CN113778135A - Wireless charging station for coal mine environment - Google Patents
Wireless charging station for coal mine environment Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention provides a wireless charging station for a coal mine environment, which is used for charging an unmanned aerial vehicle, and comprises an unmanned aerial vehicle containing box with an apron and a wireless charging system, wherein the unmanned aerial vehicle can control the unmanned aerial vehicle containing box to open and close, the apron to lift and the wireless charging to start and stop through the wireless communication system.
Description
Technical Field
The invention relates to the technical field of coal mine environment detection, in particular to a wireless charging station 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 a wireless charging station for a coal mine environment, which is used for charging an unmanned aerial vehicle. Can be with unmanned aerial vehicle technique application to the mine patrol and examine.
In view of the above, the first aspect of the present invention provides a wireless charging station for a coal mine environment, which is characterized in that: the wireless charging station is used for charging the unmanned aerial vehicle, the wireless charging station comprises an unmanned aerial vehicle containing box with an air park and a wireless charging system, and the unmanned aerial vehicle can control opening and closing of the unmanned aerial vehicle containing box, lifting of the air park and wireless charging to start and stop.
Optionally, in combination with the first aspect, a specific sign image is deployed in the center of the apron, a vision system is installed below the unmanned aerial vehicle, and the unmanned aerial vehicle captures the sign image through the vision system and adjusts its position according to the sign image, so that the unmanned aerial vehicle can hover at a position directly above the apron.
Optionally, in combination with the first aspect, the wireless charging station is further configured to receive an accurate landing instruction from the unmanned aerial vehicle, where the accurate landing instruction is sent to the wireless charging station after the unmanned aerial vehicle captures a logo image deployed in the center of the apron, and performs accurate landing according to the logo image and self-locking; when the wireless charging station receives after the accurate descending instruction, still be used for carrying out will unmanned aerial vehicle stirs centrally, will the air park descends, accomplishes will the containing box closes the lid, and opens the switch that charges.
Optionally, with reference to the first aspect, after the charging switch is turned on, the wireless charging station is further configured to monitor an electric quantity of the unmanned aerial vehicle through a charging interface with the unmanned aerial vehicle, and after it is determined that the charging of the unmanned aerial vehicle is completed, the wireless charging station is further configured to turn off the charging switch.
Optionally, with reference to the first aspect, the main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle access the same local area network, and the main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle are both provided with a robot operating system, and communication is completed through a message mechanism of the robot operating system.
Optionally, with reference to the first aspect, when the wireless charging station receives the self-checking instruction sent by the unmanned aerial vehicle, the wireless charging station is configured to complete uncovering of the storage box, lifting of the apron, testing, shifting of the action of the unmanned aerial vehicle in the middle, and return a self-checking success instruction to the unmanned aerial vehicle, where the self-checking instruction is sent to the wireless charging station before the unmanned aerial vehicle takes off, and the self-checking success instruction is used to instruct the unmanned aerial vehicle to take off.
Optionally, in combination with the first aspect, the wireless charging station stirs the foot stool of the unmanned aerial vehicle through the toggle mechanism, so that the unmanned aerial vehicle is centered on the apron, and after the unmanned aerial vehicle takes off, the wireless charging station is used for completing actions of landing on the apron and closing the storage box.
Optionally, with reference to the first aspect, the wireless charging station is further configured to receive a preparation storage instruction from the unmanned aerial vehicle, where the preparation storage instruction is sent by the unmanned aerial vehicle to the wireless charging station when a distance between a position where the unmanned aerial vehicle flies and a position of an unmanned aerial vehicle storage box is a set distance, the position of the unmanned aerial vehicle storage box is stored in the unmanned aerial vehicle, and the position where the unmanned aerial vehicle flies is determined by a odometer module mounted in the unmanned aerial vehicle; and after the unmanned aerial vehicle containing box receives the accommodating preparation instruction, the unmanned aerial vehicle containing box is also used for opening the cover, lifting the parking apron and turning on the lamp.
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.
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 based on 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 immediate localization simultaneous mapping (3D SLAM) algorithm can have various options, with differences in computational load.
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.
This a wireless charging station for coal mine well environment is used for charging for unmanned aerial vehicle, wireless charging station is including the unmanned aerial vehicle containing box and the wireless charging system that contain the air park, can by unmanned aerial vehicle passes through wireless communication system control the opening and shutting of unmanned aerial vehicle containing box the opening and shutting of air park and the opening and stopping of wireless charging.
The central arrangement of this air park has specific sign image, the visual system is installed to the unmanned aerial vehicle below, unmanned aerial vehicle passes through the visual system catches the sign image, and according to the position of sign image adjustment self, so that unmanned aerial vehicle can hover in the position directly over the air park.
Specifically, an OpenMV visual system is installed below the unmanned aerial vehicle, an aprilat mark image is deployed in the center of the parking apron, the unmanned aerial vehicle estimates the position of the unmanned aerial vehicle relative to the aprilat mark image in real time by capturing the aprilat mark image, and the unmanned aerial vehicle continuously approaches the center of the aprilat mark 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 then can descend to the central position of the parking apron.
The wireless charging station is also used for receiving an accurate landing instruction from the unmanned aerial vehicle, wherein the accurate landing instruction is sent to the wireless charging station after the unmanned aerial vehicle captures a mark image deployed in the center of the parking apron, and the mark image is accurately landed according to the mark image and is self-locked; when the wireless charging station receives after the accurate descending instruction, still be used for carrying out will unmanned aerial vehicle stirs centrally, will the air park descends, accomplishes will the containing box closes the lid, and opens the switch that charges.
After the charging switch is turned on, the wireless charging station is further used for monitoring the electric quantity of the unmanned aerial vehicle through a charging interface of the unmanned aerial vehicle, and when the unmanned aerial vehicle is determined to be charged, the wireless charging station is further used for turning off the charging switch.
The main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle are connected into the same local area network, the main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle are both provided with a robot operating system, and communication is completed through a message mechanism of the robot operating system. Specifically, the airborne computer of the unmanned aerial vehicle and the main control computer of the wireless charging station are accessed into 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.
When the wireless charging station receives the self-checking instruction sent by the unmanned aerial vehicle, the wireless charging station is used for completing uncovering of the containing box, lifting of the parking apron, testing and shifting of the action between two sides of the unmanned aerial vehicle and returning of a self-checking success instruction to the unmanned aerial vehicle, the self-checking instruction is sent to the wireless charging station before the unmanned aerial vehicle takes off, and the self-checking success instruction is used for indicating the unmanned aerial vehicle to take off.
This wireless charging station specifically stirs through toggle mechanism unmanned aerial vehicle's foot rest to make unmanned aerial vehicle is in place between two parties on the air park, after unmanned aerial vehicle takes off, wireless charging station is used for accomplishing the air park descends, the action that the containing box closed the lid.
The wireless charging station is also used for receiving a preparation storage instruction from the unmanned aerial vehicle, wherein the preparation storage instruction is sent to the wireless charging station by the unmanned aerial vehicle when the distance between the position where the unmanned aerial vehicle flies and the position of the unmanned aerial vehicle storage box is a set distance, the position of the unmanned aerial vehicle storage box is stored in the unmanned aerial vehicle, and the position where the unmanned aerial vehicle flies is determined by an odometer module carried in the unmanned aerial vehicle; and after the unmanned aerial vehicle containing box receives the accommodating preparation instruction, the unmanned aerial vehicle containing box is also used for opening the cover, lifting the parking apron and turning on the lamp. Specifically, the unmanned aerial vehicle takes off and stores the position of unmanned aerial vehicle containing box before taking off, and unmanned aerial vehicle takes off and patrols and examines, through odometer module, and unmanned aerial vehicle confirms self position, when flying to the containing box when 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 the air park, turning on the light, then waits for unmanned aerial vehicle to arrive. Illustratively, the set distance may be 100 meters.
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 above detailed description is provided for the wireless charging station for a coal mine environment according to the embodiments of the present invention, and the specific examples are applied herein to explain the principles and embodiments of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present 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 (8)
1. A wireless charging station for a coal mine environment, characterized in that:
the wireless charging station is used for charging the unmanned aerial vehicle, and the wireless charging station comprises an unmanned aerial vehicle containing box containing an air park and a wireless charging system, wherein the unmanned aerial vehicle can control the opening and closing of the unmanned aerial vehicle containing box, the lifting of the air park and the wireless charging to be started and stopped through the wireless communication system.
2. The wireless charging station according to claim 1, wherein a specific sign image is deployed in the center of the apron, a vision system is installed below the unmanned aerial vehicle, and the unmanned aerial vehicle captures the sign image through the vision system and adjusts its position according to the sign image so that the unmanned aerial vehicle can hover at a position right above the apron.
3. The wireless charging station of claim 2,
the wireless charging station is also used for receiving an accurate landing instruction from the unmanned aerial vehicle, wherein the accurate landing instruction is sent to the wireless charging station after the unmanned aerial vehicle captures a mark image deployed in the center of the parking apron, and the mark image is accurately landed according to the mark image and is self-locked;
when the wireless charging station receives after the accurate descending instruction, still be used for carrying out will unmanned aerial vehicle stirs centrally, will the air park descends, accomplishes will the containing box closes the lid, and opens the switch that charges.
4. The wireless charging station of claim 3,
when the charging switch is turned on, the wireless charging station is further used for monitoring the electric quantity of the unmanned aerial vehicle through a charging interface with the unmanned aerial vehicle, and when it is determined that the unmanned aerial vehicle is charged, the wireless charging station is further used for turning off the charging switch.
5. The wireless charging station of claim 1, wherein the main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle access the same local area network, and the main control computer of the wireless charging station and the onboard computer of the unmanned aerial vehicle are both deployed with a robot operating system and complete communication through a message mechanism of the robot operating system.
6. The wireless charging station of claim 1,
when the wireless charging station receives the self-checking instruction sent by the unmanned aerial vehicle, the wireless charging station is used for completing uncovering of the containing box, lifting of the parking apron, testing and shifting of the action between two sides of the unmanned aerial vehicle, and returning a self-checking success instruction to the unmanned aerial vehicle, wherein the self-checking instruction is sent to the wireless charging station before the unmanned aerial vehicle takes off, and the self-checking success instruction is used for indicating the unmanned aerial vehicle to take off.
7. The wireless charging station of claim 6,
the wireless charging station particularly pokes the foot stool of the unmanned aerial vehicle through a poking mechanism so that the unmanned aerial vehicle is centered on the parking apron,
after the unmanned aerial vehicle takes off, the wireless charging station is used for finishing the actions of landing of the parking apron and closing of the containing box.
8. The wireless charging station of claim 1,
the wireless charging station is further configured to receive a preparation storage instruction from the unmanned aerial vehicle, where the preparation storage instruction is sent to the wireless charging station by the unmanned aerial vehicle when a distance between a position where the unmanned aerial vehicle flies and a position of the unmanned aerial vehicle storage box is a set distance, the position of the unmanned aerial vehicle storage box is stored in the unmanned aerial vehicle, and the position where the unmanned aerial vehicle flies is determined by an odometer module mounted in the unmanned aerial vehicle;
and after the unmanned aerial vehicle containing box receives the accommodating preparation instruction, the unmanned aerial vehicle containing box is also used for opening the cover, lifting the parking apron and turning on the lamp.
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| CN2021109057113 | 2021-08-06 | ||
| CN202110905711.3A CN113625754A (en) | 2021-08-06 | 2021-08-06 | Unmanned aerial vehicle and system of patrolling and examining based on coal mine environment |
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| CN202111285260.4A Pending CN113778134A (en) | 2021-08-06 | 2021-11-01 | Ground station for coal mine environment |
| CN202111283995.3A Pending CN113778133A (en) | 2021-08-06 | 2021-11-01 | Unmanned aerial vehicle for coal mine environment |
| CN202111285266.1A Pending CN113778135A (en) | 2021-08-06 | 2021-11-01 | Wireless charging station for coal mine environment |
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| CN202111285260.4A Pending CN113778134A (en) | 2021-08-06 | 2021-11-01 | Ground station for coal mine environment |
| CN202111283995.3A Pending CN113778133A (en) | 2021-08-06 | 2021-11-01 | Unmanned aerial vehicle for coal mine environment |
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| CN113778134A (en) | 2021-12-10 |
| CN113778133A (en) | 2021-12-10 |
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