CN206745786U - A kind of automatic detection and rescue robot of deep-well - Google Patents

Abstract

The utility model is more particularly to a kind of handling capacity is strong, rescue is timely, is suitable for the automatic detection and rescue robot of deep-well of complex environment in well.Described robot includes body of exploring the way, and passes through rescue rope in the through hole for body of exploring the way, multiple rescue bodies is also hung on rescue rope, the bottom for body of exploring the way sets explorer, first processor, infrared thermography, height above sea level meter, camera, rescue facility respectively；Rescue sets wireless router, second processor in vivo；Body of exploring the way be responsible for exploring the way positioning, scene is sued and laboured, and rescue body is responsible for that scene auxiliary is sued and laboured and rapid increase, robot volume compact, handling capacity are strong；Explore the way body decline when draw first kind deep-well map, the second class deep-well map is advantageous to improve rescue body, the decline for body of exploring the way and the rate of climb；When having water in deep-well, the wheel hub motor for body of exploring the way ensures its decrease speed, and the Elevator lift drive mechanism for rescuing body ensures its decrease speed, and environmental suitability is strong.

Description

A kind of automatic detection and rescue robot of deep-well

Technical field

Deep well rescue technical field is the utility model is related to, more particularly to a kind of automatic detection and rescue robot of deep-well.

Background technology

There is hole, the hole of a large amount of various different purposes in our living environment, such as discarded motor-pumped well, mine, prospect pit, Pipeline, architecture foundation pile hole, blowdown deep-well etc..Because a variety of causes makes one or thing surprisingly falls into event therein and happened occasionally, and Current rescue mode stills need to sling rescuer with rope, and rescuer gos deep into underground and finds personnel to be rescued, due to this Class well, the hole smaller air circulation of most diameter it is poor in addition cause the rescue of rescuer dangerous containing toxic gas and difficulty all very Greatly, rescuer's stupor is resulted even in, and some holes are excessively narrow and small, rescuer is difficult to enter.

In order to overcome the shortcomings of existing rescue mode, existing corresponding invention, such as described in CN201010032458.7 A kind of small-diameter deep well rescuing device, the program includes 1 fixed tube, 1 dynamic pipe, 1 backplate folding regulation pipe, 1 supporting plate, 2 Individual backplate, 3 direct current generators one of them be dynamic pipe lifting motor, one be supporting plate oscillating motor, one be backplate folding electricity Machine, 3 observation cameras, 3 illuminating lamps, 1 set of voice communication, 1 steam hose, 1 12V DC Portable air pump (or Oxygen cylinder), 1 12V Portable DC mains, 1 small-sized notebook computer and corresponding electric control switch and connecting cable Line etc.；The device can realize that rescuer implements to rescue by small-diameter deep well rescuing device to down-hole trapped object on the ground Help, avoid and allow rescuer to be directly entered deep-well, and the size of rescuing device is adapted to relatively narrower hole.But the invention is deposited In problems with：

1. the rescuing device, which declines process, to be operated by Field Force, and many holes, hole are not to be vertically arranged, but are existed Gradient or radian, and no light in well, visibility is very low, and in this case in order to avoid colliding with, the speed that rescuing device declines is past Toward very slow, and when rescuing device is caught when rescuing personnel and moving upwards, rope usually is pulled by rescuing device pull-up in well head, equally The geographical environment above rescuing device is should be noted, causes the rescuing device rate of climb slow, and one of deep well rescue is extremely important The problem of be exactly that time of suing and labouring is short, and speed of suing and labouring determines effect of suing and labouring, therefore the rescuing device suing and labouring in actual use Effect is not satisfactory.

2. being provided with a variety of devices on the rescuing device, cause its weight, volume larger, it is difficult to miniaturization, lightweight are realized, The oxygen cylinder or air pump volume carried especially for the life for maintaining personnel to be rescued is often very big, further results in rescuing device Lifting speed reduces.

3. after the rescuing device drops to certain depth, may lead to not pass too far because of with the distance between ground Defeated signal, rescuing device can not use in this case, and can not withdraw.

4. if run into deep-well along the laterally projecting barrier in deep-well section, the rescuing device, which can not be hidden, to detour, and is applicable It is limited in scope.

The pit robot communication control system based on Wifi described in patent CN201610102781.4, the system exist On the basis of multi-hop Wifi network technologies, it is proposed that the building method of new interim Wifi networks, the nothing of pit robot can be made The traveling of line communication distance random device people and constantly increase, ensure the communication of pit robot and control device.Solve in ore deposit Original wireless communication system in well can not be in the case of use, and the wireless communication distance of pit robot and control device is limited The problem of.The patent solves communication issue during robot downhole rescuing, but still unresolved rescue speed, rescuing device are hidden The problems such as barrier.

A kind of underworkings high-precision three-dimensional model scanning apparatus and method for described in patent CN201610384423.7, The equipment includes unmanned vehicle and carries range finder module, automatic cruising can be flown in tunnel, range finder module in flight course The point of the drift section of all processes is all subjected to ranging, in conjunction with the data of multiple sensors, these distance measurement results passed through Software kit generates the high-precision three-dimensional point cloud chart in tunnel, and point cloud chart further is carried out into gridding processing, finally gives tunnel High-precision three-dimensional model.The invention can be obtained high precision and not influenceed by light condition using laser ranging；Should Scheme can realize that underworkings section models, but due to using aircraft, being difficult in adapt to, running into for complex environment in well Barrier can not be hidden, and the equipment can only realize modeling, can not carry out rescue work, also not solve how to improve rescue speed The problem of.

Several rescue modes all can only be rescued or detected to dry well above, can not be to there is situation existing for water in deep-well Carry out rescue or detection.

The content of the invention

In view of the above-mentioned problems, the utility model purpose is to provide, a kind of handling capacity is strong, rescue is timely, it is multiple to be suitable in well The automatic detection and rescue robot of deep-well in heterocycle border.

For achieving the above object, technical scheme is used by the utility model：A kind of automatic detection and rescue of deep-well Robot, described robot explore the way body including horizontally disposed elliptical shape ball hull shape, explore the way on body, be same along its vertical direction axis Rescue rope is passed through in the through hole that axle is set, the electricity that body lifts along rescue rope of exploring the way can be made by exploring the way to set respectively between body and rescue rope Ladder type lift drive mechanism, and the rotating driving device that body phase rotates for rescue rope of exploring the way can be made；Described Elevator liter Drop drive mechanism includes lifting motor, and lifting motor output end is connected with clutch, decelerator, pulley successively, pulley and rescue Rope is close to and can slided along rescue rope, and brake apparatus is also set up on pulley；

The other end of the rescue rope stretches out well head and is wrapped on the coiling roller bearing of support, and coiling roller bearing is with carrying clutch The output end connection of the coiling electric motor of device, coiling electric motor are rack-mount；Multiple spherical shell shapes are also hung on described rescue rope Rescue body, rescue body is described to explore the way between body and rescue body, set between adjacent rescue body and connect automatically positioned at exploring the way above body Connect/separating mechanism；

The bottom of the body of exploring the way sets explorer, first processor respectively, infrared thermography, height above sea level meter, takes the photograph As head, and the rescue facility for fixed personnel to be rescued；Explore the way and also carry multiple nothings that can be automatically separated with body of exploring the way on body Line router, the electrodynamic type grab set on router can form detachable connection with rescue rope；

Rescue body can be made along rescue rope by being set in the through hole set on described rescue body, along its vertical direction axis coaxle The Elevator lift drive mechanism of lifting；Rescue also sets up wireless router, second processor in vivo；The first described processing Device, second processor are communicated by respective wireless router, and described first processor, second processor can also be by each From wireless router and remote monitoring platform on the 3rd processor communication that sets；

The radius of a ball size of the rescue body is less than or equal to its minor axis dimension in the horizontal plane cross-section for body of exploring the way.

Preferably, on the lateral surface of the body of exploring the way, the supporting leg group of two row of horizontal annular arrays is vertically set, often Row's supporting leg group includes the folding type leg of multiple automatically retractables, after supporting leg is collapsible into body of exploring the way, the appearance of not prominent body of exploring the way Face；The lower outer of row's supporting leg to a body of exploring the way below outside of exploring the way is obliquely installed, positioned at outside of exploring the way The upper outer of one row's supporting leg to body of exploring the way of top is obliquely installed；The outer end of the supporting leg sets driving wheel, is set in driving wheel Put wheel hub motor and the brake for braked drive wheels, wheel drive surfaces contact with the borehole wall；It is described to explore the way body along the horizontal plane It is complete that the length after supporting leg full extension near the oval major axis of its in section is less than the supporting leg that its oval near its minor axis is set Length after full stretching, extension.

Preferably, described rescue facility includes the dual-arm robot that body bottom is set of exploring the way, and bell machines are corresponding on hand Position sets neck solid mechanical hand.

Preferably, described supporting leg is that multiple poles are hinged the W formula wavelike structures to be formed from beginning to end two-by-two, on supporting leg Setting can make multiple poles be shrunk to W formulas wave structure or be launched into a supporting leg drive device close to long straight-bar structure, institute It is electrodynamic type or electric hydraulic telescopic rod to state pole, and described driving wheel sets pressure sensor with supporting leg junction.

Preferably, toxic gas detector is also set up on described body of exploring the way；Oxygen is carried in the housing of described rescue body Gas cylinder, toxic gas neutralizing tank.

According to the rescue mode of the automatic detection and rescue robot of any one above-mentioned deep-well, described rescue mode wraps successively Include positioning of exploring the way, scene is sued and laboured, rapid increase；

Described positioning step of exploring the way is explored the way body, map making, release rescue body, positioning including release；

Described release body step of exploring the way is：Will carry body of exploring the way, rescue body support be placed near well head, make spy Road body is located at directly over well head；The Elevator lift drive mechanism explored the way on body keeps on-position, makes explore the way body and rescue rope It is connected as a single entity；Remote monitoring platform controls coiling electric motor, slowly discharges rescue rope, and it is certain that body of exploring the way enters well head together with rescue rope After depth, remote monitoring platform stops release rescue rope；

Explorer, camera gather the multiple deep-well sectional views for body distance below of exploring the way, described deep-well respectively Sectional view is in 90 with the body direction of motion of exploring the way.Borehole wall cross-section profile shape, first processor contrast explorer, camera be each From the deep-well sectional view of collection, by borehole wall cross section profile is bigger in two deep-well sectional views, one is designated as first kind deep-well section Figure, another is designated as the second class deep-well sectional view；Then select from a nearest first kind deep-well section of body lower surface of exploring the way Figure calculates the extension distance D and Extensional periods T of multiple supporting legs, while control supporting leg drive device stretches supporting leg in real time, works as pressure After force snesor detects that driving wheel contacts with the borehole wall and reaches certain pressure, supporting leg stops stretching, extension；

When first processor detects the pressure sensor of respective at least 2 supporting legs on two sides of body phase pair of exploring the way The pressure value of transmission reaches expected, then controls the clutch separation of coiling electric motor, is disengaged with coiling rotating shaft；Pressure value reaches expected Driving wheel on wheel hub motor motion, make to explore the way body, rescue rope are moved downward with speed V1 jointly；

Described V1 computational methods are：First processor is according to a first kind deep-well section immediate with body of exploring the way Figure calculates the extension distance D and Extensional periods T of multiple supporting legs, and the maximum value calculation in multiple Extensional periods T goes out to explore the way Body moves downwardly to the maximal rate at the deep-well section, and the maximal rate is V1；

Described map making step is：Release is explored the way in body step, and explorer, camera are according to certain frequency to first Processor sends multiple first kind deep-well sectional views, the second class deep-well sectional view of body distance below of exploring the way, height above sea level Degree meter marks in first kind deep-well sectional view, the second class deep-well sectional view respectively sequentially in time, by depth h, at first Reason device extracts first kind deep-well sectional view, the overall size of the second class deep-well sectional view, with the fortune of the oval centre of sphere for body of exploring the way Dynamic rail mark is scan line, respectively using first kind deep-well sectional view, the second class deep-well sectional view overall size as section, with more sections Face sweeping mode draws out two threedimensional models, and threedimensional model corresponding with first kind deep-well sectional view is with being designated as first kind deep-well Figure, the threedimensional model corresponding with the second class deep-well sectional view are designated as the second class deep-well map；First processor is respectively first The position of rescue rope is marked in class deep-well map, the second class deep-well map；First processor in real time by wireless router to its One or more rescue bodies, the remote monitoring platform of top send first kind deep-well map, the second class deep-well map；

Body step is rescued in described release：After body of exploring the way declines certain depth with speed V1, what is set on support is multiple Rescue body discharges successively according to certain interval time, makes rescue body between body of exploring the way, the distance between adjacent rescue body is protected Hold within limits；The clutch of the Elevator lift drive mechanism of rescue body control thereon is allowed to engage during release first, Then rescue body is made to depart from support, lifting motor driving pulley rolls, so as to drive rescue body phase for rescue rope with relatively Reduction of speed degree V2 is moved, and the absolute velocity for now rescuing body is V1+V2；

During described rescue body declines, second processor adjusts V2 in real time according to V1, the second class deep-well map, makes to rescue The safe distance that body is helped between the distance between body of exploring the way, adjacent rescue body remains within limits；Described Rescue during body declines, by the wireless router that sets thereon in real time to one or more rescue bodies above it, long-range Control and monitor console sends first kind deep-well map, the second class deep-well map；

Described positioning step is：When the infrared thermography set on body of exploring the way, which detects lower section, needs to be rescued personnel, Body of exploring the way, which is moved to after certain distance above the personnel that rescue, to be stopped declining, and sends positioning signal, multiple rescue bodies above it Moved downwardly to after receiving positioning signal with maximal rate V3 near body of exploring the way and connect into cascaded structure automatically with body of exploring the way；Institute The V3 stated is the maximum falling speed that rescue body goes out according to the second class deep-well map calculation of body transmission of exploring the way, and works as second processor Wherein one section of the second class deep-well map is calculated without corresponding barrier, then the maximum falling speed V3 for rescuing body is freely falling body speed Degree；Second processor adjusts V3 in real time during multiple rescue bodies decline, and the safe distance between adjacent rescue body is protected all the time Hold within limits；

In described positioning step of exploring the way, when body of exploring the way moves downward, if nearest rescue body of itself and top it Between communication signal strength be reduced to below a threshold values, or explore the way between body and remote monitoring platform communication signal strength drop Below low to one threshold values, then body of exploring the way separates a router at the moment, and the router of separation is fixed on rescue rope, visits Communicated when road body continues to move downward by the router being fixed on rescue rope with rescue body or remote monitoring platform；

Described scene step of suing and labouring is：Body of exploring the way is reached after personnel top is rescued nearby, and first processor analysis is infrared Thermal imaging system, personnel's profile parameters to be rescued of camera transmission, identify trunk position, arm position, the face of personnel to be rescued Position, body of exploring the way are encircled in personnel to be rescued according to trunk position, the arm position control multiaxial type dual-arm robot of personnel to be rescued Underarm region；

Rescue body reach after with explore the way body form cascaded structure, and to personnel's facial positions to be rescued nearby launch oxygen cylinder, Toxic gas neutralizing tank；Explore the way body, the lift drive mechanism that sets while act on rescue body, drive personnel to be rescued slowly upward Certain distance is moved, when after the personnel of rescuing lift, the neck solid mechanical hand that bell machines are set on hand will personnel be rescued Neck be close to；Then the outline parameter of personnel to be rescued is gathered by infrared thermography, camera and passes to the first processing Device；

Described rapid increase step is：The clutch of coiling electric motor combines, and coiling electric motor is connected with coiling rotating shaft, the One processor is calculated in safe ascending path and maximum safety according to the outline parameter of the second class deep-well map, personnel to be rescued Lifting speed V4, described safe ascending path are that first processor controls rotating driving device, branch in real time when the personnel that rescue rise Leg is to ensure path that the outline of personnel to be rescued does not interfere with the profile of the second class deep-well map；Described V4 include around The rotation of line motor makes the speed V5 that rescue rope rises, and the speed that body of exploring the way, rescue body phase are moved upwards for rescue rope (3) V6；

Explore the way body, rescue body personnel to be rescued are moved up into well according to safe ascending path, with maximal velocity V4 Mouthful, rescue terminates.

Preferably, in described positioning step of exploring the way, if first processor is with judging the first kind deep-well explored the way below body Occurs the barrier protruded along deep-well cross-wise direction in figure, then first processor control rotating driving device, the body that makes to explore the way is along rescuing Help and continue to decline after rope rotates to an angle, if still can not be by the way that first processor control is located at after the body anglec of rotation of exploring the way In the row's supporting leg explored the way below body, multiple supporting legs close to barrier side extend, multiple supporting legs away from barrier side Shorten；In row's supporting leg above, the supporting leg extended corresponding to lower section is located at the shortening of the same side, corresponding to lower section to shorten Supporting leg be located at the elongation of the same side；The body that makes to explore the way is inclined relative to horizontal and broken the barriers；If lower section does not continue Existing barrier, then body of exploring the way recover flat-hand position and continue to decline.

Preferably, in described positioning step of exploring the way, toxic gas detector detect in real time toxic gas in deep-well into Divide and content, first processor divide noxious gas component and content mark in the second class deep-well map, while by the information Supplementary biography passs rescue body, remote monitoring platform；In described positioning step of exploring the way, rescue body drops to the acceptance of the bid of the second class deep-well map During the higher region of the toxic gas content shown, open the toxic gas neutralizing tank set thereon and carry out toxic gas neutralization；When First processor judges the toxic gas that toxic gas neutralizing tank can not be handled in deep-well be present, then sends and report to remote monitoring platform Alert signal.

Preferably, the bottom surface of the body of exploring the way sets hydraulic pressure sensor, in described positioning step of exploring the way, first processor The pressure signal that hydraulic pressure sensor is sent is gathered, when first processor judges that body of exploring the way is entered in water, then control is explored the way on body Wheel hub motor driving condition is changed into from deceleration regime, and by water level information mark in the second class deep-well map, rescue body exists Before entering water, in advance certain time Elevator lift drive mechanism thereon is changed into driving condition from deceleration regime.

Preferably, during step is sued and laboured at described scene, dual-arm robot is encircled after personnel are rescued, remote monitoring platform control around The clutch of line motor engages and starts coiling electric motor, rescue rope is increased and drives personnel to be rescued slowly to rise with speed V5, when After the personnel of rescuing lift, the neck of personnel to be rescued is close to by the neck solid mechanical hand that bell machines are set on hand；When more After individual rescue body declines and connected with body of exploring the way, described body of exploring the way, rescue body phase are risen for rescue rope with speed V6, now The rate of climb of personnel to be rescued still is V4.

The beneficial effects of the utility model are：Downhole rescuing is divided into positioning of exploring the way by the utility model, scene is sued and laboured, Rapid increase step；Rescue robot is made up of body of exploring the way, rescue body, and body of exploring the way mainly be responsible for exploring the way positioning, scene is sued and laboured, and is rescued Help body and be responsible for scene auxiliary and sue and labour and rapid increase, rescue robot each several part segment design, volume compact, be adapted to small space Rescue, handling capacity are strong.Explore the way body decline when draw first kind deep-well map, the second class deep-well map is advantageous to improve rescue The decrease speed of body, body of exploring the way, while improve the rate of climb.In rapid increase step, rescue body and body of exploring the way can be relative to rescuing Help rope to rise, improve the rate of climb, effectively reduce the power and volume of the coiling electric motor for pulling rescue rope, make robot be easy to take Band.When there is water in deep-well, the wheel hub motor for body of exploring the way ensures its decrease speed, and the Elevator lift drive mechanism for rescuing body is protected Demonstrate,prove its decrease speed；Robot is set to meet to rescue under water, environmental suitability is strong.

Brief description of the drawings

Fig. 1 is robot circuit system schematic diagram；

Fig. 2 is that the explore the way supporting leg of external side contacts front view with the borehole wall；

Fig. 3 is A-A sectional views in Fig. 2；

Fig. 4 explores the way body schematic diagram for release in positioning step of exploring the way；

Fig. 5 is release rescue body schematic diagram in positioning step of exploring the way；

Fig. 6 is body cut-through thing schematic diagram of being explored the way in positioning step of exploring the way；

Fig. 7 is rescue facility's action schematic diagram in rapid increase step；

Fig. 8 is the rescue mode flow chart that robot is rescued.

Embodiment

The automatic detection and rescue robot of a kind of deep-well as shown in figs 1 to 6, including horizontally disposed elliptical shape ball hull shape are visited Road body 1, explore the way on body 1, pass through rescue rope 3, explore the way body 1 and rescue rope along the through hole of the axis coaxle setting of its vertical direction The Elevator lift drive mechanism 5 that body 1 lifts along rescue rope 3 of exploring the way can be made by being set respectively between 3, and can make the phase of body 1 of exploring the way The rotating driving device 110 rotated for rescue rope 3；Described Elevator lift drive mechanism 5 includes being arranged on the shell of body 1 of exploring the way Internal lifting motor, lifting motor output end are connected with clutch, decelerator, pulley successively, pulley be close to rescue rope 3 and It can be slided along rescue rope 3, brake apparatus is also set up on pulley；

Described rotating driving device 110 can set tooth in the through hole explored the way on body 1, along its vertical direction axis Circle, being set on rescue rope 3 can slide but not revolvable gear relative to rescue rope 3, and gear coordinates with gear ring, then using one The individual motor driven gear ring rotation body 1 that can be achieved to explore the way rotates relative to rescue rope 3；Can also explore the way on body 1, be vertical along its The through hole of azimuth axis is connected with a housing washer, and rolling bearing inner ring is enclosed on rescue rope 3, and rolling bearing inner ring can Slide but can not rotate relative to rescue rope 3, can equally realize that body 1 of exploring the way rotates relative to rescue rope 3, in order to preferably control The direction of rotation for body 1 of exploring the way is made, rescue rope 3 is anti-rotational formula rope.

The other end of the rescue rope 3 stretches out well head and is simultaneously wrapped on the coiling roller bearing of support 8, coiling roller bearing with from The output end connection of the coiling electric motor 81 of clutch, coiling electric motor 81 are arranged on support 8；Coiling electric motor 81 can be with remote monitoring platform 9 communication, be controlled by the 3rd processor 91, can also by coiling electric motor 81 individually with the single-chip microcomputer with control function or micro- Type processor connects；Multiple spherical shell shape rescue bodies 2 are also hung on described rescue rope 3, rescue body 2 is positioned at the top of body 1 of exploring the way, institute State explore the way between body 1 and rescue body 2, set between adjacent rescue body 2 can connection/separation mechanism automatically, the automatic connection/point Structure of disembarking can set electromagnet in the upper surface of body 1 of exploring the way, the upper surface of rescue body 2 and lower surface respectively, pass through and control electricity Magnet it is whether powered come realize automatic connection/separation or the upper surface for body 1 of exploring the way, rescue body 2 upper surface and under End face sets link to be linked up with electrodynamic type respectively, by controlling link and electric hook to realize automatic connection/separation.

The casing part for exploring the way the bottom of body 1 is made by transparent material, can be transparent resin composite, Can be transparent PVC plastic material or other have the transparent composite of some strength, the inside bottom surface of body 1 of exploring the way Explorer 111, first processor 112 are set respectively, infrared thermography 113, height above sea level meter 117, camera 118, explored the way The rescue facility 6 for fixed personnel to be rescued is also set up on the bottom surface of body 1, rescue facility 6 can stretch into the housing for body 1 of exploring the way Interior, the body 1 that can so make to explore the way has water-proof function；Described explorer 111 can be ultrasonic type explorer or The explorer of laser type explorer or other modes.

Multiple wireless routers 7 being automatically separated also are carried on described body 1 of exploring the way, can be that electromagnet type divides automatically Structure is automatically separated from what structure or link and electric hook formula were automatically separated structure or other modes；Road Detachable connection can be formed with rescue rope 3 by the electrodynamic type grab set on device 7, the outer wrapping bucker of router 7, realized Water-proof function.

Rescue body 2 can be made along rescuing by being set along the through hole set on described rescue body 2, along the axis coaxle of its vertical direction Help the Elevator lift drive mechanism 5 of the lifting of rope 3；Rescue in the housing of body 2 and also set up wireless router 7, second processor 211；Described first processor 112, second processor 211 are in communication with each other by respective wireless router 7, and described first Processor 112, second processor 211 can also by set on respective wireless router 7 and remote monitoring platform 9 the 3rd at Reason device 91 communicates.

Body 1 of exploring the way does not have to carry oxygen cylinder, and its volume can be greatly reduced, can faster declined, outside the body 1 of exploring the way Shape is oval spherical, can effectively reduce its cross sectional dimensions, when running into barrier, body 1 of exploring the way can rotate to an angle Cut-through thing, improve it and pass through performance；In order to ensure to explore the way, body 1 smoothly declines, the elliptical shape ball cross section profile in its horizontal plane Less than cross-sectional profiles at the hundredths woman's shoulder of China the 5th, smoothly decline to ensure to rescue body 2, rescue the ball of body 2 Radius size is less than or equal to the minor axis dimension for the elliptical shape ball cross section profile of body 1 of exploring the way.

On the lateral surface of the body 1 of exploring the way, the supporting leg groups of two row of horizontal annular arrays is vertically set, often arranges supporting leg Group includes the folding type leg 12 of multiple automatically retractables, after supporting leg 12 is collapsible into body 1 of exploring the way, the appearance of not prominent body 1 of exploring the way Face；The lower outer of row's supporting leg 12 to body 1 of exploring the way below the lateral surface of body 1 of exploring the way is obliquely installed, outside body 1 of exploring the way The upper outer of row's supporting leg 12 to body 1 of exploring the way above side is obliquely installed；The outer end of described supporting leg 12 sets driving wheel, Wheel hub motor and the brake for braked drive wheels, described wheel drive surfaces are set to be contacted with the borehole wall in driving wheel；It is described Driving wheel and supporting leg junction pressure sensor 119 is set.

Described supporting leg 12 is that multiple poles 121 are hinged the W formula wavelike structures to be formed from beginning to end two-by-two, on supporting leg 12 Setting can make multiple poles 121 be shrunk to W formulas wave structure or be launched into a supporting leg drive device close to long straight-bar structure 122, supporting leg drive device 122 can be a hydraulic pump, and pole 121 is used as a liquid presses piston pole, is set in pole 121 Hydraulic pipeline, the place of being hinged of pole 121 set a hydraulic rotating valve member, the receipts of achievable supporting leg 12 during hydraulic pump works Contracting or stretching, extension；Supporting leg drive device 122 can also set motor at the pin joint that multiple poles 121 are hinged, and make Supporting leg 12 turns into electrodynamic type multi-spindle machining hand, sets motor to act the contraction or stretching, extension for realizing supporting leg 12 at pin joint.

The pole 121 is electrodynamic type or electric hydraulic telescopic rod, when supporting leg 12 is launched into by the wave-like of W formulas After long straight-bar shape, the length change of of pole 121 itself, it can further extend the length after supporting leg 12 deploys.

Because the section of deep-well is similar to circle, and in order to improve the handling capacity for body 1 of exploring the way, it is shaped as oval spherical shell Shape, therefore preferably embodiment is：Along horizontal cross-section, the full extension of supporting leg 12 near the 1 oval major axis of body of exploring the way Length afterwards is less than the length after the full extension of supporting leg 12 that its oval near its minor axis is set, and can so effectively reduce and explore the way The weight of body 1.

Described rescue facility 6 includes exploring the way the multiaxial type dual-arm robot 61 of the bottom of body 1 setting, on dual-arm robot 61 Relevant position sets neck solid mechanical hand 62.

Toxic gas detector 114 is also set up on described body 1 of exploring the way；Oxygen is carried in the housing of described rescue body 2 Bottle 115, toxic gas neutralizing tank 116.

As shown in Figure 8, according to the automatic detection and rescue robot of any one above-mentioned deep-well, the method rescued is successively Including explore the way positioning, scene sue and labour, rapid increase；

Described positioning step of exploring the way is explored the way body, map making, release rescue body, positioning including release；

Described release body step of exploring the way is：Will carry body 1 of exploring the way, rescue body 2 support 8 be placed near well head, One end of rescue rope 3 is sequentially passed through into multiple rescue bodies 2, body 1 of exploring the way, the body 1 that makes to explore the way be located at directly over well head, while temporarily general Rescue body 2 is connected with support 8, can set to set drawstring on clip or support 8 on support 8；Now explore the way body 1 On Elevator lift drive mechanism 5 keep on-position, the body 1 that makes to explore the way is connected as a single entity with rescue rope 3；Rescue the electricity on body 2 The brake apparatus of ladder type lift drive mechanism 5 is failure to actuate and clutch separation, rescue body 2 is slided relative to rescue rope 3.

Remote monitoring platform 9 the 3rd processor 91 control coiling electric motor 81 rotate, slowly discharge rescue rope 3, explore the way body 1 with After rescue rope 3 enters well head certain depth together, remote monitoring platform 9 stops release rescue rope 3；

Explorer 111, camera 118 gather the multiple deep-well sectional views for the distance below of body 1 of exploring the way respectively, described Deep-well sectional view be with the direction of motion of body 1 of exploring the way be in 90 ° of borehole wall cross-section profile shape, the contrast of first processor 112 is explored the way The deep-well sectional view that device 111, camera 118 each gather, by borehole wall cross section profile is bigger in two deep-well sectional views one First kind deep-well sectional view is designated as, another is designated as the second class deep-well sectional view；Then select nearest from the lower surface of body 1 of exploring the way One first kind deep-well sectional view calculates multiple supporting legs 12 and trailed, make the driving wheel and the first kind deep-well sectional view of supporting leg 12 In the borehole wall extension distance D and Extensional periods T that are close to, while control supporting leg drive device 122 stretches supporting leg 12 in real time, when After pressure sensor 119 detects that driving wheel contacts with the borehole wall and reaches certain pressure, supporting leg 12 stops stretching, extension, now driving wheel The brake of upper wheel hub motor keeps on-position；When first processor 112 is detected on two relative sides of body 1 of exploring the way respectively The pressure value sent from the pressure sensor 119 of at least 2 supporting legs 12 reaches expected, then controls the clutch of coiling electric motor 81 Separation, disengaged with coiling rotating shaft；Pressure value reaches the brake reduction brake force of wheel hub motor on expected driving wheel simultaneously, makes Explore the way body 1, rescue rope 3 is moved downward with speed V1 jointly；

Described V1 computational methods are：First processor 112 according to 1 immediate first kind deep-well of body of exploring the way Sectional view calculates the extension distance D and Extensional periods T of multiple supporting legs 12, according to the maximum value calculation in multiple Extensional periods T The body 1 that goes out to explore the way moves downwardly to the maximal rate at the deep-well section, and the maximal rate is V1；

When not having water in deep-well, body 1 of exploring the way relies primarily on the decline of its gravity, and wheel hub motor main function is as slow Device is stable with the decrease speed of body 1 that keeps exploring the way；When there is water in deep-well, body 1 of exploring the way produces driving force by wheel hub motor and declined, To ensure the decrease speed of body 1 of exploring the way.

Described map making step is：Release is explored the way in body step, and explorer 111, camera 118 are according to certain frequency Multiple first kind deep-well sectional views, the second class deep-well section for the distance below of body 1 of exploring the way are sent to first processor 112 Figure, height above sea level meter 117 mark in first kind deep-well sectional view, the second class deep-well section respectively sequentially in time, by depth h In figure, first processor 112 extracts first kind deep-well sectional view, the overall size of the second class deep-well sectional view, with body 1 of exploring the way The movement locus of the oval centre of sphere be scan line, respectively with first kind deep-well sectional view, the profile chi of the second class deep-well sectional view Very little is section, and two threedimensional models are drawn out in a manner of multi-section sweeping, threedimensional model corresponding with first kind deep-well sectional view First kind deep-well map is designated as, the threedimensional model corresponding with the second class deep-well sectional view is designated as the second class deep-well map；First Processor 112 sends the first kind by wireless router 7 to one or more rescue bodies 2, the remote monitoring platform 9 above it in real time Deep-well map, the second class deep-well map；

Body step is rescued in described release：After body 1 of exploring the way declines certain depth with speed V1, what is set on support 8 is more Individual rescue body 2 discharges successively according to certain interval time, makes rescue body 2 between body 1 of exploring the way, between adjacent rescue body 2 Distance is kept within limits；Rescue body 2 is allowed to control the clutch of Elevator lift drive mechanism 5 thereon during release first Device engages, and rescue body 2 is departed from support 8, and lifting motor driving pulley rolls, so as to drive rescue body 2 relative to rescue Rope 3 is moved with relative drop speed V2, and the absolute velocity for now rescuing body 2 is V1+V2；When there is no water in deep-well, body 2 is rescued On Elevator lift drive mechanism 5 mainly play decelerating effect, when there is water in deep-well, rescue body 2 by Elevator lifting drive Motivation structure 5 moves downward, to ensure decrease speed.

During described rescue body 2 declines, second processor 211 calculates simultaneously in real time according to V1, the second class deep-well map V2 is adjusted, the safe distance for making rescue body 2 between the distance between body 1 of exploring the way, adjacent rescue body 2 remains at certain model Within enclosing；During described rescue body 2 declines, by the wireless router 7 that sets thereon in real time to one above it or Multiple rescue bodies 2, remote monitoring platform 9 send first kind deep-well map, the second class deep-well map；

Described positioning step is：Need to be rescued personnel when the infrared thermography 113 set on body 1 of exploring the way detects lower section When, body 1 of exploring the way is moved to wait rescuing stop motion after certain distance above personnel, and sends positioning signal, and multiple above it rescue Help and moved downwardly to maximal rate V3 near body 1 of exploring the way and connected with automatic connect into of body 1 of exploring the way after body 2 receives positioning signal Structure；Described V3 is the maximum falling speed that rescue body 2 goes out according to the second class deep-well map calculation of the transmission of body 1 of exploring the way, more It is individual rescue body 2 decline during in real time adjustment V3, make it is adjacent rescue body 2 between safe distance remain at certain limit it It is interior.

As shown in Figure 7, described scene step of suing and labouring is：Body 1 of exploring the way is reached after personnel top is rescued nearby, at first Personnel's profile parameters to be rescued that device 112 analyzes infrared thermography 113, camera 118 transmits are managed, identify the body of personnel to be rescued Dry position, arm position, facial positions, trunk position, arm position control multiaxial type both arms of the body 1 of exploring the way according to personnel to be rescued Manipulator 61 is encircled in personnel's underarm region to be rescued；

If personnel to be rescued are in dry well, rescue body 2 is nearby launched to personnel's facial positions to be rescued immediately after reaching Oxygen cylinder 115, toxic gas neutralizing tank 116, oxygen and neutralization gas is set to be spread around people to be rescued；If at personnel to be rescued Yu Shuizhong drowns state, then rescues body 2 without launching.

After multiple rescue bodies 2 reach and form cascaded structure with body 1 of exploring the way, body 1 of exploring the way, the lifting set on body 2 is rescued Drive mechanism 5 acts simultaneously, drives personnel to be rescued slowly to move certain distance upwards, when after the personnel of rescuing lift, both arms The neck of personnel to be rescued is close to by the neck solid mechanical hand 62 set on manipulator 61；Then by infrared thermography 113, take the photograph As the first 118 outline parameters for gathering personnel to be rescued and pass to first processor 112；

Described rapid increase step is：First processor 112 sends request signal, the 3rd processing to the 3rd processor 91 Device 91 controls the clutch of coiling electric motor 81 to combine, and coiling electric motor 81 is connected with coiling rotating shaft, and first processor 112 is according to the Two class deep-well maps, the outline parameter of personnel to be rescued calculate safe ascending path and maximum safe rate of climb V4, described Safe ascending path be wait rescue personnel rise when first processor 112 control in real time rotating driving device 110, supporting leg 12 with guarantor Demonstrate,prove the path that the outline of personnel to be rescued does not interfere with the profile of the second class deep-well map；Described V4 is coiling electric motor 81 Rotation make speed V6 that the speed V5 that rescue rope 3 rises and body 1 of exploring the way, rescue body 2 move relative to rescue rope 3 upwards it With i.e. V4=V5+V6；

Explore the way body 1, rescue body 2 personnel to be rescued are moved up to according to safe ascending path, with maximal velocity V4 Well head, rescue terminate.

In order to accelerate to rescue the decrease speed of body 2, more preferable embodiment is：In described positioning step of exploring the way, when rescuing When helping body 2 and being declined with maximum falling speed V3, second processor 211 calculates wherein one section of the second class deep-well map without corresponding barrier Hinder thing, then the maximum falling speed V3 for rescuing body 2 is free-fall velocity.

In order that body 1 of exploring the way has the ability of cut-through thing, more preferable embodiment is：Described positioning step of exploring the way In, obstacle of the appearance along deep-well cross-wise direction in the first kind deep-well map of the lower section of the body 1 if judgement of first processor 112 is explored the way Thing, then first processor 112 control rotating driving device 110, under making to explore the way and continuing after body 1 rotates to an angle along rescue rope 3 Drop, if still can not be by a row supporting leg of the control of first processor 112 positioned at the lower section of body 1 of exploring the way after the anglec of rotation of body 1 of exploring the way In 12, multiple supporting legs 12 close to barrier side extend, and multiple supporting legs 12 away from barrier side shorten；Above In one row's supporting leg 12, the supporting leg 12 extended corresponding to lower section is located at the shortening of the same side, the supporting leg shortened 12 corresponding to lower section Elongation in the same side；The body 1 that makes to explore the way is inclined relative to horizontal and broken the barriers；If lower section does not continue obstacle occur Thing, then body 1 of exploring the way recover flat-hand position and continue to decline.

In order to more easily be sued and laboured, more preferable embodiment is：In described positioning step of exploring the way, toxic gas inspection Survey device 114 and detect noxious gas component and content in deep-well in real time, first processor 112 is by noxious gas component and content mark Note is delivered separately to rescue body 2, remote monitoring platform 9 in the second class deep-well map, while by the information；Described positioning of exploring the way In step, when rescue body 2 drops in the second class deep-well map the toxic gas content indicated higher region, open in it and set The vent valve for the toxic gas neutralizing tank put carries out toxic gas neutralization；When first processor 112 judge to exist in deep-well it is poisonous The toxic gas that gas neutralizing tank 116 can not be handled, then alarm signal is sent to remote monitoring platform 9, be now placed near well head Rescue personnel one can be carried and can neutralize the rescue bodies 2 of all toxic gases and launch again in well, throw again The rescue body 2 put can relevant position to unneutralized toxic gas carry out again in and, to ensure that personnel to be rescued are rising During will not be because toxic gas be by secondary injury.

In order to ensure to communicate to connect, more preferable embodiment is：In described positioning step of exploring the way, body 1 of exploring the way is transported downwards When dynamic, if the communication signal strength between its rescue body 2 nearest with top is reduced to below a threshold values, or explore the way Communication signal strength between body 1 and remote monitoring platform 9 is reduced to below a threshold values, then body 1 of exploring the way separates one at the moment Individual router 7, the router 7 of separation are fixed on rescue rope 3, by being fixed on rescue rope 3 when body 1 of exploring the way continues to move downward On router 7 with rescue body 2 or remote monitoring platform 9 communicate.

In order to improve rescue speed, more preferable embodiment is：Described scene is sued and laboured in step, the ring of dual-arm robot 61 Embrace after personnel are rescued, remote monitoring platform 9 controls the clutch of coiling electric motor 81 to engage and start coiling electric motor 81, makes rescue rope 3 Rising drives personnel to be rescued slowly to rise with speed V5, when the neck after personnel of rescuing lift, set on dual-arm robot 61 The neck of personnel to be rescued is close to by portion's solid mechanical hand 62；It is described after multiple rescue bodies 2 decline and are connected with body 1 of exploring the way Body 1, rescue body 2 explore the way relative to rescue rope 3 with speed V6 risings, now the rate of climb of personnel to be rescued still is V4.So may be used So that personnel to be rescued are risen into certain distance in advance, rescue effect is improved.

In order that body 1 of exploring the way, rescue body 2 adapt to, deep-well upper semisection is anhydrous, and lower semisection has the situation of water, improves lower reduction of speed Degree, more preferable embodiment are：The bottom surface of the body 1 of exploring the way sets hydraulic pressure sensor 109, in described positioning step of exploring the way, First processor 112 gathers the pressure signal that hydraulic pressure sensor 109 is sent, when first processor 112 judges that body 1 of exploring the way enters In water, then the wheel hub motor that control is explored the way on body 1 is changed into driving condition from deceleration regime, and water level information is marked in the second class In deep-well map, so rescuing body 2 can also be before water be entered, and certain time is by Elevator lift drive mechanism 5 thereon in advance Driving condition is changed into from deceleration regime, improves decrease speed.

Downhole rescuing is divided into positioning of exploring the way by the utility model, scene is sued and laboured, rapid increase step；Rescue robot by Explore the way body, rescue body composition, body of exploring the way mainly be responsible for exploring the way positioning, scene is sued and laboured, and rescue body is responsible for scene and aids in suing and labouring and soon Speed rises, rescue robot each several part segment design, volume compact, is adapted to small space to rescue, and handling capacity is strong.Explore the way under body Drafting first kind deep-well map, the second class deep-well map are advantageous to improve rescue body, body decrease speed of exploring the way during drop, improve simultaneously Personnel's rate of climb to be rescued during recovery.

When the personnel that rescue rise, rescuing body 2 and body 1 of exploring the way can rise relative to rescue rope 3, improve the upper raising speed of personnel to be rescued Degree, the power and volume of the coiling electric motor for pulling rescue rope 3 are effectively reduced, robot is easy to carry.When there is water in deep-well, The wheel hub motor of body 1 of exploring the way ensures its decrease speed, and the Elevator lift drive mechanism 5 of rescue body 2 ensures its decrease speed；Make Robot can meet to rescue under water, and environmental suitability is strong.

Claims (5)

1. A kind of 1. automatic detection and rescue robot of deep-well, it is characterised in that：Described robot includes horizontally disposed elliptical shape ball Hull shape is explored the way body (1), is passed through rescue rope (3) along the through hole set on body of exploring the way (1), along its vertical direction axis coaxle, is explored the way The Elevator lift drive mechanism that body (1) lifts along rescue rope (3) of exploring the way can be made by being set respectively between body (1) and rescue rope (3) (5), and the rotating driving device (110) that body (1) rotates relative to rescue rope (3) of exploring the way can be made；Described Elevator lifting Drive mechanism (5) includes lifting motor, and lifting motor output end is connected with clutch, decelerator, pulley successively, pulley and rescue Rope (3) is close to and can slided along rescue rope (3), and brake apparatus is also set up on pulley；

   The other end of the rescue rope (3) stretches out well head and is simultaneously wrapped on the coiling roller bearing of support (8), coiling roller bearing with from The output end connection of the coiling electric motor (81) of clutch, coiling electric motor (81) are arranged on support (8)；On described rescue rope (3) Multiple spherical shell shape rescue bodies (2) are also hung, rescue body (2) is above body (1) of exploring the way, described body of exploring the way (1) and rescue body (2) automatic connection/separation mechanism is set between, between adjacent rescue body (2)；

   The bottom of the body of exploring the way (1) sets explorer (111), first processor (112) respectively, infrared thermography (113), Height above sea level meter (117), camera (118), and the rescue facility (6) for fixed personnel to be rescued；Explore the way and also take on body (1) With multiple wireless routers (7) that can be automatically separated with body of exploring the way (1), the electrodynamic type grab that is set on router (7) can be with Rescue rope (3) forms detachable connection；

   Rescue body (2) can be made along rescue by being set in the through hole set on described rescue body (2), along its vertical direction axis coaxle The Elevator lift drive mechanism (5) of rope (3) lifting；Wireless router (7), second processor are also set up in rescue body (2) (211)；Described first processor (112), second processor (211) are communicated by respective wireless router (7), described First processor (112), second processor (211) can also be by respective wireless routers (7) and remote monitoring platform (9) The 3rd processor (91) communication set.
2. A kind of 2. automatic detection and rescue robot of deep-well according to claim 1, it is characterised in that：The body of exploring the way (1) Lateral surface on, the supporting leg groups of two row of horizontal annular arrays is vertically set, often arranging supporting leg group includes multiple to stretch automatically The folding type leg (12) of contracting, after supporting leg (12) is collapsible into body of exploring the way (1), the outer surface of not prominent body (1) of exploring the way；Positioned at exploring the way The lower outer of row's supporting leg (12) to a body of exploring the way (1) below body (1) lateral surface is obliquely installed, on the outside of body of exploring the way (1) The upper outer of row's supporting leg (12) to a body of exploring the way (1) above face is obliquely installed；The outer end of the supporting leg (12) sets driving Wheel, driving wheel is interior to set wheel hub motor and the brake for braked drive wheels, wheel drive surfaces to be contacted with the borehole wall.
3. A kind of 3. automatic detection and rescue robot of deep-well according to claim 1, it is characterised in that：Described rescue facility (6) dual-arm robot (61) that body (1) bottom is set of exploring the way is included, relevant position sets neck to fix on dual-arm robot (61) Manipulator (62).
4. A kind of 4. automatic detection and rescue robot of deep-well according to claim 2, it is characterised in that：Described supporting leg (12) Be hinged the W formula wavelike structures to be formed from beginning to end two-by-two for multiple poles (121), and multiple poles can be made by being set on supporting leg (12) (121) it is shrunk to W formulas wave structure or is launched into a supporting leg drive device (122) close to long straight-bar structure, the pole (121) it is electrodynamic type or electric hydraulic telescopic rod, described driving wheel and supporting leg (12) junction set pressure sensor (119)。
5. A kind of 5. automatic detection and rescue robot of deep-well according to claim 1, it is characterised in that：Described body of exploring the way (1) toxic gas detector (114) is also set up on；Oxygen cylinder (115) is carried in the housing of described rescue body (2), has poison gas Body neutralizing tank (116).