RU2682298C1 - Robotized, mobile, modular mine-rescue complex and methods of application thereof - Google Patents

Abstract

FIELD: mining.SUBSTANCE: invention relates to mining and can be used in rescue and maintenance operations in underground conditions. Robotized, mobile, modular mine-rescue complex (RMMMRC) is a self-travelling vehicle, including a platform mounted on the running gear of the hull with compartments in which a power plant is mounted, on-board control systems, radio telemetry, video surveillance, stull and cable layer at the electrical power part, as well as special equipment comprising: lighting systems, an infrared rangefinder, cameras, thermal imager, automatic multifunctional gas analyzer, gun carriage hydraulic monitor with a high-pressure pump and water dispersing and/or foam preparation devices, a drilling rig with a set of rods and crowns for various purposes, a manipulator with hydraulic gripping and/or a clamshell crane, bulldozer blade, scraper conveyor, entrenching tool for extinguishing of rock-fall and performing works, with protective equipment, first aid and transportation of victims, additional insulating respirators. According to the invention, the complex consists of one, two or more autonomous transport platforms, running gears, housings of which are interconnected by turning-coupling devices attached to the housings of the modules by telescopic hydraulic jacks.EFFECT: technical result is a wider scope of the complex for mine-rescue and preventive maintenance operations in underground conditions.12 cl, 4 dwg

Description

The invention relates to mining and can be used in rescue and preventive maintenance in underground conditions.

Known robotic fire complex with the use of high-pressure fire robots [1], which consists of two or more fire robots, including a fire monitor with vertical and horizontal guidance drives mounted on it, a disk shutter and a tanning detection device connected to a switching unit on the entrance, and at its exit, with a remote control and a control device, which is connected to fire detectors via a control panel; fire robots are connected to the fire pipeline through high-pressure pumps, which are connected to the control device through the starting device, and high-pressure nozzles are installed at the outlet of the fire monitors to form a finely sprayed jet.

The disadvantage of a robotic fire complex is the limited application conditions.

A well-known robotic fire system with a technical vision system refers to robotic fire extinguishing systems [2], which consists of two or more fire robots, a technical vision system, including two-channel cameras with a video channel and a TV channel in the IR range, installed on fire robots, which connected to a device for identifying a hot spot and determining its coordinates, digitally processing a television signal in the IR range according to a given program, and with a recognition device anija jet and to determine its origin, performing digital processing of video for a given program.

The disadvantage of a robotic fire complex is the limited application conditions.

The closest technical solution adopted for the prototype is a mobile robotic fire extinguishing system [3], which consists of a chassis, a housing with compartments for the power unit, for a fire extinguishing system and an onboard control system, as well as special equipment including a bulldozer blade located in the front parts of the body, water barrel monitor (fire monitor) with a video surveillance system and remote control of the extinguishing agent supply system. At the same time, MRKP has a remote control system, video surveillance systems, radio telemetry and lighting; self-irrigation system; sound annunciator (horn) and flashing signal beacons. MRKP is additionally equipped with an obstacle detection system based on ultrasonic sensors for orientation in conditions of limited visibility; and the MRKP video surveillance system contains two independent channels: the first video surveillance channel is organized by a Wi-Fi standard wireless digital network using a personal computer (tablet, smartphone) and consists of video cameras connected to a network switch connected, in turn, to Wi-Fi- adapter with antennas; and the second channel of video surveillance is organized using a digital compressed video stream broadcasting system (COFDM) and consists of a quadrator connected to a video transmitter with an antenna and to video cameras, a video receiver with a set of antennas (two), and an external monitor connected (via the video receiver connector). At the same time, video cameras of the video surveillance system are equipped with IR illumination for working in low light conditions, and in the lighting system, the headlights are equipped with built-in video cameras, and the headlights have headlights and a cleaning system (wipers). In addition, MRKP additionally has a compression foam extinguishing system, and the undercarriage is removable with the possibility of installing a wheeled or tracked chassis; while MRKP is additionally equipped with a voice warning system.

The disadvantages of this technical solution are a narrow range of tasks and lack of fitness for movement on difficult terrain of mine workings, expansion of types of underground mining operations.

The objective of the invention is the unification of the complex and the expansion of the scope and methods of application for mine rescue and preventive maintenance in underground conditions.

The solution of the tasks is achieved by the fact that:

- a robotic, mobile, modular mountain rescue complex (RMMGSK) complex consists of one, two or more autonomous transport platforms, chassis, the bodies of which are interconnected by rotary coupling devices attached to the modules with telescopic hydraulic jacks, while the modules can be used in coupling and offline.

- the running gear is performed in pairs of three wheels, on which a caterpillar chassis can be mounted on two rear or all three wheels to increase cross-country ability, and the power plant is electric and / or diesel-electric with a gear system for the running gear and an oil pump for hydraulically driving the actuators of the complex .

- the on-board control system has multichannel support for on-board (local), remote and remote control using redundant communication channels for remote control of the chassis and power units, mounted video surveillance equipment and measuring equipment to ensure the transmission of information and control signals to the levels of on-board, remote, underground and dispatching (staff) points.

- the spacer support has a telescopic hydraulic stand and an upper for ensuring the expansion of the complex module during mining and rescue operations (GSR).

- the cable layer with the electric drive of the complex is installed on the back of the last module, and the drive of the stacker drum is reversible to ensure winding and dissolution of the power cable.

- to complete the complex, use attachments and devices, the dimensions of which allow it to be carried through the opening pipe of an explosion-resistant bridge (800 mm), and mount them directly at the place of mine rescue and preventive maintenance on the platforms and cases of the complex's modules, where there are special mounts, controls and communications;

- to conduct preliminary reconnaissance, the front and rear headlights of additional lighting, an infrared range finder, as well as television cameras, a thermal imager, an automatic multifunctional gas analyzer are installed on the manipulators of the complex, and information is transmitted and duplicated via wired and non-wired communication channels to the on-board and remote control panels, to the underground and dispatching (staff) points where it is analyzed, transferred for operational work and archived.

- to eliminate and prevent underground fires, a fire monitor with a high-pressure pump is installed on the complex, which is connected with flexible hoses to the mine fire extinguishing network and, depending on the type of fire, are equipped with water dispersion and / or foam preparation devices, additional sets of insulating respirators.

- to eliminate underground accidents and dismantle debris, a hinged, bulldozer blade, scraper conveyor, a hydraulic pick-up manipulator and / or a clamshell swept crane, a winch are installed on the complex, equipped with a chance tool and additional insulating respirators.

- for the exploration and prevention of rock blows, sudden emissions of gas and dust, water breakthroughs in the mine workings, gas analyzers, a drilling rig are installed at the complex and are equipped with a set of rods and crowns for various purposes.

- when the mine workings are flooded, a pump station, a cable layer are installed on the complex and are equipped with flexible hoses with quick disconnect connections.

- to save people, a manipulator, a gas analyzer, a thermal imager are installed on the complex, equipped with protection, first aid and transportation equipment, as well as additional insulating respirators and oxygen pads.

The device of the complex and methods of its use are illustrated by the drawings:

in FIG. 1 presents a control scheme RMMGSK;

in FIG. 2 presents RMMGSK (side view);

in FIG. 3 presents RMMGSK (top view);

in FIG. 4 shows a hitch.

The following conventions are adopted in the drawings: 1, 2 - modules of the complex; 3 - tracked chassis; 4 - spacer support; 5 - dozer blade; 6

- scraper conveyor; 7 - place for mounting the monitor; 8 - hoist crane; 9 - drilling rig; 10 - gas analyzer; 11 - rotary coupling device; 12 - hinged side; 13 - cable layer; 14 - telescopic hydraulic jack; 15-15

- hitch, 16 - wire connection, 17 - without wire connection; 18 - onboard control panel; 19 - remote control panel; 20 - underground control point; 21 - dispatching (staff) control point; 22 - wheelsets; 23 - lighting system; 24 - infrared range finder; 25 - a television camera; 26 - thermal imager; 27 - additional lighting system, 28 - gun mount, 29 - winch.

The robotic, mobile, modular mountain rescue complex (RMMGSK) is a self-propelled vehicle that includes platforms 1, 2, mounted on the chassis of the hull with compartments, in which the power plant, on-board control systems, radio telemetry, video surveillance, spacer support 4 and cable layer 13 are mounted electrical power unit, as well as special equipment consisting of: lighting systems 23, infrared range finder 24, camera 25, thermal imager 26, automatic multi-function gas an analyzer 10, a gun monitor with a high-pressure pump and water dispersion and / or foam preparation devices, a drilling rig 9 with a set of rods and crowns for various purposes, a hydraulic pick-up manipulator and / or a grab crane 8, a dozer blade 9, a scraper conveyor 6, a winch 29 , a chance tool for disassembling rubble and carrying out work, with protective equipment, first aid and transportation of injured, additional insulating respirators.

The complex consists of one, two or more autonomous transport platforms, running gears, the housings of which are interconnected by rotary-coupling devices 11, attached to the module housings by telescopic hydraulic jacks 14.

The undercarriage is carried out in pairs of three wheels 22, on which a caterpillar chassis 3 can be mounted on two rear or all three wheels to increase cross-country ability, and the power unit is electric and / or diesel-electric with a gear system for the undercarriage and an oil station for hydraulic actuator drive complex.

The on-board control system has multichannel support for on-board local 18, remote 19 control panels, underground 20 and dispatch (staff) 21 points, and remote control using duplicate 16 wire and 17 wireless communication channels for remote control of the chassis and power units, mounted video surveillance equipment and measuring equipment to ensure the transfer of information and control signals to the levels of onboard, remote control panels, underground and dispatch (staff) points.

The spacer support has a telescopic hydraulic stand 14 and a top-hedge 4 to ensure the expansion of the module of the complex during mining operations and serves to expand the housing modules and pull up or eject when building or blocking the rock with one of the modules using telescopic hydraulic jacks 14 of the rotary hitch 11. Swivel - coupling device consists of two paired towbars 15 interconnected and two telescopic telescopic jacks 14 attached to the cases of modules 1, 2 and serving t for pushing or pulling the modules together when driving in a steep or heaped hole, when the traction of the wheels or tracked chassis is not enough for the complex to move, or when the roof collapses and one of the modules collapses (such cases are more likely to clear the rubble).

The cable layer 13 with the electric drive of the complex is installed on the rear of the last module, and the drive of the stacker drum is reversible to ensure winding and dissolution of the power cable, which ensures accelerated delivery of modules to the place of mine rescue and preventive maintenance.

Ways of applying RMMGSK include carrying out preventive and mine rescue operations aimed at: saving people, assessing the condition of mine workings and their gas contamination, eliminating underground accidents, fighting fires, preventing mountain impacts, sudden gas and dust emissions, flooding workings, dismantling debris and is equipped with equipment, whose dimensions allow it to be carried through the opening pipe of an explosion-proof bridge (800 mm), at the place of mine rescue and preventive maintenance on platforms and cases complex, where there are special for their fastening.

To conduct preliminary reconnaissance, an additional lighting system is installed on the complex 27; monitors 7 install an infrared rangefinder 24, a television camera 25, a thermal imager 26, an automatic multifunctional gas analyzer 10, and the information is transmitted and duplicated via wire 16 and wireless 17 communication channels on board 18 and remote 19 remotes, in the underground 20 and dispatch (staff) 21 points where it is analyzed, transferred for operational work and archived.

To eliminate and prevent underground fires, a fire monitor 28 with a high-pressure pump is installed on the monitor 7 of the complex, which is connected with flexible hoses to the mine fire extinguishing network and, depending on the type of the fire source, is equipped with water dispersion and / or foam preparation devices, additional sets of insulating respirators.

To eliminate underground accidents and dismantle the rubble, a bulldozer blade 5, a scraper conveyor 6, a hydraulic manipulator 7 and / or a clamshell swept crane 8, a winch 29 are installed on the complex, equipped with a chance tool and additional insulating respirators.

For reconnaissance and prevention of rock blows, sudden emissions of gas and dust, water breakthroughs in the mine workings, a gas analyzer 10, a drilling rig 9 are installed on the manipulators 7 of the complex and equipped with a set of rods and crowns for various purposes.

When flooding the mine workings, a pumping station is installed on the complex and is equipped with flexible hoses with quick disconnect connections.

To save people, a manipulator with a grip 7, a thermal imager 26 is installed on the complex, equipped with protective equipment, first aid and transportation of victims, as well as additional insulating respirators and oxygen pads.

The technical result and the expansion of the scope of the complex is achieved by unification of the control system of the complex, duplication of wired and wireless channels and the transfer of information to remotes and points of various levels and control signals from them to the complex.

Information sources

1. RF patent No. 2391125. Robotic fire complex using high-pressure fire robots. IPC A62C 31/00. Patent. CJSC "Engineering Center for Fire Robotics" Ether "", Invent. Gorban Yu.I. Claim 12/23/2008. Published: 06/10/2010.

2. RF patent No. 2433847. Robotic fire complex with a vision system. IPC A62C 31/00. Patent. CJSC "Engineering Center for Fire Robotics" Ether "", Invent. Gorban Yu.I. Claim 06/16/2010. Published: 11/20/2011.

3. RF patent No. 2580779. Mobile robotic fire extinguishing system. IPC A62C 27/00. Patent. Siberian Arsenal LLC, Invent. Nekrasov E.V., Shelomov S.B. Decl. 08/14/2014. Published: 03/10/2016.

Claims (12)

1. Robotic, mobile, modular mountain rescue complex (RMMGSK), which is a self-propelled vehicle, including a platform mounted on the chassis of the hull with compartments, in which the power plant, on-board control systems, radio telemetry, video surveillance, spacer support and cable layer are mounted with electric power parts, as well as special equipment consisting of: lighting systems, infrared range finder, television cameras, thermal imager, automatic multifunctional gas analyzer a, a water monitor with a high-pressure pump and water dispersing and / or foam preparation devices, a drilling rig with a set of rods and crowns for various purposes, a hydraulic pick-up manipulator and / or a clamshell crane, a bulldozer blade, a scraper conveyor, a chance tool for removing blockages and carrying out works, with protective equipment, first aid and transportation of victims, additional insulating respirators, characterized in that the complex consists of one, two or more av onomnyh transport platforms running parts, housings which are coupled between a rotational-coupling devices attached to the module case telescopic hydraulic jacks. 2. RMMGSK according to claim 1, characterized in that the running gear is a pair of tricycles, on which a tracked chassis can be mounted on two rear or all three wheels to increase cross-country ability, and the power unit is electric and / or diesel-electric with a gear system for chassis and oil station for the hydraulic drive of the actuators of the complex. 3. RMMGSK under item 1, characterized in that the on-board control system has multichannel support for on-board local, remote and remote control using redundant communication channels for remote control of the chassis and power units, mounted video surveillance equipment and measuring equipment to ensure the transmission of information and control signals to levels of onboard, remote, underground and dispatch (staff) points. 4. RMMGSK according to claim 1, characterized in that the spacer support has a telescopic hydraulic stand and an overhead for ensuring the expansion of the module of the complex during mining and rescue operations (GSR). 5. RMMGSK according to claim 1, characterized in that the cable layer with the electric drive of the complex is installed on the rear of the last module, and the drive of the stacker drum is reversible to ensure winding and dissolution of the power cable. 6. The method of application of the RMMGSK, including the implementation of preventive and mine rescue operations aimed at: saving people, assessing the condition of mine workings and their gas contamination, eliminating underground accidents, fighting fires, preventing mountain impacts, sudden gas and dust emissions, flooding workings, dismantling debris and etc., characterized in that the equipment, the dimensions of which allow it to be carried through the opening pipe of an explosion-proof jumper (800 mm), is carried out directly at the mine rescue site nyh and maintenance work on the platforms and buildings of the complex, where there is a special attachment, depending on the type of work and ensure their safety. 7. The method of using RMMGSK according to claim 6 for conducting preliminary reconnaissance, characterized in that the complex is equipped with front and rear headlights for additional lighting, an infrared range finder, as well as cameras, a thermal imager, an automatic multifunctional gas analyzer, and the information is transmitted and duplicated via wired and wireless communication channels on the onboard and remote control panels, in the underground and dispatching (staff) points where it is analyzed, transferred for operational work and archived. 8. The method of applying RMMGSK according to claim 6 for eliminating and preventing underground fires, characterized in that a fire monitor with a high-pressure pump is installed on the complex, which is connected with flexible hoses to the mine fire extinguishing network and, depending on the type of fire, are equipped with water dispersion devices and / or foam preparation, with additional sets of insulating respirators. 9. The method of using RMMGSK according to claim 6 for eliminating underground accidents and dismantling blockages, characterized in that a hinged, bulldozer blade, a crane with hydraulic grab and / or clamshell jib crane, a winch are installed on the complex, equipped with a chance tool and additional insulating respirators. 10. The method of using RMMGSK according to claim 6 for reconnaissance and prevention of rock blows, sudden gas and dust emissions, water breakthroughs in mine workings, characterized in that gas analyzers, a drilling rig are installed on the complex and are equipped with a set of rods and crowns for various purposes. 11. The method of application of RMMGSK according to claim 6 for flooding mine workings, characterized in that a pump station is installed on the complex and is equipped with flexible hoses with quick disconnect connections. 12. The method of using RMMGSK according to claim 6 for saving people, characterized in that a manipulator, a thermal imager are installed on the complex, equipped with protective equipment, first aid and transportation of the injured, as well as additional insulating respirators and oxygen pads.

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