CN113778133A - Unmanned aerial vehicle for coal mine environment - Google Patents
Unmanned aerial vehicle for coal mine environment Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle for a coal mine environment, which is characterized in that the unmanned aerial vehicle flies in the coal mine environment to acquire environmental data of the coal mine environment and send the environmental data to a ground station, and the ground station is used for monitoring the coal mine environment in real time according to the environmental data.
Description
Technical Field
The invention relates to the field of coal mine environment detection, in particular to an unmanned aerial vehicle for a coal mine environment.
Background
At present, the distribution of coal resources in China has the characteristic of insufficient shallow layer buried quantity, coal mining gradually develops towards deep development and utilization, the mining difficulty is higher and higher, and the possibility of disasters such as gas collision, rock burst and the like easily occurs is increased. The traditional mining scheme is to mine in a mode of manually descending a mine, so that personal and property of workers can be lost. Moreover, manual inspection is time-consuming and labor-consuming, high-density implementation is difficult, inspection results excessively depend on the experience of personnel, and instantaneity is poor.
The unmanned aerial vehicle is an unmanned aerial vehicle which is a highly intelligent robot and realizes remote intelligent regulation and control through radio technology, equipment and an automatic control program. The unmanned aerial vehicle has remote control or autonomous capability, does not have the hidden danger of carrying out casualties, and can be used as effective detection equipment. However, how to apply the unmanned aerial vehicle technology to the coal mine inspection is an urgent problem to be solved.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle for a coal mine environment. Can be with unmanned aerial vehicle technique application to the mine patrol and examine.
In view of this, the first aspect of the present invention provides an unmanned aerial vehicle for a coal mine environment, where the unmanned aerial vehicle is configured to fly in the coal mine environment to acquire environmental data of the coal mine environment and send the environmental data to a ground station, and the ground station is configured to monitor the coal mine environment in real time according to the environmental data.
Optionally, in combination with the first aspect, the unmanned aerial vehicle is equipped with a 3D laser radar, a height finding radar, a roof finding radar and an onboard computer, the roof finding radar and the 3D laser radar are disposed on the top of the unmanned aerial vehicle, the height finding radar is disposed at the bottom of the unmanned aerial vehicle, and the 3D laser radar is used for measuring a distance between the unmanned aerial vehicle and the coal mine side wall; the top measuring radar is used for measuring the distance between the unmanned aerial vehicle and the top wall of the coal mine; the height measuring radar is used for measuring the distance between the unmanned aerial vehicle and the bottom of the coal mine; and the onboard computer is communicated with the 3D laser radar, the roof measuring radar and the height measuring radar respectively to receive and plan paths according to the distance between the unmanned aerial vehicle and the side wall of the coal mine, the distance between the unmanned aerial vehicle and the top wall of the coal mine and the distance between the unmanned aerial vehicle and the bottom of the coal mine.
Optionally, in combination with the first aspect, the onboard computer is specifically configured to control the unmanned aerial vehicle in the vertical direction according to the distance between the unmanned aerial vehicle and the top wall of the coal mine, and the distance between the unmanned aerial vehicle and the bottom of the coal mine, and control the unmanned aerial vehicle in the horizontal direction according to the distance between the unmanned aerial vehicle and the side wall of the coal mine.
Optionally, with reference to the first aspect, the onboard computer is specifically configured to read point cloud data measured by the 3D laser radar through a preset SLAM algorithm, register the point cloud data of a current frame with the point cloud data of a previous frame, calculate a pose change of the current frame and the previous frame with the same feature, output a corresponding coordinate transformation matrix, and generate a point cloud map.
Optionally, with reference to the first aspect, the onboard computer tracks by extracting geometric features in the point cloud data of the current frame and the point cloud data of the previous frame, so as to calculate a pose change of the same features of the current frame and the previous frame.
Optionally, with reference to the first aspect, if the unmanned aerial vehicle determines that the current pose is the same as the pose of the target point in the point cloud map, the unmanned aerial vehicle performs path planning according to the pose of the target point.
Optionally, in combination with the first aspect, the unmanned aerial vehicle is further equipped with a thermal infrared imager and a high-definition camera, and the thermal infrared imager is used for acquiring a thermal image of the gateway belt conveyor in the coal mine environment; the high-definition camera is used for acquiring a high-definition image of the gateway belt conveyor in the coal mine environment; the onboard computer is used for monitoring the working state of the gateway belt conveyor according to the thermal image of the gateway belt conveyor and the high-definition image of the gateway belt conveyor.
Optionally, in combination with the first aspect, the unmanned aerial vehicle is further equipped with a gas sensor, the gas sensor is provided with an electrolyte, a film for gas to diffuse to the electrolyte is arranged at the lower end of the gas sensor, the electrolyte contains a negative electrode and a reference electrode, and the gas sensor is used for determining the concentration of toxic gas in the coal mine environment according to the micro-current on the reference electrode.
Optionally, in combination with the first aspect, the gas sensor further includes a metal wire for detecting a combustible gas, and the gas sensor determines whether the combustible gas exists in the coal mine environment according to a resistivity of the metal wire.
Optionally, with reference to the first aspect, the on-board computer is further specifically configured to:
s1, acquiring the upward vertical distance H between the top of the unmanned aerial vehicle measured by the top measuring radar and the top wall of the coal mine wellOn the upper part；
S2, acquiring the downward vertical distance H between the bottom of the unmanned aerial vehicle and the bottom of the coal mine, which is measured by the height finding radarLower part；
S3, according to the upward vertical distance HOn the upper partAnd said downward vertical distance HLower partObtaining the safe distance H of the unmanned aerial vehicle relative to the top wall/bottom of the coal mine in the up-down directionAn 1Said H isAn 1＝(HOn the upper part+HLower part)/4；
S4, acquiring the forward horizontal distance H from the unmanned aerial vehicle to the side wall of the coal mine, which is measured by the 3D laser radarFront sideRearward horizontal distance HRear endLeftward horizontal distance HLeft side ofAnd a rightward horizontal distance HRight side；
S5, according to the forward horizontal distance HFront sideRearward horizontal distance HRear endObtaining the safety distance H of the unmanned aerial vehicle in the front and back directionAn 2Said H isAn 2＝(HFront side+HRear end)/4；
S6, according to the horizontal distance H to the leftLeft side ofRightward horizontal distance HRight sideObtaining the safety distance H of the unmanned aerial vehicle in the left and right directionsAn 3. the medicineSaid H isAn 3. the medicine＝(HLeft side of+HRight side)/4；
S7, according to the H in the space coordinate systemAn 1＝(HOn the upper part+HLower part) Constructing a safe coordinate section P1 of the unmanned aerial vehicle in the vertical direction, wherein the safe coordinate section P1 is that the distance between the unmanned aerial vehicle and the top wall/bottom of the coal mine in the vertical direction is more than or equal to a safe distance HAn 1A coordinate section of (a); according to said HAn 2＝(HFront side+HRear end) And 4, constructing a safe coordinate section P2 of the unmanned aerial vehicle in the front and back horizontal directions, wherein the safe coordinate section P2 is that the distance between the unmanned aerial vehicle and the side wall of the coal mine in the front and back horizontal directions is greater than or equal to a safe distance HAn 2A coordinate section of (a); according to said HAn 3. the medicine＝(HLeft side of+HRight side) And 4, constructing a safe coordinate section P3 of the unmanned aerial vehicle in the left and right horizontal directions, wherein the safe coordinate section P3 is that the distance between the unmanned aerial vehicle and the side wall of the coal mine in the left and right horizontal directions is more than or equal to a safe distance HAn 3. the medicineA coordinate section of (a);
s8, when the current position of the unmanned aerial vehicle is not in the corresponding safe coordinate zone in one direction, adjusting the unmanned aerial vehicle to fly to the safe coordinate zone corresponding to the direction in the one direction, wherein the one direction is any one of the vertical direction, the front-back horizontal direction and the left-right horizontal direction;
s9, when at least two directions of the current position of the unmanned aerial vehicle do not correspond to a safe coordinate section, constructing a safe space area according to the safe coordinate section P1, the safe coordinate section P2 and the safe coordinate section P3, wherein the safe space area is formed by sequentially connecting two end points of the safe coordinate section P1, two end points of the safe coordinate section P2 and two end points of the safe coordinate section P3; adjusting the unmanned aerial vehicle to fly to the safe space area.
This application can be with unmanned aerial vehicle technique application to the colliery in patrolling and examining to solve and patrol and examine the problem that excessively rely on the personnel of patrolling and examining through the manual type in the past, can improve the real-time, and can reduce the emergence casualties.
Drawings
Fig. 1 is a system hardware configuration diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is an outline structural view of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a hardware connection diagram of an inspection system according to an embodiment of the present invention;
fig. 4 is a flowchart of the software work flow of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a three-directional safe coordinate zone P1 according to an embodiment of the present invention;
FIG. 7 is a schematic block diagram of a three-directional secure coordinate zone P2 according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a three-directional secure coordinate zone P3 according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a secure enclave space provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The term "and/or" appearing in the present application may be an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this application generally indicates that the former and latter related objects are in an "or" relationship.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, the present application provides a drone for a coal mine environment, the drone comprising: the system comprises an onboard computer, a 3D laser radar, a height measuring radar (millimeter wave radar), a roof measuring radar (millimeter wave radar), a thermal infrared imager, a high-definition camera (high-definition night market module) and a gas sensor. And the flight control system, the accurate landing module and the charging module. The unmanned aerial vehicle is used for carrying out real-time 3D modeling on a roadway where the crossheading belt conveyor is located and transmitting back 3D modeling data so as to realize real-time monitoring of the working state of the crossheading belt conveyor.
Wherein, this unmanned aerial vehicle uses four rotor frames of X type as the basis, uses the airborne computer to form organic whole as each way sensor of core connection, connects ground station and wireless charging station through wireless communication system.
The gas sensor is used for detecting combustible gas in a coal mine environment. Unmanned aerial vehicle passes through 3D laser radar, the height finding radar survey the top radar and high definition digtal camera realizes that 3D fixes a position immediately and builds the picture in step, independently flies and navigate and keeps away the barrier, hover observation and accurate descending. The unmanned aerial vehicle realizes thermal imaging and high-definition camera shooting through the thermal infrared imager and the high-definition camera. The 3D lidar comprises a 16-line 3D lidar. The height-finding radar includes a millimeter wave radar or an ultrasonic radar.
Therefore, high-density and quick inspection of the running state of the crossheading belt conveyor can be realized. And for abnormal state equipment, accurate position information, infrared thermal image information, high-definition image information, environment modeling data and harmful gas data can be provided in real time, and accurate information support is provided for maintenance and management work decisions of the gateway belt conveyor.
The 16-line 3D laser radar can be replaced by a 3D laser radar with a higher line number, so that higher positioning accuracy is obtained; or double 3D radars are used for replacing the unmanned aerial vehicle, the 3D mapping effect is better, but the load of the unmanned aerial vehicle is increased too much, the wheelbase is inevitably increased, and the environment adaptability is weakened; the millimeter wave radar can be replaced by an ultrasonic radar, and the precision is slightly poor; the 3D simultaneous localization and mapping (SLAM) algorithm may have various options and may have a difference in the amount of computation.
Please refer to fig. 2, fig. 2 is a structural diagram of an external shape of an unmanned aerial vehicle according to the present application. This appearance structure considers many-sided demands such as design waterproof, dustproof, anticollision, vibration, ventilative, heat dissipation, electromagnetic interference, wireless charging, forms unique structure and special appearance. As shown in fig. 2, this 3D laser radar is located the unmanned aerial vehicle top, the unmanned aerial vehicle middle part includes the forward-looking obstacle avoidance radar, the height finding radar the thermal imaging system with high definition digtal camera is located the unmanned aerial vehicle bottom.
Referring to fig. 3, fig. 3 is a hardware connection diagram of an inspection system according to the present application. In the inspection system, an unmanned aerial vehicle is connected with each airborne device by taking an airborne computer as a center, receives data and controls a corresponding mechanism; and the wireless communication network is used as a medium to realize interconnection of each platform. At the same time, the ground station may also serve as a secondary hub function. When needed, a manual control system is realized.
Referring to fig. 3, the drone includes a gas sensor, a millimeter wave radar, a precision landing. The gas sensor is connected with an onboard computer through a URAT, the cloud deck (a thermal imager and a high-definition camera) is connected with the onboard computer through a network port, and the 16-line 3D laser radar is also connected with the onboard computer through the network port. The flight control is connected with the on-board computer through UART. And the flight control comprises main channels 1-4 and auxiliary channels 1-4. The main channel 1-4 is connected with an electric speed regulator 1-4, a motor 1-4 and a propeller 1-4.
It should be noted that this kind of an unmanned aerial vehicle for coal mine well environment that this application provided for flies in coal mine well environment to gather coal mine well environment's environmental data, and send environmental data to ground station, ground station is used for carrying out real-time supervision to coal mine well environment according to environmental data.
The unmanned aerial vehicle is provided with a 3D laser radar, a height finding radar, a roof measuring radar and an airborne computer, wherein the roof measuring radar and the 3D laser radar are arranged at the top of the unmanned aerial vehicle, the height finding radar is arranged at the bottom of the unmanned aerial vehicle, and the 3D laser radar is used for measuring the distance between the unmanned aerial vehicle and the side wall of a coal mine; the top measuring radar is used for measuring the distance between the unmanned aerial vehicle and the top wall of the coal mine; the height measuring radar is used for measuring the distance between the unmanned aerial vehicle and the bottom of the coal mine; and the airborne computer is respectively communicated with the 3D laser radar, the roof measuring radar and the height measuring radar so as to receive and plan a path according to the distance between the unmanned aerial vehicle and the side wall of the coal mine, the distance between the unmanned aerial vehicle and the top wall of the coal mine and the distance between the unmanned aerial vehicle and the bottom of the coal mine.
The airborne computer is specifically used for controlling the unmanned aerial vehicle in the vertical direction according to the distance between the unmanned aerial vehicle and the top wall of the coal mine and the distance between the unmanned aerial vehicle and the bottom of the coal mine, and controlling the unmanned aerial vehicle in the horizontal direction according to the distance between the unmanned aerial vehicle and the side wall of the coal mine. Specifically, the unmanned aerial vehicle can be prevented from colliding with the top wall or the bottom of the coal mine according to the distance between the unmanned aerial vehicle and the top wall of the coal mine and the distance between the unmanned aerial vehicle and the bottom of the coal mine. The collision between the unmanned aerial vehicle and the side wall of the coal mine can be avoided according to the distance between the unmanned aerial vehicle and the side wall of the coal mine.
The airborne computer is specifically used for reading point cloud data measured by the 3D laser radar through a preset SLAM algorithm, registering the point cloud data of a current frame with the point cloud data of a previous frame, calculating the pose change of the same characteristics of the current frame and the previous frame, outputting a corresponding coordinate transformation matrix and generating a point cloud map.
Specifically, after the unmanned aerial vehicle measures laser data (point cloud data) through the 3D lidar, the laser data may be input into a preset SLAM algorithm, and the laser SLAM algorithm reads the point cloud data. According to the assumption of uniform motion, the point cloud data of the current frame and the point cloud data of the previous frame are registered by using a statistical method, such as a normal distribution variation method. And calculating the pose change of the current frame and the previous frame with the same characteristics. Extracting geometric features, such as line features and surface features, from the image and tracking the image. And optimizing the plurality of poses and outputting corresponding coordinate transformation matrixes. And reconstructing the point cloud according to the optimized pose to generate a point cloud map.
The onboard computer specifically extracts the geometrical characteristics in the point cloud data of the current frame and the point cloud data of the previous frame for tracking so as to calculate the pose change of the same characteristics of the current frame and the previous frame.
And if the unmanned aerial vehicle determines that the current pose is the same as the pose of the target point in the point cloud map, the unmanned aerial vehicle carries out path planning according to the pose of the target point. In addition, the currently constructed point cloud map can be compared with a pre-stored point cloud map to obtain the position information of the difference points. The position information of the difference point may be obstacle position information formed in a current environment map by obstacles dropped in the coal mine environment or other coal slag and the like, and the unmanned aerial vehicle can avoid the difference point under the condition. It is also possible that in the currently constructed environment map, the position of the difference point is the position of an obstacle in the pre-stored point cloud map, but no obstacle exists at the position of the difference point currently. Then the location of the disparity point is passable under the current circumstances.
In addition, the unmanned aerial vehicle is also provided with a thermal infrared imager and a high-definition camera, wherein the thermal infrared imager is used for acquiring thermal images of the gateway belt conveyor in the coal mine environment; the high-definition camera is used for acquiring a high-definition image of the gateway belt conveyor in the coal mine environment; the onboard computer is used for monitoring the working state of the gateway belt conveyor according to the thermal image of the gateway belt conveyor and the high-definition image of the gateway belt conveyor.
This unmanned aerial vehicle also carries with gas sensor, be equipped with electrolyte in the gas sensor, just gas sensor lower extreme has the film that supplies gas diffusion to electrolyte, contain negative electrode and reference electrode in the electrolyte, gas sensor is used for according to little electric current on the reference electrode confirms the concentration of poisonous gas in the coal mine environment. Specifically, when the monitored ambient gas diffuses into the electrolyte of the sensor through the membrane at the lower end of the sensor, the detected gas chemically reacts at the reference electrode and generates a micro-current. The micro-current is proportional to the concentration of the gas being detected. The current output by the sensor can obtain the concentration of the specific gas after amplification, temperature compensation and parameter correction. The toxic gas detected may include, but is not limited to, carbon monoxide gas, hydrogen sulfide gas, ozone, chlorine gas, sulfur dioxide, and other toxic gases. The gas sensor has low power consumption, good linearity and repeatability and long service life.
The gas sensor reacts with the gas to be measured and generates an electrical signal proportional to the gas concentration. The electrochemical sensor needs to be in an aerobic environment and is not suitable for high-temperature, low-temperature and low-humidity environments.
In another embodiment, the gas sensor further comprises a wire for detecting combustible gas, and the gas sensor determines whether the combustible gas exists in the coal mine environment according to the resistivity of the wire.
Specifically, the gas sensor may measure the concentration of the combustible gas by using a change in resistance of a platinum wire, which is a refractory metal, after heating. When combustible gas enters the gas sensor, oxidation reaction (flameless combustion) can be caused on the surface of the metal platinum wire, so that the generated heat causes the temperature of the platinum wire to rise, and the resistivity of the platinum wire changes, and whether combustible gas exists in the coal mine well can be determined according to the resistivity change of the platinum wire.
Furthermore, when the unmanned aerial vehicle flies in the coal mine, in order to ensure the safe flight of the unmanned aerial vehicle more accurately and to avoid obstacles in time, please refer to fig. 6-9, which can also include as a control mode of the unmanned aerial vehicle:
s1, acquiring the upward vertical distance H between the top of the unmanned aerial vehicle measured by the top measuring radar and the top wall of the coal mine wellOn the upper part；
Specifically, the upward vertical distance HOn the upper partCan be understood as the spacious distance of unmanned aerial vehicle top in the vertical direction apart from the space above unmanned aerial vehicle, and because the unevenness of colliery roof, or irregularity (also there is unevenness condition), consequently should upwards perpendicularDistance HOn the upper partIs a distance value that varies in real time;
s2, acquiring the downward vertical distance H between the bottom of the unmanned aerial vehicle and the bottom of the coal mine, which is measured by the height finding radarLower part；
Specifically, the downward vertical distance HLower partThe distance between the bottom of the unmanned aerial vehicle and the space below the unmanned aerial vehicle in the vertical direction can be understood as an open distance, and the downward vertical distance H is a distance value which changes in real time due to the unevenness or irregularity (namely, the unevenness) of the bottom of the coal mine, or other objects (such as other stored objects or falling obstacles) existing at the bottom of the coal mine;
s3, according to the upward vertical distance HOn the upper partAnd said downward vertical distance HLower partObtaining the safe distance H of the unmanned aerial vehicle relative to the top wall/bottom of the coal mine in the up-down directionAn 1Said H isAn 1＝(HOn the upper part+HLower part)/4；
Specifically, in the actual flight process of the unmanned aerial vehicle, generally speaking, the unmanned aerial vehicle can safely fly only when a certain distance exists between the unmanned aerial vehicle and the top wall/bottom of the coal mine, and therefore the safe distance H between the unmanned aerial vehicle and the top wall/bottom of the coal mine is calculatedAn 1The time is measured by (H)On the upper part+HLower part) One quarter of (a) is taken as a safety distance in the up-down direction.
S4, acquiring the forward horizontal distance H from the unmanned aerial vehicle to the side wall of the coal mine, which is measured by the 3D laser radarFront sideRearward horizontal distance HRear endLeftward horizontal distance HLeft side ofAnd a rightward horizontal distance HRight side；
Particularly, in the space direction, the unmanned aerial vehicle has relative distances in six directions, namely vertically upwards, vertically downwards, horizontally forwards, horizontally backwards, horizontally leftwards and horizontally rightwards, and the forward horizontal distance H from the unmanned aerial vehicle to the side wall of the coal mine is measured through the 3D laser radar at the momentFront sideRearward horizontal distance HRear endLeftward horizontal distance HLeft side ofAnd a rightward horizontal distance HRight side(ii) a The same reason is that the coal mineUnevenness, or irregularity (i.e., presence of unevenness) of the side wall, so that the forward horizontal distance HFront sideRearward horizontal distance HRear endLeftward horizontal distance HLeft side ofAnd a rightward horizontal distance HRight sideAre all a distance value that varies in real time;
s5, according to the forward horizontal distance HFront sideRearward horizontal distance HRear endObtaining the safety distance H of the unmanned aerial vehicle in the front and back directionAn 2Said H isAn 2＝(HFront side+HRear end)/4；
S6, according to the horizontal distance H to the leftLeft side ofRightward horizontal distance HRight sideObtaining the safety distance H of the unmanned aerial vehicle in the left and right directionsAn 3. the medicineSaid H isAn 3. the medicine＝(HLeft side of+HRight side)/4；
Specifically, in the actual flight process of the unmanned aerial vehicle, generally speaking, the unmanned aerial vehicle can safely fly only when a certain distance exists between the unmanned aerial vehicle and the side wall of the coal mine, and therefore the safe distance H between the unmanned aerial vehicle and the side wall of the coal mine is calculatedAn 2、HAn 3. the medicineThe time is measured by (H)Front side+HRear end) One fourth of (A), (H)Left side of+HRight side) Is used as the safety distance in the front-back horizontal direction and the left-right horizontal direction.
S7, according to the H in the space coordinate systemAn 1＝(HOn the upper part+HLower part) Constructing a safe coordinate section P1 of the unmanned aerial vehicle in the vertical direction, wherein the safe coordinate section P1 is that the distance between the unmanned aerial vehicle and the top wall/bottom of the coal mine in the vertical direction is more than or equal to a safe distance HAn 1A coordinate section of (a); according to said HAn 2＝(HFront side+HRear end) And 4, constructing a safe coordinate section P2 of the unmanned aerial vehicle in the front and back horizontal directions, wherein the safe coordinate section P2 is that the distance between the unmanned aerial vehicle and the side wall of the coal mine in the front and back horizontal directions is greater than or equal to a safe distance HAn 2A coordinate section of (a); according to said HAn 3. the medicine＝(HLeft side of+HRight side) Construction of safe coordinate zones of the unmanned aerial vehicle in the left and right horizontal directionsP3, the safe coordinate section P3 is that the distance between the unmanned aerial vehicle and the side wall of the coal mine in the left and right horizontal directions is more than or equal to a safe distance HAn 3. the medicineA coordinate section of (a);
specifically, taking the vertical direction as an example, when the distance from the unmanned aerial vehicle to the top wall of the coal mine is less than HAn 1＝(HOn the upper part+HLower part) When the distance between the unmanned aerial vehicle and the bottom of the coal mine is less than H, the safe flying hidden danger exists between the unmanned aerial vehicle and the top wall of the coal mine at presentAn 1＝(HOn the upper part+HLower part) In the case of/4, the safe flying hidden danger exists at the position, away from the bottom of the coal mine, of the current unmanned aerial vehicle, and no matter which safe hidden danger exists, the unmanned aerial vehicle is required to perform flying adjustment in the vertical direction, so that the unmanned aerial vehicle can adjust the safe coordinate section P1 in the vertical direction; similarly, when the distance from the unmanned aerial vehicle to the side wall of the coal mine in the forward direction is less than HAn 2＝(HFront side+HRear end) When the distance between the unmanned aerial vehicle and the side wall of the coal mine in the backward direction is smaller than H, the safe flight hidden danger is shown when the unmanned aerial vehicle is away from the side wall of the coal mine in the forward directionAn 1＝(HOn the upper part+HLower part) In the case of/4, the safe flying hidden danger exists at the position, away from the bottom of the coal mine, of the current unmanned aerial vehicle, and no matter which safe hidden danger exists, the unmanned aerial vehicle is required to perform flying adjustment in the vertical direction, so that the unmanned aerial vehicle can adjust the safe coordinate section P1 in the vertical direction;
s8, when the current position of the unmanned aerial vehicle is not in the corresponding safe coordinate zone in one direction, adjusting the unmanned aerial vehicle to fly to the safe coordinate zone corresponding to the direction in the one direction, wherein the one direction is any one of the vertical direction, the front-back horizontal direction and the left-right horizontal direction;
s9, when at least two directions of the current position of the unmanned aerial vehicle do not correspond to a safe coordinate section, constructing a safe space area according to the safe coordinate section P1, the safe coordinate section P2 and the safe coordinate section P3, wherein the safe space area is formed by sequentially connecting two end points of the safe coordinate section P1, two end points of the safe coordinate section P2 and two end points of the safe coordinate section P3; adjusting the unmanned aerial vehicle to fly to the safe space area.
In particular, if there is only one direction not within the corresponding safe coordinate zone, e.g., not within the corresponding safe coordinate zone P1 in the up and down vertical direction, if the current location of the drone is present (it may be that the drone is less than H away from the top wall of the mine)An 1＝(HOn the upper part+HLower part) In the case of 4, or the distance between the unmanned aerial vehicle and the bottom of the coal mine is less than HAn 1＝(HOn the upper part+HLower part) 4), and the other two directions (the front-back horizontal direction and the left-right horizontal direction) are in the corresponding safe coordinate sections, then a safe space area is not required to be constructed in order to improve the adjustment efficiency and release the running capacity of the loading computer; and when the current position of the unmanned aerial vehicle is not in the corresponding safe coordinate section in at least two directions, for example, is not in the corresponding safe coordinate section P1 in the vertical direction (possibly, the distance from the unmanned aerial vehicle to the top wall of the coal mine is less than H)An 1＝(HOn the upper part+HLower part) Or the distance between the unmanned aerial vehicle and the bottom of the coal mine is less than HAn 1＝(HOn the upper part+HLower part) 4), and is not in the corresponding safe coordinate section P2 in the front-back horizontal direction (possibly, the distance of the unmanned aerial vehicle from the side wall of the coal mine in the front direction is less than H)An 2＝(HFront side+HRear end) Or the distance from the unmanned aerial vehicle to the side wall of the coal mine in the backward direction is less than HAn 1＝(HOn the upper part+HLower part) /4), then a safe space region is constructed by recording a computer according to the safe coordinate section P1, the safe coordinate section P2 and the safe coordinate section P3, wherein the safe space region is a safe space region formed by sequentially connecting two end points of the safe coordinate section P1, two end points of the safe coordinate section P2 and two end points of the safe coordinate section P3; adjusting the unmanned aerial vehicle to fly to the safe space area.
Therefore, the unmanned aerial vehicle has the characteristics of high safety performance and can accurately avoid obstacles and further improve the safety performance of the unmanned aerial vehicle during the flight operation in a coal mine. Furthermore, an OpenMV visual system is installed below the unmanned aerial vehicle, an April tag image is deployed in the center of the parking apron, the unmanned aerial vehicle captures the April tag image, the OpenMV visual system estimates the position of the unmanned aerial vehicle relative to the April tag image in real time, and the unmanned aerial vehicle continuously approaches the center of the April tag image by adjusting the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle can accurately hover at the position right above the parking apron, and can descend to the central position of the parking apron.
The airborne computer of the unmanned aerial vehicle and the main control computer of the wireless charging station are connected to the same local area network through respective WIFI. And all deployed with a Robot Operation System (ROS), the platforms complete communication through the message mechanism of the ROS.
Before taking off, unmanned aerial vehicle sends the self-checking instruction to the containing box, and the containing box receives the instruction, accomplishes the containing box and uncaps, the air park rises, waits for (the short time test), and toggle mechanism stirs unmanned aerial vehicle between two parties, air park descends, the containing box closes a complete set of storage actions such as lid and returns the self-checking result to unmanned aerial vehicle. When the unmanned aerial vehicle receives the self-checking success instruction of the containing box, the unmanned aerial vehicle can take off, and if the unmanned aerial vehicle does not receive the self-checking success instruction, the unmanned aerial vehicle can take off. Containing box toggle mechanism makes unmanned aerial vehicle placed in the middle through stirring the unmanned aerial vehicle foot rest.
The unmanned aerial vehicle takes off the preceding storage and stores the position of unmanned aerial vehicle containing box, and unmanned aerial vehicle takes off and patrols and examines, through laser SLAM's odometer module, and unmanned aerial vehicle confirms self position, when flying to the containing box for setting for the distance, sends and prepares to accomodate instruction to the containing box, and the containing box then receives the instruction, carries out the action of uncapping, rising parking apron, opening a light, then waits for unmanned aerial vehicle to arrive. Illustratively, the set distance may be 100 meters.
Unmanned aerial vehicle is close to the air park after the certain distance, will catch air park central authorities' image of sign (like the two-dimensional code), in case catch the image of sign, unmanned aerial vehicle will carry out accurate descending procedure, after descending procedure completion and auto-lock, unmanned aerial vehicle sends and accomplishes accurate descending instruction to containing box, and the containing box receives the execution after the instruction and stirs unmanned aerial vehicle between two parties, the air park descends, closes the lid, opens the switch program that charges, and the completion of charging will auto-power-off. The unmanned aerial vehicle confirms the charging completion state through the battery voltage. All states of the unmanned aerial vehicle and the containing box in the landing process are monitored in real time by the ground station.
This unmanned aerial vehicle, ground station platform, wireless charging platform pass through wireless communication system interconnection.
Please refer to fig. 4, fig. 4 is a flowchart illustrating the operation of the software of the unmanned aerial vehicle according to the present application. This airborne software system is data processing center and the control center of core, through with charging platform data interaction, acquires charge state and charging platform state, decides whether this unmanned aerial vehicle can patrol and examine. And determining self position and environment information through a SLAM algorithm. Relative altitude information is obtained through an altimeter, and obstacle avoidance is carried out by combining a laser radar. And performing global planning through the existing map information. The specific process may include:
after the device is initialized, the device is in a waiting state. And when the mobile phone is judged to be at the position of the charging platform, judging whether a stored map exists or not. Real-time SLAM (new mode or update mode) Mapping by laser odometer. And planning the flight path and updating the path through obstacle detection. And judging whether the odometer count reaches the charging platform or not, and judging whether a communication signal of the charging platform is received or not. And starting the charging platform and the equipment for illumination. And (6) accurate landing. A charging mode.
Fig. 5 is a schematic structural diagram of a drone 300 according to an embodiment of the present invention, where the drone 300 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 310 (e.g., one or more processors) and a memory 320, and one or more storage media 330 (e.g., one or more mass storage devices) storing applications 333 or data 332. Memory 320 and storage media 330 may be, among other things, transient or persistent storage. The program stored on the storage medium 330 may include one or more modules (not shown), each of which may include a series of instructions operating on the drone 300. Still further, the processor 310 may be configured to communicate with the storage medium 330 to execute a series of instruction operations in the storage medium 330 on the drone 300.
The drone 300 may also include one or more power supplies 340, one or more wired or wireless network interfaces 330, one or more input-output interfaces 360, and/or one or more operating systems 331, such as Windows server, Mac OS X, Unix, Linux, FreeBSD, and so forth. Those skilled in the art will appreciate that the configuration of the drone shown in fig. 5 is not limiting and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the examples provided herein, it is to be understood that the disclosed methods may be practiced otherwise than as specifically described without departing from the spirit and scope of the present application. The present embodiment is an exemplary example only, and should not be taken as limiting, and the specific disclosure should not be taken as limiting the purpose of the application. For example, some features may be omitted, or not performed.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
The unmanned aerial vehicle for the coal mine environment provided by the embodiment of the invention is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. An unmanned aerial vehicle for a coal mine environment is characterized in that,
the unmanned aerial vehicle is used for flying in the coal mine environment to acquire the environmental data of the coal mine environment and send the environmental data to the ground station, and the ground station is used for monitoring the coal mine environment in real time according to the environmental data.
2. The unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle carries a 3D lidar, a height finding radar, a roof finding radar and an onboard computer,
the top measuring radar and the 3D laser radar are arranged at the top of the unmanned aerial vehicle, the height measuring radar is arranged at the bottom of the unmanned aerial vehicle, and the 3D laser radar is used for measuring the distance between the unmanned aerial vehicle and the side wall of the coal mine;
the top measuring radar is used for measuring the distance between the unmanned aerial vehicle and the top wall of the coal mine;
the height measuring radar is used for measuring the distance between the unmanned aerial vehicle and the bottom of the coal mine;
and the onboard computer is communicated with the 3D laser radar, the roof measuring radar and the height measuring radar respectively to receive and plan paths according to the distance between the unmanned aerial vehicle and the side wall of the coal mine, the distance between the unmanned aerial vehicle and the top wall of the coal mine and the distance between the unmanned aerial vehicle and the bottom of the coal mine.
3. The unmanned aerial vehicle of claim 2, wherein the onboard computer is configured to control the unmanned aerial vehicle in a vertical direction according to a distance between the unmanned aerial vehicle and a top wall of the coal mine and a distance between the unmanned aerial vehicle and a bottom wall of the coal mine, and to control the unmanned aerial vehicle in a horizontal direction according to a distance between the unmanned aerial vehicle and a side wall of the coal mine.
4. The unmanned aerial vehicle of claim 2, wherein the onboard computer is specifically configured to read point cloud data measured by the 3D lidar through a preset SLAM algorithm, register the point cloud data of a current frame with the point cloud data of a previous frame, calculate a pose change of the same feature of the current frame and the previous frame, output a corresponding coordinate transformation matrix, and generate a point cloud map.
5. A drone according to claim 4, wherein the onboard computer tracks by extracting geometric features in the point cloud data of the current frame and the point cloud data of the previous frame in order to calculate the pose change of the same features of the current frame and the previous frame.
6. A drone according to claim 5,
and if the unmanned aerial vehicle determines that the current pose is the same as the pose of the target point in the point cloud map, the unmanned aerial vehicle carries out path planning according to the pose of the target point.
7. The unmanned aerial vehicle of claim 2, wherein the unmanned aerial vehicle is further provided with a thermal infrared imager and a high-definition camera,
the thermal infrared imager is used for acquiring thermal images of the gateway belt conveyor in the coal mine environment;
the high-definition camera is used for acquiring a high-definition image of the gateway belt conveyor in the coal mine environment;
the onboard computer is used for monitoring the working state of the gateway belt conveyor according to the thermal image of the gateway belt conveyor and the high-definition image of the gateway belt conveyor.
8. The unmanned aerial vehicle of claim 2, wherein the unmanned aerial vehicle further carries a gas sensor,
electrolyte is arranged in the gas sensor, a film for gas to diffuse to the electrolyte is arranged at the lower end of the gas sensor, the electrolyte comprises a negative electrode and a reference electrode,
the gas sensor is used for determining the concentration of toxic gas in the coal mine environment according to the micro-current on the reference electrode.
9. Unmanned aerial vehicle according to claim 8,
the gas sensor is also provided with a metal wire for detecting combustible gas, and the gas sensor determines whether the combustible gas exists in the coal mine environment according to the resistivity of the metal wire.
10. A drone according to claim 9, wherein the onboard computer is further specifically configured to:
s1, acquiring the upward vertical distance H between the top of the unmanned aerial vehicle measured by the top measuring radar and the top wall of the coal mine wellOn the upper part；
S2, acquiring the downward vertical distance H between the bottom of the unmanned aerial vehicle and the bottom of the coal mine, which is measured by the height finding radarLower part；
S3, according to the upward vertical distance HOn the upper partAnd said downward vertical distance HLower partObtaining the safe distance H of the unmanned aerial vehicle relative to the top wall/bottom of the coal mine in the up-down directionAn 1Said H isAn 1＝(HOn the upper part+HLower part)/4；
S4, acquiring the forward horizontal distance H from the unmanned aerial vehicle to the side wall of the coal mine, which is measured by the 3D laser radarFront sideRearward horizontal distance HRear endLeftward horizontal distance HLeft side ofAnd a rightward horizontal distance HRight side；
S5, according to the forward horizontal distance HFront sideRearward horizontal distance HRear endObtaining the safety distance H of the unmanned aerial vehicle in the front and back directionAn 2Said H isAn 2＝(HFront side+HRear end)/4；
S6, according to the horizontal distance H to the leftLeft side ofRightward horizontal distance HRight sideObtaining the safety distance H of the unmanned aerial vehicle in the left and right directionsAn 3. the medicineSaid H isAn 3. the medicine＝(HLeft side of+HRight side)/4；
S7, according to the H in the space coordinate systemAn 1＝(HOn the upper part+HLower part) Constructing a safe coordinate section P1 of the unmanned aerial vehicle in the vertical direction, wherein the safe coordinate section P1 is that the distance between the unmanned aerial vehicle and the top wall/bottom of the coal mine in the vertical direction is more than or equal to a safe distance HAn 1A coordinate section of (a); according to said HAn 2＝(HFront side+HRear end) And 4, constructing a safe coordinate section P2 of the unmanned aerial vehicle in the front and back horizontal directions, wherein the safe coordinate section P2 is that the distance between the unmanned aerial vehicle and the side wall of the coal mine in the front and back horizontal directions is greater than or equal to a safe distance HAn 2A coordinate section of (a); according to said HAn 3. the medicine＝(HLeft side of+HRight side) And 4, constructing a safe coordinate section P3 of the unmanned aerial vehicle in the left and right horizontal directions, wherein the safe coordinate section P3 is that the unmanned aerial vehicle is away from the side wall of the coal mine in the left and right horizontal directionsGreater than or equal to the safety distance HAn 3. the medicineA coordinate section of (a);
s8, when the current position of the unmanned aerial vehicle is not in the corresponding safe coordinate zone in one direction, adjusting the unmanned aerial vehicle to fly to the safe coordinate zone corresponding to the direction in the one direction, wherein the one direction is any one of the vertical direction, the front-back horizontal direction and the left-right horizontal direction;
s9, when at least two directions of the current position of the unmanned aerial vehicle do not correspond to a safe coordinate section, constructing a safe space area according to the safe coordinate section P1, the safe coordinate section P2 and the safe coordinate section P3, wherein the safe space area is formed by sequentially connecting two end points of the safe coordinate section P1, two end points of the safe coordinate section P2 and two end points of the safe coordinate section P3; adjusting the unmanned aerial vehicle to fly to the safe space area.
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| CN202111285260.4A Pending CN113778134A (en) | 2021-08-06 | 2021-11-01 | Ground station for coal mine environment |
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