CN116988837B - Underground autonomous inspection system and method for coal mine - Google Patents
Underground autonomous inspection system and method for coal mine Download PDFInfo
- Publication number
- CN116988837B CN116988837B CN202311234927.7A CN202311234927A CN116988837B CN 116988837 B CN116988837 B CN 116988837B CN 202311234927 A CN202311234927 A CN 202311234927A CN 116988837 B CN116988837 B CN 116988837B
- Authority
- CN
- China
- Prior art keywords
- robot
- lower computer
- coal mine
- underground
- upper computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 62
- 239000003245 coal Substances 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000005516 engineering process Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 238000001914 filtration Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 238000009529 body temperature measurement Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract 2
- 238000012423 maintenance Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an underground autonomous inspection system and method for a coal mine, which belong to the field of underground inspection for the coal mine, and relate to laser SLAM, image acquisition and remote wireless communication technology, and comprise the following steps: the system comprises a lower computer robot, a double-channel camera, a large-range local area network generating device and a Windows upper computer; the lower computer robot is used for constructing an underground coal mine environment map, positioning navigation and data transmission in real time; the double-channel camera is used for collecting the underground environment and the current temperature information of the coal mine in real time; the large-range local area network generating device is used for placing the lower computer robot, the double-channel camera and the Windows upper computer under the same network segment; the Windows upper computer is used for monitoring the position, track and surrounding environment information of the special lower computer robot and distributing target inspection points. The invention can realize real-time monitoring and autonomous inspection of the underground environment of the coal mine, ensure the safety of the underground working environment and improve the unmanned and intelligent level.
Description
Technical Field
The invention belongs to the technical field of underground coal mine inspection, and particularly relates to an underground coal mine autonomous inspection system and method.
Background
Underground coal mine inspection is an important link for guaranteeing safety of production personnel, production equipment and production processes, and through periodic inspection, underground coal mine environment information and safety conditions are known, and potential safety hazards are eliminated in time.
At present, manual inspection and fixed track equipment inspection are mostly adopted in underground coal mine inspection modes. The manual inspection mode greatly increases the safety risk of workers, the inspection cost is high, the inspection result cannot be fed back and analyzed in time, and certain hysteresis is provided. The inspection efficiency is improved to a certain extent by utilizing the fixed track equipment, the inspection cost is reduced, the inspection range is limited, and the inspection dead angle is generated. In addition, the installation of the fixed track in the earlier stage and the expansion or the dismantling of the fixed track in the later stage consume a large amount of manpower and material resources, the maintenance cost is high, and the unmanned and intelligent level is low. Meanwhile, the existing underground coal mine inspection system also has the problems of poor system and software adaptability and difficult maintenance and updating iteration.
Disclosure of Invention
The invention aims to provide an underground autonomous inspection system and method for a coal mine, which are used for solving the problems in the prior art.
In order to achieve the above object, the present invention provides an underground autonomous inspection system for coal mine, comprising: the device comprises a lower computer robot, a double-channel camera, a large-range local area network generating device and a Windows upper computer;
the lower computer robot, the double-channel camera and the Windows upper computer are respectively connected with the large-range local area network generating device;
the lower computer robot is used for constructing an underground coal mine environment map in real time, positioning navigation and data transmission;
the dual-channel camera is used for collecting the underground environment and the current temperature information of the coal mine in real time;
the large-range local area network generating device is used for placing the lower computer robot, the double-channel camera and the Windows upper computer under the same network segment;
the Windows upper computer monitors the position, track and surrounding environment information of the special mobile robot and issues a target inspection point.
Optionally, the lower computer robot is a differential crawler-type mobile robot and is provided with sensors such as 16-line laser radar, an inertial navigation unit, an odometer and the like; the lower computer robot adopts a Kalman filtering algorithm, a Monte Carlo positioning algorithm, a cartographer algorithm and a dynamic window method to perform self-positioning, autonomous navigation and real-time construction of the underground coal mine environment map.
Optionally, the lower computer robot is internally provided with an ROS-notify program, and the lower computer robot communicates with the Windows upper computer through the ROS-notify program.
Optionally, a socket communication technology is adopted between the lower computer robot and the Windows upper computer for data exchange, and a socket program of the lower computer robot is embedded into the system as a subfunction of ROS-notify.
Optionally, the dual-channel camera comprises a visible light channel and an infrared channel camera which are both installed right in front of the lower computer robot, and the dual-channel camera performs rotation actions in the upper direction, the lower direction, the left direction and the right direction based on a camera open source development tool and is used for visible light imaging and infrared temperature measurement of the underground coal mine environment.
Optionally, the large-range local area network generating device comprises an industrial ethernet switch, a wireless router and a network relay unit;
the industrial Ethernet switch and the wireless router are arranged on the lower computer robot and are used for placing the lower computer robot and the double-channel camera under the same local area network and generating a wireless local area network;
the network relay unit is arranged at the corner and the intersection of the underground roadway of the coal mine and is used for enhancing and amplifying the wireless local area network signal and placing the Windows upper computer under the same local area network.
Optionally, the Windows upper computer is a Windows platform general program, and is used for receiving current position information, running track information, visible light information and environment temperature information of the lower computer robot, giving an alarm about excessive temperature, issuing a target inspection point of the lower computer robot in an automatic and manual mode, and controlling the dual-channel camera to perform up, down, left and right actions.
On the other hand, in order to achieve the purpose, the invention provides an underground autonomous inspection method for a coal mine, which comprises the following steps:
setting a large-range local area network generating device at the corner of a coal mine underground roadway and at an important intersection, connecting a lower computer robot, a 16-line laser radar, a double-channel camera and a Windows upper computer to the same network section through the large-range local area network generating device, and setting respective IP addresses as static IP;
acquiring a visible light image of the underground coal mine based on the two-channel camera;
the Windows upper computer controls the lower computer robot to build a map in a coal mine underground roadway based on the visible light image, and a roadway map is obtained;
the Windows upper computer issues inspection point information and controls the lower computer robot to conduct inspection.
Optionally, in the process of controlling the lower computer robot to carry out inspection, controlling the double-channel camera to carry out up, down, left and right actions, and obtaining visible light image information and temperature information of the surrounding environment.
Optionally, in the process of controlling the lower computer robot to carry out inspection, dynamic obstacle avoidance is carried out based on a dynamic window algorithm, and the current running position and running track of the lower computer robot and visible light and temperature information of surrounding environment are fed back in real time.
The invention has the technical effects that:
the lower computer robot provided by the invention is a crawler-type mobile robot, has a compact and stable structure, can be suitable for most of underground pavement of coal mines, has a large inspection range, does not have inspection dead angles, and is provided with a 16-line laser radar, an inertial navigation unit and an odometer; the socket communication program in the robot can be used as an ROS-nominal standard function package, subsequent maintenance and version iteration are facilitated, and the Kalman filtering algorithm, the Monte Carlo positioning algorithm and the cartograph mapping algorithm are matched, so that accurate mapping and self positioning of the underground coal mine environment can be realized, accurate perception of the current position, speed, acceleration and direction of the lower computer robot can be realized through an ROS-nominal system, and the subsequent function expansion and upgrading cost is low based on an open-source system and algorithm, so that the maintenance cost is reduced.
According to the invention, the visible light environment and the temperature information are perceived through the double-channel camera, so that the information perception range is widened, and the inspection result is more accurate.
The wireless local area network generated by the large-range local area network generating device effectively reduces network wiring under the coal mine, and reduces installation and maintenance cost.
The upper computer based on the Windows platform can be adapted to the current mainstream Windows universal platform, can stably run, does not need to replace a system, is simple to use, can realize remote control and inspection through the Windows upper computer by an operator, and improves the unmanned and intelligent level of underground coal mines.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a system block diagram of an autonomous inspection system in a coal mine;
FIG. 2 is a flow chart of the implementation steps of the autonomous inspection method in the coal mine.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
Example 1
As shown in fig. 1, in this embodiment, a coal mine underground autonomous inspection system is provided, including: the device comprises a lower computer robot, a double-channel camera, a large-range local area network generating device and a Windows upper computer;
the lower computer robot is a differential crawler-type mobile robot and is provided with sensors such as a 16-line laser radar, an inertial navigation unit, an odometer and the like, and the mobile robot is positioned by using a Kalman filtering algorithm, a Monte Carlo positioning algorithm, a cartographer algorithm and a dynamic window method to realize autonomous navigation and construct an environment map in real time; the method and the algorithm for realizing self-positioning, autonomous navigation and real-time map environment construction of the lower computer robot apply mature software function package modules in the ROS-nominal system and encapsulate the mature software function package modules under the same file through shell script language, wherein the Kalman filtering algorithm is used for removing noise of sensor data generated by an odometer, an inertial navigation unit and a 16-line laser radar; the Monte Carlo positioning algorithm is used for positioning the lower computer robot; the cartographer algorithm is used for real-time map construction of a large underground scene of a coal mine; the dynamic window method adds the integration of the current state and the physical control quantity of the lower computer robot to time so as to realize the control and navigation of the lower computer robot; the ROS-notify program communicated with the Windows upper computer end is arranged in the lower computer robot and is used for transmitting the current position and movement track information of the lower computer robot and receiving the target inspection point information.
The double-channel camera is a visible light channel and infrared channel camera and is arranged right in front of the lower computer robot, based on a camera open source development tool, the camera can rotate in the upper direction, the lower direction, the left direction and the right direction, and is used for visible light imaging and infrared temperature measurement of underground coal mine environments, and a foundation is provided for processing visible light images and performing over-temperature alarm on the Windows upper computer side.
The large-range local area network generating device comprises an industrial Ethernet switch, a wireless router and a network relay unit, and is used for placing a lower computer robot, a double-channel camera and a Windows upper computer under a unified network segment; the industrial Ethernet switch and the wireless router are arranged on the lower computer robot and are used for placing the lower computer robot and the double-channel camera under the same local area network and generating a wireless local area network; the network relay unit is arranged at the corner of the underground roadway of the coal mine and at the important intersection, and is used for enhancing and amplifying the wireless local area network signal and placing the Windows upper computer under the same local area network.
The Windows upper computer is a Windows platform general program and is used for receiving current position information, running track information, visible light information and environmental temperature information of the lower computer robot, giving an alarm about overhigh temperature, and issuing a target inspection point of the lower computer robot and controlling the double-channel camera to perform up, down, left and right actions in a mode that the Windows upper computer software automatically sets or manually inputs a cruising point.
The lower computer robot works for a Linux system, particularly an ROS-notify system, two independent systems are arranged with the Windows upper computer, a socket communication technology is adopted between the lower computer robot and the Windows upper computer for data exchange, and a socket program of the lower computer is embedded into the system as a subfunction of the ROS-notify.
Example two
As shown in fig. 2, the embodiment provides an underground autonomous inspection method for a coal mine, which includes the following steps:
step one: the lower computer robot, the 16-line laser radar, the double-channel camera and the Windows upper computer are connected to the same network segment through the local area network generating device, and the respective IP addresses are set to be static IP.
Step two: the lower computer robot starts a control program, a positioning and cartographer program and carries out complete construction on the underground environment of the coal mine.
Step three: and respectively starting communication programs of the Windows upper computer and the lower computer robot to establish communication.
Step four: the Windows upper computer issues inspection point information to control the lower computer robot to carry out inspection, and the dual-channel camera can be controlled to carry out up, down, left and right actions in the inspection process to acquire image information and temperature information of surrounding environment.
The specific implementation steps of the first step are as follows:
1. and correctly installing a large-range local area network generating device at the corner of the underground roadway of the coal mine and at an important intersection, testing the range and the strength of network signals, and carrying out the next step when the network signal strength covers the whole underground inspection area of the coal mine.
2. Before the lower computer robot starts to build the graph, the lower computer robot, the two-channel camera and the Windows upper computer are required to be correctly arranged under the local area network which is already arranged in the last step, and the IP addresses of the lower computer robot, the two-channel camera and the Windows upper computer are required to be set as static addresses.
The specific implementation steps of the second step are as follows:
3. entering an ROS-node system of the lower computer robot, sequentially starting a lower computer robot control node, an inertial navigation unit node, a laser radar node, a Monte Carlo positioning node and a cartographer graph building node, and simultaneously starting a camera node of the Windows upper computer. After each node is successfully started, an operator remotely controls the lower computer robot to build a map in the underground tunnel of the coal mine according to the visible light image received by the upper computer, and the newly built map is required to be stored after the completion of the map building.
4. Filtering and removing noise points from the map built in the previous step, writing the processed map into the navigation node as a parameter, and correctly setting the parameter of the navigation node according to the actual environment of the underground tunnel of the coal mine and the geometric parameter of the trolley.
The specific implementation steps of the third step are as follows:
5. firstly, starting a Windows upper computer communication program, then starting a lower computer robot communication node and a navigation node, and after the starting is successful, reading the current position coordinate of the lower computer robot by the Windows upper computer. The Windows upper computer displays the current position of the lower robot, the surrounding visible light image and the corresponding temperature map information.
The implementation steps of the fourth step are as follows:
6. the method comprises the steps that a target inspection point is input into a Windows upper computer and sent, a lower computer robot runs a navigation node started before after receiving the target inspection point, a dynamic window algorithm is utilized to dynamically avoid obstacles for workers and equipment in a coal mine underground roadway in the navigation process, and the current running position, running track and visible light and temperature information of the surrounding environment of the lower computer robot are fed back in real time.
7. In the running process of the lower computer, the upper computer controls the dual-channel camera to perform up, down, left and right actions, so that the environment information of the current front, back, left, right, up and down 6 directions of the lower computer robot is obtained and sent to the upper computer of Windows.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. An underground autonomous inspection method for a coal mine is applied to an underground autonomous inspection system for the coal mine, and is characterized by comprising the following steps: the device comprises a lower computer robot, a double-channel camera, a large-range local area network generating device and a Windows upper computer;
the lower computer robot, the double-channel camera and the Windows upper computer are respectively connected with the large-range local area network generating device;
the lower computer robot is used for constructing an underground coal mine environment map in real time, positioning navigation and data transmission;
the dual-channel camera is used for collecting the underground environment and the current temperature information of the coal mine in real time;
the large-range local area network generating device is used for placing the lower computer robot, the double-channel camera and the Windows upper computer under the same network segment;
the Windows upper computer monitors the position, track and surrounding environment information of the special mobile robot and issues a target inspection point;
the Windows upper computer is a Windows platform general program and is used for receiving current position information, running track information, visible light information and environmental temperature information of the lower computer robot, giving out an over-temperature alarm, issuing a target inspection point of the lower computer robot in an automatic and manual mode, and controlling the double-channel camera to perform up, down, left and right actions;
the lower computer robot is internally provided with an ROS-notify program, and the lower computer robot communicates with the Windows upper computer through the ROS-notify program;
the method comprises the following steps:
step one: setting a large-range local area network generating device at the corner of a coal mine underground roadway and at an important intersection, connecting a lower computer robot, a 16-line laser radar, a double-channel camera and a Windows upper computer to the same network section through the large-range local area network generating device, and setting respective IP addresses as static IP;
step two: acquiring a visible light image of the underground coal mine based on the two-channel camera;
step three: the Windows upper computer controls the lower computer robot to build a map in a coal mine underground roadway based on the visible light image, and a roadway map is obtained;
step four: the Windows upper computer issues inspection point information and controls the lower computer robot to carry out inspection;
in the process of controlling the lower computer robot to carry out inspection, carrying out dynamic obstacle avoidance based on a dynamic window algorithm, and feeding back the current running position and running track of the lower computer robot and visible light and temperature information of the surrounding environment in real time;
the specific implementation steps of the first step are as follows:
correctly installing a large-range local area network generating device at the corner of an underground roadway of the coal mine and at an important intersection, testing the range and the strength of a network signal, and performing the next step when the network signal strength covers the whole underground inspection area of the coal mine;
before the lower computer robot starts to build the graph, the lower computer robot, the two-channel camera and the Windows upper computer are required to be correctly arranged under the local area network which is already arranged in the last step, and the IP addresses of the lower computer robot, the two-channel camera and the Windows upper computer are set as static addresses;
the specific implementation steps of the second step are as follows:
entering an ROS-node system of a lower computer robot, sequentially starting a lower computer robot control node, an inertial navigation unit node, a laser radar node, a Monte Carlo positioning node and a cartographer graph building node, and simultaneously starting a camera node of a Windows upper computer; after each node is successfully started, an operator remotely controls a lower computer robot to build a map in a coal mine underground roadway according to a visible light image received by an upper computer, and a newly built map is required to be stored after the completion of the map building;
filtering and removing noise points from the map built in the previous step, writing the processed map into a navigation node as a parameter, and correctly setting the parameter of the navigation node according to the actual environment of the underground tunnel of the coal mine and the geometric parameter of the trolley;
the specific implementation steps of the third step are as follows:
firstly, starting a Windows upper computer communication program, then starting a lower computer robot communication node and a navigation node, and after the starting is successful, reading the current position coordinate of the lower computer robot by the Windows upper computer; the Windows upper computer displays the current position of the lower computer robot, the surrounding visible light image and the corresponding temperature map information;
the implementation steps of the fourth step are as follows:
inputting and transmitting a target inspection point by a Windows upper computer, running a navigation node started before after the lower computer robot receives the target inspection point, dynamically avoiding obstacles for staff and equipment in a coal mine underground roadway by using a dynamic window algorithm in the navigation process, and feeding back the current running position and running track of the lower computer robot and visible light and temperature information of surrounding environment in real time;
in the running process of the lower computer, the upper computer controls the dual-channel camera to perform up, down, left and right actions, so that the environment information of the current front, back, left, right, up and down 6 directions of the lower computer robot is obtained and sent to the upper computer of Windows.
2. The underground coal mine autonomous inspection method according to claim 1, wherein the lower computer is a differential crawler-type mobile robot and is provided with sensors such as 16-line laser radar, an inertial navigation unit, an odometer and the like; the lower computer robot adopts a Kalman filtering algorithm, a Monte Carlo positioning algorithm, a cartographer algorithm and a dynamic window method to perform self-positioning, autonomous navigation and real-time construction of the underground coal mine environment map.
3. The underground coal mine autonomous inspection method according to claim 1, wherein data exchange is carried out between the lower computer robot and the Windows upper computer by adopting a socket communication technology, and a socket program of the lower computer robot is embedded into a system as a subfunction of ROS-notify.
4. The underground coal mine autonomous inspection method according to claim 1, wherein the two-channel camera comprises a visible light channel and an infrared channel camera which are both arranged right in front of the lower computer robot, and the two-channel camera is used for performing rotation actions in the upper direction, the lower direction, the left direction and the right direction based on a camera open source development tool and is used for visible light imaging and infrared temperature measurement of underground coal mine environments.
5. The underground coal mine autonomous inspection method according to claim 1, wherein the large-range local area network generating device comprises an industrial ethernet switch, a wireless router and a network relay unit;
the industrial Ethernet switch and the wireless router are arranged on the lower computer robot and are used for placing the lower computer robot and the double-channel camera under the same local area network and generating a wireless local area network;
the network relay unit is arranged at the corner and the intersection of the underground roadway of the coal mine and is used for enhancing and amplifying the wireless local area network signal and placing the Windows upper computer under the same local area network.
6. The underground coal mine autonomous inspection method according to claim 1, wherein in the process of controlling the lower computer robot to conduct inspection, the two-channel camera is controlled to conduct up, down, left and right movements, and visible light image information and temperature information of surrounding environments are obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311234927.7A CN116988837B (en) | 2023-09-25 | 2023-09-25 | Underground autonomous inspection system and method for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311234927.7A CN116988837B (en) | 2023-09-25 | 2023-09-25 | Underground autonomous inspection system and method for coal mine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116988837A CN116988837A (en) | 2023-11-03 |
| CN116988837B true CN116988837B (en) | 2024-04-05 |
Family
ID=88525077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311234927.7A Active CN116988837B (en) | 2023-09-25 | 2023-09-25 | Underground autonomous inspection system and method for coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116988837B (en) |
Citations (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555032A (en) * | 2003-12-23 | 2004-12-15 | 姚鸿熙 | Real time remote distance monitoring system for safety production |
| RU2009101279A (en) * | 2009-01-16 | 2010-07-27 | Андрей Викторович Демидюк (RU) | MINING SYSTEM FOR MONITORING, NOTIFICATION AND DETERMINATION OF THE LOCATION OF MINES |
| CN102053594A (en) * | 2009-11-05 | 2011-05-11 | 朱海安 | Underground environment monitoring system |
| KR20120076494A (en) * | 2010-11-26 | 2012-07-09 | 주식회사 휴텍이일 | Mine safety surveilance system |
| CN103244189A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground network restoration and reconstruction method based on swarm robot system |
| CN204297587U (en) * | 2014-11-06 | 2015-04-29 | 徐州中矿大华洋通信设备有限公司 | Mine leather belt Multifunctional mobile inspection device |
| CN105569735A (en) * | 2016-02-25 | 2016-05-11 | 中国矿业大学(北京) | Underground robot communication control system based on Wifi |
| CN206533466U (en) * | 2016-08-30 | 2017-09-29 | 南京双京电器集团有限公司 | A kind of underground coal mine video camera and coal mine underground monitoring system |
| CN207037466U (en) * | 2017-07-11 | 2018-02-23 | 成都理工大学 | A kind of visual detection robot system applied to underground coal mine |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
| CN208858410U (en) * | 2018-10-17 | 2019-05-14 | 唐山东润自动化工程技术有限公司 | Full-automatic mine cruising inspection system |
| CN109976345A (en) * | 2019-04-02 | 2019-07-05 | 安徽延达智能科技有限公司 | A kind of Camera calibration of crusing robot in underground complex environment |
| CN110941239A (en) * | 2019-12-17 | 2020-03-31 | 中国矿业大学 | Deep mine environment monitoring robot system and monitoring method |
| CN111510640A (en) * | 2020-04-08 | 2020-08-07 | 招商局重庆交通科研设计院有限公司 | Inspection system for vertical shaft of traffic tunnel |
| CN112306095A (en) * | 2020-11-03 | 2021-02-02 | 山西银锋科技有限公司 | Unmanned aerial vehicle tunnel inspection system for underground coal mine |
| CN112855266A (en) * | 2020-12-31 | 2021-05-28 | 北京天地玛珂电液控制系统有限公司 | Intelligent monitoring and autonomous cooperative follow machine device of coal mining machine and inspection platform system |
| CN113047909A (en) * | 2021-05-05 | 2021-06-29 | 中国矿业大学 | All-dimensional inspection wheeled robot for underground roadway and underground chamber and control method thereof |
| CN113447075A (en) * | 2021-06-10 | 2021-09-28 | 煤炭科学技术研究院有限公司 | System and method for monitoring running state of coal mine inspection robot |
| CN113485325A (en) * | 2021-06-16 | 2021-10-08 | 重庆工程职业技术学院 | SLAM mapping and autonomous navigation method for underground coal mine water pump house inspection robot |
| CN113625754A (en) * | 2021-08-06 | 2021-11-09 | 苏州荷清智能科技有限公司 | Unmanned aerial vehicle and system of patrolling and examining based on coal mine environment |
| WO2022037278A1 (en) * | 2020-08-19 | 2022-02-24 | 广西电网有限责任公司贺州供电局 | Substation inspection robot system based on artificial intelligence |
| CN114454139A (en) * | 2022-03-07 | 2022-05-10 | 华夏天信(北京)机器人有限公司 | Hang rail and patrol and examine robot system |
| CN114527763A (en) * | 2022-02-28 | 2022-05-24 | 合肥工业大学 | Intelligent inspection system and method based on target detection and SLAM composition |
| CN216670540U (en) * | 2021-12-09 | 2022-06-03 | 郑州煤矿机械集团股份有限公司 | Controller of mining inspection device and mining inspection system |
| CN216803450U (en) * | 2022-01-17 | 2022-06-24 | 太原科技大学 | Crawler-type coal mine inspection robot based on edge calculation box |
| CN114756033A (en) * | 2022-06-13 | 2022-07-15 | 山西科达自控股份有限公司 | Method for inspecting underground water-permeable robot along pipeline |
| CN114841260A (en) * | 2022-04-28 | 2022-08-02 | 西安交通大学 | Mine underground multi-sensor information fusion autonomous obstacle avoidance navigation method |
| WO2022170806A1 (en) * | 2021-02-09 | 2022-08-18 | 灵动科技（北京）有限公司 | Mapping method and apparatus, navigation method and apparatus, electronic device, and readable storage medium |
| CN115008474A (en) * | 2022-07-21 | 2022-09-06 | 宁波硅步矿山智能装备有限公司 | Control system of coal mine inspection robot |
| CN115256414A (en) * | 2022-07-21 | 2022-11-01 | 中国矿业大学 | Mining drilling robot and coupling operation method of mining drilling robot and geological and roadway models |
| CN115728776A (en) * | 2022-09-07 | 2023-03-03 | 应急管理部信息研究院 | Underground coal mine mobile measurement robot, safety evaluation method and system |
| CN115937213A (en) * | 2023-02-16 | 2023-04-07 | 淮北矿业股份有限公司 | Visual defect identification system of automatic inspection robot for mining monorail crane track |
| CN116787438A (en) * | 2023-06-30 | 2023-09-22 | 中国科学院沈阳自动化研究所 | Teleoperation inspection robot control system and control method based on TSN |
-
2023
- 2023-09-25 CN CN202311234927.7A patent/CN116988837B/en active Active
Patent Citations (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1555032A (en) * | 2003-12-23 | 2004-12-15 | 姚鸿熙 | Real time remote distance monitoring system for safety production |
| RU2009101279A (en) * | 2009-01-16 | 2010-07-27 | Андрей Викторович Демидюк (RU) | MINING SYSTEM FOR MONITORING, NOTIFICATION AND DETERMINATION OF THE LOCATION OF MINES |
| CN102053594A (en) * | 2009-11-05 | 2011-05-11 | 朱海安 | Underground environment monitoring system |
| KR20120076494A (en) * | 2010-11-26 | 2012-07-09 | 주식회사 휴텍이일 | Mine safety surveilance system |
| CN103244189A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground network restoration and reconstruction method based on swarm robot system |
| CN204297587U (en) * | 2014-11-06 | 2015-04-29 | 徐州中矿大华洋通信设备有限公司 | Mine leather belt Multifunctional mobile inspection device |
| CN105569735A (en) * | 2016-02-25 | 2016-05-11 | 中国矿业大学(北京) | Underground robot communication control system based on Wifi |
| CN206533466U (en) * | 2016-08-30 | 2017-09-29 | 南京双京电器集团有限公司 | A kind of underground coal mine video camera and coal mine underground monitoring system |
| CN207037466U (en) * | 2017-07-11 | 2018-02-23 | 成都理工大学 | A kind of visual detection robot system applied to underground coal mine |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
| CN208858410U (en) * | 2018-10-17 | 2019-05-14 | 唐山东润自动化工程技术有限公司 | Full-automatic mine cruising inspection system |
| CN109976345A (en) * | 2019-04-02 | 2019-07-05 | 安徽延达智能科技有限公司 | A kind of Camera calibration of crusing robot in underground complex environment |
| CN110941239A (en) * | 2019-12-17 | 2020-03-31 | 中国矿业大学 | Deep mine environment monitoring robot system and monitoring method |
| CN111510640A (en) * | 2020-04-08 | 2020-08-07 | 招商局重庆交通科研设计院有限公司 | Inspection system for vertical shaft of traffic tunnel |
| WO2022037278A1 (en) * | 2020-08-19 | 2022-02-24 | 广西电网有限责任公司贺州供电局 | Substation inspection robot system based on artificial intelligence |
| CN112306095A (en) * | 2020-11-03 | 2021-02-02 | 山西银锋科技有限公司 | Unmanned aerial vehicle tunnel inspection system for underground coal mine |
| CN112855266A (en) * | 2020-12-31 | 2021-05-28 | 北京天地玛珂电液控制系统有限公司 | Intelligent monitoring and autonomous cooperative follow machine device of coal mining machine and inspection platform system |
| WO2022170806A1 (en) * | 2021-02-09 | 2022-08-18 | 灵动科技（北京）有限公司 | Mapping method and apparatus, navigation method and apparatus, electronic device, and readable storage medium |
| CN113047909A (en) * | 2021-05-05 | 2021-06-29 | 中国矿业大学 | All-dimensional inspection wheeled robot for underground roadway and underground chamber and control method thereof |
| CN113447075A (en) * | 2021-06-10 | 2021-09-28 | 煤炭科学技术研究院有限公司 | System and method for monitoring running state of coal mine inspection robot |
| CN113485325A (en) * | 2021-06-16 | 2021-10-08 | 重庆工程职业技术学院 | SLAM mapping and autonomous navigation method for underground coal mine water pump house inspection robot |
| CN113625754A (en) * | 2021-08-06 | 2021-11-09 | 苏州荷清智能科技有限公司 | Unmanned aerial vehicle and system of patrolling and examining based on coal mine environment |
| CN216670540U (en) * | 2021-12-09 | 2022-06-03 | 郑州煤矿机械集团股份有限公司 | Controller of mining inspection device and mining inspection system |
| CN216803450U (en) * | 2022-01-17 | 2022-06-24 | 太原科技大学 | Crawler-type coal mine inspection robot based on edge calculation box |
| CN114527763A (en) * | 2022-02-28 | 2022-05-24 | 合肥工业大学 | Intelligent inspection system and method based on target detection and SLAM composition |
| CN114454139A (en) * | 2022-03-07 | 2022-05-10 | 华夏天信(北京)机器人有限公司 | Hang rail and patrol and examine robot system |
| CN114841260A (en) * | 2022-04-28 | 2022-08-02 | 西安交通大学 | Mine underground multi-sensor information fusion autonomous obstacle avoidance navigation method |
| CN114756033A (en) * | 2022-06-13 | 2022-07-15 | 山西科达自控股份有限公司 | Method for inspecting underground water-permeable robot along pipeline |
| CN115008474A (en) * | 2022-07-21 | 2022-09-06 | 宁波硅步矿山智能装备有限公司 | Control system of coal mine inspection robot |
| CN115256414A (en) * | 2022-07-21 | 2022-11-01 | 中国矿业大学 | Mining drilling robot and coupling operation method of mining drilling robot and geological and roadway models |
| CN115728776A (en) * | 2022-09-07 | 2023-03-03 | 应急管理部信息研究院 | Underground coal mine mobile measurement robot, safety evaluation method and system |
| CN115937213A (en) * | 2023-02-16 | 2023-04-07 | 淮北矿业股份有限公司 | Visual defect identification system of automatic inspection robot for mining monorail crane track |
| CN116787438A (en) * | 2023-06-30 | 2023-09-22 | 中国科学院沈阳自动化研究所 | Teleoperation inspection robot control system and control method based on TSN |
Non-Patent Citations (6)
| Title |
|---|
| 井下工作面巡检机器人控制器的研究;武达;《中国优秀硕士论文全文库工程科技I辑》(第7期);全文 * |
| 基于ROS的履带式移动机器人系统设计与自主导航研究;张武屹;《中国优秀硕士论文全文库信息科技》(第6期);1-71 * |
| 王彬华.《计算机网络技术》.电子科技大学出版社,2004,(第1版),84. * |
| 矿井复杂危险环境侦测机器人研究应用;谭震;《 能源与环保》;第45卷(第1期);全文 * |
| 赵杰.《智能机器人技术：安保、巡逻、处置类警用机器人研究实践》.机械工业出版社,2021,(第1版),138. * |
| 轮式巡检机器人GPS定位导航与远程监控技术研究;张珍珍;《中国优秀硕士论文全文库信息科技》(第1期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116988837A (en) | 2023-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105466421B (en) | Mobile robot autonomous cruise method towards reliable WIFI connections | |
| CN103867205B (en) | A kind of development machine tele-control system and method | |
| CN111968262B (en) | Semantic intelligent substation inspection operation robot navigation system and method | |
| CN103235562B (en) | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting | |
| AU2016210668B2 (en) | Navigation of mining machines | |
| CN109683609B (en) | Intelligent power inspection system and method | |
| CN109839951B (en) | System and method for generating unmanned aerial vehicle autonomous tracking path model | |
| CN111624641A (en) | Explosion-proof type intelligent inspection robot for oil depot area | |
| CN113325837A (en) | Control system and method for multi-information fusion acquisition robot | |
| CN111813130A (en) | Autonomous navigation obstacle avoidance system of intelligent patrol robot of power transmission and transformation station | |
| CN105634815A (en) | Intelligent ODN (Optical Distribution Network) equipment management system and method applied to ODN | |
| CN115793649B (en) | Automatic cable pit inspection device and inspection method | |
| CN113075686B (en) | Cable trench intelligent inspection robot graph building method based on multi-sensor fusion | |
| CN102566552B (en) | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS | |
| Chataigner et al. | Arsi: an aerial robot for sewer inspection | |
| CN112033400A (en) | Intelligent positioning method and system for coal mine mobile robot based on combination of strapdown inertial navigation and vision | |
| Mao et al. | Virtual laser target board for alignment control and machine guidance in tunnel-boring operations | |
| CN116988837B (en) | Underground autonomous inspection system and method for coal mine | |
| CN212515475U (en) | Autonomous navigation obstacle avoidance system of intelligent patrol robot of power transmission and transformation station | |
| CN113110534A (en) | Unmanned aerial vehicle control and perception system | |
| Shen et al. | Tunnel boring machine positioning automation in tunnel construction | |
| CN110058587B (en) | Coal mine fully-mechanized mining face inspection unmanned vehicle based on SLAM technology and autonomous inspection method | |
| Jianguo et al. | Embedded control system design for coal mine detect and rescue robot | |
| CN113002540B (en) | Mining dump truck control method and device | |
| CN210072405U (en) | Unmanned aerial vehicle cooperative control verification platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |