CN206068179U - A kind of land and air double-used mine rescue aircraft - Google Patents
A kind of land and air double-used mine rescue aircraft Download PDFInfo
- Publication number
- CN206068179U CN206068179U CN201621086697.XU CN201621086697U CN206068179U CN 206068179 U CN206068179 U CN 206068179U CN 201621086697 U CN201621086697 U CN 201621086697U CN 206068179 U CN206068179 U CN 206068179U
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- aircraft
- microprocessor
- land
- pin bushing
- base dolly
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Abstract
This utility model provides a kind of land and air double-used mine rescue aircraft, including aircraft, power supply and base dolly, and aircraft is arranged on base dolly；Aircraft or base dolly are provided with microprocessor, nine axis movement sensors, GPS module, wireless module, methane transducer and pyroelectric infrared sensor, and nine axis movement sensors, GPS module, wireless module, methane transducer and pyroelectric infrared sensor are connected with microprocessor respectively；Power supply is arranged on base dolly, is connected with aircraft, base dolly and microprocessor respectively.This utility model possesses the function of VTOL, independent navigation, aircraft of the present utility model is arranged on base dolly, can be land and air double-used, with cruising time length, small volume, lightweight, using the advantage of quick, maneuverability, this utility model also has simple structure, easy to operate, the low advantage of maintenance cost.
Description
Technical field
This utility model belongs to vehicle technology field, is specifically related to a kind of land and air double-used mine rescue aircraft.
Background technology
The Resource management of China is big, and distribution is wide, occupies very important position in the national economic development.But due to
Itself the characteristics of, there are various disasters in bargh and the probability of human casualty accident is higher, and mining safety production is always me
The emphasis of state's mining industry work.
China frequently occurs as coal resources big country, coal mining accident, once there is accident, it is impossible to device for underground man car is understood quickly
Member quantity, distribution and position, bring difficulty to disaster relief work.After especially gas and dust explosion accident occurs, Minepit environment
Extremely dangerous and complicated, down-hole is stranded and the wounded faces extremely hazardous situation, needs to rescue as early as possible.But in the rescue phase
Between, the concrete scope of devastated, the position in quick-fried source, gas and CO concentration, roadway damage situation are almost known nothing, and speedily carry out rescue work
Rescue personnel is faced with subsequent explosion, CO poisonings, top board slump and the threat of high temperature constantly.Now, just it is a long felt need for rescue
Robot replaces or part replacement rescue personnel is timely, quickly go deep into mine disaster area carries out environment detection and search-and-rescue work.But
, after generation accident, due to ground out-of-flatness, mine is by water logging or with having mud etc. for mine, and robot is difficult to adapt to down-hole evil
Bad environment, it is impossible to work of advancing, thus develop it is a kind of adapt to Mine Complicated rescue environment aircraft have it is highly important
Meaning.
The content of the invention
In order to solve above-mentioned technical problem, this utility model provides a kind of simple structure, and easy to operate, maintenance cost is low,
And the land and air double-used mine rescue aircraft of down-hole detection can be realized.
The technical solution adopted in the utility model is：Including aircraft, power supply and base dolly, aircraft is arranged on base
On dolly；Aircraft or base dolly are provided with microprocessor, nine axis movement sensors, GPS module, wireless module, methane and pass
Sensor and pyroelectric infrared sensor, nine axis movement sensors, GPS module, wireless module, methane transducer and infrared thermal release electric
Sensor is connected with microprocessor respectively；Power supply is arranged on base dolly, is connected with aircraft, base dolly and microprocessor respectively
Connect.
In above-mentioned land and air double-used mine rescue aircraft, described aircraft includes electric pushrod, fixed seat and many
Guide rod；Described electric pushrod one end is fixedly mounted on base dolly, and the other end is connected with fixed seat；Many described guide rods
In fixed seat, many guide rods are evenly distributed in the circumferential direction；Guide pin bushing is respectively equipped with every guide rod, guide pin bushing is sleeved on leads
On bar, connected by support bar between guide pin bushing and electric pushrod, electric pushrod is connected with microprocessor；It is installed with guide pin bushing
Brushless electric machine, the output shaft of brushless electric machine are provided with rotor, and brushless electric machine is connected with power supply by wire, and wire is provided with brushless
Electricity is adjusted, and brushless electricity is adjusted and is connected with microprocessor.
In above-mentioned land and air double-used mine rescue aircraft, one end and the guide pin bushing of support bar are hinged, and the other end is pushed away with electronic
Bar is hinged.
In above-mentioned land and air double-used mine rescue aircraft, nine axis movement sensors contain 3-axis acceleration sensor, three axles
Gyroscope, electronic compass.
In above-mentioned land and air double-used mine rescue aircraft, on guide pin bushing, the brushless electricity of brushless electric machine is adjusted and is arranged on and the guide pin bushing
On the support bar of connection.
Compared with prior art, the beneficial effects of the utility model are：
1. this utility model possesses VTOL, independent navigation flight function, increased particular for mine rescue environment
Respective sensor, is capable of achieving to gather down-hole information, provides Informational support for ore deposit downhole rescuing.
2. aircraft and base dolly are organically combined by this utility model, realize it is land and air double-used, in mine tunnel
Can be moved by dolly, it is strong with stability, electricity is saved, the advantages of safety coefficient is high, is not suitable for ground row when running into
During situation about entering, airplane mode is automatically switched to, can be directed across ground out-of-flatness, the ring such as mine is by water logging or with having mud
Border, when running into tunnel and narrowing, this utility model can be extended by electric pushrod, automatically adjust between rotor distance to adapt to
Environment, improves the adaptability of aircraft.
3. body of the present utility model is most of is manufactured using carbon fibre material, and low with density, intensity is high, endurance
Performance is good, and decay resistance is strong, disclosure satisfy that Structural Design Requirement and environmental applications are required.
4. to be integrated with three axis accelerometer, three-axis gyroscope, magnetometer etc. more with navigation system for winged control of the present utility model
High-precision sensor is planted, possesses higher stability and safety.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Structure chart of the rotor on guide rod when Fig. 2 is this utility model normal flight.
Fig. 3 is that this utility model passes through structure chart of the rotor on guide rod during narrow.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
As shown in figure 1, including aircraft and base dolly 10, aircraft is arranged on base dolly 10.Base dolly 10
It is provided with microprocessor 1, nine axis movement sensors 2, wireless module 3, ultrasonic sensor 6, GPS module 8, power supply 9, methane to pass
Sensor 11 and pyroelectric infrared sensor 13, described microprocessor 1 are connected with power supply 9, nine axis movement sensors 2, wireless mould
Block 3, ultrasonic sensor 6, GPS module 8, methane transducer 11 and pyroelectric infrared sensor 13 are connected with microprocessor 1 respectively
Connect.Described microprocessor 1, nine axis movement sensors 2, wireless module 3, ultrasonic sensor 6, GPS module 8, methane sensing
Device 11 and pyroelectric infrared sensor 13 can also be installed on board the aircraft.
Nine described axis movement sensors 2 include 3-axis acceleration sensor, three-axis gyroscope and electronic compass, for right
Exercise data is acquired.Described wireless module 3 can both receive the signal that sent by control terminal and send microprocessor to
1, and the data after can analyze microprocessor 1 pass control terminal back.Described GPS module 8 can continuously receive satellite-signal,
It is capable of achieving the precise positioning to aircraft.Described ultrasonic sensor 6 be used to measuring this utility model and peripheral obstacle it
Between distance, and signal is passed to into the microprocessor 1, is analyzed after process by microprocessor 1, control this utility model changes
Become attitude and orientation, so as to realize automatic obstacle avoidance functions of the present utility model.Described methane transducer 11 adopts INFRARED ABSORPTION
Principle, is diffused the technologies such as formula sampling and digital temperature-compensating, with spies such as accuracy of detection height, strong environmental adaptabilities
Point, and can continuous acquisition methane in environment concentration, and signal is passed to into the microprocessor 1.The passive sensor stated
Device 13 is a kind of high sensitive sensor for detecting human body radiation, when human body is sensed, signal can be passed to micro- place
Reason device 1.
Described aircraft includes that the solid brushless electricity of four support bars, 4, four guide rods 5, electric pushrod 7, four adjusts 12, four
Rotor 14,15, four guide pin bushings 16 of fixed seat and four brushless electric machines 17, the lower end of described electric pushrod 7 is fixedly mounted on bottom
On seat dolly 10, upper end is connected with fixed seat 15；Electric pushrod 7 is connected with microprocessor 1, can be in the control of microprocessor 1
Under elongate or shorten.Fixed seat 15 is provided with four guide rods 5, and a guide pin bushing 16 is respectively installed with every guide rod 15, and guide pin bushing 16 can
To slide on guide rod 15.Guide pin bushing 15 is hinged with one end of support bar 4；The other end of support bar 4 is hinged with electric pushrod 7.Lead
Brushless electric machine 17 is installed with set 15, the output shaft of brushless electric machine 17 is connected with rotor 14.When microprocessor 1 control it is electronic
When push rod 7 extends, guide pin bushing 16 is moved towards electric pushrod 7 under the pulling of support bar 4, contrary, when microprocessor 1 controls electricity
When dynamic push rod 7 shortens, the direction that guide pin bushing 16 can be along guide rod 15 away from electric pushrod 7 is moved, and then reaches regulation rotor
The purpose of distance between 14.Brushless electric machine 17 is connected with power supply 9 by wire, and wire is provided with brushless electricity and adjusts 12, and brushless electricity is adjusted
12 are connected with microprocessor 1.Brushless electricity adjusts 12 to be arranged on corresponding support bar 4.Microprocessor 1 can adjust 12 to carry out brushless electricity
Adjust, so as to the regulation of the rotating speed of real-time brushless electric machine 17.
When this utility model is used, after switch on power 9 and remote circuit, this utility model enters state to be flown, this
When, brushless electric machine 17 is in protected state, it is not possible to operate.Unlocking information is sent to wireless module 3 by control terminal,
Unlocking signal is passed to after microprocessor 1 by wireless module 3, unlocking signal is passed to brushless electricity and adjusts 12 by microprocessor 1 again, this
When brushless electric machine 17 be activated, into controllable state.In this respect, user can be realized to this practicality by control terminal
New control.
In the course of the work, be generally land pattern, now electric pushrod 7 be range state, rotor 14
Between reach minimum range, whole machine is maximum height, can avoid colliding with surrounding objects during traveling, using similar
Robot mode is moved, Real-time Collection down-hole information, Jing after microprocessor 1 is analyzed and processed passes control back eventually by wireless module 3
End, so that decision-maker understands downhole conditions.When there is being not suitable for the situation of ground traveling, aircraft mould is automatically switched to
Formula, now electric pushrod 7 is minimum stroke state, and ultimate range is reached between rotor 14, and whole machine is minimum constructive height, therefore is avoided
Interference between each rotor 14, improves flight efficiency of the present utility model, can now be directed across ground out-of-flatness, ore deposit
The well environment such as by water logging or with having mud.When running into tunnel and narrowing, microprocessor 1 can control fixed seat by electric pushrod 7
15 the distance between with base dolly 10, so as to support bar 4 can drive guide pin bushing 16 to move along a straight line, change indirectly rotor 14 it
Between distance make which meet environmental requirement, increased the adaptability of aircraft, and the size of rotor 14 be bigger, this utility model
The size that can change is also bigger, and its principle is as shown in Figure 2,3.Aircraft is furnished with ultrasonic distance measuring module 6 for measuring this
The distance between utility model and peripheral obstacle, and signal is passed to into the microprocessor 1, it is analyzed by microprocessor 1
After process, control this utility model changes attitude and orientation, so as to realize the automatic obstacle avoidance functions of unmanned plane.Methane transducer 11
Continuous collecting methane in environment concentration, and transmit data to after microprocessor 1 is analyzed process, then be passed through by microprocessor 1
Wireless module 3 sends a signal to control terminal, when methane in environment concentration exceedes early warning value, it will led to by microprocessor 1
Cross wireless module 3 alarm signal is sent to control terminal.Whether pyroelectric infrared sensor 13 needs to be rescued in constantly detecting environment
Help personnel, when detect need rescue personnel when, it will rescue is sent to control terminal by wireless module 3 from microprocessor 1
Signal.
In rescue operations are carried out, nine axis movement sensors 2 and GPS sensor 8 can continue to 1 translatory movement of microprocessor
Exercise data is sent to terminal in real time by wireless module 3 for data, microprocessor 1, and terminal is realized to land sky two by algorithm
With the drafting of mine rescue aircraft movement locus, that is, the drafting of route is rescued, facilitates related personnel to be sued and laboured.
Above description is further illustrated to of the present utility model, it is impossible to is assert and of the present utility model is embodied as only limiting to
In these explanations.For the those of ordinary skill of technical field described in the utility model, in this utility model design also
Many replacements and deduction can be made, protection domain of the present utility model is regarded as.
Claims (5)
1. a kind of land and air double-used mine rescue aircraft, it is characterised in that：Including aircraft, power supply and base dolly, aircraft
On base dolly；Aircraft or base dolly are provided with microprocessor, nine axis movement sensors, GPS module, wireless mould
Block, methane transducer and pyroelectric infrared sensor, nine axis movement sensors, GPS module, wireless module, methane transducer and
Pyroelectric infrared sensor is connected with microprocessor respectively；Power supply is arranged on base dolly, respectively with aircraft, base dolly
And microprocessor connection.
2. land and air double-used mine rescue aircraft according to claim 1, is characterized in that：Described aircraft includes electronic
Push rod, fixed seat and many guide rods；Described electric pushrod one end is fixedly mounted on base dolly, and the other end is connected with fixed seat
Connect；Many described guide rods are arranged in fixed seat, and many guide rods are evenly distributed in the circumferential direction；It is respectively equipped with every guide rod
Guide pin bushing, guide pin bushing are sleeved on guide rod, are connected by support bar between guide pin bushing and electric pushrod, and electric pushrod is connected with microprocessor
Connect；Brushless electric machine is installed with guide pin bushing, the output shaft of brushless electric machine is provided with rotor, and brushless electric machine passes through wire and power supply
Connection, wire are provided with brushless electricity and adjust, and brushless electricity is adjusted and is connected with microprocessor.
3. land and air double-used mine rescue aircraft according to claim 2, is characterized in that：Cut with scissors with guide pin bushing one end of support bar
Connect, the other end is hinged with electric pushrod.
4. land and air double-used mine rescue aircraft according to claim 1, is characterized in that：Nine axis movement sensors contain three axles
Acceleration transducer, three-axis gyroscope, electronic compass.
5. land and air double-used mine rescue aircraft according to claim 2, is characterized in that：On guide pin bushing, brushless electric machine is brushless
Electricity is adjusted and is arranged on the support bar being connected with the guide pin bushing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086697.XU CN206068179U (en) | 2016-09-28 | 2016-09-28 | A kind of land and air double-used mine rescue aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086697.XU CN206068179U (en) | 2016-09-28 | 2016-09-28 | A kind of land and air double-used mine rescue aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206068179U true CN206068179U (en) | 2017-04-05 |
Family
ID=58439194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621086697.XU Expired - Fee Related CN206068179U (en) | 2016-09-28 | 2016-09-28 | A kind of land and air double-used mine rescue aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206068179U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107526366A (en) * | 2017-08-19 | 2017-12-29 | 中国矿业大学 | A kind of airborne gas remote control systems and method |
| CN107990939A (en) * | 2017-12-04 | 2018-05-04 | 北京理工大学 | A kind of multipurpose real-time monitoring system for complex environment based on Internet of Things |
-
2016
- 2016-09-28 CN CN201621086697.XU patent/CN206068179U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107526366A (en) * | 2017-08-19 | 2017-12-29 | 中国矿业大学 | A kind of airborne gas remote control systems and method |
| CN107526366B (en) * | 2017-08-19 | 2021-01-15 | 中国矿业大学 | Airborne gas remote sensing control system and method |
| CN107990939A (en) * | 2017-12-04 | 2018-05-04 | 北京理工大学 | A kind of multipurpose real-time monitoring system for complex environment based on Internet of Things |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20190928 |