CN106870003A - A kind of mine intelligent inspection robot control system based on Internet of Things - Google Patents
A kind of mine intelligent inspection robot control system based on Internet of Things Download PDFInfo
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- CN106870003A CN106870003A CN201510916432.1A CN201510916432A CN106870003A CN 106870003 A CN106870003 A CN 106870003A CN 201510916432 A CN201510916432 A CN 201510916432A CN 106870003 A CN106870003 A CN 106870003A
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- 238000007689 inspection Methods 0.000 title claims abstract description 16
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229910002091 carbon monoxide Inorganic materials 0.000 claims abstract description 8
- 238000012546 transfer Methods 0.000 claims description 11
- 241001269238 Data Species 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 229910052710 silicon Inorganic materials 0.000 claims description 3
- 239000010703 silicon Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006855 networking Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002090 carbon oxide Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mine intelligent inspection robot control system based on Internet of Things, it is made up of crusing robot, pressure acquisition terminal, the outer part of central control system three of well.The control system carries out pressure acquisition and transmission using the Zigbee terminal nodes on mine roof, completes the isoparametric collection of Mine Methane, carbon monoxide, humiture by intelligent robot and realizes visual monitoring to top board.The system can realize the major hazard source safe early warnings such as robot autonomous navigation inspection and gas, top board, so as to be timely responded to related accidents.
Description
Technical field
The present invention relates to a kind of mine intelligent inspection robot control system based on Internet of Things, it is adaptable to mechanical field.
Background technology
Mine site environment is complicated, and the ambient parameter such as aerial temperature and humidity, gas density, carbon monoxide and stope, back and base plate state directly affect mine personnel safety.Artificial direct operation causes the accident and takes place frequently, carry out massive losses to personnel and equipment belt, wherein gas and roof accident is higher than 50%, in recent years, with developing rapidly for mine technology of Internet of things is perceived, start that service robot combination technology of Internet of things is applied to mine detection and is searched and rescued both at home and abroad.But unmanned crusing robot research practice is still in the starting stage in mining production operation and daily monitoring.
The content of the invention
The present invention proposes a kind of mine intelligent inspection robot control system based on Internet of Things, pressure acquisition and transmission are carried out using the Zigbee terminal nodes on mine roof, the isoparametric collection of Mine Methane, carbon monoxide, humiture is completed by intelligent robot and visual monitoring is realized to top board.The system can realize the major hazard source safe early warnings such as robot autonomous navigation inspection and gas, top board, so as to be timely responded to related accidents.
The technical solution adopted in the present invention is：
The control system is made up of crusing robot, pressure acquisition terminal, the outer part of central control system three of well, intelligent robot is maked an inspection tour in mine independent navigation, by environmental datas such as multisensor Real-time Collection humiture, carbon monoxide and gas densities, patrol and examine simultaneously and crush and the displacement catastrophe such as drum on base plate, transfer data to route end and relayed by other Zigbee modules, data are sent to the outer central control system of well by Mesh network.
Multiple Zigbee pressure acquisitions terminal node (hereinafter referred to as node) are arranged on mine key ceiling location, the high brightness red LED lamp work when roof pressure is abnormal on driving node simultaneously uploads data.Meanwhile, the vision module being integrated on crusing robot does colour recognition algorithm in real time, robot is triggered when recognizing LED and lighting current location situation is taken pictures uploads, to determine roof accident detail, and sends danger warning.
The whole framework of crusing robot is wheeled robot carrier, all aluminium alloy structure, two-wheeled Serve Motor Control ensure that the accuracy of motion, control core uses embedded four nuclear control plate ARM Cortex-A7, dominant frequency is 900 MHz, newest Windowsl0 operating systems are supported, Linux release Debian embedded systems is pre-installed, using efficient Python programmed environments.The integration USB vision module on embedded control panel, video surveillance selects sieve skill 500W pixel C170 cameras.Laser scanning and ranging instrument RP.360 mono- II of the map reconstruction independent navigation from RPLIDAR companies, DTHll sensors are selected in humiture information gathering, gas density is gathered using MJC4 sensing modules, gathering module and main control chip from the CO carbon monoxide of ZE07 mono- carries out serial communication, and wireless networking is realized using DIGI companies XBEE modules.
The Zigbee nodes complete the detection of top board column pressure, and the information for perceiving collection is sent into host computer by wireless communication protocol.Mainly it is made up of XBee control modules, pressure sensor and high-brightness LED, DIGI companies of U.S. XBee modules are the ZigBee+5V modules of a built-in protocol stack, it uses AT Command Set mode setup module parameter by serial ports, and realizes data transfer by serial ports.Pressure detecting uses SLM211 silicon piezoresistance type pressure sensors, and range is 0~60MPa, and 267Q, precision highest are arrived in precision resistance regulation after tested.
End is controlled in the mine to be programmed using LabVIEW softwares.Mainly it is made up of XBee modules, industrial computer and LabVIEW control softwares, XBEE modules are responsible for data transfer, Zigbee serial ports flow datas are converted to usb data by CH340T chips after the information of each sensor collection of telegon reception is transmitted to host computer.
The systems soft ware of the control system is divided into Zigbee pressure acquisitions end, 3 parts in crusing robot end and middle control end software.Pressure acquisition terminal carries out logic judgment, vo mouthful of control and data transfer after programming monitoring pressure in real time；Middle control end processing data, transmission data realize intelligent alarm；Crusing robot completes Zigbee networkings, embedding people's formula visual processes and robot autonomous navigation etc., is the system key technology to be solved.
The beneficial effects of the invention are as follows：Pressure acquisition and transmission are carried out using the Zigbee terminal nodes on mine roof, the isoparametric collection of Mine Methane, carbon monoxide, humiture is completed by intelligent robot and visual monitoring is realized to top board, the major hazard source safe early warnings such as robot autonomous navigation inspection and gas, top board can be realized, so as to be timely responded to related accidents.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is control system block diagram of the invention.
Fig. 2 is crusing robot governor circuit figure of the invention.
Fig. 3 is pressure acquisition terminating circuit of the invention.
Fig. 4 is middle control terminal circuit figure of the invention.
Fig. 5 is software flow figure of the invention.
In figure：1. pressure acquisition terminal；2. intelligent robot；3. the outer central control system of well.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, control system is made up of crusing robot, pressure acquisition terminal, the outer part of central control system three of well, intelligent robot is maked an inspection tour in mine independent navigation, by environmental datas such as multisensor Real-time Collection humiture, carbon monoxide and gas densities, patrol and examine simultaneously and crush and the displacement catastrophe such as drum on base plate, transfer data to route end and relayed by other Zigbee modules, data are sent to the outer central control system of well by Mesh network.
Multiple Zigbee pressure acquisitions terminal node (hereinafter referred to as node) are arranged on mine key ceiling location, the high brightness red LED lamp work when roof pressure is abnormal on driving node simultaneously uploads data.Meanwhile, the vision module being integrated on crusing robot does colour recognition algorithm in real time, robot is triggered when recognizing LED and lighting current location situation is taken pictures uploads, to determine roof accident detail, and sends danger warning.
Such as Fig. 2, the whole framework of crusing robot is wheeled robot carrier, all aluminium alloy structure, two-wheeled Serve Motor Control ensure that the accuracy of motion, control core uses embedded four nuclear control plate ARM Cortex-A7, and dominant frequency is 900 MHz, supports newest Windowsl0 operating systems, prepackage Linux release Debian embedded systems, using efficient Python programmed environments.The integration USB vision module on embedded control panel, video surveillance selects sieve skill 500W pixel C170 cameras.Laser scanning and ranging instrument RP360-II of the map reconstruction independent navigation from RPLIDAR companies, DTHll sensors are selected in humiture information gathering, gas density is gathered using MJC4 sensing modules, gathering module and main control chip from ZE07-CO- carbonoxides carries out serial communication, and wireless networking is realized using DIGI companies XBEE modules.
As Fig. 3, Zigbee nodes complete the detection of top board column pressure, the information for perceiving collection is sent to host computer by wireless communication protocol.Mainly it is made up of XBee control modules, pressure sensor and high-brightness LED, DIGI companies of U.S. XBee modules are the ZigBee+5V modules of a built-in protocol stack, it uses AT Command Set mode setup module parameter by serial ports, and realizes data transfer by serial ports.Pressure detecting uses SLM211 silicon piezoresistance type pressure sensors, and range is 0~60MPa, and 267Q, precision highest are arrived in precision resistance regulation after tested.
Such as Fig. 4, end is controlled in mine and is programmed using LabVIEW softwares.Mainly it is made up of XBee modules, industrial computer and LabVIEW control softwares, XBEE modules are responsible for data transfer, Zigbee serial ports flow datas are converted to usb data by CH340T chips after the information of each sensor collection of telegon reception is transmitted to host computer.
Such as Fig. 5, the systems soft ware of control system is divided into Zigbee pressure acquisitions end, 3 parts in crusing robot end and middle control end software.Pressure acquisition terminal carries out logic judgment, vo mouthful of control and data transfer after programming monitoring pressure in real time；Middle control end processing data, transmission data realize intelligent alarm；Crusing robot completes Zigbee networkings, embedding people's formula visual processes and robot autonomous navigation etc., is the system key technology to be solved.
Vision storehouse is included in one easily in Python bags, and advanced algorithm, such as feature detection, filtering and pattern-recognition can be used under unified framework.The computer vision framework that SimpleCV increases income, can access such as OpenCV performance computer vision storehouses high.The HSV value of each passage non-saturated pixel, the color of each LED of energy reliable recognition are calculated by color separation.Programmed using Python, identification LED centers of circle coordinate, can accurately identify red LED lamp, and two of which white bright spot is imaged for cruise robot illuminating lamp, red LED lamp is the bright spot that pressure acquisition module is lighted, and coordinate symbol is to recognize red LED center position coordinates value.
Claims (5)
1. a kind of mine intelligent inspection robot control system based on Internet of Things, it is characterized in that：The control system is made up of crusing robot, pressure acquisition terminal, the outer part of central control system three of well, intelligent robot is maked an inspection tour in mine independent navigation, by environmental datas such as multisensor Real-time Collection humiture, carbon monoxide and gas densities, patrol and examine simultaneously and crush and the displacement catastrophe such as drum on base plate, transfer data to route end and relayed by other Zigbee modules, data are sent to the outer central control system of well by Mesh network.
2. a kind of mine intelligent inspection robot control system based on Internet of Things according to claim 1, it is characterized in that：The whole framework of crusing robot is wheeled robot carrier, all aluminium alloy structure, two-wheeled Serve Motor Control ensure that the accuracy of motion, control core uses embedded four nuclear control plate ARM Cortex-A7, dominant frequency is 900 MHz, newest Windowsl0 operating systems are supported, Linux release Debian embedded systems is pre-installed, using efficient Python programmed environments.
3. a kind of mine intelligent inspection robot control system based on Internet of Things according to claim 1, it is characterized in that：The Zigbee nodes complete the detection of top board column pressure, the information for perceiving collection is sent to host computer by wireless communication protocol, mainly it is made up of XBee control modules, pressure sensor and high-brightness LED, DIGI companies of U.S. XBee modules are the ZigBee+5V modules of a built-in protocol stack, it uses AT Command Set mode setup module parameter by serial ports, and realizes data transfer by serial ports.
4. a kind of mine intelligent inspection robot control system based on Internet of Things according to claim 1, it is characterized in that：The pressure detecting uses SLM211 silicon piezoresistance type pressure sensors, and range is 0~60MPa, and 267Q, precision highest are arrived in precision resistance regulation after tested.
5. a kind of mine intelligent inspection robot control system based on Internet of Things according to claim 1, it is characterized in that：End is controlled in the mine to be programmed using LabVIEW softwares, mainly it is made up of XBee modules, industrial computer and LabVIEW control softwares, XBEE modules are responsible for data transfer, and Zigbee serial ports flow datas are converted to usb data by CH340T chips after the information of each sensor collection of telegon reception is transmitted to host computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510916432.1A CN106870003A (en) | 2015-12-13 | 2015-12-13 | A kind of mine intelligent inspection robot control system based on Internet of Things |
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| CN201510916432.1A CN106870003A (en) | 2015-12-13 | 2015-12-13 | A kind of mine intelligent inspection robot control system based on Internet of Things |
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| CN106870003A true CN106870003A (en) | 2017-06-20 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990835A (en) * | 2019-04-10 | 2019-07-09 | 河南蓝通信息技术有限公司 | A kind of intelligent patrol detection control system and control method |
| CN110967153A (en) * | 2019-12-04 | 2020-04-07 | 北京无线电计量测试研究所 | Automatic inspection system and method for gas lock well |
| CN112720532A (en) * | 2021-01-12 | 2021-04-30 | 中国煤炭科工集团太原研究院有限公司 | Machine crowd is strutted to stable intelligent monitoring of country rock and precision |
| CN114183198A (en) * | 2021-12-03 | 2022-03-15 | 北京龙德时代技术服务有限公司 | Cluster system based on multiple gas inspection robots |
| CN114760713A (en) * | 2022-04-19 | 2022-07-15 | 中国矿业大学 | Information transmission system and method for underground inspection robot |
-
2015
- 2015-12-13 CN CN201510916432.1A patent/CN106870003A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990835A (en) * | 2019-04-10 | 2019-07-09 | 河南蓝通信息技术有限公司 | A kind of intelligent patrol detection control system and control method |
| CN110967153A (en) * | 2019-12-04 | 2020-04-07 | 北京无线电计量测试研究所 | Automatic inspection system and method for gas lock well |
| CN112720532A (en) * | 2021-01-12 | 2021-04-30 | 中国煤炭科工集团太原研究院有限公司 | Machine crowd is strutted to stable intelligent monitoring of country rock and precision |
| CN114183198A (en) * | 2021-12-03 | 2022-03-15 | 北京龙德时代技术服务有限公司 | Cluster system based on multiple gas inspection robots |
| CN114760713A (en) * | 2022-04-19 | 2022-07-15 | 中国矿业大学 | Information transmission system and method for underground inspection robot |
| CN114760713B (en) * | 2022-04-19 | 2024-04-09 | 中国矿业大学 | Information transmission system and method for underground inspection robot |
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Application publication date: 20170620 |
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