技术领域technical field
本发明属于机器人领域，特别涉及一种主要用于煤矿井下灾害救援的复合构型机器人。The invention belongs to the field of robots, in particular to a compound configuration robot mainly used for disaster rescue in underground coal mines.
背景技术Background technique
煤炭作为我国主要的一次能源，是国民经济发展的基础。但煤炭开采事故多发、救援难度大是我国煤矿生产中存在的现实难题。因此研究生产一种能够在井下发生瓦斯煤尘爆炸、突水塌方等灾害事故后，帮助救援人员快速获取事故现场瓦斯、煤尘浓度等环境参数以及巷道场景图像等信息的井下救援机器人，对加快煤矿灾害救援进度、及时确定被困矿工信息、降低人员伤亡、减少财产损失等将提供有力支撑，对实现救援装备的现代化升级是十分紧迫和必要的。Coal, as the main primary energy in our country, is the foundation of national economic development. However, frequent coal mining accidents and difficult rescue are real problems in the production of coal mines in our country. Therefore, the research and production of an underground rescue robot that can help rescuers quickly obtain environmental parameters such as gas and coal dust concentration at the accident site and roadway scene images after disasters such as gas and coal dust explosions and water inrush landslides in underground mines will help speed up the process. The progress of coal mine disaster rescue, timely determination of trapped miners' information, reduction of casualties, and reduction of property losses will provide strong support, which is very urgent and necessary to realize the modernization and upgrading of rescue equipment.
目前国内外研究机构开发研究的煤矿救援机器人有多种形式，通常有轮式、履带式机器车，以及救援飞行器或无人机的形式。救援机器车搭载能力强，可携带多种监测设备，但是在遇到如塌方落石等较大障碍物时，难以快速确定通行路径，甚至无法跨越，或者遇积水区域无法通行；救援飞行器飞行速度较快，但是持续飞行时间短，特别是在需要搭载多种环境参数监测器和救援物资的情况下，需要更大容量的电池才能满足需求，但现有的电池技术难以解决电池容量要大和质量要轻的矛盾。概括起来，实现井下救援机器人的运动快速性、复杂环境下的良好通过性、长距离运动能力和负载能力、以及在煤矿井下巷道复杂空间下的远距离通信能力都是需要亟待解决的问题。At present, there are many forms of coal mine rescue robots developed by research institutions at home and abroad, usually in the form of wheeled, crawler-mounted robots, and rescue aircraft or drones. The rescue robot vehicle has a strong carrying capacity and can carry a variety of monitoring equipment. However, when encountering large obstacles such as landslides and falling rocks, it is difficult to quickly determine the passage path, or even cross it, or it is impassable in areas with stagnant water; the flight speed of the rescue aircraft Faster, but the continuous flight time is short, especially when it is necessary to carry a variety of environmental parameter monitors and rescue supplies, a battery with a larger capacity is required to meet the demand, but the existing battery technology is difficult to solve the problem of large battery capacity and quality To lighten the contradiction. To sum up, it is urgent to realize the rapid movement of underground rescue robots, good passability in complex environments, long-distance movement and load capacity, and long-distance communication capabilities in complex spaces of coal mine underground roadways.
发明内容Contents of the invention
针对现有技术的不足，本发明提供一种复合构型的井下救援机器人及其救援方法，旨在解决的技术问题是实现一种同时具有运动快速性、复杂环境下的良好通过性、长距离运动能力和负载能力、以及在煤矿井下巷道复杂空间下的远距离通信能力。Aiming at the deficiencies of the prior art, the present invention provides an underground rescue robot with composite configuration and its rescue method. Movement ability and load capacity, and long-distance communication ability in the complex space of coal mine underground roadway.
为实现以上目的，本发明通过以下技术方案予以实现。In order to achieve the above purpose, the present invention is achieved through the following technical solutions.
一种复合构型的井下救援机器人，其采用轮履式机器车搭载旋翼式飞行器；轮履式机器车包括由电机驱动的轮履式行走机构、车载光纤布放器、具有光纤通信和无线通信功能的智能控制主机、大容量电池、储物仓和供飞行器降落的平台，平台下有为飞行器无线充电的发射线圈及其控制设备，机器车储物仓携带多种可无线通信的便携式环境参数监测器及食物饮料等物资；旋翼式飞行器包括由电机驱动的多旋翼式飞行机构、前视双目摄像头、下视双目摄像头、具有无线通信功能的智能控制器、电磁式载物挂钩、电池、无线充电的接收线圈及其控制设备构成。An underground rescue robot with a composite configuration, which uses a wheel-track robot vehicle to carry a rotor-type aircraft; the wheel-track robot vehicle includes a wheel-track walking mechanism driven by a motor, a vehicle-mounted optical fiber deployer, and has optical fiber communication and wireless communication. Functional intelligent control host, large-capacity battery, storage compartment and a platform for the aircraft to land. Under the platform, there are transmitting coils and control equipment for wireless charging of the aircraft. The storage compartment of the robot car carries a variety of portable environmental parameters that can communicate wirelessly. Monitors, food and beverages and other materials; the rotorcraft includes a multi-rotor flight mechanism driven by a motor, a front-view binocular camera, a downward-view binocular camera, an intelligent controller with wireless communication functions, an electromagnetic load hook, and a battery 1. The receiving coil of wireless charging and its control equipment.
轮履式机器车顶部具有供旋翼式飞行器降落的平台，平台下有一组可为飞行器无线充电的发射线圈及其控制设备，通过无线充电方式对降落平台上的飞行器电池进行充电。旋翼式飞行器机体底部装有可进行无线充电的接收线圈及其控制设备，实现对机体内部电池的充电。旋翼式飞行器装有前视双目摄像头和下视双目摄像头，前视摄像头用于飞行器在巷道中位置的空间感知，并记录巷道影像信息，下视摄像头用于飞行器飞行路径的测量记录，确保飞行器可靠返回，并为机器车提供路径规划参数。旋翼式飞行器与机器车控制主机之间采用无线通信，轮履式机器车通过拖放的光纤与救援中心进行通信。The top of the wheel-track robot vehicle has a platform for the rotorcraft to land. Under the platform, there is a set of transmitting coils and its control equipment that can wirelessly charge the aircraft. The aircraft battery on the landing platform is charged by wireless charging. The bottom of the body of the rotorcraft is equipped with a receiving coil capable of wireless charging and its control equipment to realize the charging of the battery inside the body. The rotorcraft is equipped with a forward-looking binocular camera and a downward-looking binocular camera. The forward-looking camera is used for spatial perception of the position of the aircraft in the roadway and records the image information of the roadway. The downward-looking camera is used for measuring and recording the flight path of the aircraft to ensure The aircraft returns reliably and provides path planning parameters for the robotic vehicle. Wireless communication is adopted between the rotorcraft and the control host of the robot vehicle, and the wheel-track robot vehicle communicates with the rescue center through the dragged and dropped optical fiber.
与目前的井下救援机器人相比，本发明的优点是整体具有运动速度快、复杂环境下通过能力强、具有长距离运动能力和负载能力、同时可以在煤矿井下巷道复杂空间下的远距离通信能力的井下救援机器人系统，弥补了传统方式救援机器人的不足，为煤矿井下灾害救援工作及时高效开展提供帮助。Compared with the current underground rescue robot, the present invention has the advantages of fast movement speed, strong passing ability in complex environments, long-distance movement ability and load capacity, and long-distance communication ability in the complex space of coal mine underground roadway The underground rescue robot system of the company makes up for the shortcomings of traditional rescue robots and provides assistance for timely and efficient underground disaster rescue work in coal mines.
附图说明Description of drawings
图1是本发明的主视图。Fig. 1 is a front view of the present invention.
图2是飞行器的仰视图。Figure 2 is a bottom view of the aircraft.
图3是机器车的俯视图。Fig. 3 is a top view of the robotic vehicle.
图4是机器车涉水行进时轮履机构状态图。Fig. 4 is a state diagram of the wheel shoe mechanism when the robot vehicle is wading through water.
图5是旋转连杆部分结构图。Fig. 5 is a partial structural view of the rotary link.
附图标记说明：1-机器车的轮履式行走机构；2-液压减震器；3-光纤布放器；4-机器车智能控制主机；5-飞行器无线充电装置激励线圈及其控制器；6-大容量电池；7-便携式环境参数监测器及食物饮料等物资；8-多旋翼式飞行机构；9-飞行器智能控制器；10-电池；11-飞行器无线充电装置接收线圈及其控制器；12-前视双目摄像头；13-下视双目摄像头；14-电磁式载物挂钩；15-旋转舵机；16-主驱动轮电机；17-旋转连杆；18-主驱动轮；19-履带；20-副驱动轮；21-旋转舵机轴齿轮；22-主驱动轮电机轴孔；23-副驱动轮电机轴孔；24-旋转连杆转轴。Explanation of reference numerals: 1-wheel-track traveling mechanism of the robot vehicle; 2-hydraulic shock absorber; 3-fiber optic deployer; 4-intelligent control host of the robot vehicle; 5-excitation coil and controller of the aircraft wireless charging device ;6-Large-capacity battery; 7-Portable environmental parameter monitor and food and beverage and other materials; 8-Multi-rotor flight mechanism; 9-Intelligent controller of aircraft; 10-Battery; 11-Aircraft wireless charging device receiving coil and its control 12-front-view binocular camera; 13-down-view binocular camera; 14-electromagnetic loading hook; 15-rotary steering gear; 16-main drive wheel motor; 17-rotary connecting rod; 18-main drive wheel 19-track; 20-secondary drive wheel; 21-rotary steering gear shaft gear; 22-main drive wheel motor shaft hole; 23-secondary drive wheel motor shaft hole; 24-rotary connecting rod shaft.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
当煤矿井下发生煤与瓦斯突出、瓦斯煤尘爆炸、突水、冒顶塌方等事故后，需要派出人员开展事故救援。对井下出现的救援人员无法达到的灾害区域，首先由救援人员通过光纤通讯方式遥控搭载有旋翼式飞行器的轮履式机器车进入救援区域。When accidents such as coal and gas outburst, gas and coal dust explosion, water inrush, roof collapse and other accidents occur underground in coal mines, it is necessary to send personnel to carry out accident rescue. For the disaster area that rescuers cannot reach underground, firstly, the rescuer remotely controls the wheeled robot vehicle equipped with the rotorcraft to enter the rescue area through optical fiber communication.
对于一般地形巷道，轮履式行走机构1采用图1所示状态即机身的四组由主驱动轮电机16带动主驱动轮18着地行进，主驱动轮直径大，行进快速，液压减震器2可以减小机器车行进中对车体造成的振动，机器车行进时光纤布放器3随车布放光纤，同时利用机器车所携带的环境参数监测器7和飞行器的前视双目摄像头12，获取周围环境的瓦斯煤尘等参数和图像信息，并通过机器车布放的光纤传回救援指挥中心。For general terrain roadways, the wheel-track walking mechanism 1 adopts the state shown in Figure 1, that is, four groups of the fuselage are driven by the main drive wheel motor 16 to drive the main drive wheel 18 to land on the ground. The main drive wheel has a large diameter and travels fast. 2. It can reduce the vibration caused to the vehicle body when the robot vehicle is moving. When the robot vehicle is moving, the optical fiber deployer 3 deploys the optical fiber along with the vehicle. At the same time, the environmental parameter monitor 7 carried by the robot vehicle and the front-view binocular camera of the aircraft are used. 12. Obtain parameters and image information such as gas and coal dust in the surrounding environment, and transmit them back to the rescue command center through the optical fiber laid by the robot vehicle.
对于有积水巷道，由救援人员通过光纤向机器车的智能控制主机4发送指令，控制旋转舵机15，由旋转舵机轴齿轮21驱动旋转连杆17绕轴24旋转，使机器车采用图4所示状态即由机身的四个副驱动轮20着地，主驱动轮18通过履带19带动副驱动轮20转动向前行进，由于副驱动轮20直径小于主驱动轮18，机器车以较低速度行进。For roadways with accumulated water, the rescuers send instructions to the intelligent control host 4 of the locomotive through optical fiber to control the rotating steering gear 15, and the rotating steering gear 21 drives the rotating connecting rod 17 to rotate around the axis 24, so that the locomotive adopts the The state shown in 4 is that the four auxiliary driving wheels 20 of the fuselage touch the ground, and the main driving wheel 18 drives the auxiliary driving wheels 20 to rotate and advance through the crawler belt 19. Travel at low speed.
对于巷道中存在塌方冒顶等掉落的大型石块煤块等障碍物，机器车难以确定行进路径时，由救援人员通过光纤向机器车的智能控制主机4发送指令，通过无线通信控制采用多旋翼式飞行机构8的飞行器起飞，飞行器通过前视双目摄像头12和下视双目摄像头13对前方障碍物尺寸及周围空间参数进行测量，并通过具有无线通讯功能的飞行器智能控制器9将信息传输给机器车的智能控制主机4，再由光纤传回救援中心，供救援人员决策机器车的前进路径。For obstacles such as large rocks and coals that have fallen from landslides and roof falls in the roadway, when it is difficult for the robot car to determine the travel path, the rescuers send instructions to the intelligent control host 4 of the robot car through optical fibers, and the multi-rotor is controlled by wireless communication. The aircraft of the type flight mechanism 8 takes off, and the aircraft measures the size of obstacles ahead and the parameters of the surrounding space through the front-view binocular camera 12 and the downward-looking binocular camera 13, and transmits the information through the aircraft intelligent controller 9 with wireless communication function. Give the intelligent control host 4 of the robot car, and then send it back to the rescue center by optical fiber, for the rescuers to decide the advancing path of the robot car.
对于巷道中的大型障碍导致机器车无法通过时，控制飞行器利用电磁式载物挂钩14将机械车储物仓内的便携式环境参数监测器及食物饮料等救援物资7投放到救援区域，同时利用机载设备采集巷道图像信息并通过无线通信传回机器车智能控制主机4，进一步由光纤传回救援中心。When the large-scale obstacle in the roadway makes the robot car unable to pass through, the control aircraft uses the electromagnetic loading hook 14 to put the portable environmental parameter monitor and food and drink and other rescue materials 7 in the storage bin of the mechanical car into the rescue area. The on-board equipment collects roadway image information and sends it back to the robot car intelligent control host 4 through wireless communication, and further sends it back to the rescue center by optical fiber.
当的旋翼式飞行器在电力不足时可以自动返航，飞回机器车的降落平台，机器车智能控制主机4通过平台下的飞行器无线充电装置的激励线圈及其控制器5与飞行器无线充电装置接收线圈及其控制器11进行无线充电，用机器车的大容量电池6为飞行器电池10快速补充电能。When the rotorcraft can automatically return when the power is insufficient, it flies back to the landing platform of the robot car, and the robot car intelligently controls the host 4 through the excitation coil and the controller 5 of the aircraft wireless charging device under the platform and the receiving coil of the aircraft wireless charging device. And the controller 11 thereof carries out wireless charging, and the high-capacity battery 6 of the robot car is the fast supplementary electric energy for the aircraft battery 10.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398446.4ACN107905835A (en) | 2017-12-22 | 2017-12-22 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398446.4ACN107905835A (en) | 2017-12-22 | 2017-12-22 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| Publication Number | Publication Date |
|---|---|
| CN107905835Atrue CN107905835A (en) | 2018-04-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711398446.4APendingCN107905835A (en) | 2017-12-22 | 2017-12-22 | The underground rescue robot and its rescue mode of a kind of composite configuration |
| Country | Link |
|---|---|
| CN (1) | CN107905835A (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20180413 | |
| WD01 | Invention patent application deemed withdrawn after publication |