CN211230554U - Mine detection and rescue system based on multi-sensor information fusion - Google Patents
Mine detection and rescue system based on multi-sensor information fusion Download PDFInfo
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- CN211230554U CN211230554U CN201922210715.0U CN201922210715U CN211230554U CN 211230554 U CN211230554 U CN 211230554U CN 201922210715 U CN201922210715 U CN 201922210715U CN 211230554 U CN211230554 U CN 211230554U
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Abstract
The utility model discloses a rescue system is surveyed based on multisensor information fusion mine, the on-line screen storage device comprises a base, four turning position departments in the bottom of base are fixed with driving motor through damper, driving motor goes up to rotate and is connected with mecanum wheel, the center department all around of base installs ultrasonic sensor, top one side of base is fixed with solar cell panel through the solar cell panel support, the top center department of base be fixed with laser radar through the radar support, the environmental monitoring subassembly is installed to the top opposite side of base, video acquisition mechanism is installed to bottom one side of base, the internally mounted that the top center department of base lies in the radar support has the circuit board, install wireless transceiver and central processing unit on the circuit board. The utility model discloses novel structure thinks about ingeniously, gathers image and various data through the equipment that self carried, provides crucial foundation for the scientific decision-making of rescue work.
Description
Technical Field
The utility model relates to a rescue technical field is surveyed to the mine specifically is based on multisensor information fusion mine detection rescue system.
Background
After the reform is opened, with the rapid development of economic society, the energy consumption of China is rapidly increased. Coal is the basis of national economy and social development in China, and is especially important as a main energy source. China is the second largest energy consuming country in the world. According to the second national coal field forecast of the Ministry of coal industry in 1981, the total amount of coal resources in China is 50592 hundred million tons, and the coal resources still account for more than 50% in 2050. It follows that coal will be one of the main energy sources in our country for a long time in the future.
However, as a big country for producing and consuming coal, China is also a big country for mine disasters. Coal is used as the prop industry of China, and the underground safety of coal mines becomes the primary problem restricting the coal mine production of China. Coal production in China mainly comes from underground mining, and the danger coefficient of underground operation is high. The underground coal mine working environment is severe and dangerous, and has many roadways, which may cause a dangerous accident.
In recent years, mine accidents in China are more and more frequent, the number of dead people is more and more, and rescue work is delayed because the mine is subjected to dangers such as secondary collapse, gas explosion and the like in the rescue process. Therefore, the mine rescue system based on multi-sensor information fusion is urgently needed to be developed and applied to mine rescue, people are assisted to go deep into a mine, rescue work with certain danger is completed, idle mine workers are rescued, and casualties are reduced to the minimum.
SUMMERY OF THE UTILITY MODEL
To the above situation, for overcoming prior art's defect, the utility model provides a based on multisensor information fusion mine detection rescue system, this mine detection rescue system, novel structure thinks about ingeniously, gathers image and various data through the equipment that self carried, provides crucial basis for the scientific decision-making of rescue work.
In order to achieve the above object, the utility model provides a following technical scheme: the mine detection rescue system based on multi-sensor information fusion comprises a base, driving motors are fixed at four corner positions at the bottom of the base through damping assemblies, Mecanum wheels are connected to the driving motors in a rotating mode, ultrasonic sensors are installed at the center of the periphery of the base, a solar cell panel is fixed at one side of the top of the base through a solar cell panel support, a laser radar is fixed at the center of the top of the base through a radar support, an environment monitoring assembly is installed at the other side of the top of the base, a video acquisition mechanism is installed at one side of the bottom of the base, a circuit board is installed at the position, located inside the radar support, of the center of the top of the base, a wireless transceiver and a central processing unit are installed on the circuit board, and the video acquisition mechanism, the laser radar and the environment monitoring assembly are all electrically, the output end of the central processing unit is in signal connection with the receiving terminal through the wireless transceiver, the ultrasonic sensor is electrically connected with the input end of the central processing unit, and the output end of the central processing unit is electrically connected with the driving motor.
Preferably, the damping assembly comprises a connecting rod, a positioning rod and a shock absorber, the positioning rod is mounted at four corner positions at the bottom of the base and movably connected with one side of the driving motor through the connecting rod, and the top of the driving motor corresponds to two sides and is connected with the bottom of the base through the shock absorber.
Preferably, an all-dimensional stepping motor mechanical arm is installed on one side of the top of the base, and a mechanical gripper is installed on the all-dimensional stepping motor mechanical arm.
Preferably, a black box is installed inside the radar bracket at the center of the top of the base, and the black box is in communication connection with the central processing unit.
Preferably, the wireless transceiver employs an NRF24L01 chip, and the wireless transceiver follows an SPI communication protocol.
Preferably, the top of the base is provided with a lithium ion battery inside the solar cell panel bracket, and the lithium ion battery is electrically connected with the solar cell panel.
Preferably, the environment monitoring assembly comprises an infrared temperature human body sensing device, a combustible gas concentration sensor, a hydrogen concentration sensor, a carbon monoxide concentration sensor, an alcohol concentration sensor, a temperature and humidity sensor, a dust concentration sensor, a flame sensor, an illumination intensity sensor and a gyroscope.
Preferably, the receiving terminal is installed inside the aluminum alloy safe.
The utility model has the advantages that:
1. by the aid of the ultrasonic sensor, when the ultrasonic sensor rotates to an angle, the distance of an obstacle in the direction is measured by the ultrasonic sensor, so that a system can obtain position information of the obstacle with both the direction and the distance, collected information is transmitted to the central processing unit, the central processing unit can accurately judge a driving environment according to continuous obstacle information after processing, and the driving motor is controlled to drive the Mecanum wheel to move, so that autonomous road exploration under an unknown environment is realized, and the vehicle can automatically drive to a desired position;
2. using a laser radar, analyzing surrounding environment information constantly, and reproducing the surrounding environment by remotely using a map;
3. the method comprises the steps that through an arranged video acquisition mechanism, high-definition video information is acquired through an American high-pass AR9331 platform and is sent to a receiving terminal through wireless transmission, real-time monitoring of a monitored area is completed, and in addition, the transmission distance of an image transmission system is increased and can reach 3 KM;
4. the omnibearing step motor mechanical arm is used, specimens and information can be taken accurately, and rescue goods and materials can be transported for rescue;
5. through the black box, the information is written into the black box synchronously at the speed of 1000 pieces per second, so that the information can be conveniently checked and analyzed.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall plane structure of the present invention;
fig. 2 is a schematic view of the top plan structure of the base of the present invention;
FIG. 3 is a schematic view of the plane structure of the shock-absorbing assembly of the present invention;
reference numbers in the figures: 1. a base; 2. an omnidirectional stepping motor mechanical arm; 3. a mechanical gripper; 4. a video acquisition mechanism; 5. a Mecanum wheel; 6. a drive motor; 7. a connecting rod; 8. an ultrasonic sensor; 9. positioning a rod; 10. a shock absorber; 11. a solar panel support; 12. a lithium ion battery; 13. a solar panel; 14. a wireless transceiver; 15. a laser radar; 16. a central processing unit; 17. a black box; 18. a radar mount; 19. an aluminum alloy safe; 20. a receiving terminal; 21. an environmental monitoring component; 22. a shock absorbing assembly; 23. a circuit board.
Detailed Description
The following describes the present invention in further detail with reference to the accompanying fig. 1-3.
Given by figures 1-3, the utility model provides the following technical scheme: a mine detection rescue system based on multi-sensor information fusion comprises a base 1, driving motors 6 are fixed at four corners of the bottom of the base 1 through shock absorption assemblies 22, Mecanum wheels 5 are connected to the driving motors 6 in a rotating mode, ultrasonic sensors 8 are installed at the centers of the periphery of the base 1, a solar cell panel 13 is fixed on one side of the top of the base 1 through a solar cell panel support 11, a laser radar 15 is fixed at the center of the top of the base 1 through a radar support 18, the laser radar 15 is used for analyzing surrounding environment information constantly and reproducing surrounding environment remotely through a map, an environment monitoring assembly 21 is installed on the other side of the top of the base 1, a video acquisition mechanism 4 is installed on one side of the bottom of the base 1, a circuit board 23 is installed inside the radar support 18 at the center of the top of the base 1, a wireless transceiver 14 and a central processing unit 16 are installed on the, the video acquisition mechanism 4, the laser radar 15 and the environment monitoring component 21 are all electrically connected with the input end of the central processing unit 16, the output end of the central processing unit 16 is in signal connection with the receiving terminal 20 through the wireless transceiver 14, the ultrasonic sensor 8 is electrically connected with the input end of the central processing unit 16, the output end of the central processing unit 16 is electrically connected with the driving motor 6, the ultrasonic sensor 8 measures the distance of the obstacle in the direction when the ultrasonic sensor 8 rotates to one angle through the arranged ultrasonic sensor 8, so that the system obtains the position information of the obstacle with both the direction and the distance, and transmits the collected information to the central processing unit 16, the central processing unit 16 accurately judges the driving environment according to the continuous obstacle information, and controls the driving motor 6 to drive the mecanum wheel 5 to move so as to realize autonomous path detection in unknown environment, the vehicle automatically runs to a desired position, the high-definition video information is collected through the U.S. high-pass AR9331 platform through the arranged video collection mechanism 4, the high-definition video information is transmitted to the receiving terminal 20 through wireless transmission, the real-time monitoring of a monitoring area is completed, and the transmission distance of an image transmission system is increased to reach 3 KM.
Damping component 22 includes connecting rod 7, locating lever 9 and bumper shock absorber 10, locating lever 9 is installed to four corner position departments in base 1's bottom, locating lever 9 passes through connecting rod 7 and driving motor 6's one side swing joint, driving motor 6's the top corresponds both sides and is passed through bumper shock absorber 10 and is connected with base 1's bottom, when mecanum wheel 5 atress vibrations, bumper shock absorber 10 atress vibrations, adapt to various environment more easily, use mecanum wheel 5 simultaneously, reach omnidirectional effect.
All-round step motor arm 2 is installed to base 1's top one side, installs mechanical tong 3 on the all-round step motor arm 2, uses all-round step motor arm 2, can be accurate with sample, information, take, can also rescue goods and materials through the transportation, rescue.
The internally mounted that the top center department of base 1 lies in radar support 18 has black box 17, black box 17 and central processing unit 16 communication connection, through the black box 17 that sets up, with the speed of information with 1000 many per second, write in black box 17 with the information of gathering in step, be convenient for look over, the analysis.
The wireless transceiver 14 adopts an NRF24L01 chip, the wireless transceiver 14 follows an SPI communication protocol, information and control are remotely transmitted by the NRF24L01 chip through the SPI communication protocol, the transmission distance can reach 20KM, and the rescue detection capability is greatly improved.
The internally mounted that base 1's top is located solar cell panel support 11 has lithium ion battery 12, lithium ion battery 12 and solar cell panel 13 electric connection, are convenient for promote duration.
The environment monitoring assembly 21 comprises an infrared temperature human body sensing device, a combustible gas concentration sensor, a hydrogen concentration sensor, a carbon monoxide concentration sensor, an alcohol concentration sensor, a temperature and humidity sensor, a dust concentration sensor, a flame sensor, an illumination intensity sensor and a gyroscope, and is provided with the infrared temperature human body sensing device, whether people are near a system can be monitored in real time, the people can be rescued in a short time after being found, the combustible gas concentration sensor, the hydrogen concentration sensor, the carbon monoxide concentration sensor and the alcohol concentration sensor are used, the concentration condition is fed back to the receiving terminal 20, the concentration source can be effectively analyzed and controlled, the high-precision temperature and humidity sensor is provided, temperature and humidity information is fed back to the receiving terminal 20, the dust concentration sensor is provided, the underground dust concentration is fed back to the receiving terminal 20, and dust explosion can be prevented in advance, avoid further injury, be furnished with the flame sensor, if the discovery has the condition of a fire, can feed back this information to receiving terminal 20, and show through the visualization where the condition of a fire has, more effective measure can be taken in the later stage, be furnished with illumination intensity sensor, pass through numerical value with underground illumination intensity, feed back to receiving terminal 20, and use OLED to show, under the condition of darker, can judge whether open auxiliary light source, adopt super remote image transmission system, and change the data transmission passageway, make information more stable, be provided with the high accuracy gyroscope, implement the angle information transmission of system to receiving terminal 20 under the whole well.
The receiving terminal 20 is installed inside the aluminum alloy safe 19 so as to protect the receiving terminal 20.
The utility model discloses during the use, through ultrasonic sensor 8 who sets up, ultrasonic sensor 8 is every time turned to an angle, ultrasonic sensor 8 just surveys the distance of getting the barrier in this direction, makes the system obtain the barrier positional information who has direction and distance concurrently, and transmit the information of collecting to central processing unit 16, and central processing unit 16 handles the back according to continuous barrier information, makes accurate judgement to the environment of traveling, and entry control driving motor 6 drives mecanum wheel 5 and moves, realizes independently exploring way under unknown environment, and the automatic position of traveling is expected;
analyzing the surrounding environment information constantly by using a laser radar 15, and reproducing the surrounding environment by using a map remotely;
the method comprises the steps that through the arranged video acquisition mechanism 4, high-definition video information is acquired through the American high-pass AR9331 platform and is sent to the receiving terminal 20 through wireless transmission, real-time monitoring of a monitored area is completed, and in addition, the transmission distance of an image transmission system is increased and can reach 3 KM;
the omnibearing step motor mechanical arm 2 is used, so that specimens and information can be taken accurately, and rescue goods and materials can be transported for rescue;
through the arranged black box 17, the acquired information is synchronously written into the black box 17 at the speed of 1000 pieces per second, so that the information is convenient to check and analyze;
the infrared temperature human body sensing device is provided, whether people exist nearby a real-time monitoring system or not can be monitored in real time, the monitoring system can be rescued in a short time after finding, a combustible gas concentration sensor, a hydrogen concentration sensor, a carbon monoxide concentration sensor and an alcohol concentration sensor are used, the concentration condition is fed back to a receiving terminal 20, the concentration source can be effectively analyzed and controlled, a high-precision temperature and humidity sensor is provided, temperature and humidity information is fed back to the receiving terminal 20, a dust concentration sensor is provided, the underground dust concentration is fed back to the receiving terminal 20, dust explosion can be prevented in advance, further damage is avoided, a flame sensor is provided, if a fire condition is found, the information is fed back to the receiving terminal 20, the fire condition is visually displayed, more effective measures can be taken in the later stage, the monitoring system is provided with an illumination intensity sensor, the underground illumination intensity passes through numerical values, the information is fed back to the receiving terminal 20 and displayed by using the OLED, whether the auxiliary light source is started or not can be judged under the dark condition, the ultra-long-distance image transmission system is adopted, the data transmission channel is changed, the information is more stable, the high-precision gyroscope is arranged, and the angle information of the whole underground implementation system is transmitted to the receiving terminal 20.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. Rescue system is surveyed to mine based on multisensor information fusion, including base (1), its characterized in that: the device is characterized in that driving motors (6) are fixed at four corner positions at the bottom of the base (1) through shock absorption assemblies (22), Mecanum wheels (5) are connected to the driving motors (6) in a rotating mode, ultrasonic sensors (8) are installed at the centers of the periphery of the base (1), a solar cell panel (13) is fixed on one side of the top of the base (1) through a solar cell panel support (11), a laser radar (15) is fixed on the center of the top of the base (1) through a radar support (18), an environment monitoring assembly (21) is installed on the other side of the top of the base (1), a video acquisition mechanism (4) is installed on one side of the bottom of the base (1), a circuit board (23) is installed inside the radar support (18) at the center of the top of the base (1), and a wireless transceiver (14) and a central processor (16) are installed on the circuit board (23, video acquisition mechanism (4), laser radar (15) and the equal electric connection central processing unit's of environmental monitoring subassembly (21) input, the output of central processing unit (16) passes through wireless transceiver (14) and receiving terminal (20) signal connection, the input of ultrasonic sensor (8) electric connection central processing unit (16), the output electric connection driving motor (6) of central processing unit (16).
2. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: shock-absorbing component (22) include connecting rod (7), locating lever (9) and bumper shock absorber (10), locating lever (9) are installed to four corner positions in bottom of base (1), locating lever (9) pass through one side swing joint of connecting rod (7) and driving motor (6), the top of driving motor (6) corresponds both sides and is connected with the bottom of base (1) through bumper shock absorber (10).
3. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: all-round step motor arm (2) is installed to top one side of base (1), install mechanical tong (3) on all-round step motor arm (2).
4. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: the top center of base (1) is located the internally mounted of radar support (18) and is equipped with black box (17), black box (17) and central processing unit (16) communication connection.
5. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: the wireless transceiver (14) employs an NRF24L01 chip, and the wireless transceiver (14) conforms to the SPI communication protocol.
6. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: the solar cell panel is characterized in that a lithium ion battery (12) is arranged inside a solar cell panel support (11) on the top of the base (1), and the lithium ion battery (12) is electrically connected with a solar cell panel (13).
7. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: the environment monitoring assembly (21) comprises an infrared temperature human body sensing device, a combustible gas concentration sensor, a hydrogen concentration sensor, a carbon monoxide concentration sensor, an alcohol concentration sensor, a temperature and humidity sensor, a dust concentration sensor, a flame sensor, an illumination intensity sensor and a gyroscope.
8. The mine detection and rescue system based on multi-sensor information fusion of claim 1, characterized in that: the receiving terminal (20) is installed inside the aluminum alloy safe box (19).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922210715.0U CN211230554U (en) | 2019-12-11 | 2019-12-11 | Mine detection and rescue system based on multi-sensor information fusion |
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| CN201922210715.0U CN211230554U (en) | 2019-12-11 | 2019-12-11 | Mine detection and rescue system based on multi-sensor information fusion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323353A (en) * | 2020-04-13 | 2020-06-23 | 中煤科工集团重庆研究院有限公司 | Dust concentration detection system and method based on multi-sensing multi-source data fusion |
| CN114148430A (en) * | 2021-12-04 | 2022-03-08 | 李岳 | Detection equipment for underground space structure formed by mineral exploitation |
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2019
- 2019-12-11 CN CN201922210715.0U patent/CN211230554U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323353A (en) * | 2020-04-13 | 2020-06-23 | 中煤科工集团重庆研究院有限公司 | Dust concentration detection system and method based on multi-sensing multi-source data fusion |
| CN111323353B (en) * | 2020-04-13 | 2021-03-16 | 中煤科工集团重庆研究院有限公司 | Dust concentration detection system and method based on multi-sensing multi-source data fusion |
| CN114148430A (en) * | 2021-12-04 | 2022-03-08 | 李岳 | Detection equipment for underground space structure formed by mineral exploitation |
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Granted publication date: 20200811 Termination date: 20201211 |