring (44), so that when the identifier piece (3) is pressed for the first time, the rotating ring (44) rotates to enable the locking part (432) to be matched with the matching groove (441) for limiting; when the marker (3) is pressed for the second time, the rotary ring (44) rotates again to disengage the locking portion (432) from the engagement groove (441).
3. The navigation positioning assistance device according to claim 2, wherein: the matching groove (441) comprises a limit area (442) and a through hole area (443) communicated with the limit area (442), wherein the limit area (442) extends along the circumferential direction of the inner wall of the mounting groove (423) and is connected end to end and is coaxially arranged with the mounting groove (423); the through hole areas (443) are provided with a plurality of locking parts (432) which are distributed around the central axis of the rotating ring (44) at equal intervals, the locking parts (432) enter the limiting areas (442) from the through hole areas (443), and the locking parts (432) are matched with the limiting areas (442) to limit after the rotating ring (44) rotates.
4. A navigation positioning assistance device according to claim 3 wherein: the torsion structure comprises a guide part (414) and a guide groove (445) matched with the guide part, wherein the guide part (414) is arranged on the first fixing piece (41), and the guide part (414) is provided with a first guide surface (415); the guide grooves (445) are arranged in a plurality, and all the guide grooves (445) are uniformly distributed around the central axis of the rotating ring (44); the inner end wall of the guide groove (445) is provided with a second guide surface (446) which is matched with the first guide surface (415), and the distance from the second guide surface (446) to the notch of the guide groove (445) is gradually reduced from one side of the guide groove (445) to the other side;
the inner wall of the limit area (442) is embedded with a first magnet (447), the locking part (432) is embedded with a second magnet (435), when the guide part (414) is completely positioned in the guide groove (445), the first magnet (447) is partially opposite to the second magnet (435), so that the rotating ring (44) generates small-amplitude rotation through the magnetic attraction between the first magnet (447) and the second magnet (435) after the first fixing piece (41) is reset through the first spring (45) and the guide part (414) is separated from the guide groove (445), and the guide part (414) is opposite to the next adjacent guide groove (445).
5. The navigation positioning assistance device according to claim 1, wherein: the side of the identification piece (3) close to the base (1) is provided with an inner groove (34), a plastic sheet (6) is fixed in the inner groove (34), and the wave absorbing paper (5) is adhered to the side of the plastic sheet (6) far away from the base (1).
6. The navigation positioning assistance device according to claim 1, wherein: the periphery of all the identification modules (2) is surrounded by a surrounding frame (11), and the surrounding frame (11) is fixed on the base (1); the novel wave absorbing device is characterized in that a first wind pressure mechanism (7) is mounted on the inner side of the enclosure frame (11), the first wind pressure mechanism (7) is located between the identification module (2) and the base (1), and the airflow direction of the first wind pressure mechanism (7) and the length direction of the wave absorbing paper (5) are arranged in the same direction.
7. The navigation positioning assistance device according to claim 6, wherein: the second wind pressure mechanism (8) used for forming a wind wall is arranged on the inner side of the enclosure frame (11), and the wind wall is located on one side, far away from the base (1), of the identification module (2).
8. The utility model provides a colliery tunnel navigation positioning system which characterized in that: the navigation positioning auxiliary device comprises a walking robot and the navigation positioning auxiliary device as claimed in any one of claims 1 to 7, wherein a plurality of navigation positioning auxiliary devices are arranged along the roadway direction at equal intervals; the walking robot is provided with a scanning instrument for reading images arranged by the identification modules (2) of each group.
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