CN209142389U - A kind of coal mine disaster area environment detects unmanned plane - Google Patents

A kind of coal mine disaster area environment detects unmanned plane Download PDF

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Publication number
CN209142389U
CN209142389U CN201821750076.6U CN201821750076U CN209142389U CN 209142389 U CN209142389 U CN 209142389U CN 201821750076 U CN201821750076 U CN 201821750076U CN 209142389 U CN209142389 U CN 209142389U
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CN
China
Prior art keywords
vent valve
propeller
vertex
unmanned plane
air bag
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CN201821750076.6U
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Chinese (zh)
Inventor
郑学召
王喜龙
李新卫
杜瑞林
杨拓
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Xi'an Tianhe Mining Technology Co ltd
Xian University of Science and Technology
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Xi'an Tianhe Mining Technology Co ltd
Xian University of Science and Technology
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Priority to CN201821750076.6U priority Critical patent/CN209142389U/en
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Publication of CN209142389U publication Critical patent/CN209142389U/en
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Abstract

The utility model discloses a kind of coal mine disaster area environment to detect unmanned plane, the unmanned plane includes unmanned plane, coal mine disaster area environment arrangement for detecting and monitoring device, the unmanned plane includes rack, power mechanism and avoidance mechanism, the coal mine disaster area environment arrangement for detecting includes environmental detection sensor, infrared video camera and intrinsic safety type headset, the power mechanism includes propeller mechanism and hovering micro-adjusting mechanism, the hovering micro-adjusting mechanism includes air bag, first gas supply assembly and the second gas supply assembly and fine tuning valve mechanism, the monitoring device includes main control module, remote monitoring module and hand-held remote control unit.The utility model is designed reasonably is light-weight, cruising ability is strong, realizes the detecting of down-hole disaster area environment.

Description

A kind of coal mine disaster area environment detects unmanned plane
Technical field
The utility model belongs to mining unmanned plane detection techniques field, detects nothing more particularly, to a kind of coal mine disaster area environment It is man-machine.
Background technique
China's mine accident causes a large amount of resources loss and casualties, seriously affects the safety in production in China mine, Cause serious economic loss and social influence.After mine accident occurs, underground situation can be grasped in time, it is raw to safety is reduced The loss of production accident is of great significance.
Unmanned plane plays an important role in unmanned probing field, especially after the accident to disaster area detect application before Scape is extensive.Underground coal mine disaster area usually has the aggregation of the explosive gas such as gas, belongs to the explosive region of gas, all to enter disaster area Disaster relief equipment require to reach related explosion-proof criteria, in order to avoid because equipment fault cause disaster area gas explosion.However, if nobody Machine is designed by explosion-proof criteria, can be greatly increased aircraft weight, be led to the components such as cruising ability wretched insufficiency, battery and motor Explosion-proof difficulty further increases.It is light-weight, cruising ability is strong therefore, it is necessary to design a kind of coal mine disaster area environment detecting unmanned plane, The unmanned machine equipment of coal mine disaster area environment can be detected, accurately and reliably information is provided for mine disaster rescue, effectively avoids rescuing Personnel enter the risk of disaster area scouting.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of coal mine Disaster area environment detects unmanned plane, design it is reasonable, easy to operate, it is light-weight, cruising ability is strong, realize detecing for down-hole disaster area environment It surveys, provides accurately and reliably information for mine disaster rescue, rescue personnel is effectively avoided to enter the risk of disaster area scouting, practicability By force.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of coal mine disaster area environment detects nothing It is man-machine, it is characterised in that: including unmanned plane, the coal mine disaster area environment arrangement for detecting being mounted on the unmanned plane and to be mounted on institute The monitoring device on unmanned plane is stated, the unmanned plane includes rack and the power mechanism being mounted on the rack and avoidance machine Structure, the coal mine disaster area environment arrangement for detecting include environmental detection sensor, infrared video camera and intrinsic safety type headset, the rack Bottom immediately below be provided with and increase steady bracket, the environmental detection sensor and intrinsic safety type headset are mounted on the bottom of the frame, The infrared video camera, which is mounted on, to be increased on steady bracket, and the avoidance mechanism includes being mounted on the preceding infrared distance measurement for increasing steady bracket surrounding It sensor, rear infrared distance sensor, left infrared distance sensor and right infrared distance sensor and is mounted on and increases steady bracket The lower infrared distance sensor of bottom and the upper infrared distance sensor being mounted on the rack, the power mechanism include peace Mounted in rack top surface quadrangle propeller mechanism and be mounted on the hovering micro-adjusting mechanism of top in the middle part of the rack top surface, institute State hovering micro-adjusting mechanism include air bag, for air bag for the first gas supply assembly of helium and the second gas supply assembly and be arranged in air bag On fine tuning valve mechanism, air inlet pipe is provided on the air bag, the fine tuning valve mechanism includes being arranged in air bag bottom four The lower vertex vent valve on a vertex, the upper vertex vent valve that four vertex are set at the top of air bag and it is arranged on front side of air bag Preceding vent valve, the rear vent valve, Zuo Fangqi of the center position in face, trailing flank, left side, right side, upper side and downside Valve, right vent valve, upper vent valve and lower vent valve, the bottom of the rack are provided with make first gas supply assembly fall off de- Fall pushing mechanism；
The quantity of the propeller mechanism is four, and four propeller mechanisms are respectively along the frame top inverse time The first propeller mechanism, the second propeller mechanism, third propeller mechanism and the quadruple screw propeller mechanism that needle is successively laid, and institute It states the first propeller mechanism, the second propeller mechanism, third propeller mechanism and quadruple screw propeller mechanism and extends the machine Outside frame；
The monitoring device includes main control module, remote monitoring module and hand-held remote control unit, the main control module Including main controller, the input of the main controller is terminated with the helium atmosphere sensor being arranged in first gas supply assembly, institute Environmental detection sensor, infrared video camera and intrinsic safety type headset is stated to connect with main controller, the lower vertex vent valve, it is described on Vertex vent valve, preceding vent valve, rear vent valve, left vent valve, right vent valve, upper vent valve and lower vent valve input terminal with The output end of main controller connects, first propeller mechanism, the second propeller mechanism, third propeller mechanism and the 4th spiral Paddle mechanism is controlled by main controller, and the remote monitoring module includes intrinsic safety computer and the display that connects with intrinsic safety computer Screen and earphone, the main controller and intrinsic safety computer carry out data communication, and the main controller and hand-held remote control unit carry out data Communication.
A kind of above-mentioned coal mine disaster area environment detects unmanned plane, it is characterised in that: first gas supply assembly and described the Two gas supply assemblies are connect by three-way connection with air inlet pipe, first gas supply assembly including the first storage cylinder and with the first gas storage First air supply pipe of bottle connection, second gas supply assembly include the second storage cylinder and the second gas supply connecting with the second storage cylinder Pipe, first air supply pipe and second air supply pipe connect with two imports of the three-way connection, the three-way connection Outlet connect with air inlet pipe, the first charge valve is provided on first air supply pipe, is provided on second air supply pipe Two charge valves, first charge valve and the input terminal of the second charge valve and the output end of main controller connect；
The pushing mechanism that falls off includes the bottom plate that the bottom of the frame is arranged in, is symmetricly set on bottom plate and and bottom plate The air pressure driving machine for surrounding the vertical plate of U-shaped holding tank and the bottleneck of the first storage cylinder being driven to separate with the bottle stopper for being mounted on bottleneck Structure is provided with multiple idler wheels on the bottom plate, and first storage cylinder is located on the idler wheel.
A kind of above-mentioned coal mine disaster area environment detects unmanned plane, it is characterised in that: the air pressure driving mechanism includes wearing It is set on the bottle stopper in the movable plate on the bottleneck of the first storage cylinder, fixation and consolidates with what the bottom of the frame was fixedly connected Fixed board and the cylinder being arranged on bottom plate, the piston rod of the cylinder pass through fixed plate and are fixedly connected with movable plate, the cylinder Piston rod drive movable plate mobile, spring is set between the movable plate and fixed plate, and the spring is set on bottleneck, institute It states spring and is in compressive state, one end of the spring is fixedly connected with fixed plate, and the other end and movable plate of the spring are solid Fixed connection.
A kind of above-mentioned coal mine disaster area environment detects unmanned plane, it is characterised in that: it is wireless that first is provided in the rack Communication module is provided with the second wireless communication module in long-range monitoring room, and first wireless communication module connects with main controller, Second wireless communication module connects with intrinsic safety computer, and first wireless communication module and the second wireless communication module are wireless Connection；
The hand-held remote control unit include from controller and the third wireless communication module to connect with from controller, it is described from The input of controller is terminated with key operation module, and first wireless communication module and third wireless communication module wirelessly connect It connects.
A kind of above-mentioned coal mine disaster area environment detects unmanned plane, it is characterised in that: the rack include cuboid pedestal and It is mounted on the supporting leg of cuboid base bottom quadrangle, the bottom of the supporting leg is described to increase surely lower than the bottom for increasing steady bracket Bracket includes being mounted on cuboid base bottom and from top to bottom sequentially connected vertical bar, elastic damping part, inverted U-shaped part and returning Shape pedestal is provided with the first support shaft of horizontal layout in the inverted U-shaped part, is provided through first in the back-shaped pedestal Support axis and the second support shaft with the first support shaft vertical runs；
The air bag under including small big trapezoidal portion and setting the trapezoidal portion top and with the trapezoidal portion it is integrated Molding arc sections, the preceding vent valve, rear vent valve, left vent valve, right vent valve and lower vent valve are located at the ladder Leading flank, trailing flank, left side, right side and the center of downside in shape portion, the upper vent valve are located at the circular arc The center in portion.
A kind of above-mentioned coal mine disaster area environment detects unmanned plane, it is characterised in that: first propeller mechanism includes the First rotor motor module of the first propeller rotational of one propeller and driving, second propeller mechanism include the second spiral Second rotor motor module of the second propeller rotational of paddle and driving, the third propeller mechanism includes third propeller and drive The third rotor motor module of dynamic third propeller rotational, quadruple screw propeller mechanism include quadruple screw propeller and driving the 4th The quadrotor motor module of propeller rotational, the first rotor motor module, the second rotor motor module, described Three rotor motor modules and the quadrotor motor module are controlled by main controller；
The environmental detection sensor includes gas sensor, Temperature Humidity Sensor and propeller air velocity transducer；
The gas sensor includes methane transducer, carbon monoxide transducer, carbon dioxide sensor and oxygen sensor Device, the Temperature Humidity Sensor, propeller air velocity transducer, methane transducer, carbon monoxide transducer, carbon dioxide sensor Connect with the input terminal of main controller with the output end of oxygen sensor.
Compared with the prior art, the utility model has the following advantages:
1, used coal mine disaster area environment detects unmanned plane simple structure and reasonable design, easy to operate.
2, used coal mine disaster area environment detecting UAV flight's environmental detection sensor, infrared video camera and intrinsic safety type Headset, infrared video camera is acquired coal mine roadway image locating in unmanned plane during flying advance, to judge coal mine lane There are the position of disaster accident in road image, environmental detection sensor believes the environment of disaster accident present position in coal mine roadway Breath is detected, and intrinsic safety type headset is acquired the coal mine roadway voice of disaster accident present position in coal mine roadway, thus The position of underground disaster accident and the information of disaster area environment are obtained, provides accurately and reliably information for mine disaster rescue, effectively Rescue personnel is avoided to enter the risk of disaster area scouting, it is practical.
3, the power mechanism of used coal mine disaster area environment detecting UAV flight includes that propeller mechanism and hovering are micro- Regulating mechanism, setting propeller mechanism control unmanned plane advance or and make a return voyage, setting hovering micro-adjusting mechanism cooperate propeller machine Structure provides a part of power for flying robot and saves electricity, increases cruising ability, and mitigate the weight of unmanned plane, additionally by The micro-adjusting mechanism that hovers finely tunes the position of unmanned plane, realizes accurate flight attitude control, coal mine disaster area environment is made to detect unmanned plane Mine disaster incident area is hovered over, mine the condition of a disaster is reconnoitred, accurate environmental information data is obtained, is mentioned for rescue measure For accurate foundation.
4, the gas supply assembly of used coal mine disaster area environment detecting UAV flight includes the first gas supply assembly and second Gas supply assembly, the second gas supply assembly be when finishing for the helium use in the first gas supply assembly as spare gas supply assembly, By falling off, pushing mechanism launches the first gas supply assembly, mitigates main screw lift.
5, lower vertex vent valve, upper vertex vent valve is arranged in the air bag that used coal mine disaster area environment detecting unmanned plane is taken And the vent valve on each side of air bag is set, with realize unmanned plane all around, forward upward inclination, forward downward Inclination, rearwardly and upwardly inclination, backward inclined downward, to the left inclined upward, to the left inclined downward, to the right inclined upward and to bottom right The inclined fine tuning in side to realize the fine tuning of the posture of unmanned plane, and adjusts convenient, reduction energy consumption.
6, used coal mine disaster area environment detecting UAV flight avoidance mechanism include preceding infrared distance sensor, after Infrared distance sensor, left infrared distance sensor, right infrared distance sensor, lower infrared distance sensor and upper infrared distance measurement Sensor is sensed by left infrared distance sensor, right infrared distance sensor, lower infrared distance sensor, upper infrared distance measurement Device respectively to the unmanned plane in coal mine roadway coal mine roadway described in distance left spacing, right spacing, lower spacing and upper spacing From being detected, unmanned plane is avoided to contact with coal mine roadway, cause the impaction lesion of unmanned plane, and avoids collision barrier；It is logical Cross preceding infrared distance sensor and rear infrared distance sensor detection unmanned plane move forward and backward during whether there are obstacles, So that unmanned plane can clear the jumps in the case where no GPS signal, disaster environment place is reached.
It is light-weight, cruising ability is strong in conclusion the utility model is designed reasonably, easy to operate, realize down-hole disaster area ring The detecting in border provides accurately and reliably information for mine disaster rescue, rescue personnel is effectively avoided to enter the risk of disaster area scouting, It is practical.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the utility model coal mine disaster area environment detects unmanned plane (use state).
Fig. 2 is the structural schematic diagram that the utility model coal mine disaster area environment detects unmanned plane air bag (opening state).
Fig. 3 is that the utility model coal mine disaster area environment is detected the fall off structure of pushing mechanism and the first storage cylinder of unmanned plane and shown It is intended to.
Fig. 4 is the schematic block circuit diagram that the utility model coal mine disaster area environment detects unmanned plane.
Fig. 5 is that the utility model coal mine disaster area environment detects the first rotor motor of unmanned plane module, the second rotor motor mould The schematic block circuit diagram of block, third rotor motor module and quadrotor motor module and main controller.
Fig. 6 is the method flow block diagram that environment detecting in coal mine disaster area is carried out using the utility model.
Description of symbols:
1-the first propeller mechanism；The first propeller of 1-1-；The first electron speed regulator of 1-2-；
1-3-first motor；The first retaining ring of 1-4-；2-the second propeller mechanism；
The second propeller of 2-1-；The second electron speed regulator of 2-2-；The second motor of 2-3-；
The second retaining ring of 2-4-；3-third propeller mechanisms；3-1-third propeller；
3-2-third electron speed regulator；3-3-third motor；3-4-third retaining ring；
4-the quadruple screw propeller mechanism；4-1-quadruple screw propeller；The 4th electron speed regulator of 4-2-；
The 4th motor of 4-3-；The 4th retaining ring of 4-4-；The first storage cylinder of 5-1-；
5-1-1-bottle stopper；5-1-2-bottleneck；
The first charge valve of 5-2-；The first air supply pipe of 5-3-；
The second storage cylinder of 6-1-；The second charge valve of 6-2-；The second air supply pipe of 6-3-
7-air inlet pipe；8-air bags；The trapezoidal portion 8-1-；
8-2-arc sections；The preceding vent valve of 9-1-；The rear vent valve of 9-2-；
The left vent valve of 9-3-；The right vent valve of 9-4-；9-5-goes up vent valve；
The lower vent valve of 9-6-；The lower vertex vent valve of 9-7-first；
The lower vertex vent valve of 9-8-second；Vertex vent valve under 9-9-third；
The lower vertex vent valve of 9-10-the 4th；Vertex vent valve on 9-11-first；
Vertex vent valve on 9-12-second；Vertex vent valve in 9-13-third；
Vertex vent valve on 9-14-the 4th；10-cuboid pedestals；
11-increase steady bracket；11-1-vertical bar；11-2-elastic damping part；
The inverted U-shaped part of 11-3-；The back-shaped pedestal of 11-4-；The first support shaft of 11-5-；
The second support shaft of 11-6-；12-idler wheels；12-1-air bag bottom plate；
12-2-connecting rod；13-bottom plates；14-vertical plates；
15-movable plates；16-fixed plates；17-infrared video cameras；
18-springs；The preceding infrared distance sensor of 18-1-；
The rear infrared distance sensor of 18-2-；The left infrared distance sensor of 18-3-；
The right infrared distance sensor of 18-4-；The lower infrared distance sensor of 18-5-；
18-6-goes up infrared distance sensor；19-hand-held remote control units；
19-1-is from controller；19-2-third wireless communication module；
19-3-key operation module；20-cylinders；
21-supporting legs；22-intrinsic safety type headsets；
23-gas sensors；23-1-methane transducer；
23-2-carbon monoxide transducer；23-3-carbon dioxide sensor；
23-4-oxygen sensor；24-Temperature Humidity Sensors；
25-propeller air velocity transducers；26-main controllers；
27-the first wireless communication module；29-intrinsic safety computers；
30-display screens；31-earphones；
32-the second wireless communication module；33-locating base stations；
34-positioning labels；35-helium atmosphere sensors.
Specific embodiment
A kind of coal mine disaster area environment as shown in Figure 1 and Figure 4 detects unmanned plane, including unmanned plane, be mounted on it is described nobody The monitoring device that on machine coal mine disaster area environment arrangement for detecting and is mounted on the unmanned plane, the unmanned plane include rack with And the power mechanism and avoidance mechanism being mounted on the rack, the coal mine disaster area environment arrangement for detecting include that environment measuring passes Sensor, infrared video camera 17 and intrinsic safety type headset 22, the bottom underface of the rack, which is provided with, increases steady bracket 11, the environment Detection sensor and intrinsic safety type headset 22 are mounted on the bottom of the frame, and the infrared video camera 17, which is mounted on, increases steady bracket 11 On, the avoidance mechanism includes being mounted on the preceding infrared distance sensor 18-1 for increasing steady 11 surrounding of bracket, rear infrared distance measurement sensing Device 18-2, left infrared distance sensor 18-3 and right infrared distance sensor 18-4 and being mounted on increases under steady 11 bottom of bracket The infrared distance sensor 18-5 and upper infrared distance sensor 18-6 being mounted on the rack, the power mechanism include It is mounted on the propeller mechanism of rack top surface quadrangle and is mounted on the hovering micro-adjusting mechanism of top in the middle part of the rack top surface, The hovering micro-adjusting mechanism include air bag 8, for air bag 8 for the first gas supply assembly of helium and the second gas supply assembly and setting exist Fine tuning valve mechanism on air bag 8, air inlet pipe 7 is provided on the air bag 8, and the fine tuning valve mechanism includes being arranged in air bag The lower vertex vent valve of 8 vertex of bottoms four, the upper vertex vent valve that 8 four, top vertex of air bag is arranged in and setting are in gas 8 leading flank of capsule, trailing flank, left side, right side, upper side and the center position of downside preceding vent valve 9-1, after put Air valve 9-2, left vent valve 9-3, right vent valve 9-4, upper vent valve 9-5 and lower vent valve 9-6, the bottom of the rack is provided with The pushing mechanism that falls off for making first gas supply assembly fall off；
The quantity of the propeller mechanism is four, and four propeller mechanisms are respectively along the frame top inverse time The first propeller mechanism 1, the second propeller mechanism 2, third propeller mechanism 3 and the quadruple screw propeller mechanism 4 that needle is successively laid, And first propeller mechanism 1, the second propeller mechanism 2, third propeller mechanism 3 and quadruple screw propeller mechanism 4 extend Out outside the rack；
The monitoring device includes main control module, remote monitoring module and hand-held remote control unit 19, the master control molding Block includes main controller 26, and the input of the main controller 26 is terminated with the helium atmosphere sensing being arranged in first gas supply assembly Device 35, the environmental detection sensor, infrared video camera 17 and intrinsic safety type headset 22 connect with main controller 26, the lower top Point vent valve, the upper vertex vent valve, preceding vent valve 9-1, rear vent valve 9-2, left vent valve 9-3, right vent valve 9-4, on The input terminal of vent valve 9-5 and lower vent valve 9-6 connect with the output end of main controller 26, first propeller mechanism 1, Two propeller mechanisms 2, third propeller mechanism 3 and quadruple screw propeller mechanism 4 are controlled by main controller 26, the long-range prison Control module includes intrinsic safety computer 29 and the display screen to connect with intrinsic safety computer 29 30 and earphone 31, the main controller 26 and intrinsic safety Computer 29 carries out data communication, and the main controller 26 and hand-held remote control unit 19 carry out data communication.
As shown in figures 1 and 3, in the present embodiment, first gas supply assembly and second gas supply assembly pass through threeway Connector is connect with air inlet pipe 7, first gas supply assembly include the first storage cylinder 5-1 and connect with the first storage cylinder 5-1 One air supply pipe 5-3, second gas supply assembly include the second storage cylinder 6-1 and the second gas supply connecting with the second storage cylinder 6-1 Pipe 6-3, the first air supply pipe 5-3 and the second air supply pipe 6-3 connect with two imports of the three-way connection, described The outlet of three-way connection is connect with air inlet pipe 7, the first charge valve 5-2 is provided on the first air supply pipe 5-3, described second supplies The input terminal and master control of the second charge valve 6-2, the first charge valve 5-2 and the second charge valve 6-2 are provided on tracheae 6-3 The output end of device 26 connects；
The pushing mechanism that falls off include the bottom plate 13 that the bottom of the frame is set, be symmetrical arranged on base 13 and with Bottom plate 13 surrounds the vertical plate 14 of U-shaped holding tank and drives the bottleneck 5-1-2 of the first storage cylinder 5-1 and be mounted on bottleneck 5-1-2 Bottle stopper 5-1-1 separation air pressure driving mechanism, be provided with multiple idler wheels 12, the first storage cylinder 5-1 on the bottom plate 13 On the idler wheel 12.
In the present embodiment, the air pressure driving mechanism includes the shifting being threaded through on the bottleneck 5-1-2 of the first storage cylinder 5-1 Movable plate 15, the fixed fixed plate 16 being fixedly connected on the bottle stopper 5-1-1 and with the bottom of the frame and setting of being set in are the bottom of at Cylinder 20 on plate 13, the piston rod of the cylinder 20 pass through fixed plate 16 and are fixedly connected with movable plate 15, the cylinder 20 Piston rod drives movable plate 15 mobile, and spring 18 is arranged between the movable plate 15 and fixed plate 16, and the spring 18 is set in On bottleneck 5-1-2, the spring 18 is in compressive state, and one end of the spring 18 is fixedly connected with fixed plate 16, the bullet The other end of spring 18 is fixedly connected with movable plate 15.
As shown in figure 4, in the present embodiment, it is provided with the first wireless communication module 27 in the rack, in long-range monitoring room It is provided with the second wireless communication module 32, first wireless communication module 27 connects with main controller 26, second channel radio Letter module 32 connects with intrinsic safety computer 29, and first wireless communication module 27 and the second wireless communication module 32 are wirelessly connected；
The hand-held remote control unit 19 includes wirelessly communicating from controller 19-1 and the third to connect with from controller 19-1 Module 19-2, the input from controller 19-1 are terminated with key operation module 19-3, first wireless communication module 27 It is wirelessly connected with third wireless communication module 19-2.
As depicted in figs. 1 and 2, in the present embodiment, the rack includes cuboid pedestal 10 and is mounted on cuboid pedestal The supporting leg 21 of 10 bottom four corners, the bottom of the supporting leg 21 are described to increase the steady packet of bracket 11 lower than the bottom for increasing steady bracket 11 It includes and is mounted on 10 bottom of cuboid pedestal and from top to bottom sequentially connected vertical bar 11-1, elastic damping part 11-2, inverted U-shaped part The first support shaft 11-5 of horizontal layout, the back-shaped bottom are provided in 11-3 and back-shaped pedestal 11-4, the inverted U-shaped part 11-3 The first support shaft 11-5 and the second support shaft 11-6 with the first support shaft 11-5 vertical runs are provided through in seat 11-4；
The air bag 8 under including small big trapezoidal portion 8-1 and be arranged the top trapezoidal portion 8-1 and with it is described trapezoidal Portion 8-1 integrally formed arc sections 8-2, the preceding vent valve 9-1, rear vent valve 9-2, left vent valve 9-3, right vent valve 9-4 Leading flank, trailing flank, left side, right side and the center of downside of the trapezoidal portion 8-1 are located at lower vent valve 9-6 Position, the upper vent valve 9-5 are located at the center of the arc sections 8-2.
In the present embodiment, first propeller mechanism 1 includes that the first propeller 1-1 and the first propeller 1-1 of driving turn The first dynamic rotor motor module, second propeller mechanism 2 include the second propeller 2-1 of the second propeller 2-1 and driving Second rotor motor module of rotation, the third propeller mechanism 3 include third propeller 3-1 and driving third propeller 3- The third rotor motor module of 1 rotation, quadruple screw propeller mechanism 4 include quadruple screw propeller 4-1 and driving quadruple screw propeller The quadrotor motor module of 4-1 rotation, the first rotor motor module, the second rotor motor module, the third Rotor motor module and the quadrotor motor module are controlled by main controller 26；
The environmental detection sensor includes gas sensor 23, Temperature Humidity Sensor 24 and propeller air velocity transducer 25；
The gas sensor 23 includes methane transducer 23-1, carbon monoxide transducer 23-2, carbon dioxide sensor 23-3 and oxygen sensor 23-4, the Temperature Humidity Sensor 24, propeller air velocity transducer 25, methane transducer 23-1, one The output end for aoxidizing carbon sensor 23-2, carbon dioxide sensor 23-3 and oxygen sensor 23-4 is defeated with main controller 26 Enter end to connect.
In the present embodiment, first propeller mechanism 1, the second propeller mechanism 2, third propeller mechanism 3 and the 4th Propeller mechanism 4 extends outside the rack, be in order to remain the space that the opening of air bag 8 is occupied, and effectively rationally Using the left and right space of unmanned plane, the height for increasing unmanned plane is avoided, the limited height of coal mine roadway is adapted to.
In the present embodiment, the bottom of the air bag 8 is provided with air bag bottom plate 12-1, and the air bag bottom plate 12-1 passes through company Extension bar 12-2 is fixedly connected with the top of cuboid pedestal 10.
As shown in figure 5, in the present embodiment, the first rotor motor module includes the first electron speed regulator 1-2 and with the The first motor 1-3, the first motor 1-3 that one electron speed regulator 1-2 output end connects and the first propeller 1-1 is driven to rotate Output shaft and the first propeller 1-1 be sequentially connected, the second rotor motor module include the second electron speed regulator 2-2 and with The second motor 2-3 that second electron speed regulator 2-2 output end connects and the second propeller 2-1 is driven to rotate, second motor The output shaft of 2-3 and the second propeller 2-1 are sequentially connected, and the third rotor motor module includes third electron speed regulator 3-2 With the third motor 3-3 for connecting with third electron speed regulator 3-2 output end and third propeller 3-1 being driven to rotate, the third The output shaft and third propeller 3-1 of motor 3-3 is sequentially connected, and the quadrotor motor module includes the 4th electron speed regulator 4-2 and the 4th motor 4-3 for connecting with the 4th electron speed regulator 4-2 output end and quadruple screw propeller 4-1 being driven to rotate, described the The output shaft and quadruple screw propeller 4-1 of four motor 4-3 is sequentially connected, the first electron speed regulator 1-2, the second electron speed regulator 2-2, third electron speed regulator 3-2, the 4th electron speed regulator 4-2 are controlled by main controller 26.
In the present embodiment, the first electron speed regulator 1-2, the second electron speed regulator 2-2, third electron speed regulator 3-2 It is BPBT-2 × 22/192X flame-proof type electron speed regulator with the 4th electron speed regulator 4-2.
In the present embodiment, the first motor 1-3, the second motor 2-3, third motor 3-3 and the 4th motor 4-3 are nothing Brushless motor is because the carbon brush in brush DC motors is easier to damage, in addition, the carbon in brush DC motors The poor contact between commutator in brush and brush DC motors will cause carbon brush abrasion block, and the spark of generation is bigger, It can cause gas explosion.
In the present embodiment, further, the first motor 1-3, the second motor 2-3, third motor 3-3 and the 4th motor 4-3 is 60BL103H119-3 brshless DC motor.
In the present embodiment, the first propeller 1-1, the second propeller 2-1, third propeller 3-1 and quadruple screw propeller The circumferencial direction of 4-1 is respectively arranged with the first retaining ring 1-4, the second retaining ring 2-4, third retaining ring 3-4 and the 4th retaining ring 4-4, be for Respectively the first propeller 1-1, the second propeller 2-1, third propeller 3-1 and quadruple screw propeller 4-1 are protected.
It is described to position the micro- positioning label of LocalSense that label 34 is vehicle-mounted type Tb1000-C in the present embodiment.
In the present embodiment, the locating base station 33 is the micro- locating base station of industrial U2000p.
In the present embodiment, the intrinsic safety type headset 22 is the Mine-used I. S headset of model FHE5.
In the present embodiment, further, the methane transducer 23-1 is IRM-AT infrared methane sensor, an oxygen Change carbon sensor 23-2 is CO-D4 carbon monoxide transducer, and the carbon dioxide sensor 23-3 is the infrared titanium dioxide of IRC-AT Carbon sensor, the oxygen sensor 23-4 are O2-G2 oxygen sensor.
In the present embodiment, the IRM-AT infrared methane sensor detects methane using the infrared NDIR technology of on-dispersive Gas, the not influence vulnerable to colliery scene adverse circumstances, and small in size, have strong antijamming capability, high-precision, high reliability and The features such as long service life；The CO-D4 carbon monoxide transducer, size is smaller, and clever density is good, and weight is small, facilitates carrying, resists Humidity is strong；The IRC-AT infrared carbon dioxide sensor detects carbon dioxide gas using the infrared NDIR technology of on-dispersive Body, the not influence vulnerable to colliery scene adverse circumstances, and it is small in size, there is strong antijamming capability, high-precision, high reliability and make With the service life it is long the features such as；The O2-G2 oxygen sensor is widely used in coal mine, and steel, petrochemical industry, medical treatment, size is smaller, Weight is less than 7g, facilitates carrying, moisture-resistant degree is strong.It therefore meets UAV flight and coal mine disaster area environment measuring demand.
In the present embodiment, methane transducer 23-1 is for the methane to disaster accident present position in the coal mine roadway Concentration is detected, and carbon monoxide transducer 23-2 is for the oxidation to disaster accident present position in the coal mine roadway Concentration of carbon is detected, and carbon dioxide sensor 23-3 is for the dioxy to disaster accident present position in the coal mine roadway Change concentration of carbon to be detected, oxygen sensor 23-4 is in order to which the oxygen to disaster accident present position in the coal mine roadway is dense Degree is detected, to realize the methane concentration of disaster accident present position, carbonomonoxide concentration, dioxy in the coal mine roadway Change the detection of the gaseous environments such as concentration of carbon and oxygen concentration.
In the present embodiment, the propeller air velocity transducer 25 is EL8-1 propeller wind speed wind direction sensor, is measurement The instrument of wind speed and horizontal wind direction, rated wind velocity is high, and input, output end are all made of transient supression diode and carry out overload guarantor Shield, exterior part select resistant material to manufacture and have layer of paint protection, and sealing uses labyrinth structure and o ring, protect instrument Internal sensing element is not influenced by the adverse circumstances, and meets underground coal mine rugged environment.
In the present embodiment, the Temperature Humidity Sensor 24 is HTU11/HTU10 Temperature Humidity Sensor, the Temperature Humidity Sensor With small volume, extremely low power consumption, there is Anti-dew characteristic, meet underground coal mine rugged environment.
In the present embodiment, first wireless communication module 27, the second wireless communication module 32 and third radio communication mold Block 19-2 is wireless 2.4GHz radio-frequency module.
In the present embodiment, the main controller 26 and from controller 19-1 be the micro- main controller of ARM.
In the present embodiment, further, the main controller 26 and the ARM9 for being AT91RM9200 from controller 19-1 are micro- Controller, 32 8-digit microcontrollers based on ARM920T core, dominant frequency 180MHz, processing speed is fast, and function is strong, and cost performance is high, It is low in energy consumption.
In the present embodiment, further, the preceding infrared distance sensor 18-1, rear infrared distance sensor 18-2, a left side Infrared distance sensor 18-3, right infrared distance sensor 18-4, lower infrared distance sensor 18-5 and upper infrared distance measurement sensing Device 18-6 is the outer distance measuring sensor of GP2Y3A003K0F.
In the present embodiment, further, helium atmosphere sensor 35 is TCS208F helium sensor.
In the present embodiment, setting locating base station 33 and positioning label 34, are because being traditionally used for the ground disaster relief or scouting Unmanned plane at work, can be positioned and be navigated with GPS, and down-hole disaster area tunnel does not have GPS signal, and original prison Surveying monitoring system is also in state of paralysis, can not provide navigation Service for reconnaissance UAV.
In the present embodiment, setting propeller mechanism and hovering micro-adjusting mechanism are because setting propeller mechanism controls nobody The advance of machine or and make a return voyage, setting hovering micro-adjusting mechanism cooperation propeller mechanism for flying robot provides a part of power section The gentle body of electricity is saved, increases cruising ability, and reduce the weight of unmanned plane；In addition, finely tuning unmanned plane by hovering micro-adjusting mechanism Position, realize the control of accurate flight attitude, environment detecting unmanned plane in coal mine disaster area made to hover over mine disaster incident area, Mine the condition of a disaster is reconnoitred, accurate environmental information data are obtained, provides accurate foundation for rescue measure.
In the present embodiment, setting gas supply assembly includes the first gas supply assembly and the second gas supply assembly is that hovering micro-adjusting mechanism mentions It is to be on the one hand to improve nothing because the second gas supply assembly cooperates the first gas supply assembly as spare gas supply assembly for helium On the other hand man-machine cruising ability is to guarantee when the first gas supply assembly or the second gas supply assembly break down There is one when providing helium for air bag, improves the stability worked normally in unmanned plane；Third, be because unmanned plane complete machine from The limitation of weight, cannot carry the gas supply assembly greater than two again, it is heavy avoid unmanned plane, and excessive feeder is avoided to bring Saving electricity and the unmanned plane weight that is increased and consume, be not effective to ensure that cruising ability.
In the present embodiment, the setting of fine tuning valve mechanism on air bag 8, first be in order to meet unmanned plane all around on The fine tuning of lower and each orientation posture, reduces the energy that the consumption of UAV Attitude is adjusted by the propeller mechanism；The Second is that in order in coal mine roadway there are when disaster accident, can because of when collapsing the image that cannot collect demand of partial region By under vertex vent valve 9-9, the 4th under the described first lower vertex vent valve 9-7, the second lower vertex vent valve 9-8, third Vertex vent valve 9-10, vertex vent valve 9-11 on first, vertex vent valve 9-12 on second, vertex vent valve 9-13 in third With the 4th on vertex vent valve 9-14 cooperate preceding vent valve 9-1, rear vent valve 9-2, left vent valve 9-3, right vent valve 9-4, on Vent valve 9-5 and lower vent valve 9-6, realize the unmanned plane forwards, backwards left and right, forward downward inclination, the unmanned plane forward on Side inclination, the unmanned plane tilt rearwardly and upwardly, the unmanned plane to the left inclined upward, the unmanned plane tilt to the right, Unmanned plane inclined downward and the unmanned plane inclined upward to the right to the left；Third is to encounter barrier in coal mine roadway When hindering object, so that unmanned plane clears the jumps；4th, it is to avoid unmanned plane to be adapted to the narrow space of coal mine roadway It is contacted with coal mine roadway inner wall, damages the damage of unmanned plane；5th, it is the size in order to adjust air bag volume, so as to be adapted to The unmanned plane of different weight realizes the hovering of unmanned plane.
In the present embodiment, the first propeller mechanism 1, the second propeller mechanism 2, third propeller mechanism 3 and the 4th spiral The setting of paddle mechanism 4, be the forward flight for realizing unmanned plane, retreat make a return voyage, vertical raising and vertical decline.
In the present embodiment, the setting of movable plate 15 is to be mounted on the first storage cylinder 5-1 bottleneck diameter lesserly Side, movable plate 15 extend to the side of the first storage cylinder 5-1 body, and such 15 stress of movable plate effect is lower to drive the first storage cylinder 5-1 is mobile far from bottle stopper direction；Meanwhile the fixed company in bottom for being set in the fixed plate 16 on the bottle stopper and cuboid pedestal 10 It connects and fixed, under the thrust of cylinder 20 and spring 18, makes the first storage cylinder 5-1 body and be mounted on the first gas storage Bottle 5-1 bottleneck 5-1-2 is separated with bottle stopper 5-1-1.
In the present embodiment, the setting of cylinder 20 is in order to provide thrust to movable plate 15, when in the first storage cylinder 5-1 When helium use finishes, the weight of the first storage cylinder 5-1 at this time is most light, provides biggish thrust to movable plate 15, pushes and move Movable plate 15 drives the first storage cylinder 5-1 body mobile to the direction far from bottle stopper 5-1-1；And setting spring 18, first be in order to The compressed elongation of spring 18 is that movable plate 15 further provides for thrust；Second, it is to push movable plate 15 in cylinder 20 In mobile process, guarantees the uniform force of mobile edition 15 and move horizontally, improve the first storage cylinder 5-1 body and bottle stopper 5- The accuracy of 1-1 separation；Third is to drive movable plate 15 to contract in the first storage cylinder 5-1 body and bottle stopper 5-1-1 separation It returns.
In the present embodiment, it should be noted that the movable plate 15 is set in the first storage cylinder 5-1 bottle mouth position, the shifting The diameter of 15 opening of movable plate is greater than the diameter of the first storage cylinder 5-1 bottleneck, and the diameter of 15 opening of movable plate is less than the The diameter of one storage cylinder 5-1 body.
In the present embodiment, when the first storage cylinder 5-1 body is separated with the bottle stopper for being mounted on the first storage cylinder 5-1 bottleneck, Because the diameter of 15 opening of movable plate is greater than the diameter of the first storage cylinder 5-1 bottleneck, and because of the body of the first storage cylinder 5-1 Lower part is contacted with idler wheel 12, the frictional force of the body lower part of the first storage cylinder 5-1 is reduced, so in the first storage cylinder 5-1 body During being separated with the bottle stopper, double impacts of the first storage cylinder 5-1 body by cylinder 20 and spring 18, further Improve the success rate of the first storage cylinder 5-1 body and bottle stopper 5-1-1 separation.
In the present embodiment, increase the setting of steady bracket 11, first is the weight in order to balance unmanned plane, is avoided at the top of unmanned plane The first propeller mechanism 1, the second propeller mechanism 2, third propeller mechanism 3 and the quadruple screw propeller mechanism 4 of installation cause nothing Man-machine is top-heavy；Second, it is to carry infrared video camera 17 and the avoidance mechanism；Third is to rationally utilize The bottom space of unmanned aerial vehicle rack reduces the volume of unmanned plane, to be adapted to the limited space of coal mine roadway.
In the present embodiment, increase the setting of elastic vibration-damped component 11-2 in steady bracket 11, first is to touch in unmanned plane When barrier, making to increase steady bracket 11 has certain buffering, avoids increasing fractureing for steady bracket 11；
In the present embodiment, the setting of trapezoidal the portion 8-1 and arc sections 8-2 of air bag 8, first, the cross section of trapezoidal portion 8-1 is small It is to be adapted to close to the limited space in 10 top surface of cuboid pedestal of unmanned plane；Second, it is in order to avoid air bag 8 is opened Journey is close with propeller, causes the damage of air bag 8；The cross section of third, arc sections 8-2 is big, be in order to increase in air The buoyancy that contact area, as much as possible raising air bag 8 generate, reduces electric quantity consumption.
As shown in fig. 6, being detected using originally practical using novel carry out coal mine disaster area environment, comprising the following steps:
Step 1: the laying of anchor point and the laying of locating base station:
Step 101, in coal mine roadway, along coal mine roadway length direction interval, multiple anchor points are set；And in coal mine lane The corner in road adds anchor point；
Locating base station 33 is installed at step 102, the anchor point being arranged in a step 101 respectively and the anchor point added；
Step 103 establishes northeast day geographic coordinate system at first anchor point of coal mine roadway entrance, obtains each The coordinate of the locating base station 33, and input and store into intrinsic safety computer 29；
Step 2: the forward flight of unmanned plane:
Step 201, the installation positioning label 34 on the unmanned plane, and the unmanned plane is placed on coal mine roadway import Place；
Step 202 is sent by the hand-held remote control unit 19 and opens air bag order to main controller 26, and main controller 26 controls First charge valve 5-2 is opened, and the first storage cylinder 5-1 is air bag 8 for helium, air bag 8 by the first air supply pipe 5-3 and air inlet pipe 7 It opens；
Step 203 sends vertical ascent order to main controller 26 by the hand-held remote control unit 19, and main controller 26 passes through First electron speed regulator 1-2, the second electron speed regulator 2-2, third electron speed regulator 3-2, the 4th electron speed regulator 4-2 are controlled respectively First motor 1-3, the second motor 2-3, third motor 3-3 and the 4th motor 4-3 rotation processed, first motor 1-3, the second motor 2- 3, third motor 3-3 and the 4th motor 4-3 rotation drives the first propeller 1-1, the second propeller 2-1, third propeller respectively 3-1 and quadruple screw propeller 4-1 rotation, the unmanned plane vertical ascent；Wherein, the first motor 1-3, the second motor 2-3, The revolving speed of three motor 3-3 and the 4th motor 4-3 is identical；
Step 204, during the unmanned plane vertical ascent, lower infrared distance sensor 18-5 is to unmanned plane Height is detected, and is sent to main controller 26, and the unmanned plane height received is simultaneously passed through the first wireless communication by main controller 26 Module 27 and third wireless communication module 19-2 are sent to hand-held remote control unit 19；
Step 205 is initially set when the unmanned plane height that hand-held remote control unit 19 receives is equal to the unmanned plane during flying When height, hand-held remote control unit 19 sends flight orders to main controller 26, and main controller 26 is controlled by the first electron speed regulator 1-2 The revolving speed of first motor 1-3 is reduced, and main controller 26 is reduced by the revolving speed that the 4th electron speed regulator 4-2 controls the 4th motor 4-3, The revolving speed of the revolving speed of first motor 1-3 and the 4th motor 4-3 are identical；Main controller 26 passes through the second electron speed regulator 2-2 control the The revolving speed of two motor 2-3 increases, and main controller 26 is increased by the revolving speed that third electron speed regulator 3-2 controls third motor 3-3, the The revolving speed of two motor 2-3 is identical with the revolving speed of third motor 3-3, and the revolving speed of the second motor 2-3 and third motor 3-3 are greater than the The revolving speed of one motor 1-3 and the 4th motor 4-3, the unmanned plane enter coal mine roadway flight and advance；
During coal mine roadway flies and advances, upper infrared distance sensor 18-6 is to institute for step 206, the unmanned plane It states upper spacing of the unmanned plane in coal mine roadway at the top of coal mine roadway described in distance to be detected, lower infrared distance sensor 18-5 To the unmanned plane, the lower spacing of coal mine roadway bottom described in distance is detected in coal mine roadway, left infrared distance sensor To the unmanned plane, the left spacing of coal mine roadway left side wall described in distance in coal mine roadway detects 18-3, right infrared distance measurement To the unmanned plane, the right spacing of coal mine roadway right side wall described in distance in coal mine roadway detects sensor 18-4, and will Detect that the upper spacing, the lower spacing, the left spacing and the right spacing are sent to main controller 26,26 basis of main controller The upper spacing, the lower spacing, the left spacing and the right spacing are finely adjusted the flight of the unmanned plane, specific mistake Journey is as follows:
When the lower spacing that main controller 26 receives is less than lower spacing setting value, main controller 26 controls lower vent valve 9- 6 open, and increase the unmanned plane, until the lower spacing that main controller 26 receives is equal to lower spacing setting value, main controller 26, which control lower vent valve 9-6, closes；
When the upper spacing that main controller 26 receives is less than upper spacing setting value, main controller 26 controls upper vent valve 9- 5 open, and decline the unmanned plane, until the upper spacing that main controller 26 receives is equal to upper spacing setting value, main controller 26, which control upper vent valve 9-5, closes；
When the left spacing that main controller 26 receives is less than left spacing setting value, main controller 26 controls left vent valve 9- 3 open, and the unmanned plane is made to move right, until the left spacing that main controller 26 receives is equal to left spacing setting value, it is main Control device 26 controls left vent valve 9-3 and closes；
When the right spacing that main controller 26 receives is less than right spacing setting value, main controller 26 controls right vent valve 9- 4 open, and are moved to the left the unmanned plane, until the right spacing that main controller 26 receives is equal to right spacing setting value, it is main Control device 26 controls right vent valve 9-4 and closes；
Step 3: the detecting of coal mine disaster area environment:
Step 301, during the unmanned plane during flying advances, described in multiple 33 real-time receptions of locating base station The radio magnetic wave signal of the positioning transmitting of label 34 simultaneously feeds back to intrinsic safety computer 29, and the positioning label 34 emits nothing in t moment When line electromagnetic wave signal, adjacent three locating base stations 33 are received the time point of radio magnetic wave signal by intrinsic safety computer 29 T is not denoted as it1、t2And t3, and the coordinate of three locating base stations 33 is denoted as D respectively1(x1,y1,z1)、D2(x2,y2,z2) and D3(x3,y3,z3)；Then main controller 26 is according to formula
It obtains in the unmanned plane during flying advance in the location of t moment Wd(xd,yd,zd)；
Step 302, infrared video camera 17 to the unmanned plane during flying advance in coal mine roadway image locating for t moment into Row acquisition, and collected coal mine roadway image is sent to main controller 26, main controller 26 passes through the first wireless communication module 27 Intrinsic safety computer 29 is sent to the second wireless communication module 32 to store, and controls the display of display screen 30；
Step 303 artificially carries out visual observation to by the coal mine roadway image of 30 simultaneous display of display screen, sees when artificial It observes there are when disaster accident in the coal mine roadway image, then the position that the unmanned plane during flying is presently in is coal mine lane The location of disaster accident in road；
Step 304, environmental detection sensor carry out the environmental information of disaster accident present position in the coal mine roadway Detection, and the environmental information that will test is sent to main controller 26, meanwhile, intrinsic safety type headset 22 is to disaster in the coal mine roadway The coal mine roadway voice of accident present position is acquired, and collected coal mine roadway voice is sent to main controller 26；Its In, the environmental information includes that the temperature of coal mine roadway, humidity, wind speed, methane concentration, carbonomonoxide concentration, carbon dioxide are dense Degree and oxygen concentration；
The environmental information received and coal mine roadway voice are passed through the first wireless communication module by step 305, main controller 26 27 and second wireless communication module 32 be sent to intrinsic safety computer 29 storage.
In the present embodiment, the lower vertex vent valve includes that 8 leading flank of air bag is arranged in connect down with 8 right side of air bag The lower vertex vent valve 9-7 of the first of apex, that the lower apex that 8 leading flank of air bag is connect with 8 left side of air bag is set Two lower vertex vent valve 9-8, it vertex under the third for the lower apex that 8 trailing flank of air bag is connect with 8 left side of air bag is set puts Air valve 9-9 and the 4th lower vertex vent valve 9-10 that the lower apex that 8 trailing flank of air bag is connect with 8 right side of air bag is set, The upper vertex vent valve includes vertex on be arranged in the upper apex that 8 leading flank of air bag is connect with 8 right side of air bag first Vent valve 9-11, vertex vent valve 9- on the second of the upper apex that 8 leading flank of air bag is connect with 8 left side of air bag is set 12, vertex vent valve 9-13 and setting in the third for the upper apex that 8 trailing flank of air bag is connect with 8 left side of air bag is arranged in exist Vertex vent valve 9-14 on the 4th of the upper apex that 8 trailing flank of air bag is connect with 8 right side of air bag, the described first lower vertex are put Vertex vent valve 9-9 under air valve 9-7, the second lower vertex vent valve 9-8, third, the 4th lower vertex vent valve 9-10, on first Vertex vent valve 9-11, vertex vent valve 9-12 on second, vertex vent valve 9- on the vent valve 9-13 and the 4th of vertex in third 14 input terminal connects with the output end of main controller 26；
In step 303 when artificially observing in the coal mine roadway image there are when disaster accident, repeats step 302 and obtain Multiple coal mine roadway disaster accident images are taken, to the unmanned plane during obtaining multiple coal mine roadway disaster accident images The process being finely adjusted is as follows:
When needing the infrared video camera 17 forward close to the disaster accident, vent valve 9-2 after main controller 26 controls It opens, moves forward the unmanned plane；
When needing the infrared video camera 17 rearward away from the disaster accident, vent valve 9-1 before main controller 26 controls It opens, moves backward the unmanned plane；
When needing 17 forward downward of infrared video camera inclination, the lower vertex vent valve 9-7 of the control of main controller 26 first, Vertex vent valve 9-14 is opened on the vent valve 9-13 and the 4th of vertex on second lower vertex vent valve 9-8, third, make it is described nobody Machine forward downward inclination movement；
When need 17 forward upward of infrared video camera inclination when, main controller 26 control third under vertex vent valve 9-9, 4th lower vertex vent valve 9-10, vertex vent valve 9-12 is opened on the vent valve 9-11 and second of vertex on first, makes the nothing Man-machine forward upward inclination movement；
When needing 17 inclined downward backward of infrared video camera, main controller 26 control third under vertex vent valve 9-9, 4th lower vertex vent valve 9-10, vertex vent valve 9-12 is opened on the vent valve 9-11 and second of vertex on first, makes the nothing Man-machine inclined downward backward is mobile；
When needing the infrared video camera 17 to tilt rearwardly and upwardly, the lower vertex vent valve 9-7 of the control of main controller 26 first, Vertex vent valve 9-14 is opened on the vent valve 9-13 and the 4th of vertex on second lower vertex vent valve 9-8, third, make it is described nobody Machine inclination movement rearwardly and upwardly；
When needing 17 inclined upward to the left of infrared video camera, the lower vertex vent valve 9-7 of the control of main controller 26 first, 4th lower vertex vent valve 9-10, vertex vent valve 9-13 is opened in vertex vent valve 9-12 and third on second, makes the nothing Man-machine inclined upward to the left is mobile；
When needing the infrared video camera 17 to tilt to the right, the lower vertex vent valve 9-7 of the control of main controller 26 first, 4th lower vertex vent valve 9-10, vertex vent valve 9-13 is opened in vertex vent valve 9-12 and third on second, makes the nothing Man-machine inclination movement to the right；
When needing 17 inclined downward to the left of infrared video camera, the lower vertex vent valve 9-8 of the control of main controller 26 second, Vent valve 9-9 in vertex under third, vertex vent valve 9-14 is opened on the vent valve 9-11 and the 4th of vertex on first, make it is described nobody Machine to the left lower section inclination movement；
When needing 17 inclined upward to the right of infrared video camera, the lower vertex vent valve 9-8 of the control of main controller 26 second, Vent valve 9-9 in vertex under third, vertex vent valve 9-14 is opened on the vent valve 9-11 and the 4th of vertex on first, make it is described nobody Inclined upward is mobile to the right for machine.
In the present embodiment, described in step 101 between be divided into 80m~130m；
During coal mine disaster area environment is detected in step 3, to first gas supply assembly and second gas supply assembly Detection, it is specific as follows:
Step A, during unmanned plane during flying is to the environment measuring of coal mine disaster area, helium atmosphere sensor 35 is stored up to first Concentrations of helium in gas cylinder 5-1 is detected, and the first concentrations of helium that will test is sent to main controller 26, and main controller 26 will It is distant that the first concentrations of helium received by the first wireless communication module 27 and the second wireless communication module 32 is sent to hand-held Control device 19；
Step B, hand-held remote control unit 19 judges the first concentrations of helium received, when hand-held remote control unit 19 will When the first concentrations of helium received goes to zero, hand-held remote control unit 19 sends the first gas cylinder and falls off order to main controller 26, leads The piston rod elongation that device 26 controls cylinder 20 is controlled, the piston rod elongation of cylinder 20 drives movable plate 15 far from 16 direction of fixed plate It is mobile, separate the bottleneck 5-1-2 and bottle stopper 5-1-1 of the first storage cylinder 5-1, the first storage cylinder 5-1 takes off from the unmanned plane It falls；
Step C, hand-held remote control unit 19 sends the gas supply order of the second cylinder package to main controller 26, the control of main controller 26 the Two charge valve 6-2 are opened, and the second storage cylinder 6-1 is that air bag 8 continues for helium by air inlet pipe 7.
In the present embodiment, the detecting of step 3 coal mine disaster area environment enters step making a return voyage for four unmanned planes after completing, specifically Process is as follows:
Step 401, the transmission of hand-held remote control unit 19 make a return voyage order to main controller 26, and main controller 26 passes through the first electronic speed regulation The revolving speed that device 1-2 controls first motor 1-3 increases, and main controller 26 controls the 4th motor 4-3's by the 4th electron speed regulator 4-2 Revolving speed increases, and the revolving speed of the revolving speed of first motor 1-3 and the 4th motor 4-3 are identical；Main controller 26 passes through the second electron speed regulator The revolving speed that 2-2 controls the second motor 2-3 is reduced, and main controller 26 controls third motor 3-3's by third electron speed regulator 3-2 Revolving speed is reduced, and the revolving speed of the second motor 2-3 is identical with the revolving speed of third motor 3-3, and the second motor 2-3 and third motor 3-3 Revolving speed be less than the revolving speed of first motor 1-3 and the 4th motor 4-3, the unmanned plane, which enters coal mine roadway and reversely flies, to make a return voyage, Until coal mine roadway entrance；
Step 402, hand-held remote control unit 19 send balloon contraction order to main controller 26, and the control of main controller 26 second is filled Air valve 6-2 is closed, and is controlled upper vent valve 9-5 and opened, 8 deflation of air bag；
Step 403, hand-held remote control unit 19 send vertical decline order to main controller 26, and main controller 26 passes through the first electricity Sub- governor 1-2, the second electron speed regulator 2-2, third electron speed regulator 3-2, the 4th electron speed regulator 4-2 control first respectively Motor 1-3, the second motor 2-3, third motor 3-3 and the 4th motor 4-3 are rotated according to decrease speed, make first spiral The lift that paddle 1-1, the second propeller 2-1, third propeller 3-1 and quadruple screw propeller 4-1 are generated is less than the weight of the unmanned plane Amount, the unmanned plane vertically decline, until the unmanned plane steadily lands.
In the present embodiment, the upper spacing setting value, the lower spacing setting value, the left spacing setting value and the right side Spacing setting value is away from being 0.3m~0.5m, convenient for adapting to unmanned plane is reserved certain in the space of attitude regulation, and just When unmanned plane encounters barrier, it is conveniently adjusted.
In the present embodiment, the unmanned plane is during coal mine roadway flies and advances, preceding infrared distance sensor 18-1 Judging whether there are obstacles in the unmanned plane during flying direction, current infrared distance sensor 18-1 detects distance, Illustrate that there are barriers in the unmanned plane during flying direction, main controller 26 is by controlling lower vent valve 9-6, upper vent valve 9-5, Zuo Fang Air valve 9-3, right vent valve 9-4, the lower vertex vent valve and the upper vertex vent valve turn on or off, so that described Unmanned plane clears the jumps.For the unmanned plane during coal mine roadway makes a return voyage, rear infrared distance sensor 18-2 is to described Unmanned plane, which makes a return voyage direction whether there are obstacles, to be judged, when after infrared distance sensor 18-2 detect distance, illustrate institute It states unmanned plane and makes a return voyage direction there are barrier, main controller 26 passes through vent valve 9-6, upper vent valve 9-5, left vent valve under controlling 9-3 and right vent valve 9-4 are turned on or off, so that the unmanned plane clears the jumps.
In conclusion the utility model is light-weight, cruising ability is strong, the detecting of down-hole disaster area environment is realized, be mine calamity Evil rescue provides accurately and reliably information.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still Belong in the protection scope of technical solutions of the utility model.

Claims (7)

1. a kind of coal mine disaster area environment detects unmanned plane, it is characterised in that: including unmanned plane, the coal being mounted on the unmanned plane Monitoring device mine disaster area environment arrangement for detecting and be mounted on the unmanned plane, the unmanned plane include rack and are mounted on Power mechanism and avoidance mechanism in the rack, the coal mine disaster area environment arrangement for detecting includes environmental detection sensor, red Outer video camera (17) and intrinsic safety type headset (22), the bottom underface of the rack, which is provided with, increases steady bracket (11), the environment Detection sensor and intrinsic safety type headset (22) are mounted on the bottom of the frame, and the infrared video camera (17), which is mounted on, increases steady bracket (11) on, the avoidance mechanism includes being mounted on the preceding infrared distance sensor (18-1), rear infrared for increasing steady bracket (11) surrounding Distance measuring sensor (18-2), left infrared distance sensor (18-3) and right infrared distance sensor (18-4) and to be mounted on increasing steady The lower infrared distance sensor (18-5) of bracket (11) bottom and the upper infrared distance sensor (18- being mounted on the rack 6), the power mechanism includes being mounted on the propeller mechanism of rack top surface quadrangle and being mounted in the middle part of the rack top surface The hovering micro-adjusting mechanism of top, the hovering micro-adjusting mechanism include air bag (8), the first gas supply assembly for air bag (8) for helium With the second gas supply assembly and fine tuning valve mechanism on air bag (8) is set, be provided with air inlet pipe (7) on the air bag (8), The fine tuning valve mechanism includes setting in the lower vertex vent valve on air bag (8) bottom four vertex, setting at the top of the air bag (8) The upper vertex vent valve on four vertex and setting air bag (8) leading flank, trailing flank, left side, right side, upper side and under The preceding vent valve (9-1) of the center position of side, rear vent valve (9-2), left vent valve (9-3), right vent valve (9-4), on Vent valve (9-5) and lower vent valve (9-6), the bottom of the rack are provided with falling off of making first gas supply assembly fall off and push away Motivation structure；
The quantity of the propeller mechanism is four, four propeller mechanisms be respectively along the frame top counterclockwise according to The first propeller mechanism (1), the second propeller mechanism (2), third propeller mechanism (3) and the quadruple screw propeller mechanism of secondary laying And first propeller mechanism (1), the second propeller mechanism (2), third propeller mechanism (3) and quadruple screw propeller machine (4), Structure (4) extends outside the rack；
The monitoring device includes main control module, remote monitoring module and hand-held remote control unit (19), the main control module Including main controller (26), the input of the main controller (26) is terminated with the helium atmosphere being arranged in first gas supply assembly and passes Sensor (35), the environmental detection sensor, infrared video camera (17) and intrinsic safety type headset (22) connect with main controller (26), The lower vertex vent valve, the upper vertex vent valve, preceding vent valve (9-1), rear vent valve (9-2), left vent valve (9-3), The input terminal of right vent valve (9-4), upper vent valve (9-5) and lower vent valve (9-6) connects with the output end of main controller (26), First propeller mechanism (1), the second propeller mechanism (2), third propeller mechanism (3) and quadruple screw propeller mechanism (4) It is controlled by main controller (26), the remote monitoring module includes intrinsic safety computer (29) and connects with intrinsic safety computer (29) Display screen (30) and earphone (31), the main controller (26) and intrinsic safety computer (29) carry out data communication, and the main controller (26) data communication is carried out with hand-held remote control unit (19).
2. a kind of coal mine disaster area environment described in accordance with the claim 1 detects unmanned plane, it is characterised in that: the first gas supply group Part and second gas supply assembly are connect by three-way connection with air inlet pipe (7), and first gas supply assembly includes the first gas storage Bottle (5-1) and the first air supply pipe (5-3) connecting with the first storage cylinder (5-1), second gas supply assembly include the second gas storage Bottle (6-1) and the second air supply pipe (6-3) being connect with the second storage cylinder (6-1), first air supply pipe (5-3) and described second Air supply pipe (6-3) connects with two imports of the three-way connection, and the outlet of the three-way connection is connect with air inlet pipe (7), It is provided with the first charge valve (5-2) on first air supply pipe (5-3), is provided with second on second air supply pipe (6-3) and fills The output end phase of the input terminal and main controller (26) of air valve (6-2), first charge valve (5-2) and the second charge valve (6-2) It connects；
The pushing mechanism that falls off include the bottom plate (13) that the bottom of the frame is set, be symmetricly set on bottom plate (13) and with Bottom plate (13) surrounds the vertical plate (14) of U-shaped holding tank and drives the bottleneck (5-1-2) of the first storage cylinder (5-1) and be mounted on bottle The air pressure driving mechanism of bottle stopper (5-1-1) separation of mouthful (5-1-2) is provided with multiple idler wheels (12), institute on the bottom plate (13) The first storage cylinder (5-1) is stated to be located on the idler wheel (12).
3. a kind of coal mine disaster area environment detects unmanned plane according to claim 2, it is characterised in that: the air pressure driving machine Structure include be threaded through on the bottleneck (5-1-2) of the first storage cylinder (5-1) movable plate (15), fixation be set in the bottle stopper (5- The fixed plate (16) being fixedly connected on 1-1) and with the bottom of the frame and the cylinder (20) being arranged on bottom plate (13), the gas The piston rod of cylinder (20) passes through fixed plate (16) and is fixedly connected with movable plate (15), and the piston rod of the cylinder (20) drives movement Plate (15) is mobile, and spring (18) are arranged between the movable plate (15) and fixed plate (16), and the spring (18) is set in bottleneck On (5-1-2), the spring (18) is in compressive state, and one end of the spring (18) is fixedly connected with fixed plate (16), institute The other end for stating spring (18) is fixedly connected with movable plate (15).
4. a kind of coal mine disaster area environment described in accordance with the claim 1 detects unmanned plane, it is characterised in that: setting in the rack Have the first wireless communication module (27), is provided in long-range monitoring room the second wireless communication module (32), first channel radio Letter module (27) connects with main controller (26), and second wireless communication module (32) connects with intrinsic safety computer (29), and described the One wireless communication module (27) and the second wireless communication module (32) are wirelessly connected；
The hand-held remote control unit (19) includes the third channel radio to connect from controller (19-1) He Yucong controller (19-1) Believe module (19-2), the input from controller (19-1) is terminated with key operation module (19-3), first channel radio Believe that module (27) and third wireless communication module (19-2) are wirelessly connected.
5. a kind of coal mine disaster area environment described in accordance with the claim 1 detects unmanned plane, it is characterised in that: the rack includes length The bottom of cube pedestal (10) and the supporting leg (21) for being mounted on cuboid pedestal (10) bottom four corners, the supporting leg (21) is lower than institute State the bottom for increasing steady bracket (11), it is described increase steady bracket (11) include be mounted on cuboid pedestal (10) bottom and from top to bottom according to Vertical bar (11-1), elastic damping part (11-2), inverted U-shaped part (11-3) and the back-shaped pedestal (11-4) of secondary connection, it is described inverted U-shaped It is provided with the first support shaft (11-5) of horizontal layout in part (11-3), is provided through first in the back-shaped pedestal (11-4) Support shaft (11-5) and the second support shaft (11-6) with the first support shaft (11-5) vertical runs；
The air bag (8) under including small big trapezoidal portion (8-1) and be arranged the trapezoidal portion top (8-1) and with the ladder Shape portion (8-1) integrally formed arc sections (8-2), the preceding vent valve (9-1), rear vent valve (9-2), left vent valve (9-3), Right vent valve (9-4) and lower vent valve (9-6) are located at the leading flank of the trapezoidal portion (8-1), trailing flank, left side, the right side The center of side and downside, the upper vent valve (9-5) are located at the center of the arc sections (8-2).
6. a kind of coal mine disaster area environment described in accordance with the claim 1 detects unmanned plane, it is characterised in that: first propeller Mechanism (1) includes the first propeller (1-1) and the first rotor motor module for driving the first propeller (1-1) to rotate, and described the Two propeller mechanisms (2) include the second propeller (2-1) and the second rotor motor mould for driving the second propeller (2-1) rotation Block, the third propeller mechanism (3) include the third rotation of third propeller (3-1) and driving third propeller (3-1) rotation Wing motor module, quadruple screw propeller mechanism (4) include quadruple screw propeller (4-1) and driving quadruple screw propeller (4-1) rotation Quadrotor motor module, the first rotor motor module, the second rotor motor module, the third rotor motor Module and the quadrotor motor module are controlled by main controller (26)；
The environmental detection sensor includes gas sensor (23), Temperature Humidity Sensor (24) and propeller air velocity transducer (25)；
The gas sensor (23) includes methane transducer (23-1), carbon monoxide transducer (23-2), carbon dioxide sensing Device (23-3) and oxygen sensor (23-4), the Temperature Humidity Sensor (24), propeller air velocity transducer (25), methane sensing Device (23-1), carbon monoxide transducer (23-2), carbon dioxide sensor (23-3) and oxygen sensor (23-4) output end Connect with the input terminal of main controller (26).
7. a kind of coal mine disaster area environment described in accordance with the claim 1 detects unmanned plane, it is characterised in that: deflate on the lower vertex Valve includes that vertex vent valve (9- is arranged under the first of the lower apex that air bag (8) leading flank is connect with air bag (8) right side 7) vertex vent valve (9-8), is set under the second of the lower apex that air bag (8) leading flank is connect with air bag (8) left side, is set Vertex vent valve (9-9) and setting under the third for the lower apex that air bag (8) trailing flank is connect with air bag (8) left side is set to exist The 4th of the lower apex that air bag (8) trailing flank is connect with air bag (8) right side is lower vertex vent valve (9-10), the upper vertex Vent valve includes that vertex vent valve is arranged on the first of the upper apex that air bag (8) leading flank is connect with air bag (8) right side (9-11), vertex vent valve (9- is set on the second of the upper apex that air bag (8) leading flank is connect with air bag (8) left side 12) vertex vent valve (9-13), is set in the third for the upper apex that air bag (8) trailing flank is connect with air bag (8) left side Be arranged on the 4th of the upper apex that air bag (8) trailing flank is connect with air bag (8) right side vertex vent valve (9-14), institute State vertex vent valve (9-9), the 4th lower top under first lower vertex vent valve (9-7), the second lower vertex vent valve (9-8), third Point vent valve (9-10), vertex vent valve (9-11) on first, vertex vent valve (9-12) on second, vertex vent valve in third The input terminal of vertex vent valve (9-14) connects with the output end of main controller (26) on (9-13) and the 4th.
CN201821750076.6U 2018-10-27 2018-10-27 A kind of coal mine disaster area environment detects unmanned plane Active CN209142389U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109159895A (en) * 2018-10-27 2019-01-08 西安科技大学 A kind of coal mine disaster area environment detects unmanned plane and method for detecting
TWI709737B (en) * 2019-06-14 2020-11-11 研能科技股份有限公司 Micro detecting device
CN113028253A (en) * 2021-03-01 2021-06-25 吴扬 Industrial automation remote monitoring device and use method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109159895A (en) * 2018-10-27 2019-01-08 西安科技大学 A kind of coal mine disaster area environment detects unmanned plane and method for detecting
CN109159895B (en) * 2018-10-27 2023-12-22 西安科技大学 Unmanned aerial vehicle for detecting environments of disaster areas of coal mine and detection method
TWI709737B (en) * 2019-06-14 2020-11-11 研能科技股份有限公司 Micro detecting device
CN113028253A (en) * 2021-03-01 2021-06-25 吴扬 Industrial automation remote monitoring device and use method thereof
CN113028253B (en) * 2021-03-01 2023-04-11 吴扬 Industrial automation remote monitoring device and use method thereof

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