CN114536297A

CN114536297A - Coal mine roadway open ground inspection robot and inspection method

Info

Publication number: CN114536297A
Application number: CN202210343568.8A
Authority: CN
Inventors: 王志强; 刘送永; 袁科文; 刘后广
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-05-27

Abstract

The invention provides a robot and a method for inspecting the air ground of a coal mine tunnel, wherein the robot comprises a tracked vehicle and a four-wing flapping wing aircraft; the tracked vehicle comprises: a main control system and a vision mechanism; the visual structure is built by a bionic eye; the four-wing ornithopter comprises: the device comprises an undercarriage, a rack, a flapping wing mechanism and an auxiliary control system; an undercarriage that is energized to magnetically connect with a top surface of the tracked vehicle; the frame comprises an upper base, a lower base, a wing arm, a wing root, an arm root connecting rod and a flapping wing; a pair of wing arms arranged left and right are rotatably arranged on the upper base; each wing arm is provided with a flapping wing mechanism; each arm root connecting rod is connected with a pair of flapping wings; the inner sides of the flapping wings are fixedly connected with the corresponding arm root connecting rods; the flapping wing mechanism is used for driving the corresponding pair of flapping wings to open and close. The invention can realize ground walking and air flight.

Description

Coal mine roadway open ground inspection robot and inspection method

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a coal mine roadway air ground inspection robot and an inspection method.

Background

With the rapid development of the coal industry in China, the demand for robots capable of detecting under special conditions is increased. At present, in an underground coal mine operation environment, some dangerous situations frequently occur, for example, five common disasters, namely mine flood, mine fire, mine gas damage, mine coal dust disasters, mine roof disasters and the like, and in the disaster situations, in consideration of the safety of workers and reduction of the labor intensity of workers, a robot is required to perform routing inspection detection.

The current common underground inspection robots are mainly divided into three types, namely rail type inspection robots, walking type inspection robots and unmanned aerial vehicle type inspection robots, wherein the rail type inspection robots are generally hung on a rail, and the robots are made to walk along the rail through driving wheels, so that the manufacturing cost is high and the flexibility is low; the walking type inspection robot generally adopts a crawler belt or a tire to walk, and when encountering some obstacles, the walking type inspection robot is difficult to go forward and cannot detect underground well more completely; unmanned aerial vehicle formula patrols and examines robot and generally adopts rotor unmanned aerial vehicle, and the size is very big, and in narrow and small space in the pit, the flexibility ratio of operation has received very big limitation, has the very big degree of difficulty to the detection of environment in the pit. Therefore, in the prior art, a patrol robot which has both ground walking and air flying is not provided.

Disclosure of Invention

The invention aims to provide a coal mine tunnel open ground inspection robot and an inspection method, which can realize ground walking and air flight. In order to achieve the purpose, the invention adopts the following technical scheme:

a robot is patrolled and examined in colliery tunnel open space, includes:

a tracked vehicle;

four-wing flapping wing aircraft, circular telegram flight is in order to patrol and examine, includes:

a landing gear energized to magnetically connect with a top surface of the tracked vehicle; the top end of the undercarriage is connected with a lower base of a frame;

the machine frame also comprises an upper base, the upper base is connected with the lower base through carbon fiber rods arranged on the left and right sides, a pair of wing arms arranged on the left and right sides are rotatably arranged on the upper base, the outer end of each wing arm extends out of the upper base, and the inner end can move along an arc-shaped groove on the upper base; the method comprises the following steps of; each wing arm is provided with a flapping wing mechanism; each carbon fiber rod is sleeved with a wing root extending out of the lower base, and the outer end of each wing root is connected with the outer end of the corresponding wing arm through an arm root connecting rod; each arm root connecting rod is connected with a pair of flapping wings;

the inner sides of the flapping wings are fixedly connected with the corresponding arm root connecting rods, and a rod body is formed at the top ends of the flapping wings to be detachably connected with the output end of a flapping wing mechanism;

the flapping wing mechanism is used for driving the corresponding pair of flapping wings to open and close and comprises a pair of rocking bars forming the output end, and the rocking bars are arranged up and down and are rotatably connected with the wing arm; the pair of rocking bars are rotatably connected to the same point; each rocker is connected with one flapping wing; each rocker is rotatably connected with one secondary speed reducer driven wheel through a crank connecting rod, and the two secondary speed reducer driven wheels are externally meshed; the two secondary speed reducer driven wheels are rotatably arranged on the wing arm, and one secondary speed reducer driven wheel is externally meshed with one secondary speed reducer driving wheel; the secondary speed reducer driving wheel and the primary speed reducer driven wheel form a duplicate gear, the primary speed reducer driven wheel is rotatably arranged on the wing arm and is externally meshed with the primary speed reducer driving wheel, the primary speed reducer driving wheel is connected with an output shaft of a motor, and the motor is fixed on the wing arm;

the system comprises a main control system and an auxiliary control system, wherein the main control system is arranged on the crawler, and the auxiliary control system is arranged on a rack of the four-wing flapping wing aircraft; the machine frame is also provided with a camera shooting unit, and the camera shooting unit is sequentially in signal connection with the auxiliary control system and the main control system.

Preferably, the crawler further comprises a vision mechanism in signal connection with the main control system and arranged on the crawler, the vision mechanism comprises:

an eyebox comprising a front housing and a rear housing that are removably connected; the eye shell is rotationally arranged on a visual support frame; a light supplement lamp is arranged on the outer wall of the eye shell; a bionic eye is arranged in the eye shell;

the bionic eye comprises a first linear steering engine fixed on the rear shell, and a steering engine push rod of the first linear steering engine can move in the left-right direction and is connected with a first sliding block; the first sliding block is connected with a shell of a second linear steering engine, and a steering engine push rod of the second linear steering engine can move up and down and is connected with the rear end of the second sliding block; the front end of the second sliding block is connected with a spherical end ball pair; the front end of the spherical end is fixed at the rear end of a telescopic loop bar, the front end of the telescopic loop bar is fixed on an eyeball, and the eyeball is connected with a front shell spherical pair of the eye shell.

Preferably, a wing arm included angle adjusting mechanism for adjusting an included angle between two wing arms to enable the four-wing flapping wing aircraft to pitch is arranged on an upper base of the rack and comprises an included angle connecting rod, the included angle connecting rod is located between the two wing arms, a left sliding groove is formed in the left end of the included angle connecting rod, an upright post penetrates through the left sliding groove and is clamped on the wing arm on the left side, a right sliding groove is formed in the right end of the included angle connecting rod, and the upright post penetrates through the right sliding groove and is clamped on the wing arm on the right side; the two upright posts are matched with the arc-shaped groove on the upper base; the upper section of the included angle connecting rod is fixed on a steering engine push rod of a third linear steering engine, and the steering engine push rod of the third linear steering engine can move in the front-back direction; the body of the third linear steering engine is fixed on the upper base.

Preferably, a steering mechanism for enabling the four-wing ornithopter to yaw is arranged on a lower base of the rack and comprises a steering engine fixed on the lower base, and an output shaft of the steering engine is fixed on a tail rudder.

Preferably, an electromagnet is arranged on the top surface of the crawler;

the undercarriage comprises a support frame, a connecting piece is formed at the upper end of the support frame and is detachably connected with a lower base of the frame, a wireless charging receiver is fixed on the support frame, and the input end of the wireless charging receiver is connected with a wireless charger; the wireless charger is sleeved on the electromagnet;

a soft iron sheet is arranged on the wireless charging receiver; the electromagnet is electrified to generate magnetic attraction to the soft iron sheet so as to connect the tracked vehicle and the four-wing flapping wing aircraft.

Preferably, the master control system comprises:

the system comprises a PC analysis module and a main controller, wherein the PC analysis module is used for receiving and analyzing environmental information output by the bionic eye and output information of the main controller, then outputting instruction information to the main controller, and simultaneously carrying out information transmission between the PC analysis module and a ground control center; the main controller is used for receiving the output instruction information of the PC analysis module and outputting a corresponding signal; the first output end of the main controller is in signal connection with the input end of a motor driving module, the second output end of the main controller is in signal connection with the input end of a current controller, the third output end of the main controller is in signal connection with the input end of a remote control module, and the fourth output end of the main controller is connected with a first linear steering engine and a second linear steering engine of the vision mechanism;

the ground control center is used for remotely monitoring and controlling ground personnel;

the motor driving module is used for controlling the speed of the crawler machine, and the output end of the motor driving module is in signal connection with a motor of the crawler vehicle on the crawler machine;

the current controller is used for controlling the electrification and the outage of the electromagnet, the output end of the current controller is connected with the anode and the cathode of the electromagnet, the main controller sends an adjusting signal to the current controller, and the current controller adjusts the current according to the signal to realize the electrification and the outage of the electromagnet;

the remote control module is used for changing the included angle of the wing arm and the angle of the tail rudder, and the output end of the remote control module is in signal connection with the input end of the auxiliary control system.

Preferably, the sub-control system includes:

the receiver is used for receiving the output information of the remote control module, a first output end of the receiver is in signal connection with the input end of the electric adjusting module, a second output end of the receiver is in signal connection with a third linear steering engine of the wing arm included angle adjusting mechanism, and a third output end of the receiver is in signal connection with a steering engine of the steering mechanism;

the electric regulation module is used for regulating the speed of a motor of the flapping wing mechanism, and the output end of the electric regulation module is in signal connection with the motor;

the power supply module is used for acquiring the electric quantity of a battery of the four-wing flapping wing aircraft, then sending a battery quantity signal to the PC analysis module through the electric quantity data transmission module, and the PC analysis module analyzes the electric quantity information and the travel information and determines whether a return flight instruction is sent or not; the four-wing ornithopter battery is arranged on the upper base of the rack; the tracked vehicle is provided with a tracked vehicle battery, and the tracked vehicle battery charges the battery of the four-wing flapping wing aircraft sequentially through the wireless charger, the wireless charging receiver and the power supply module;

and the camera shooting unit of the four-wing flapping wing aircraft sends image information to the PC analysis module through the wireless image transmission module.

A coal mine tunnel open ground inspection method is provided, the coal mine tunnel open ground inspection robot comprises the following steps:

step 1: inputting the roadway information into a main control system, planning a path by the main control system, and driving a tracked vehicle motor on the tracked vehicle to operate according to the planned path;

in the running process of the crawler, the vision mechanism obtains multi-directional information by changing the position of the bionic eye, the bionic eye outputs image information to the main control system, and the main control system processes the image information and judges whether an obstacle exists in front of the crawler;

if so, the main control system sends out an obstacle instruction and analyzes whether the tracked vehicle can continue to move forwards or not; if the tracked vehicle cannot move forward continuously, executing the step 2;

step 2: the main control system is communicated with the auxiliary control system, and the auxiliary control system drives the motor of the flapping wing mechanism to operate so as to realize the flight of the four-wing flapping wing aircraft;

then, the main control system controls the electromagnet on the tracked vehicle to be powered off, and the four-wing flapping wing aircraft is separated from the tracked vehicle;

in the flying process, the camera unit on the four-wing flapping wing aircraft collects roadway image information in real time and transmits the roadway image information to the main control system;

after the operation is carried out for a set time, the auxiliary control system acquires the electric quantity of the battery of the four-wing flapping wing aircraft, then the battery quantity signal is sent to the main control system, and the main control system analyzes the electric quantity information and the travel information and determines whether a return flight instruction is sent or not; if yes, executing step 3;

and step 3: the main control system sends a return command to the auxiliary control system, and the auxiliary control system controls a third linear steering engine of the steering mechanism to operate so that the four-wing flapping-wing aircraft returns;

and 4, step 4: the wireless charger on the tracked vehicle is sequentially communicated with the wireless charging receiver and the auxiliary control system on the four-wing flapping-wing aircraft to charge the batteries of the four-wing flapping-wing aircraft.

Compared with the prior art, the invention has the advantages that:

(1) the air ground inspection robot has the advantages that the ground walking and the air flying are realized, the tracked vehicle can walk on the ground, and when the tracked vehicle encounters a barrier and cannot move forward, the four-wing flapping-wing aircraft can be used for inspecting a section of route.

(2) The four-wing flapping wing aircraft adopts a 'folding-opening' high lift mechanism and has good flight performance.

(3) The bionic eye is used, so that the volume of the whole visual system is greatly reduced, the flexibility is improved, and the problem that the overall size of the traditional visual system is too large due to the use of the holder is solved.

(4) By utilizing the wireless charging technology, the endurance of the four-wing flapping wing aircraft is improved, and the problem of insufficient endurance of the conventional aircraft due to the problem of electric quantity is avoided.

Drawings

Fig. 1 is a perspective view of a coal mine roadway open ground inspection robot according to an embodiment of the invention;

FIG. 2 is a perspective view of the crawler of FIG. 1;

FIG. 3 is a perspective view of the four-wing ornithopter of FIG. 1;

FIG. 4 is an exploded view of the visual mechanism of FIG. 2;

FIG. 5 is a cross-sectional view of the vision mechanism of FIG. 2;

FIG. 6 is a block diagram of the biomimetic eye of FIG. 4;

FIG. 7 is a diagram showing the correspondence between the sphere center position point and the visual direction of the spherical end of the bionic eye in FIG. 6;

FIG. 8 is a block diagram of a mid-frame of a four-wing ornithopter;

FIG. 9 is a block diagram of the flapping wing mechanism of a four wing flapping wing aircraft;

FIG. 10 is a schematic diagram of a wing arm included angle adjustment mechanism in a four-wing ornithopter;

FIG. 11 is a block diagram of a steering mechanism in a four-wing ornithopter;

FIG. 12 is a block diagram of the landing gear in a four-wing ornithopter;

FIG. 13 is a control flow diagram of the primary control system and the secondary control system;

FIG. 14 is a flow chart of the operation of the coal mine roadway open ground inspection robot;

FIG. 15 is a view showing the flapping wing mechanism driving the flapping wings to engage;

FIG. 16 is a view of the flapping wing mechanism driving the flapping wings to open;

FIG. 17 is a view showing the state of the flapping wing mechanism when the flapping wing mechanism drives the flapping wings to close;

fig. 18 is a flow chart of the bionic eye eyeball identification and transfer environment information.

Wherein, 1-crawler, 2-four-wing flapping wing aircraft, 3-fixed part, 4-electromagnet, 5-wireless charger, 6-crawler battery, 7-main control system, 24-PC analysis module, 25-ground control center, 71-main controller, 72-motor driving module, 73-current controller, 74-remote control module, 8-vision mechanism, 81-eye shell, 82-rotating motor, 83-light supplement lamp, 84-bionic eye, 841-first linear steering engine, 842-second linear steering engine, 843-spherical end, 844-telescopic sleeve rod, 845-eyeball, 8411-first slide block, 8421-second slide block, 8431-spherical end spherical center, 8432-spherical center plane, 8451-eyeball spherical center, 8452-visual direction, 8453-microsensor, 8454-camera, 8455-signal transmission module, 9-visual support frame, 10-track wheel, 11-track, 12-track vehicle motor, 13-chassis, 14-auxiliary control system, 141-receiver, 142-electric regulation module, 143-power module, 144-electric quantity data transmission module, 145-wireless image transmission module, 15-frame, 151-lower base, 152-upper base, 153-wing arm, 154-wing root, 155-carbon fiber rod, 156-arm root connecting rod, 16-flapping wing mechanism, 161-crank connecting rod, 162-motor, 163-primary reducer driving wheel, 164-primary reducer driven wheel, 165-secondary reducer driving wheel, 166-secondary reducer driven wheel, 167-rocker, 17-flapping wing, 18-wing arm included angle adjusting mechanism, 181-third linear steering engine, 182-included angle connecting rod, 19-steering mechanism, 191-steering engine, 192-tail rudder, 20-landing gear, 201-connecting piece, 202-supporting frame, 203-soft iron sheet, 21-wireless charging receiver, 22-camera unit and 23-four-wing flapping wing aircraft battery.

Detailed Description

The present invention will now be described in more detail with reference to the accompanying schematic drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

As shown in figures 1-15, the robot for inspecting the air ground of the coal mine tunnel comprises a tracked vehicle 1 and a four-wing flapping-wing aircraft 2.

Four-wing flapping wing aircraft 2, the circular telegram flight is in order to patrol and examine, includes: the system comprises a landing gear 20, a frame 15, a flapping wing mechanism 16, a wing arm included angle adjusting mechanism 18, a steering mechanism 19, a wireless charging receiver 21, a camera unit 22, a four-wing flapping wing aircraft battery 23 and a secondary control system 14. The flapping wing mechanism 16 is divided into a left flapping wing mechanism 16 and a right flapping wing mechanism 16, the left flapping wing mechanism 16 and the right flapping wing mechanism 16 are respectively connected with two flapping wings 17, a wing arm included angle adjusting mechanism 18 is placed above the rack 15, a steering mechanism 19 is placed below the rack 15, and an undercarriage 20 is placed at the lowest part of the rack 15, supports the body and is connected with the tracked vehicle 1.

In the present embodiment, the up-down direction means along the Z direction; the left-right direction is along the X direction, and the front-back direction is along the Y direction.

The undercarriage 20 is electrified to be magnetically connected with the top surface of the tracked vehicle 1, namely the tracked vehicle 1 and the four-wing flapping wing aircraft 2 are connected with the undercarriage 20 through the electromagnet 4, the electromagnet 4 is connected with the tracked vehicle 1 through the fixing piece 3, the electromagnet 4 is electrified and powered off by controlling, when the electromagnet 4 is electrified, the electromagnet 4 generates magnetic force to attract the undercarriage 20 of the four-wing flapping wing aircraft 2, and the four-wing flapping wing aircraft 2 is fixed on the tracked vehicle 1; when the electromagnet 4 is powered off, the magnetic force disappears, the four-wing flapping wing aircraft 2 is separated from the connection of the crawler 1, the four-wing flapping wing aircraft 2 is light in weight, and the electromagnet 4 is electrified with small current, so that enough suction can be generated to stabilize the four-wing flapping wing aircraft 2, and the power consumption is low. Wherein the flapping mechanism 16 of the four-wing flapping wing aircraft 2 is already in operational operation before the electromagnet 4 is de-energized.

Specifically, as shown in fig. 2, an electromagnet 4 is arranged on the top surface of the crawler 1; as shown in fig. 3 and 12, the top end of the landing gear 20 is connected to a lower base 151 of a frame 15; the landing gear 20 comprises a support frame 202, a connecting piece 201 and a soft iron sheet 203; a connecting piece 201 is formed at the upper end of the supporting frame 202 to be detachably connected with the lower base 151 of the rack 15, a wireless charging receiver 21 is fixed on the supporting frame 202, and the input end of the wireless charging receiver 21 is connected with a wireless charger 5; the wireless charger 5 is sleeved on the electromagnet 4; a soft iron sheet 203 is arranged on the wireless charging receiver 21; the electromagnet 4 is electrified to generate magnetic attraction soft iron sheets 203 to connect the crawler 1 and the four-wing ornithopter 2.

The airframe 15 of the four-wing ornithopter 2 further includes an upper base 152, a wing arm 153, a wing root 154, a carbon fiber rod 155, and a root link 156, as shown in fig. 8.

Specifically, the upper base 152 and the lower base 151 are connected through a carbon fiber rod 155 arranged on the left and right, a pair of wing arms 153 arranged on the left and right are rotatably arranged on the upper base 152, and specifically, the wing arms 153 are rotatably connected on the upper base 152 through pins; the outer end of each wing arm 153 extends out of the upper base 152, and the inner end can move along the arc-shaped groove on the upper base 152; each wing arm 153 is provided with a flapping wing mechanism 16; each carbon fiber rod 155 is sleeved with a wing root 154 extending out of the lower base 151, and the outer end of each wing root 154 is fixedly connected with the outer end of the corresponding wing arm 153 through an arm root connecting rod 156; each arm root connecting rod 156 is connected with a pair of flapping wings 17; the inner side of the flapping wing 17 is fixedly connected (e.g., bonded) to a corresponding arm base link 156, and the top end of the flapping wing 17 forms a rod for detachable connection to an output end of a flapping mechanism 16.

The flapping wing mechanism 16 is configured to drive the corresponding pair of flapping wings 17 to open and close, and as shown in fig. 9, includes a crank connecting rod 161, a motor 162, a primary reducer driving wheel 163, a primary reducer driven wheel 164, a secondary reducer driving wheel 165, a secondary reducer driven wheel 166, and a rocker 167.

Specifically, a pair of rocking bars 167 form the output end of the wing mechanism, and the rocking bars 167 are vertically arranged and rotatably connected with the wing arm 153; a pair of rockers 167 are rotatably connected to the same point; each rocker 167 is connected with a flapping wing 17; each rocker 167 is rotatably connected with one secondary reducer driven wheel 166 through a crank connecting rod 161, and the two secondary reducer driven wheels 166 are externally meshed; the two secondary speed reducer driven wheels 166 are rotatably mounted on the wing arm 153, and one secondary speed reducer driven wheel 166 is externally meshed with one secondary speed reducer driving wheel 165; the secondary speed reducer driving wheel 165 and the primary speed reducer driven wheel 164 form a duplicate gear, the primary speed reducer driven wheel 164 is rotatably mounted on the wing arm 153 and externally meshed with the primary speed reducer driving wheel 163, the primary speed reducer driving wheel 163 is connected with an output shaft of the motor 162, and the motor 162 is fixed on the wing arm 153.

When the motor 162 works, the primary speed reducer driving wheel 163, the primary speed reducer driven wheel 164, the secondary speed reducer driving wheel 165, the secondary speed reducer driven wheel 166, the crank connecting rod 161, the rocker 167 and the flapping wing 17 are driven to move in sequence. The motion amplitude of each rocker 167 is about 60 degrees, when the two rockers 167 of the flapping wing mechanism 16 reach the highest point at the same time as shown in fig. 15 and 17, the flapping wings 17 fixed on the pair of rockers 167 at the same side can be just attached, the maximum included angle between the two flapping wings 17 as shown in fig. 3 and 16 is about 120 degrees, the closing-opening mechanism is fully utilized, the membranes of the flapping wings 17 are made of PVC films, and various gears are made of resin materials.

The wing arm included angle adjusting mechanism 18 is used for adjusting an included angle between two wing arms 153 to enable the four-wing flapping wing aircraft 2 to pitch, as shown in fig. 3 and 10, the wing arm included angle adjusting mechanism is arranged on an upper base 152 of the rack 15 and comprises a third linear steering engine 181 and an included angle connecting rod 182, the included angle connecting rod 182 is located between the two wing arms 153, a left sliding groove is formed in the left end of the included angle connecting rod 182, an upright post penetrates through the left sliding groove and is clamped on the left wing arm 153, a right sliding groove is formed in the right end of the upright post, and the upright post penetrates through the right sliding groove and is clamped on the right wing arm 153; the two upright posts are matched with the arc-shaped groove on the upper base 152; the upper section of the included angle connecting rod 182 is fixed to a steering engine push rod of the third linear steering engine 181, and the steering engine push rod of the third linear steering engine 181 can move in the front-back direction; the body of the third linear actuator 181 is fixed to the upper base 152.

Each wing arm 153 forms a lever rotating around the pin, when the third linear steering engine 181 works, the third linear steering engine 181 drives the included angle connecting rod 182, the included angle connecting rod 182 drives the inner ends of the left wing arm 153 and the right wing arm 153 to move (the upright posts move in the arc-shaped grooves), the other end (outer end) of each wing arm 153 also moves through the lever principle, and the included angle between the left wing arm 153 and the right wing arm 153 changes. The included angle connecting rod 182 is provided with a sliding groove (a left sliding groove and a right sliding groove), when the linear steering engine is in the middle position, the two wing arms 153 and the included angle connecting rod 182 are positioned on the same straight line, the included angle is just 180 degrees, the forward stroke and the backward stroke of the third linear steering engine 181 are the same, and the same included angle is changed.

The steering mechanism 19, which enables the four-wing ornithopter 2 to yaw, is arranged on the lower base 151 of the frame 15 as shown in fig. 11, and comprises a steering gear 191 fixed on the lower base 151, and an output shaft of the steering gear 191 is fixed on a tail rudder 192. When the steering gear is working, the output shaft of the steering gear rotates to drive the tail rudder 192 to rotate angularly.

The tracked vehicle 1 comprises a fixing part 3, an electromagnet 4, a wireless charger 5, a tracked vehicle battery 6, a main control system 7, a vision mechanism 8, a vision support frame 9, tracked wheels 10, a track 11, a tracked vehicle motor 12 and a chassis 13. The connection relationship among the track wheels 10, the track 11, the tracked vehicle motor 12 and the chassis 13 is the prior art, and will not be described herein again.

The vision mechanism 8, which is connected to the main control system 7 by signals and is disposed on the crawler 1, as shown in fig. 4, includes: an eye shell 81, a rotating motor 82, a light supplement lamp 83 and a bionic eye 84; bionic eye 84 comprises miniature mechanical structure, can be nimble to the place ahead field of vision detection, and light filling lamp 83 can provide the illumination for bionic eye 84 under the dark environment, and rotating electrical machines 82 assists bionic eye 84 to carry out the field of vision detection all around. Specifically, the eye housing 81 includes a front housing and a rear housing detachably connected; the eye shell 81 is rotationally arranged on a visual support frame 9 through a rotating motor 82; a light supplement lamp is arranged on the outer wall of the eye shell 81; a bionic eye 84 is arranged inside the eye shell 81.

The bionic eye 84, as shown in fig. 5, 6 and 7, includes a first linear steering engine 841, a second linear steering engine 842, a spherical end 843, a telescopic sleeve 844 and an eyeball 845. Specifically, a first linear steering engine 841 is fixed on the rear housing, and a steering engine push rod of the first linear steering engine 841 can move in the left-right direction and is connected with a first sliding block 8411; the first sliding block 8411 is connected with a shell of a second linear steering engine 842, and a steering engine push rod of the second linear steering engine 842 can move up and down and is connected with the rear end of the second sliding block 8421; the front end of the second sliding block 8421 is connected with a spherical end 843; the front end of the spherical end 843 is fixed to the rear end of a telescopic sleeve 844, the front end of the telescopic sleeve 844 is fixed to an eyeball 845, and the eyeball 845 is connected with a front shell spherical pair of the eye shell 81, wherein the eyeball 845 is a device integrating the micro sensor 8453, the camera 8454 and the signal transmission module 8455.

Thus, the spherical end center 8431 is movable with the second slider 8421, the spherical end 843 is rotatable about the spherical end center 8431, the eyeball center 8451 is fixed, and the eyeball 845 is rotatable about the eyeball center 8451.

The first linear steering engine 841 and the second linear steering engine 842 form a screw rod cross device, the first linear steering engine 841 drives the second linear steering engine 842 to integrally move left and right through a first sliding block 8411, the second linear steering engine 842 can enable a second sliding block 8421 to move up and down, therefore, the second sliding block 8421 can move up and down, left and right in the space, the second sliding block 8421 drives the spherical end 843 to move, the spherical center 8431 of the spherical end moves up and down, left and right on the fixed spherical center plane 8432, the spherical end 843 rotates around the spherical center 8431 of the spherical end, then the position and length of the telescopic rod 844 are changed, the eyeball 845 is caused to rotate around the eyeball center 8451 in the front shell of the eye shell 81, thereby changing the visual direction 8452 of the simulated animal eye, and each position point of the spherical end center 8431 on the spherical center plane 8432 corresponds to one visual direction 8452 of the simulated eye 84.

The system comprises a main control system 7 and an auxiliary control system 14, wherein the main control system 7 is arranged on the crawler 1, and the auxiliary control system is arranged on a rack 15 of the four-wing flapping wing aircraft 2; the frame 15 is further provided with a camera unit 22, and the camera unit 22 is in signal connection with the sub-control system 14 and the main control system 7 in sequence.

Specifically, as shown in fig. 13 and 14, the main control system 7 includes: PC analysis module 24, main controller 71, motor drive module 72, current controller 73, and remote control module 74.

The system comprises a PC analysis module 24 and a main controller 71, wherein the PC analysis module 24 is used for receiving and analyzing environment information output by the bionic eye 84 and output information of the main controller 71, then outputting instruction information to the main controller 71, and simultaneously, the PC analysis module 24 and the ground control center 25 carry out information transmission; the main controller 71 is configured to receive the output instruction information of the PC analysis module 24 and output a corresponding signal; a first output end of the main controller 71 is in signal connection with an input end of a motor driving module 72, a second output end is in signal connection with an input end of a current controller 73, a third output end is in signal connection with an input end of a remote control module 74, and a fourth output end is connected with a first linear steering engine 841 and a second linear steering engine 842 of the vision mechanism 8.

And the ground control center 25 is used for remotely monitoring and controlling ground personnel.

And the motor driving module 72 is used for controlling the speed of the crawler machine, and the output end of the motor driving module 72 is in signal connection with the crawler motor 12 on the crawler machine.

The current controller 73 is used for controlling the electrification and the outage of the electromagnet 4, the output end of the current controller 73 is connected with the positive electrode and the negative electrode of the electromagnet 4, the main controller 7 sends adjusting signals to the current controller 73, and the current controller 73 adjusts the current according to the signals to realize the electrification and the outage of the electromagnet 4.

And the remote control module 74 is used for changing the included angle of the wing arms 153 and the angle of the tail rudder 192, and the output end of the remote control module 74 is in signal connection with the input end of the secondary control system 14.

The secondary control system 14 of the four-wing ornithopter 2 comprises: the wireless image transmission system comprises a receiver 141, an electric regulation module 142, a power supply module 143, an electric quantity data transmission module 144 and a wireless image transmission module 145.

And the receiver 141 is used for receiving the output information of the remote control module 74, a first output end of the receiver 141 is in signal connection with an input end of the electric tuning module 142, a second output end of the receiver 141 is in signal connection with a third linear steering engine 181 of the wing arm included angle adjusting mechanism 18, and a third output end of the receiver is in signal connection with a steering engine of the steering mechanism 19.

The electric tuning module 142 is used for regulating the speed of the motor 162 of the flapping wing mechanism 16, and the output end of the electric tuning module 142 is connected with the motor 162 through a signal.

The power module 143 is used for acquiring the electric quantity of the battery 23 of the four-wing flapping wing aircraft, then the battery quantity signal is sent to the PC analysis module 24 through the electric quantity data transmission module 144, and the PC analysis module 24 analyzes the electric quantity information and the travel information and determines whether a return flight instruction is sent or not; wherein, the four-wing ornithopter battery 23 is arranged on the upper base 152 of the frame 15; the tracked vehicle 1 is provided with a tracked vehicle battery 6, and the tracked vehicle battery 6 charges the four-wing flapping wing aircraft battery 23 sequentially through the wireless charger 5, the wireless charging receiver 21 and the power module 143.

The wireless image transmission module 145 is used for transmitting the image information to the PC analysis module 24 through the camera unit 22 of the four-wing flapping wing air vehicle 2 through the wireless image transmission module 145.

That is, the micro sensor 8453 and the camera 8454 of the eyeball 845 in the bionic eye 84 detect and identify the environment, the signal transmission module 8455 transmits the environment information to the PC analysis module 24 (shown in fig. 18), the PC analysis module 24 analyzes the image information, sends corresponding alarm or sends corresponding instruction information to the main controller 71 according to the information, the main controller 71 sends the information to the designated module, and the vision mechanism 8 can obtain multi-directional information by changing the vision direction 8452 of the bionic eye 84; the motor driving module 72 can control the speed of the motor 12 of the crawler to realize forward, backward and differential steering; the current controller 73 controls the electromagnet 4 to be powered on and powered off; the remote control module 74 can send corresponding information to the receiver 141, the receiver 141 realizes signal transmission of different lines according to the corresponding information, and the electric regulation module 142 obtains a signal to regulate the speed of the motor 162; a third linear steering engine 181 obtains a signal to change the included angle of the wing arm 153; the steering engine obtains a signal to realize the angle change of the tail rudder 192.

The power module 143 can acquire the electric quantity of the battery 23 of the four-wing ornithopter and send the electric quantity to the PC analysis module 24 through the electric quantity data transmission module 144, and the PC analysis module 24 analyzes the electric quantity information and the travel information to determine whether to send a return flight instruction;

the camera unit 22 of the four-wing flapping wing aircraft 2 is sent to the PC analysis module 24 through the wireless image transmission module 145, the tracked vehicle battery 6 supplies all electric equipment on the tracked vehicle 1, the four-wing flapping wing aircraft battery 23 can be charged through the wireless charger 5, the wireless charging receiver 21 and the power supply module 143, and the charging principle is similar to that of the wireless charging of a mobile phone in the prior art; the four-wing flapping wing aircraft battery 23 supplies all the electric equipment on the four-wing flapping wing aircraft 2.

The motion principle of the four-wing flapping-wing aircraft 2 is as follows:

(1) lifting and hovering:

the rotating speed of a motor 162 on the flapping wing mechanism 16 is controlled, the flapping wing frequency is changed, the lift force is adjusted, when the lift force is greater than the gravity, the four-wing flapping wing aircraft 2 rises, when the lift force is equal to the gravity, the four-wing flapping wing aircraft 2 is in a hovering state, and when the lift force is less than the gravity, the four-wing flapping wing aircraft 2 descends.

(2) Pitching: controlling the movement of a third linear steering engine 181 in the wing arm included angle adjusting mechanism 18 to drive an included angle connecting rod 182 to move, so that the included angle of the wing arm 153 is changed, the position of the center of mass of the aircraft is changed, the facing direction of the camera unit 22 is forward, when the wing arm 153 turns backwards, the center of mass moves forwards, and under the action of gravity and lifting force, the aircraft bends and flies forwards; similarly, when the wing arms 153 are flipped forward, the aircraft takes a pitch action and flies backward.

(3) Yawing: the steering engine 191 in the steering mechanism 19 is controlled to change the angle of the tail rudder 192, so that the flow velocity of the airflow at the two sides of the control surface of the tail rudder 192 is different, thereby generating pressure difference to act on the control surface, further generating rotating moment and realizing yaw.

A method for inspecting the open space of a coal mine roadway is shown in fig. 14 and comprises the following steps:

step 1: and inputting the roadway information into a main control system, planning a path by the main control system, and driving a motor of the tracked vehicle on the tracked vehicle to operate according to the planned path.

In the running process of the crawler, the vision mechanism obtains multi-directional information by changing the position of the bionic eye, the bionic eye outputs image information to the main control system, and the main control system processes the image information and judges whether an obstacle exists in front of the crawler.

If so, the main control system sends out an obstacle instruction and analyzes whether the tracked vehicle can continue to move forwards or not; and if the crawler cannot continue to move forwards, executing the step 2.

meanwhile, the main control system controls the electromagnet on the tracked vehicle to be powered off, and the four-wing flapping wing aircraft is separated from the tracked vehicle;

after the operation is carried out for a set time, the auxiliary control system acquires the electric quantity of the battery of the four-wing flapping wing aircraft, then the battery quantity signal is sent to the main control system, and the main control system analyzes the electric quantity information and the travel information and determines whether a return flight instruction is sent or not; if so, step 3 is performed.

And step 3: and the main control system sends a return command to the auxiliary control system, and the auxiliary control system controls a third linear steering engine of the steering mechanism to operate so that the four-wing flapping-wing aircraft returns.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a robot is patrolled and examined to coal mine tunnel open space which characterized in that includes:

a tracked vehicle;

the machine frame also comprises an upper base, the upper base is connected with the lower base through carbon fiber rods arranged on the left and right sides, a pair of wing arms arranged on the left and right sides are rotatably arranged on the upper base, the outer end of each wing arm extends out of the upper base, and the inner end can move along an arc-shaped groove on the upper base; each wing arm is provided with a flapping wing mechanism; each carbon fiber rod is sleeved with a wing root extending out of the lower base, and the outer end of each wing root is connected with the outer end of the corresponding wing arm through an arm root connecting rod; each arm root connecting rod is connected with a pair of flapping wings;

2. The coal mine roadway air ground inspection robot according to claim 1, further comprising a vision mechanism in signal connection with the main control system and disposed on the tracked vehicle, the vision mechanism comprising:

3. The coal mine roadway air ground inspection robot according to claim 2, wherein a wing arm included angle adjusting mechanism for adjusting an included angle between two wing arms so that the four-wing flapping-wing aircraft can pitch is arranged on an upper base of the rack and comprises an included angle connecting rod, the included angle connecting rod is positioned between the two wing arms, a left sliding groove is formed in the left end of the included angle connecting rod, an upright post penetrates through the left sliding groove and is clamped on the wing arm on the left side, a right sliding groove is formed in the right end of the included angle connecting rod, and the upright post penetrates through the right sliding groove and is clamped on the wing arm on the right side; the two upright posts are matched with the arc-shaped groove on the upper base; the upper section of the included angle connecting rod is fixed on a steering engine push rod of a third linear steering engine, and the steering engine push rod of the third linear steering engine can move in the front-back direction; the body of the third linear steering engine is fixed on the upper base.

4. The coal mine roadway air ground inspection robot according to claim 3, wherein a steering mechanism enabling the four-wing flapping-wing aircraft to yaw is arranged on a lower base of the rack, the steering mechanism comprises a steering engine fixed on the lower base, and an output shaft of the steering engine is fixed on a tail vane.

5. The coal mine roadway air ground inspection robot according to claim 4, wherein an electromagnet is arranged on the top surface of the tracked vehicle;

6. The coal mine roadway air space inspection robot according to claim 5, wherein the main control system comprises:

7. The coal mine roadway air space inspection robot according to claim 6, wherein the secondary control system comprises:

8. A coal mine roadway air ground inspection method is based on any one of claims 4 to 7, and is characterized by comprising the following steps:

in the running process of the crawler, the vision mechanism obtains multi-directional information by changing the vision direction of the bionic eye, the bionic eye outputs image information to the main control system, and the main control system processes the image information and judges whether an obstacle exists in front of the crawler;

step 2: the main control system is communicated with the auxiliary control system, and the auxiliary control system drives a motor of the flapping wing mechanism to operate so as to realize the flight of the four-wing flapping wing aircraft;

in the flying process, the camera shooting unit on the four-wing flapping wing aircraft collects roadway image information in real time and transmits the roadway image information to the main control system;