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CN-121973872-A - Mobile detection vehicle applicable to underground mine underground safety operation environment and application method thereof

CN121973872ACN 121973872 ACN121973872 ACN 121973872ACN-121973872-A

Abstract

The invention discloses a mobile detection vehicle suitable for underground mine underground safety operation environment and a use method thereof, relating to the field of mine detection vehicles, comprising a box body and an avoidance mobile structure arranged at the bottom of the box body, wherein the avoidance mobile structure comprises a radar sensor and a mobile motor, a main controller is arranged at one side surface inside the box body, the radar sensor is arranged at the front end surface of the bottom of the box body, the top of the box body is provided with an opening, a matched cover plate is arranged at the top of the box body, two bottom plates are arranged at the bottom of the box body, the curved arm is installed at the bottom plate both ends, and movable motor is installed to curved arm one end side, and movable motor output rotates runs through curved arm, through the cooperation of radar sensor and main control unit, has realized the real-time detection to the place ahead barrier, has effectively avoided the emergence of collision accident, has improved the security of removal detection car operation in underground mine in pit, can dodge small-size rubble piece or soil heap on ground, has improved the adaptability and the stability of removal detection car.

Inventors

  • WANG XIANHUA

Assignees

  • 云南黄金矿业集团股份有限公司

Dates

Publication Date
20260505
Application Date
20260121
Priority Date
20250521

Claims (10)

  1. 1. The mobile detection vehicle suitable for underground mine underground safety operation environments comprises a box body (1) and an avoidance mobile structure (2) arranged at the bottom of the box body, and is characterized in that the avoidance mobile structure (2) comprises a radar sensor (201) and a mobile motor (202), a main controller (7) is arranged on one side surface inside the box body (1), the radar sensor (201) is arranged on the front end surface of the bottom of the box body (1), the top of the box body (1) is provided with an opening, a matched cover plate (6) is arranged on the top of the box body, two bottom plates (206) are arranged at the bottom of the box body (1), bending arms (204) are arranged at the two ends of the bottom plates (206), the mobile motor (202) is arranged at one end side of each bending arm, the output end of each mobile motor (202) rotates to penetrate through the bending arm (204), the mobile motor (203) is fixedly connected, a steering structure (3) for driving the bottom plate (206) to steer is arranged on the two side surfaces of the box body (1), a multi-angle shooting structure (4) is arranged on the front end surface of the box body (1), and a gas detection structure (5) is arranged inside the box body (1).
  2. 2. The mobile detection vehicle suitable for the underground mine underground safety working environment is characterized in that two supporting plates (209) which are arranged in parallel are arranged at the top position in the box body (1), ball screws (2012) are rotatably arranged at the center positions of the supporting plates (209), sleeves (2011) are sleeved at the bottom ends of the ball screws (2012) in a sliding mode, the bottom ends of the sleeves (2011) penetrate through the bottom of the box body (1) in a fixed mode, the penetrating ends are rotatably connected with a bottom plate (206) through bearings (2013), worm wheels (208) are fixedly connected to the top ends of the ball screws (2012), a lifting motor (207) is arranged on the rear end face inside the box body (1), a worm (2010) is connected to the output end of the lifting motor (207), and the other ends of the worm (2010) are rotatably connected with the front end face inside the box body (1).
  3. 3. The mobile detection vehicle suitable for underground mine underground safety operation environments is characterized in that U-shaped plates (205) are fixedly connected to the bottoms of two ends of the bottom plate (206), the top ends of the bending arms (204) are rotatably connected with the U-shaped plates (205) through first pin shafts (2014), the bottoms, close to the two ends, of the U-shaped plates (205) are fixedly connected with first clamping plates (2015), one end of each shock absorber (2016) is rotatably connected with the corresponding first clamping plate (2015) through the corresponding first pin shaft (2014), and the other end of each shock absorber (2016) is rotatably connected with one side of the corresponding bending arm (204) through the corresponding first pin shaft (2014).
  4. 4. The mobile detection vehicle suitable for underground mine underground safety operation environments according to claim 3, wherein the steering structure (3) comprises a steering cylinder (301) and a telescopic rod (305), the top of one end of the bottom plate (206) is fixedly connected with the telescopic rod (305), the top of the telescopic rod (305) is fixedly connected with a swing arm (306), the box body (1) is close to a second clamping plate (303) and a third clamping plate (304) which are fixedly connected in parallel, the other end of the swing arm (306) is rotationally connected with the second clamping plate (303) through a second pin shaft (302), the tail end of the steering cylinder (301) is rotationally connected with the third clamping plate (304) through the second pin shaft (302), and the top of the steering cylinder is rotationally connected with the side face of the swing arm (306) through the second pin shaft (302).
  5. 5. The mobile detection vehicle suitable for underground mine underground safety operation environments is characterized in that the multi-angle shooting structure (4) comprises a first steering motor (401), a second steering motor (402) and a camera (408), the first steering motor (401) is installed on the front end face inside the box body (1), the output end of the first steering motor penetrates through the box body (1) and is fixedly connected with a U-shaped steering plate (406), the outer side of the vertically arranged camera (408) is rotatably connected with the U-shaped steering plate (406) through a third pin shaft (405), a horizontal bending rod (403) and a vertical bending rod (404) are arranged at the bottom of the camera (408), one end of the vertical bending rod (404) is rotatably connected with the outer side of the camera (408) through the third pin shaft (405), the adjacent end of the vertical bending rod (404) is rotatably connected with the horizontal bending rod (403) through the third pin shaft (405), the front end face of the box body (1) is fixedly connected with the position of the horizontal bending rod (403) close to the position of the second steering motor (402), and the output end of the second steering motor (402) is fixedly installed on the support plate (407) and is connected with the horizontal bending rod (403).
  6. 6. The mobile detection vehicle for underground mine underground safety operation environment according to claim 1, wherein the gas detection structure (5) comprises a fan (505) and a gas sensor (506), the front end face and the rear end face of the box body (1) are both provided with ventilation cavities (504), the fan (505) is arranged on the rear end face inside the box body (1), and the gas sensor (506) is arranged at the position of the inner bottom of the box body (1) at the position of the fan (505).
  7. 7. The mobile detection vehicle suitable for the underground mine underground safety operation environment, according to claim 6, is characterized in that a buckling box (503) is fixedly connected to the front end face of the box body (1), a ventilation cavity (504) is formed in the top of the buckling box (503), a first dust blocking net (501) is installed at the top of the buckling box (503), and a second dust blocking net (502) is installed on the rear end face of the box body (1).
  8. 8. The mobile detection vehicle suitable for the underground mine underground safety operation environment is characterized in that a storage battery (8) is arranged at the bottom in the box body (1), a main controller (7) is electrically connected with the storage battery (8), and the main controller (7) is provided with a Wi-Fi module (9).
  9. 9. The movement detection vehicle for an underground mine underground safety operation environment according to claim 5, wherein the first steering motor (401) drives the camera (408) to rotate leftwards or rightwards by an angle of alpha, and the second steering motor (402) drives the camera (408) to rotate forwards or backwards by an angle of beta.
  10. 10. A method of using a mobile inspection vehicle adapted for use in a safe working environment in a subterranean mine well according to any of claims 1-9, comprising the steps of: The method comprises the steps that S1, a mobile motor (202) can be remotely started through interconnection with a remote Wi-Fi module (9) and downloading of a corresponding mobile phone APP, the output end of the mobile motor (202) rotates to drive a mobile wheel (203) to rotate, a mobile detection vehicle can move underground, meanwhile, a radar sensor (201) detects a front obstacle in real time, when the obstacle is detected, a signal is transmitted to a main controller (7), and the main controller (7) controls the mobile motor (202) to stop working, so that collision is avoided; Step S2, when the direction of the box body (1) needs to be adjusted in the moving process, two steering cylinders (301) are started, the output ends of the steering cylinders (301) push swing arms (306), the swing arms (306) are rotationally connected with a second clamping plate (303) and the steering cylinders (301) through second pin shafts (302), so that a bottom plate (206) and the box body (1) are driven to rotate, steering is achieved, a lifting motor (207) is moved, a worm wheel (208) is in transmission connection with a worm (2010) to drive two ball screws (2012) to rotate, and therefore the overall height of the box body (1) is increased, ground small-sized crushed stones or soil piles can be avoided; step S3, starting a first steering motor (401) and a second steering motor (402), wherein the output end of the first steering motor 401 drives a U-shaped steering plate (406) to rotate, the U-shaped steering plate (406) is rotationally connected with a camera (408) through a third pin shaft 405, the camera (408) can rotate along the horizontal direction, the output end of the second steering motor (402) drives a horizontal bending rod (403) to rotate, the horizontal bending rod (403) is rotationally connected with a vertical bending rod (404) through a third pin shaft (405), and the vertical bending rod (404) is rotationally connected with the camera (408) through the third pin shaft (405), so that the camera (408) can rotate along the vertical direction, and multi-angle shooting is realized; step S4, a fan (505) is started, the fan (505) sucks underground air into the box body 1, detection data are transmitted to a main controller (7) through a gas sensor (506), the main controller (7) analyzes and processes the data to judge whether underground gas is safe, meanwhile, a first dust blocking net (501) and a second dust blocking net (502) can block dust from entering the box body (1), the gas sensor (506) is protected, ventilation and heat dissipation can be achieved inside the box body, blown-out gas passes through a camera (408) area, tunnel dust is reduced to fall into the camera (408) area to cause vision shielding, the main controller (7) is communicated with a mobile phone through a Wi-Fi module (9) to transmit the detection data and a shot image to an APP center in real time, and electric power support is provided for a mobile detection vehicle by a storage battery (8).

Description

Mobile detection vehicle applicable to underground mine underground safety operation environment and application method thereof Technical Field The invention relates to the field of mine detection vehicles, in particular to a mobile detection vehicle suitable for underground mine underground safety operation environments and a use method thereof. Background Mine detection vehicles are specialized work vehicles developed for mine customization based on specific technologies. Such vehicles are often equipped with advanced instrumentation and work stations for real-time monitoring of critical parameters such as gases, environment, etc. within the mine. In order to prevent toxic gas from existing in a mine hole, a remote control mine detection vehicle is adopted for internal inspection, however, the remote control causes the mine detection vehicle to strike a wall or a soil pile carelessly, so that damage is caused. Disclosure of Invention The invention aims to provide a mobile detection vehicle which effectively improves the mobile safety of the detection vehicle and is suitable for underground mine underground safety operation environments and a use method thereof, and solves the problems in the background art. The invention provides a mobile detection vehicle suitable for underground mine underground safety operation environments, which comprises a box body and an avoidance mobile structure arranged at the bottom of the box body, wherein the avoidance mobile structure comprises a radar sensor and a mobile motor, a main controller is arranged on one side surface of the inside of the box body, the radar sensor is arranged on the front end surface of the bottom of the box body, the top of the box body is provided with an opening, matched cover plates are arranged on the top of the box body, two bottom plates are arranged at the bottom of the box body, bending arms are arranged at two ends of the bottom plates, the mobile motor is arranged at one end side of each bending arm, the output end of the mobile motor rotates to penetrate the bending arm, the mobile wheel is fixedly connected with the output end of the mobile motor, a steering structure for driving the bottom plates to steer is arranged at two side surfaces of the box body, a multi-angle shooting structure is arranged on the front end surface of the box body, and a gas detection structure is arranged inside the box body. Preferably, two parallel arrangement's backup pad is installed to top position in the box, and backup pad central point puts to rotate and is provided with ball screw, and ball screw bottom slip cap is equipped with the sleeve pipe, and sleeve pipe bottom fixed runs through the bottom half, and runs through the end and rotate with the bottom plate through the bearing and be connected, ball screw top fixedly connected with worm wheel, and elevator motor is installed to the inside rear end face of box, and elevator motor output is connected with the worm, and the worm other end rotates with the inside front end face of box to be connected. Preferably, the bottom of the two ends of the bottom plate is fixedly connected with a U-shaped plate, the top end of the bending arm is rotationally connected with the U-shaped plate through a first pin shaft, the U-shaped plate is close to the bottoms of the two ends and is fixedly connected with a first clamping plate, one end of the shock absorber is rotationally connected with the first clamping plate through the first pin shaft, and the other end of the shock absorber is rotationally connected with one side of the bending arm through the first pin shaft. Preferably, the steering structure comprises a steering cylinder and a telescopic rod, wherein the top of one end of the bottom plate is fixedly connected with the telescopic rod, the top end of the telescopic rod is fixedly connected with a swing arm, the box body is close to a second clamping plate and a third clamping plate which are fixedly connected in parallel, the other end of the swing arm is rotationally connected with the second clamping plate through a second pin shaft, the tail end of the steering cylinder is rotationally connected with the third clamping plate through a second pin shaft, and the top end of the steering cylinder is rotationally connected with the side face of the swing arm through a second pin shaft. Preferably, the multi-angle shooting structure comprises a first steering motor, a second steering motor and a camera, wherein the first steering motor is installed on the front end face inside the box, the output end of the first steering motor penetrates through the box and is fixedly connected with a U-shaped steering plate, the outside of the vertically arranged camera is rotationally connected with the U-shaped steering plate through a third pin shaft, a horizontal bending rod and a vertical bending rod are arranged at the bottom of the camera, one end of the vertical bending rod is rotationally connected with the out