CN117572812B - Underground environment flight and ground cooperative monitoring robot and application method thereof - Google Patents
Underground environment flight and ground cooperative monitoring robot and application method thereof Download PDFInfo
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- CN117572812B CN117572812B CN202410063332.8A CN202410063332A CN117572812B CN 117572812 B CN117572812 B CN 117572812B CN 202410063332 A CN202410063332 A CN 202410063332A CN 117572812 B CN117572812 B CN 117572812B
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- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 65
- 238000003825 pressing Methods 0.000 claims description 21
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to a monitoring robot with cooperative underground environment flight and ground and a use method thereof, belonging to the technical field of coal mining environment safety monitoring. The robot comprises a driving device, a monitoring device, an unmanned aerial vehicle obstacle crossing device, a landing information processing module and a signal processing module, wherein the unmanned aerial vehicle obstacle crossing device is symmetrically arranged on the upper side of the driving device, the monitoring device is arranged in the middle of the upper side of the driving device, the monitoring device and the unmanned aerial vehicle obstacle crossing device are all connected with the signal processing module, and the signal processing module and the landing information processing module are arranged on the upper side of the driving device. The invention can go deep into the dangerous area of the tunnel through remote control, replace the basic parameters such as gas concentration, wind speed, temperature, etc., and monitor the internal environment condition of the mine in real time, meanwhile, consider the internal environment of the mine complex, the space is limited, make further improvement to the overall structure of the robot, make it have high obstacle crossing performance, move more flexibly.
Description
Technical Field
The invention relates to a monitoring robot with cooperative underground environment flight and ground and a use method thereof, belonging to the technical field of coal mining environment safety monitoring.
Background
In the production period of coal mining, in order to ensure the life safety and the operation efficiency of mine workers, professionals are required to enter the bottom of a mine in advance, and the ventilation condition, the gas concentration of the bottom area of the mine, the illumination condition of a working area and the surrounding environment are checked one by one, so that no potential safety hazard is ensured. However, prior to entering the mine, the situation inside the mine is unknown, and although the professional has relevant safety knowledge, there is still a risk of life safety being injured.
In the prior art, chinese patent document CN110941239B discloses a deep mine environment monitoring robot system and a monitoring method, and belongs to the field of intelligent monitoring of coal mines. The robot system comprises an environment monitoring robot, an environment monitoring robot remote workstation and a mining wireless communication network. The environment monitoring robot remote workstation comprises a mining intrinsic safety type computer, a display and an operation console, and the environment monitoring robot remote workstation communicate through a mining wireless communication network. The environment monitoring robot adopts a wheel type intelligent trolley structure and consists of a trolley frame, a main controller, a driving mechanism, a temperature and humidity sensor, a gas detection sensor, a laser radar, a TOF depth camera, an obstacle sensor, a deformation scanning mechanism, an RFID tag and a ZigBee wireless data transmission module. The robot is driven by a conventional trolley to walk, and has weak obstacle avoidance capability.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the underground environment flight and ground cooperative monitoring robot, which can go deep into a roadway dangerous area through remote control to replace manual detection of basic parameters such as gas concentration, wind speed, temperature and the like, monitor the condition of the internal environment of a mine in real time, further improve the overall structure of the robot by considering the complex internal environment of the mine and limited space, ensure that the robot has high obstacle crossing performance and more flexible movement, and the unique single gear transmission system can be matched with the self movement route memory function to return according to the original route, thereby ensuring the safety of the robot and avoiding damage to the robot due to improper operation.
The invention also provides a use method of the underground environment flight and ground cooperative monitoring robot.
The technical scheme of the invention is as follows:
the underground environment flight and ground cooperative monitoring robot comprises a driving device, a monitoring device, an unmanned aerial vehicle obstacle crossing device, a landing information processing module and a signal processing module, wherein the unmanned aerial vehicle obstacle crossing device is symmetrically arranged on the upper side of the driving device, the monitoring device is arranged in the middle of the upper side of the driving device, the monitoring device and the unmanned aerial vehicle obstacle crossing device are all connected with the signal processing module, and the signal processing module and the landing information processing module are arranged on the upper side of the driving device;
the unmanned aerial vehicle obstacle crossing device comprises a foldable wing plate, a middle connecting plate, an unmanned aerial vehicle propeller, a folding pressing plate, a linkage rod, a T-shaped rack and a gear driving motor, wherein the middle connecting plate is fixed on a driving device, the two sides of the middle connecting plate are respectively hinged with the foldable wing plate through hinges, the inner side of the foldable wing plate is also connected with the middle connecting plate through a contraction spring, the unmanned aerial vehicle propeller is arranged on the outer side of the foldable wing plate, a groove penetrating through the middle part of the foldable wing plate and the middle connecting plate is formed in the middle of the foldable wing plate, a sliding groove is vertically formed in the middle position of the groove, the T-shaped rack is slidingly arranged in the sliding groove, the two sides of one end of the T-shaped rack are respectively connected with the folding pressing plate through the linkage rod, the gear driving motor is fixedly arranged on the middle connecting plate through a motor frame, and the gear driving motor is connected with the other end of the T-shaped rack through driving gear engagement.
According to the invention, the unmanned aerial vehicle propeller comprises a rotating propeller, a connecting rod, a driving motor, an infrared ranging sensor A and a connecting bottom plate, wherein the connecting bottom plate is fixed on a wing plate of the foldable aerial vehicle, the upper side of the connecting bottom plate is connected with the connecting rod through the driving motor, the rotating propeller is arranged on the connecting rod, the infrared ranging sensor A is circumferentially arranged on the outer side of a driving motor shell and used for detecting the distance between the unmanned aerial vehicle propeller and a peripheral wall when the unmanned aerial vehicle propeller works, the collision is avoided, the damage is avoided, a cover cap is further arranged on the top of the connecting rod, and the cover cap is rotationally connected with the connecting rod through internal threads, so that the connection between the rotating propeller and the connecting rod is firmer and more reliable.
According to the invention, the floor type information processing module comprises an information processing unit, a telescopic electric push rod, a front end information acquisition device and a mounting plate, wherein the mounting plate is fixed on the side of the driving device, the telescopic electric push rod is arranged on the outer side of the mounting plate, the front end information acquisition device is arranged on the telescopic electric push rod, the information processing unit is arranged on the inner side of the mounting plate, and the information processing unit is respectively connected with the front end information acquisition device and the signal processing module.
According to the invention, the front-end information acquisition device further preferably comprises a connecting plate, a device bearing plate, a front-end lighting device, an infrared ranging sensor B, a camera acquisition device and a gas sensor A, wherein the front-end lighting device, the infrared ranging sensor B, the camera acquisition device and the gas sensor A are arranged on the device bearing plate, and the device bearing plate is fixed on the telescopic electric push rod through the connecting plate. The front-end information acquisition device illuminates road conditions through the front-end lighting device, the infrared ranging sensor B and the camera shooting acquisition device adopt ground information, the gas sensor A prepares for the robot to land, before the robot lands, the robot monitoring device does not start working, if the robot detects that the gas concentration is too high before the robot lands, warning information is immediately transmitted back, and meanwhile, if the warning value is too high, the robot stops working next and returns to the road surface for protecting the safety of the robot.
According to the invention, the driving device comprises wheels, an explosion-proof driving motor, a driving bevel gear, an upper cover plate, a protective shell and a transmission long shaft, wherein the explosion-proof driving motor is arranged on the lower side of the upper cover plate through an explosion-proof motor support, an output shaft of the explosion-proof driving motor is connected with a straight gear in the middle of the transmission long shaft through gear engagement, the transmission long shaft is fixed on the upper cover plate through a bearing seat, the driving bevel gears are respectively arranged at two ends of the transmission long shaft, the driving bevel gears are respectively connected with the wheels through transmission mechanisms, and the protective shell is arranged on the lower side of the upper cover plate and used for protecting internal devices.
According to the invention, the transmission mechanism further preferably comprises a clutch, a driven bevel gear, a transmission short shaft A and a transmission short shaft B, wherein the driven bevel gear is connected with a driving bevel gear in a meshed manner, the driven bevel gear is connected with one side of the clutch through the transmission short shaft A, the other side of the clutch is connected with wheels through the transmission short shaft B, the clutch is fixed on the upper cover plate through a clutch bracket, the middle part of the transmission short shaft A is fixed on the protective shell through a bearing seat A, and the middle part of the transmission short shaft B is fixed on the upper cover plate through the bearing seat B, so that the integral connection strength of the transmission mechanism is ensured.
According to the invention, the monitoring device comprises a groove sliding rail, a T-shaped sliding block, a gas sensor B, a temperature sensor, an air speed sensor and an illumination sensor, wherein the groove sliding rail is fixed on the driving device, the T-shaped sliding block is arranged in the groove sliding rail, and the gas sensor B, the temperature sensor, the air speed sensor and the illumination sensor are arranged at the top of the T-shaped sliding block.
According to the invention, the monitoring device is further preferably sleeved with a protective cover, an explosion-proof motor is fixedly arranged in the protective cover, a transmission gear is arranged on an output shaft of the explosion-proof motor, a tooth slot is arranged on the T-shaped sliding block, the transmission gear is connected with the tooth slot in a meshed mode, and the T-shaped sliding block is driven to move up and down through the transmission gear.
The using method of the underground environment flight and ground cooperative monitoring robot comprises the following steps:
(1) When the underground environment monitoring is needed, the unmanned aerial vehicle propeller is started to drive the robot to enter the underground, the infrared ranging sensor A monitors the distance between the robot and the well wall and transmits acquired data to the signal processing module, the signal processing module processes and analyzes the acquired data, if the distance is within a safe range, the robot keeps normal running and moves along an original preset track, and safely lands, if the distance is smaller than a set value, the moving route of the robot is adjusted, and the robot moves in an adjusting way in the opposite direction of approaching to the well wall;
(2) After the robot falls, the floor information processing module starts to work, the telescopic electric push rod stretches out the front-end information acquisition device, the infrared ranging sensor B measures the height between the robot and the ground, when the distance reaches a set early warning value, the falling speed of the robot is reduced, the robot lands more stably, the image pickup acquisition device acquires road information, and the road information is sent to the information processing unit for decision making or fed back to the manual operation end for landing point selection;
(3) After the robot arrives underground, the gear driving motor is started to rotate to drive the T-shaped rack to move along the sliding groove of the middle connecting plate, the folding pressing plate is driven to move along the groove to the middle connecting plate through the linkage rod, when the folding pressing plate is completely positioned on the middle connecting plate, the folding wing plate rotates around the hinge due to the tensioning effect of the contraction spring, and the folding wing plate contracts, so that the phenomenon that the span is too wide and the walking is influenced is avoided;
(4) The driving device is started, the explosion-proof driving motor rotates to drive the transmission long shaft to rotate, the transmission long shaft transmits rotation to the wheels through the transmission mechanism to drive the robot to advance, meanwhile, the monitoring device is opened, the T-shaped sliding block stretches out, and the gas sensor B, the wind speed sensor, the temperature sensor and the illumination sensor acquire information and transmit the information to the signal processing module to monitor underground environment information in real time;
(5) In the monitoring process, if encountering an obstacle incapable of being crossed, the gear driving motor reversely rotates to drive the folding pressing plate to move towards the foldable wing plate, when the folding pressing plate is positioned on the wing plate of the foldable machine, the contraction spring is pulled away, the foldable wing plate is unfolded, then the unmanned aerial vehicle propeller is started to drive the robot to fly over the obstacle, then the foldable wing plate is contracted, the driving device is continuously started to monitor until the foldable wing plate is unfolded after the monitoring is completed, and the unmanned aerial vehicle propeller is started to drive the robot to fly back.
According to the invention, in the step (4), for convenience of description, the 4 wheels are respectively a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the robot starts to advance when the robot advances, the clutch between the right front wheel and the left rear wheel is closed, the clutch between the left front wheel and the right rear wheel is opened, and only the right front wheel and the left rear wheel are driven;
when the robot is in backward movement, the clutch of the left front wheel and the clutch of the right rear wheel are closed, the clutch of the right front wheel and the clutch of the left rear wheel are opened, only the left front wheel and the right rear wheel are driven, and the robot starts to be in backward movement;
when the robot turns right, only the clutch of the left rear wheel is closed, the other clutches are all opened, only the left rear wheel is driven by the driving force, and the robot can realize forward right turning because the robot is only stressed on one side;
when the robot turns left, only the clutch of the front right wheel is closed, the other clutches are all opened, only the front right wheel is driven by the driving force, and the robot can realize the forward left turning because the robot is only stressed on one side;
when the robot is in a backward right turn, only the clutch of the left front wheel is closed, the other clutches are all opened, and only the left front wheel is driven by the driving force, and the robot is only stressed on one side, so that the robot can realize the backward right turn;
when the robot is in a backward left turn, only the clutch of the right rear wheel is closed, the other clutches are all opened, and only the right rear wheel is driven by the driving force, so that the robot can realize the backward left turn because the robot is only stressed on one side;
when the robot needs to be stationary to monitor the environment of a certain position in real time, all clutches are opened, all wheels are not subjected to any driving force, and the stationary state is maintained.
The invention has the beneficial effects that:
1. the invention provides a monitoring robot with cooperative underground environment flight and ground, which can go deep into a roadway dangerous area by remote control, replace manual detection of basic parameters such as gas concentration, wind speed, temperature and the like, monitor the condition of the internal environment of a mine in real time, further improve the whole structure of the robot by considering the complex internal environment of the mine and limited space, ensure that the robot has high obstacle crossing performance, more flexible movement and a unique single gear transmission system, can cooperate with the self movement route memory function, return according to the original route, ensure the safety of the robot and avoid damage to the robot due to improper operation.
2. The invention also comprises a driving device and an unmanned aerial vehicle obstacle crossing device, when the unmanned aerial vehicle obstacle crossing device is in a monitoring working state, the driving device mainly works, and when the unmanned aerial vehicle obstacle crossing device enters a mine, leaves the mine or encounters an obstacle which is difficult to be crossed by the driving device, the foldable unmanned aerial vehicle obstacle crossing device works to drive the robot to cross the obstacle.
3. The driving device provided by the invention provides power, the driving device can keep a rotating state all the time after being started, and the unique gear transmission mechanism controls the running of the robot, so that the robot can realize 7 working states of forward, backward, forward right-turn, forward left-turn, backward right-turn, backward left-turn and static, the explosion-proof driving motor does not need to start or stop or change steering, the possibility of erasing spark is reduced, the explosion-triggering danger is avoided, and the unique gear transmission mechanism of the driving device enables the robot to have no front and rear parts in a strict sense, and the running and the backward are as flexible and convenient as the running.
4. The obstacle surmounting device of the unmanned aerial vehicle is in an unfolding shape in a working state, and when the obstacle surmounting device stops working and enters a monitoring state, wings can be folded, so that the size is reduced, collision is avoided, and the flexibility of the robot is increased.
5. The front-end information acquisition device is also provided with the gas sensor A, the gas sensor A prepares for the robot to land, before the robot lands, the robot monitoring device does not start working, if the robot detects that the gas concentration is too high before the robot lands, warning information is immediately transmitted back, and meanwhile, if the gas concentration is too high, the robot stops working next and returns to the road surface if the gas concentration exceeds an early warning value to be too large, so that the safety of the robot is protected.
6. The invention can collect various underground environment information at the same time, process the data of the collected information, make feedback, analyze various indexes of underground environment, obtain the safety coefficient, and provide guarantee for the personal safety of mine workers.
7. The infrared ranging sensors A are arranged around the obstacle surmounting device of the unmanned aerial vehicle, can send signals to four directions, monitor the distance between the robot and the well wall in real time, ensure that the robot is in a safe position, and avoid the situation that the robot collides with the well wall to wipe sparks and cause explosion and crash.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the wing in a contracted configuration of the present invention;
FIG. 3 is a schematic view of the obstacle surmounting device of the unmanned plane;
FIG. 4 is a schematic diagram of a driving apparatus according to the present invention;
FIG. 5 is a schematic view of the propeller structure of the present invention;
FIG. 6 is a schematic diagram of a monitoring device according to the present invention;
FIG. 7 is a schematic diagram of a floor information processing module according to the present invention;
FIG. 8 is a schematic diagram of a transmission mechanism according to the present invention;
FIG. 9 is a schematic diagram of a front end information acquisition device according to the present invention;
FIG. 10 is a schematic view of a protective cover according to the present invention;
wherein: 1. a driving device; 2. obstacle surmounting device for unmanned plane; 3. a monitoring device; 4. a signal processing module; 5. a wing folding control mechanism; 6. a road condition recognition memory system; 7. a floor information processing module; 8. unmanned aerial vehicle screw; 9. a foldable machine wing panel; 10. folding the pressing plate; 11. a linkage rod; 12. a middle connecting plate; 13. a hinge; 14. a gear driving motor; 15. a motor frame; 16. a drive gear; 17. a T-shaped rack; 18. a retraction spring; 19. a wheel; 20. an information processing unit; 21. an explosion-proof driving motor; 22. a drive bevel gear; 23. an upper cover plate; 24. a clutch bracket; 25. a driven bevel gear; 26. a transmission long shaft; 27. an explosion-proof motor bracket; 28. spur gears; 29. a transmission short shaft A; 30. a protective shell; 31. rotating the paddle; 32. capping; 33. a connecting rod; 34. a driving motor; 35. an infrared ranging sensor A; 36. a connecting bottom plate; 37. a groove slide rail; 38. a T-shaped slider; 39. a gas sensor B; 40. a wind speed sensor; 41. an illumination sensor; 42. a front-end information acquisition device; 43. a telescopic electric push rod; 44. a mounting plate; 45. an explosion-proof motor, 46 and a protective cover; 47. a transmission gear; 48. a connecting plate; 49. a device carrier plate; 50. a front end lighting device; 51. an infrared ranging sensor B; 52. a camera acquisition device; 53. a gas sensor A; 54. a bearing seat A; 55. a clutch; 56. a bearing; 57. a bearing seat B; 58. the transmission short shaft B.
Detailed Description
The invention will now be further illustrated by way of example, but not by way of limitation, with reference to the accompanying drawings.
Example 1:
the underground environment flight and ground cooperative monitoring robot comprises a driving device 1, a monitoring device 3, an unmanned aerial vehicle obstacle crossing device 2, a landing information processing module 7 and a signal processing module 4, wherein the unmanned aerial vehicle obstacle crossing device 2 is symmetrically arranged on the upper side of the driving device 1, the monitoring device 3 is arranged in the middle of the upper side of the driving device 1, the monitoring device 3 and the unmanned aerial vehicle obstacle crossing device 2 are connected with the signal processing module 4, and the signal processing module 4 and the landing information processing module 7 are arranged on the upper side of the driving device 1;
the unmanned aerial vehicle obstacle crossing device 2 includes collapsible wing plate 9, intermediate junction plate 12, unmanned aerial vehicle screw 8, folding clamp plate 10, the trace 11, T type rack 17 and gear drive motor 14, intermediate junction plate 12 is fixed in drive arrangement 1, intermediate junction plate 12 both sides are articulated respectively through hinge 13 has collapsible wing plate 9, the inboard still is connected with intermediate junction plate 12 through shrink spring 18 of collapsible wing plate 9, the collapsible wing plate 9 outside is provided with unmanned aerial vehicle screw 8, the recess that runs through is provided with at collapsible wing plate 9 and intermediate junction plate 12 middle part, the recess intermediate position is provided with the spout perpendicularly, the slip is provided with T type rack 17 in the spout, the both sides of T type rack 17 one end are connected with folding clamp plate 10 through the trace 11 respectively, folding clamp plate 10 slides and sets up in the recess, be provided with gear drive motor 14 through motor frame 15 is fixed on the intermediate junction plate 12, gear drive motor 14 is connected with the T type rack 17 other end through the meshing of drive gear 16.
The trace is connected with the T-shaped rack and the folding pressing plate through pin shafts, the groove is connected with the folding pressing plate through embedded sliding, the sliding groove is connected with the T-shaped rack through embedded sliding, the whole mortise and tenon structure is adopted, reciprocating sliding is achieved, connection is tight and reliable, and the folding pressing plate 10, the trace 11, the gear driving motor, the driving gear and the T-shaped rack form the wing folding control mechanism 5 together.
Unmanned aerial vehicle screw 8 includes rotary paddle 31, connecting rod 33, driving motor 34, infrared ranging sensor A35 and connecting plate 36, connecting plate 36 is fixed in collapsible machine pterygoid lamina 9, connecting plate 36 upside is connected with connecting rod 33 through driving motor 34, be provided with rotary paddle 31 on the connecting rod 33, driving motor 34 casing outside circumference is provided with infrared ranging sensor A35, infrared ranging sensor A is used for detecting unmanned aerial vehicle screw during operation and peripheral wall's distance, avoid bumping, cause the damage, the connecting rod 33 top still is provided with lid 32, the lid is connected with the connecting rod through the internal thread swivelling joint, make the rotary paddle more firm reliable with the connection of connecting rod.
The floor type information processing module 7 comprises an information processing unit 20, a telescopic electric push rod 43, a front end information acquisition device 42 and a mounting plate 44, wherein the mounting plate 44 is fixed on the side of the driving device 1, the telescopic electric push rod 43 is arranged on the outer side of the mounting plate 44, the front end information acquisition device 42 is arranged on the telescopic electric push rod 43, the information processing unit 20 is arranged on the inner side of the mounting plate 44, and the information processing unit 20 is respectively connected with the front end information acquisition device 42 and the signal processing module 4.
The front-end information acquisition device 42 comprises a connecting plate 48, a device bearing plate 49, a front-end lighting device 50, an infrared ranging sensor B51, a camera acquisition device 52 and a gas sensor A53, wherein the device bearing plate 49 is provided with the front-end lighting device (an illuminating lamp can be adopted), the infrared ranging sensor B51, the camera acquisition device 52 and the gas sensor A53, and the device bearing plate 49 is fixed on the telescopic electric push rod 43 through the connecting plate 48. The front-end information acquisition device illuminates road conditions through the front-end lighting device, ground information is adopted through the infrared ranging sensor B51 and the camera shooting acquisition device 52, the gas sensor A53 is used for preparing the robot for landing, before landing, the robot monitoring device does not start working, if the robot detects that the gas concentration is too high before landing, warning information is immediately transmitted back, and meanwhile, if the warning value is too high, the robot stops working next and returns to the road surface for protecting the safety of the robot.
The driving device 1 comprises wheels 19, an explosion-proof driving motor 21, a drive bevel gear 22, an upper cover plate 23, a protective shell 30 and a transmission long shaft 26, wherein a road condition identification memory system 6 (the road condition identification memory system adopts the existing road condition identification system to judge and memorize the advancing road condition), the explosion-proof driving motor 21 is arranged at the lower side of the upper cover plate 23 through an explosion-proof motor bracket 27, an output shaft of the explosion-proof driving motor 21 is connected with a spur gear 28 in the middle of the transmission long shaft 26 through gear engagement, the transmission long shaft 26 is fixed on the upper cover plate 23 through a bearing seat, the drive bevel gears 22 are respectively arranged at two ends of the transmission long shaft 26, the drive bevel gears 22 are respectively connected with the wheels 19 through transmission mechanisms, and the protective shell 30 is arranged at the lower side of the upper cover plate 23 and used for protecting internal devices.
The transmission mechanism comprises a clutch 55, a driven bevel gear 25, a transmission short shaft A29 and a transmission short shaft B58, wherein the driven bevel gear 25 is connected with a driving bevel gear 22 in a meshed manner, the driven bevel gear 25 is connected with one side of the clutch 55 through the transmission short shaft A29, the other side of the clutch 55 is connected with wheels 19 through the transmission short shaft B58, the clutch 55 is fixed on the upper cover plate 23 through a clutch bracket 24, the middle part of the transmission short shaft A29 is fixed on the protective shell 30 through a bearing seat A54, the middle part of the transmission short shaft B58 is fixed on the upper cover plate 23 through a bearing seat B57, and the integral connection strength of the transmission mechanism is ensured.
The monitoring device 3 comprises a groove slide rail 37, a T-shaped slide block 38, a gas sensor B39, a temperature sensor, a wind speed sensor 40 and an illumination sensor 41, wherein the groove slide rail 37 is fixed on a driving device, the T-shaped slide block 38 is arranged in the groove slide rail 37, and the gas sensor B39, the temperature sensor (not shown in the figure), the wind speed sensor and the illumination sensor are arranged at the top of the T-shaped slide block 38.
The monitoring device is sleeved with a protective cover 46, an explosion-proof motor 45 is fixedly arranged in the protective cover 46, a transmission gear 47 is arranged on an output shaft of the explosion-proof motor 45, a tooth slot is arranged on the T-shaped sliding block 38, the transmission gear 47 is connected with the tooth slot in a meshed mode, and the T-shaped sliding block is driven to move up and down through the transmission gear.
The using method of the underground environment flight and ground cooperative monitoring robot comprises the following steps:
(1) When the underground environment monitoring is needed, the unmanned aerial vehicle propeller is started to drive the robot to enter the underground, the infrared ranging sensor A monitors the distance between the robot and the well wall and transmits acquired data to the signal processing module, the signal processing module processes and analyzes the acquired data, if the distance is within a safe range, the robot keeps normal running and moves along an original preset track, and safely lands, if the distance is smaller than a set value, the moving route of the robot is adjusted, and the robot moves in an adjusting way in the opposite direction of approaching to the well wall;
(2) After the robot falls, the floor information processing module starts to work, the telescopic electric push rod stretches out the front-end information acquisition device, the infrared ranging sensor B measures the height between the robot and the ground, when the distance reaches a set early warning value, the falling speed of the robot is reduced, the robot lands more stably, the image pickup acquisition device acquires road information, and the road information is sent to the information processing unit for decision making or fed back to the manual operation end for landing point selection;
(3) After the robot arrives underground, the gear driving motor is started to rotate to drive the T-shaped rack to move along the sliding groove of the middle connecting plate, the folding pressing plate is driven to move along the groove to the middle connecting plate through the linkage rod, when the folding pressing plate is completely positioned on the middle connecting plate, the folding wing plate rotates around the hinge due to the tensioning effect of the contraction spring, and the folding wing plate contracts, so that the phenomenon that the span is too wide and the walking is influenced is avoided;
(4) The driving device is started, the explosion-proof driving motor rotates to drive the transmission long shaft to rotate, the transmission long shaft transmits rotation to the wheels through the transmission mechanism to drive the robot to advance, meanwhile, the monitoring device is opened, the T-shaped sliding block stretches out, and the gas sensor B, the wind speed sensor, the temperature sensor and the illumination sensor acquire information and transmit the information to the signal processing module to monitor underground environment information in real time;
(5) In the monitoring process, if encountering an obstacle incapable of being crossed, the gear driving motor reversely rotates to drive the folding pressing plate to move towards the foldable wing plate, when the folding pressing plate is positioned on the wing plate of the foldable machine, the contraction spring is pulled away, the foldable wing plate is unfolded, then the unmanned aerial vehicle propeller is started to drive the robot to fly over the obstacle, then the foldable wing plate is contracted, the driving device is continuously started to monitor until the foldable wing plate is unfolded after the monitoring is completed, and the unmanned aerial vehicle propeller is started to drive the robot to fly back.
In the step (4), for convenience in description, the 4 wheels are a left front wheel, a right front wheel, a left rear wheel and a right rear wheel respectively, and the robot starts to advance when the robot advances, the clutch between the right front wheel and the left rear wheel is closed, the clutch between the left front wheel and the right rear wheel is opened, and only the right front wheel and the left rear wheel are driven;
when the robot is in backward movement, the clutch of the left front wheel and the clutch of the right rear wheel are closed, the clutch of the right front wheel and the clutch of the left rear wheel are opened, only the left front wheel and the right rear wheel are driven, and the robot starts to be in backward movement;
when the robot turns right, only the clutch of the left rear wheel is closed, the other clutches are all opened, only the left rear wheel is driven by the driving force, and the robot can realize forward right turning because the robot is only stressed on one side;
when the robot turns left, only the clutch of the front right wheel is closed, the other clutches are all opened, only the front right wheel is driven by the driving force, and the robot can realize the forward left turning because the robot is only stressed on one side;
when the robot is in a backward right turn, only the clutch of the left front wheel is closed, the other clutches are all opened, and only the left front wheel is driven by the driving force, and the robot is only stressed on one side, so that the robot can realize the backward right turn;
when the robot is in a backward left turn, only the clutch of the right rear wheel is closed, the other clutches are all opened, and only the right rear wheel is driven by the driving force, so that the robot can realize the backward left turn because the robot is only stressed on one side;
when the robot needs to be stationary to monitor the environment of a certain position in real time, all clutches are opened, all wheels are not subjected to any driving force, and the stationary state is maintained.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (5)
1. The underground environment flight and ground cooperative monitoring robot is characterized by comprising a driving device, a monitoring device, an unmanned aerial vehicle obstacle crossing device, a landing information processing module and a signal processing module, wherein the unmanned aerial vehicle obstacle crossing device is symmetrically arranged on the upper side of the driving device, the monitoring device is arranged in the middle of the upper side of the driving device, the monitoring device and the unmanned aerial vehicle obstacle crossing device are connected with the signal processing module, and the signal processing module and the landing information processing module are arranged on the upper side of the driving device;
the unmanned aerial vehicle obstacle crossing device comprises a foldable wing plate, a middle connecting plate, an unmanned aerial vehicle propeller, a folding pressing plate, a linkage rod, a T-shaped rack and a gear driving motor, wherein the middle connecting plate is fixed on the driving device, the two sides of the middle connecting plate are respectively hinged with the foldable wing plate through hinges, the inner side of the foldable wing plate is also connected with the middle connecting plate through a contraction spring, the unmanned aerial vehicle propeller is arranged on the outer side of the foldable wing plate, a through groove is formed in the middle of the foldable wing plate and the middle of the middle connecting plate, a chute is vertically arranged in the middle of the groove, the T-shaped rack is slidably arranged in the chute, two sides of one end of the T-shaped rack are respectively connected with the folding pressing plate through the linkage rod, the folding pressing plate is slidably arranged in the groove, the gear driving motor is fixedly arranged on the middle connecting plate, and the gear driving motor is connected with the other end of the T-shaped rack through driving gear engagement;
the unmanned aerial vehicle screw comprises a rotating screw, a connecting rod, a driving motor, an infrared ranging sensor A and a connecting bottom plate, wherein the connecting bottom plate is fixed on a wing plate of the foldable aerial vehicle, the upper side of the connecting bottom plate is connected with the connecting rod through the driving motor, the rotating screw is arranged on the connecting rod, and the infrared ranging sensor A is circumferentially arranged on the outer side of a driving motor shell;
the floor type information processing module comprises an information processing unit, a telescopic electric push rod, a front-end information acquisition device and a mounting plate, wherein the mounting plate is fixed on the side of the driving device, the telescopic electric push rod is arranged on the outer side of the mounting plate, the front-end information acquisition device is arranged on the telescopic electric push rod, the information processing unit is arranged on the inner side of the mounting plate, and the information processing unit is respectively connected with the front-end information acquisition device and the signal processing module;
the front-end information acquisition device comprises a connecting plate, a device bearing plate, a front-end lighting device, an infrared ranging sensor B, a camera acquisition device and a gas sensor A, wherein the front-end lighting device, the infrared ranging sensor B, the camera acquisition device and the gas sensor A are arranged on the device bearing plate;
the driving device comprises wheels, an explosion-proof driving motor, a driving bevel gear, an upper cover plate, a protective shell and a transmission long shaft, wherein the explosion-proof driving motor is arranged on the lower side of the upper cover plate through an explosion-proof motor support, an output shaft of the explosion-proof driving motor is connected with a straight gear in the middle of the transmission long shaft through gear meshing, the transmission long shaft is fixed on the upper cover plate through a bearing seat, the driving bevel gears are respectively arranged at two ends of the transmission long shaft, the driving bevel gears are respectively connected with the wheels through transmission mechanisms, and the protective shell is arranged on the lower side of the upper cover plate;
the transmission mechanism comprises a clutch, a driven bevel gear, a transmission short shaft A and a transmission short shaft B, wherein the driven bevel gear is connected with a driving bevel gear in a meshed mode, one side of the clutch is connected with the driven bevel gear through the transmission short shaft A, the other side of the clutch is connected with wheels through the transmission short shaft B, the clutch is fixed on the upper cover plate through a clutch bracket, the middle part of the transmission short shaft A is fixed on the protective shell through a bearing seat A, and the middle part of the transmission short shaft B is fixed on the upper cover plate through the bearing seat B.
2. The underground environment flying and ground collaborative monitoring robot according to claim 1, wherein the monitoring device comprises a groove slide rail, a T-shaped slide block, a gas sensor B, a temperature sensor, a wind speed sensor and an illumination sensor, the groove slide rail is fixed on the driving device, the T-shaped slide block is arranged in the groove slide rail, and the gas sensor B, the temperature sensor, the wind speed sensor and the illumination sensor are arranged at the top of the T-shaped slide block.
3. The underground environment flying and ground cooperative monitoring robot according to claim 2, wherein the outer side of the monitoring device is sleeved with a protective cover, an explosion-proof motor is fixedly arranged in the protective cover, a transmission gear is arranged on an output shaft of the explosion-proof motor, a tooth slot is arranged on the T-shaped sliding block, and the transmission gear is connected with the tooth slot in a meshed mode.
4. A method of using a downhole environmental flight and ground collaborative monitoring robot according to claim 3, comprising the steps of:
(1) When the underground environment monitoring is needed, the unmanned aerial vehicle propeller is started to drive the robot to enter the underground, the infrared ranging sensor A monitors the distance between the robot and the well wall and transmits acquired data to the signal processing module, the signal processing module processes and analyzes the acquired data, if the distance is within a safe range, the robot keeps normal running and moves along an original preset track, and safely lands, if the distance is smaller than a set value, the moving route of the robot is adjusted, and the robot moves in an adjusting way in the opposite direction of approaching to the well wall;
(2) After the robot falls, the floor information processing module starts to work, the telescopic electric push rod stretches out the front-end information acquisition device, the infrared ranging sensor B measures the height between the robot and the ground, when the distance reaches a set early warning value, the falling speed of the robot is reduced, the image pickup acquisition device acquires road information, and the road information is sent to the information processing unit for decision making or fed back to the manual operation end for landing point selection;
(3) After the robot arrives underground, the gear driving motor is started to rotate to drive the T-shaped rack to move along the sliding groove of the middle connecting plate, the folding pressing plate is driven to move along the groove to the middle connecting plate through the linkage rod, and when the folding pressing plate is completely positioned on the middle connecting plate, the foldable wing plate rotates around the hinge due to the tensioning effect of the contraction spring, and the foldable wing plate contracts;
(4) The driving device is started, the explosion-proof driving motor rotates to drive the transmission long shaft to rotate, the transmission long shaft transmits rotation to the wheels through the transmission mechanism to drive the robot to advance, meanwhile, the monitoring device is opened, the T-shaped sliding block stretches out, and the gas sensor B, the wind speed sensor, the temperature sensor and the illumination sensor acquire information and transmit the information to the signal processing module to monitor underground environment information in real time;
(5) In the monitoring process, if encountering an obstacle incapable of being crossed, the gear driving motor reversely rotates to drive the folding pressing plate to move towards the foldable wing plate, when the folding pressing plate is positioned on the wing plate of the foldable machine, the contraction spring is pulled away, the foldable wing plate is unfolded, then the unmanned aerial vehicle propeller is started to drive the robot to fly over the obstacle, then the foldable wing plate is contracted, the driving device is continuously started to monitor until the foldable wing plate is unfolded after the monitoring is completed, and the unmanned aerial vehicle propeller is started to drive the robot to fly back.
5. The method of claim 4, wherein in step (4), the robot is driven to advance by closing the clutch between the front right wheel and the rear left wheel and opening the clutch between the front left wheel and the rear right wheel when advancing;
when the robot is in backward movement, the clutch of the left front wheel and the clutch of the right rear wheel are closed, the clutch of the right front wheel and the clutch of the left rear wheel are opened, only the left front wheel and the right rear wheel are driven, and the robot starts to be in backward movement;
when the robot turns right, only the clutch of the left rear wheel is closed, the other clutches are all opened, only the left rear wheel is driven by the driving force, and the robot can realize forward right turning because the robot is only stressed on one side;
when the robot turns left, only the clutch of the front right wheel is closed, the other clutches are all opened, only the front right wheel is driven by the driving force, and the robot can realize the forward left turning because the robot is only stressed on one side;
when the robot is in a backward right turn, only the clutch of the left front wheel is closed, the other clutches are all opened, and only the left front wheel is driven by the driving force, and the robot is only stressed on one side, so that the robot can realize the backward right turn;
when the robot is in a backward left turn, only the clutch of the right rear wheel is closed, the other clutches are all opened, and only the right rear wheel is driven by the driving force, so that the robot can realize the backward left turn because the robot is only stressed on one side;
when the robot needs to be stationary to monitor the environment of a certain position in real time, all clutches are opened, all wheels are not subjected to any driving force, and the stationary state is maintained.
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| CN117572812A (en) | 2024-02-20 |
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