阅读说明：本技术 可实现远程交互的煤矿井下自主移动平台及方法 (Coal mine underground autonomous mobile platform and method capable of realizing remote interaction ) 是由 张宁 张幼振 姚克 邵俊杰 李旺年 钟自成 王松 徐鹏博 于 2021-03-01 设计创作，主要内容包括：本发明公开一种可实现远程交互的煤矿井下自主移动平台及方法,包括车体平台、回转支撑、传动装置、主动力箱、副动力箱、行走驱动装置、智能控制系统和探测装置,探测装置获得煤矿巷道环境图像、障碍物信息和平台运行参数等多源信息数据,并传递给智能控制系统,智能控制系统根据获得信息进行计算分析,自主决策选择合适的运行模式和优化工作路径或操作人员进行远距离交互控制,将自主移动平台的精准位置、运行模式和优化路径传递给行走驱动装置。本发明运行效率高、适应施工设备广、可实现远程交互或自主决策控制,完成平台高精度自主导航,运输过程无人化、辅助时间短,可代替人工完成施工设备和材料的自主避障移动和远距离运输。(The invention discloses a coal mine underground autonomous mobile platform capable of realizing remote interaction and a method thereof, wherein the coal mine underground autonomous mobile platform comprises a vehicle body platform, a rotary support, a transmission device, a main power box, an auxiliary power box, a walking driving device, an intelligent control system and a detection device, the detection device obtains multi-source information data such as coal mine roadway environment images, obstacle information, platform operation parameters and the like and transmits the multi-source information data to the intelligent control system, the intelligent control system performs calculation and analysis according to the obtained information, autonomously decides to select a proper operation mode and optimize a working path or an operator for remote interaction control, and transmits the accurate position, the operation mode and the optimized path of the autonomous mobile platform to the walking driving device. The invention has high operation efficiency, wide application to construction equipment, can realize remote interaction or autonomous decision control, completes high-precision autonomous navigation of the platform, has unmanned transportation process and short auxiliary time, and can replace manpower to complete autonomous obstacle avoidance movement and remote transportation of construction equipment and materials.)

1. A coal mine underground autonomous mobile platform capable of realizing remote interaction is characterized by comprising a vehicle body platform (1), wherein a walking driving device (2) is arranged below the vehicle body platform (1), a rotary support (3) is arranged between the vehicle body platform (1) and the walking driving device (2) to realize 360-degree rotation of the vehicle body platform (1), and a detection device (4) positioned in the front of the vehicle body platform (1), an intelligent control system (5), a transmission device (6) positioned at the rear of the vehicle body platform (1), a main power box (7) and an auxiliary power box (8) are arranged on the vehicle body platform (1);

the detection device (4) is used for accurately and quickly acquiring roadway environment information, and comprises: the near-far light combined light source is used for illuminating a coal mine tunnel; the three-dimensional laser radar is used for detecting the surrounding environment, the top plate appearance and the suspected obstacles; the binocular camera is used for detecting the obstacles and the feature points of the roadway environment area and calculating the distance, the azimuth angle and the size of the obstacles; the auxiliary positioning device is used for self-establishing an anchor node to carry out regional positioning on the platform; the output device is used for outputting the multi-source information data of the roadway environment image, the obstacle information and the platform operation parameters to the intelligent control system;

the intelligent control system (5) is used for carrying out platform autonomous movement by manual remote interaction or autonomous decision making, and comprises: the transmitter is used for transmitting user instruction information; the display unit is used for displaying the real-time running state, the path track and the roadway environment information data of the autonomous mobile platform through remote visualization; the communication unit adopts wired or wireless signal data transmission; the receiver is used for receiving the data information transmitted by the communication unit in real time; the input unit is used for receiving multi-source information data of the detection device; the microprocessor is connected with the receiver and the input unit and is used for carrying out intelligent analysis and calculation on multi-source information data and guiding the accurate position, the operation mode and the optimized path of the autonomous mobile platform into the output unit; the output unit is connected with the walking driving device;

the walking driving device (2) comprises wheels (21) and a walking crawler (22), the wheels (21) are connected with the vehicle body platform (1) through supporting oil cylinders (23), wheel reducers (24) are arranged on the wheels (21), and the wheel reducers (24) are connected with output shafts of wheel hydraulic motors (25); the rotary support (3) is arranged between the walking crawler (22) and the vehicle body platform (1), a crawler speed reducer is arranged on the walking crawler (22), and the crawler speed reducer is connected with an output shaft of a crawler hydraulic motor;

the transmission device (6) comprises an explosion-proof motor (61), a variable pump (62), a load sensitive multi-way valve (63), a hydraulic oil tank (64) and a radiator (65); the explosion-proof motor (61) is connected with the variable pump (62) through a spline shaft, an oil inlet of the variable pump (62) is communicated with a hydraulic oil tank (64) through a hydraulic rubber tube, an oil outlet of the variable pump (62) is communicated with an oil inlet of the load-sensitive multi-way valve (63) through a hydraulic rubber tube, and oil outlets of the load-sensitive multi-way valve (63) are respectively communicated with a crawler hydraulic motor, a hydraulic motor of a radiator (65), a wheel hydraulic motor (25) and a support oil cylinder (23) through hydraulic rubber tubes;

the main power box (7) provides power for the transmission device (6), and the auxiliary power box (8) provides power for the detection device (4), the intelligent control system (5) and the transmission device (6).

2. The coal mine underground autonomous mobile platform capable of realizing remote interaction as claimed in claim 1, wherein the main power box (7) comprises a rechargeable lithium battery I (72) and a frequency converter I (73) which are arranged in an explosion-proof box body I (71), the explosion-proof box body I (71) is provided with an input quick-change connector I and an output quick-change connector I, the rechargeable lithium battery I (72) is provided with a charging connector I and a discharging connector I, the charging connector I is connected with the input quick-change connector I, one end of the frequency converter I (73) is connected with the discharging connector I, the other end of the frequency converter I is connected with the output quick-change connector I, and the output quick-change connector I is connected with the explosion-proof motor (61).

3. The coal mine underground autonomous mobile platform capable of realizing remote interaction according to claim 1, wherein the auxiliary power box (8) comprises a rechargeable lithium battery II (82) and a frequency converter II (83) which are arranged in an explosion-proof box body II (81), the explosion-proof box body II (81) is provided with an input quick-change connector II and an output quick-change connector II, the rechargeable lithium battery II (82) is provided with a charging connector II and a discharging connector II, the charging connector II is connected with the input quick-change connector II, one end of the frequency converter II (83) is connected with the discharging connector II, the other end of the frequency converter II is connected with the output quick-change connector II, and the output quick-change connector II is respectively connected with the explosion-proof motor (61), the detection device (4) and the intelligent control system (5).

4. The coal mine underground autonomous mobile platform capable of realizing remote interaction as claimed in claim 1, characterized in that the main power box (7) and the auxiliary power box (8) are arranged up and down and are arranged behind the vehicle body platform (1).

5. The underground coal mine autonomous moving platform capable of realizing remote interaction as claimed in claim 1, wherein in the walking driving device (2), 4 wheels (21) are provided, 4 wheel reducers (24) are in one-to-one correspondence with the wheels (21), 4 wheel hydraulic motors (25) are in one-to-one correspondence with the wheel reducers (24), and 4 supporting oil cylinders (23) are in one-to-one correspondence with the wheels (21); the number of the walking tracks (22) is 2, 2 track reducers correspond to the walking tracks (22) one by one, and 2 track hydraulic motors correspond to the track reducers one by one.

6. The coal mine underground autonomous mobile platform capable of realizing remote interaction as claimed in claim 1 is characterized in that one end of the rotary support (3) is connected with the vehicle body platform (1) through a bolt, and the other end of the rotary support is connected with the walking crawler (22) through a bolt.

7. The coal mine underground autonomous mobile platform capable of realizing remote interaction as claimed in claim 1, wherein the microprocessor, the receiver, the input unit and the output unit are all placed in an explosion-proof control box, and the transmitter and the display unit are arranged in a remote operation room.

8. The underground coal mine autonomous mobile platform capable of realizing remote interaction as claimed in claim 1, characterized in that the multi-source information data of the coal mine tunnel environment image, the obstacle information and the platform operation parameter obtained by the detecting device (4) can be transmitted to the intelligent control system, the intelligent control system (5) can perform calculation and analysis according to the obtained information, autonomously decide to select a proper operation mode and an optimized working path, or an operator performs remote interactive control, and transmits the accurate position, the operation mode and the optimized path of the autonomous mobile platform to the walking driving device (2); according to the coal mine tunnel condition, the walking driving device (2) comprises 2 operation modes: wheel and track drives.

9. The coal mine underground autonomous mobile platform capable of realizing remote interaction as claimed in claim 8, wherein when the autonomous mobile platform is transported in a common tunnel, the walking driving device (2) adopts wheel drive, the supporting oil cylinder can move downwards to suspend the walking crawler belt (22), and the autonomous mobile platform is contacted with the ground through wheels (21); the main power box (7) drives an explosion-proof motor (61) in a direct current mode so as to complete the rapid moving and transferring work of the autonomous mobile platform;

when the autonomous mobile platform is transported in a steep slope or hollow severe environment, the walking driving device (2) is driven by a crawler belt, the supporting oil cylinder (23) can move upwards to suspend the wheels (21), and the autonomous mobile platform is in contact with the ground through the walking crawler belt (22); the main power box (7) drives the explosion-proof motor (61) through direct current so as to ensure that the autonomous mobile platform is moved and transferred in a severe environment.

10. A moving method of a coal mine underground autonomous moving platform capable of realizing remote interaction is characterized in that the method is realized by the coal mine underground autonomous moving platform capable of realizing remote interaction according to any claim from 1 to 9, and comprises the following steps:

when the autonomous mobile platform runs in a coal mine tunnel, the detection device obtains multi-source information data of coal mine tunnel environment images, obstacle information and platform running parameters and transmits the multi-source information data to the intelligent control system, the intelligent control system performs calculation and analysis according to the obtained information, autonomously decides to select a proper running mode and an optimized working path, or an operator performs remote interactive control, and transmits the accurate position, the running mode and the optimized path of the autonomous mobile platform to the walking drive device; the walking driving device is divided into 2 operation modes according to the coal mine tunnel condition: wheel and track drives;

when the autonomous mobile platform is transferred and transported in a common roadway, the walking driving device adopts wheel type driving, the walking caterpillar band is suspended by downward moving of the supporting oil cylinder, the autonomous mobile platform is contacted with the ground through wheels, the explosion-proof motor is driven by the direct current of the main power box, the front wheel driving, the rear wheel driving or the front wheel and the rear wheel driving are selected according to working conditions, when the autonomous mobile platform is in need of getting rid of difficulties under special working conditions, the auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transfer and transportation work is finished, the main power box and the auxiliary power box are detached according to needs and then are brought into the well for charging for the next use; the rapid moving and transferring work of the autonomous mobile platform can be completed by adopting a wheel type driving mode;

when the autonomous mobile platform is transported in a steep slope or pothole severe environment, the walking driving device is driven by a crawler belt, wheels are suspended by upwards moving the supporting oil cylinders, the autonomous mobile platform is in contact with the ground through the walking crawler belt, the explosion-proof motor is driven by the direct current of the main power box, when the autonomous mobile platform is in a special working condition and needs to get rid of the trouble, the auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transportation work is completed, the main power box and the auxiliary power box are detached as required and then are brought to the well for charging for the next use; the crawler-type driving mode is adopted, so that the moving and transferring work of the autonomous mobile platform in a severe environment can be guaranteed.

Technical Field

The invention belongs to the technical field of underground coal mine construction equipment, and relates to an underground coal mine autonomous mobile platform and method capable of realizing remote interaction.

Background

With the increase of the mining intensity and depth of coal mines, deep coal resources become strategic guarantee of main energy in China, the stress condition of coal mine roadways is complex due to the severe mine pressure display, and other major coal mine accidents are often induced, such as disasters such as abnormal gas emission, coal and gas outburst, water inrush, gas explosion and the like, so that secondary disasters are caused. Due to the fact that deep rock bodies have the advantages of being high in stress, high in gas, high in ground temperature, high in karst water pressure, high in humidity, high in dust, low in visibility and strong in electromagnetic interference, composite power disasters caused under coal mines can be more common, a threshold value for inducing catastrophe is possibly lower, the operation environment is quite severe, and safety of constructors cannot be effectively guaranteed. At present, the existing coal mine construction equipment mainly adopts mechanical equipment, a plurality of constructors are arranged, the labor intensity is high, potential safety hazards exist in the construction process, although partial automatic construction equipment appears in the underground coal mine at home and abroad, the unmanned operation process is realized, the front auxiliary process and the rear auxiliary process of the construction equipment still need manual intervention, meanwhile, the construction equipment and the required accessories, consumables and other materials of the construction equipment still need the constructors to carry out auxiliary transportation, and the underground unmanned coal mine can not be really realized. The development of the autonomous mobile platform equipment capable of realizing remote interaction is an important equipment guarantee for realizing intelligent, unmanned, safe and efficient construction of a coal mine, is a new idea of practicing safety production of 'unmanned safety', and has extremely urgent research and development requirements.

Disclosure of Invention

Aiming at the defects and shortcomings in the prior art, the invention provides the underground coal mine autonomous mobile platform and the method capable of realizing remote interaction, the autonomous mobile platform has high operation efficiency, wide application range of construction equipment, capability of realizing remote interaction or autonomous decision control, capability of completing high-precision autonomous navigation of the platform, no humanization in the operation process, short auxiliary time, capability of replacing manpower to complete autonomous obstacle avoidance movement and remote transportation of construction equipment and materials, capability of completing the work of fast moving, transporting and the like of the construction equipment and the materials according to different coal mine roadway conditions, and the invention provides a safe and reliable autonomous mobile platform for underground coal mine construction equipment.

In order to achieve the purpose, the invention adopts the following technical scheme:

a coal mine underground autonomous mobile platform capable of realizing remote interaction comprises a vehicle body platform, wherein a walking driving device is arranged below the vehicle body platform, a rotary support is arranged between the vehicle body platform and the walking driving device so as to realize 360-degree rotation of the vehicle body platform, and a detection device, an intelligent control system, a transmission device, a main power box and an auxiliary power box are arranged on the vehicle body platform and positioned in front of the vehicle body platform;

the detection device is used for accurately and quickly acquiring roadway environment information, and comprises: the near-far light combined light source is used for illuminating a coal mine tunnel; the three-dimensional laser radar is used for detecting the surrounding environment, the top plate appearance and the suspected obstacles; the binocular camera is used for detecting the obstacles and the feature points of the roadway environment area and calculating the distance, the azimuth angle and the size of the obstacles; the auxiliary positioning device is used for self-establishing an anchor node to carry out regional positioning on the platform; the output device is used for outputting the multi-source information data of the roadway environment image, the obstacle information and the platform operation parameters to the intelligent control system;

the intelligent control system is used for carrying out platform autonomous movement by manual remote interaction or autonomous decision making, and comprises: the transmitter is used for transmitting user instruction information; the display unit is used for displaying the real-time running state, the path track and the roadway environment information data of the autonomous mobile platform through remote visualization; the communication unit adopts wired or wireless signal data transmission; the receiver is used for receiving the data information transmitted by the communication unit in real time; the input unit is used for receiving multi-source information data of the detection device; the microprocessor is connected with the receiver and the input unit and is used for carrying out intelligent analysis and calculation on multi-source information data and guiding the accurate position, the operation mode and the optimized path of the autonomous mobile platform into the output unit; the output unit is connected with the walking driving device;

the walking driving device comprises wheels and a walking crawler, the wheels are connected with the vehicle body platform through supporting oil cylinders, wheel reducers are arranged on the wheels, and the wheel reducers are connected with output shafts of wheel hydraulic motors; the rotary support is arranged between the walking track and the vehicle body platform, the walking track is provided with a track reducer, and the track reducer is connected with an output shaft of a track hydraulic motor;

the transmission device comprises an explosion-proof motor, a variable pump, a load sensitive multi-way valve, a hydraulic oil tank and a radiator; the anti-explosion motor is connected with the variable pump through a spline shaft, an oil inlet of the variable pump is communicated with the hydraulic oil tank through a hydraulic rubber tube, an oil outlet of the variable pump is communicated with an oil inlet of the load-sensitive multi-way valve through a hydraulic rubber tube, and oil outlets of the load-sensitive multi-way valve are respectively communicated with the crawler hydraulic motor, a hydraulic motor of the radiator, a wheel hydraulic motor and a support oil cylinder through hydraulic rubber tubes;

the main power box provides power for the transmission device, and the auxiliary power box provides power for the detection device, the intelligent control system and the transmission device.

The invention also comprises the following technical characteristics:

specifically, the main power box comprises a chargeable and dischargeable lithium battery I and a frequency converter I which are arranged in an explosion-proof box body I, the explosion-proof box body I is provided with an input quick-change connector I and an output quick-change connector I, the chargeable and dischargeable lithium battery I is provided with a charging connector I and a discharging connector I, the charging connector I is connected with the input quick-change connector I, one end of the frequency converter I is connected with the discharging connector I, the other end of the frequency converter I is connected with the output quick-change connector I, and the output quick-change connector I is connected;

concretely, vice power case is including arranging chargeable lithium cell II and the converter II of filling in explosion-proof box II in, explosion-proof box II is provided with input quick-change coupler II and output quick-change coupler II, chargeable lithium cell II has charge joint II and discharge joint II, charge joint II and input quick-change coupler II and be connected, converter II one end is connected with discharge joint II, the other end is connected with output quick-change coupler II, output quick-change coupler II respectively with explosion-proof machine, detection device and intelligence control system link to each other.

Specifically, the main power box and the auxiliary power box are arranged up and down and are arranged behind the vehicle body platform.

Specifically, in the walking driving device, 4 wheels are provided, 4 wheel reducers correspond to the wheels one by one, 4 wheel hydraulic motors correspond to the wheel reducers one by one, and 4 supporting oil cylinders correspond to the wheels one by one; the walking track has 2, 2 track reducers and walking track one-to-one, 2 track hydraulic motors and track reducers one-to-one.

Specifically, one end of the rotary support is connected with the vehicle body platform through a bolt, and the other end of the rotary support is connected with the walking crawler through a bolt.

Specifically, the microprocessor, the receiver, the input unit and the output unit are all placed in an explosion-proof control box, and the transmitter and the display unit are arranged in a remote operation room.

Specifically, the multi-source information data of the coal mine tunnel environment image, the obstacle information and the platform operation parameter obtained by the detection device can be transmitted to the intelligent control system, the intelligent control system can perform calculation and analysis according to the obtained information, autonomously decide and select a proper operation mode and an optimized working path, or an operator performs remote interactive control, and transmits the accurate position, the operation mode and the optimized path of the autonomous mobile platform to the walking drive device; according to the coal mine tunnel condition, the walking driving device comprises 2 operation modes: wheel and track drives.

Specifically, when the autonomous mobile platform is transferred and transported in a common tunnel, the walking driving device is driven by wheels, the supporting oil cylinder can move downwards to suspend the walking crawler belt, and the autonomous mobile platform is in contact with the ground through wheels; the main power box directly drives the explosion-proof motor to complete the rapid moving and transferring work of the autonomous mobile platform;

when the autonomous mobile platform is transported in a steep slope or hollow severe environment, the walking driving device is driven by a crawler belt, the supporting oil cylinder can move upwards to suspend the wheels in the air, and the autonomous mobile platform is in contact with the ground through the walking crawler belt; the main power box drives the explosion-proof motor through direct current so as to ensure that the autonomous mobile platform is moved and transferred under severe environment.

A method for moving an underground coal mine autonomous mobile platform capable of realizing remote interaction is realized by the underground coal mine autonomous mobile platform capable of realizing remote interaction, and comprises the following steps:

when the autonomous mobile platform runs in a coal mine tunnel, the detection device obtains multi-source information data of coal mine tunnel environment images, obstacle information and platform running parameters and transmits the multi-source information data to the intelligent control system, the intelligent control system performs calculation and analysis according to the obtained information, autonomously decides to select a proper running mode and an optimized working path, or an operator performs remote interactive control, and transmits the accurate position, the running mode and the optimized path of the autonomous mobile platform to the walking drive device; the walking driving device is divided into 2 operation modes according to the coal mine tunnel condition: wheel and track drives;

when the autonomous mobile platform is transferred and transported in a common roadway, the walking driving device adopts wheel type driving, the walking caterpillar band is suspended by downward moving of the supporting oil cylinder, the autonomous mobile platform is contacted with the ground through wheels, the explosion-proof motor is driven by the direct current of the main power box, the front wheel driving, the rear wheel driving or the front wheel and the rear wheel driving are selected according to working conditions, when the autonomous mobile platform is in need of getting rid of difficulties under special working conditions, the auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transfer and transportation work is finished, the main power box and the auxiliary power box are detached according to needs and then are brought into the well for charging for the next use; the rapid moving and transferring work of the autonomous mobile platform can be completed by adopting a wheel type driving mode;

when the autonomous mobile platform is transported in a steep slope or pothole severe environment, the walking driving device is driven by a crawler belt, wheels are suspended by upwards moving the supporting oil cylinders, the autonomous mobile platform is in contact with the ground through the walking crawler belt, the explosion-proof motor is driven by the direct current of the main power box, when the autonomous mobile platform is in a special working condition and needs to get rid of the trouble, the auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transportation work is completed, the main power box and the auxiliary power box are detached as required and then are brought to the well for charging for the next use; the crawler-type driving mode is adopted, so that the moving and transferring work of the autonomous mobile platform in a severe environment can be guaranteed.

Compared with the prior art, the invention has the beneficial technical effects that:

the autonomous mobile platform has high operation efficiency, is widely applicable to construction equipment, can realize remote interaction or autonomous decision control, completes high-precision autonomous navigation of the platform, has unmanned operation process and short auxiliary time, can replace manpower to complete autonomous obstacle avoidance movement and remote transportation of the construction equipment and materials, completes the work of rapid moving, transportation and the like of the construction equipment and materials aiming at different coal mine roadway conditions, and provides a safe and reliable autonomous mobile platform for underground coal mine construction equipment.

Drawings

FIG. 1 is a front view of an underground coal mine autonomous mobile platform capable of realizing remote interaction.

FIG. 2 is a top view of the underground coal mine autonomous mobile platform capable of realizing remote interaction.

Fig. 3 is a front view of the walking drive device of the present invention.

Fig. 4 is a schematic structural diagram of the main power box and the auxiliary power box of the invention.

Fig. 5 is a schematic diagram of the operation of the detection device of the present invention.

Fig. 6 is a working schematic diagram of the intelligent control system of the invention.

FIG. 7 is a schematic view of a power transmission line 1 of the underground coal mine autonomous mobile platform capable of realizing remote interaction.

FIG. 8 is a schematic view of a power transmission line 2 of the underground autonomous mobile platform for coal mine capable of realizing remote interaction according to the present invention.

Reference signs mean:

1. the system comprises a vehicle body platform, 2, a walking driving device, 3, a rotary support, 4, a detection device, 5, an intelligent control system, 6, a transmission device, 7, a main power box and 8, an auxiliary power box, wherein the vehicle body platform is connected with the main power box;

21. the hydraulic wheel comprises wheels, 22 walking tracks, 23 supporting oil cylinders, 24 wheel-side reducers and 25 wheel hydraulic motors;

61. an explosion-proof motor, 62, a variable pump, 63, a load sensitive multi-way valve, 64, a hydraulic oil tank and 65, a radiator;

71. the explosion-proof box body I, 72 can charge and discharge lithium batteries I, 73 and a frequency converter I;

81. and the explosion-proof box bodies II and 82 can charge and discharge lithium batteries II and 83 and a frequency converter II.

The invention is described in detail below with reference to the drawings and the detailed description.

Detailed Description

The present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention fall within the protection scope of the present invention. The present invention will be described in further detail with reference to examples.

Example 1:

the embodiment provides a colliery is autonomous mobile platform in pit that can realize remote interaction, as shown in fig. 1, including vehicle body platform 1, vehicle body platform 1 below is equipped with walking drive 2, be equipped with between vehicle body platform 1 and walking drive 2 and turn round and support 3 in order to realize vehicle body platform 360 rotations, be equipped with detection device 4 that is located vehicle body platform 1 anterior on vehicle body platform 1, intelligence control system 5, be located transmission 6 and main power case 7 and the vice power case 8 at vehicle body platform 1 rear portion. The middle space of the vehicle body platform 1 can be designed according to the types of equipment and materials to be transported in a space and connection mode.

The detecting device 4 is used for accurately and quickly acquiring roadway environment information, as shown in fig. 5, and includes:

the near-far light combined light source is used for illuminating a coal mine tunnel;

the three-dimensional laser radar is used for detecting the surrounding environment, the top plate appearance and the suspected obstacles;

the binocular camera is used for detecting the obstacles and the feature points of the roadway environment area and calculating the distance, the azimuth angle and the size of the obstacles;

the auxiliary positioning device is used for self-establishing an anchor node to carry out regional positioning on the platform;

the output device is used for outputting the multi-source information data of the roadway environment image, the obstacle information and the platform operation parameters to the intelligent control system.

The intelligent control system 5 is used for performing platform autonomous movement through manual remote interaction or autonomous decision making, as shown in fig. 6, and includes:

the transmitter is used for transmitting user instruction information;

the display unit is used for displaying the real-time running state, the path track and the roadway environment information data of the autonomous mobile platform through remote visualization;

the communication unit adopts wired or wireless signal data transmission;

the receiver is used for receiving the data information transmitted by the communication unit in real time;

the input unit is used for receiving multi-source information data of the detection device;

the microprocessor is connected with the receiver and the input unit and is used for carrying out intelligent analysis and calculation on multi-source information data and guiding the accurate position, the operation mode and the optimized path of the autonomous mobile platform into the output unit;

the output unit is connected with the walking driving device.

As shown in fig. 3, the walking driving device 2 comprises wheels 21 and walking tracks 22, the wheels 21 are connected with the vehicle body platform 1 through supporting cylinders 23, wheel reducers 24 are arranged on the wheels 21, and the wheel reducers 24 are connected with output shafts of wheel hydraulic motors 25; a rotary support 3 is arranged between the walking crawler 22 and the vehicle body platform 1, a crawler speed reducer is arranged on the walking crawler 22, and the crawler speed reducer is connected with an output shaft of a crawler hydraulic motor.

As shown in fig. 2, the transmission 6 includes an explosion-proof motor 61, a variable displacement pump 62, a load-sensitive multi-way valve 63, a hydraulic oil tank 64, and a radiator 65; the explosion-proof motor 61 is connected with the variable pump 62 through a spline shaft, an oil inlet of the variable pump 62 is communicated with a hydraulic oil tank 64 through a hydraulic rubber tube, an oil outlet of the variable pump 62 is communicated with an oil inlet of the load-sensitive multi-way valve 63 through a hydraulic rubber tube, and oil outlets of the load-sensitive multi-way valve 63 are respectively communicated with the crawler hydraulic motor, the hydraulic motor of the radiator 65, the wheel hydraulic motor 25 and the support oil cylinder 23 through hydraulic rubber tubes.

As shown in fig. 4, the main power box 7 provides power for the transmission device 6, and the auxiliary power box 8 provides power for the detection device 4, the intelligent control system 5 and the transmission device 6.

The main power box 7 comprises a chargeable and dischargeable lithium battery I72 and a frequency converter I73 which are arranged in an explosion-proof box body I71, the explosion-proof box body I71 is provided with an input quick-change connector I and an output quick-change connector I, the chargeable and dischargeable lithium battery I72 is provided with a charging connector I and a discharging connector I, the charging connector I is connected with the input quick-change connector I, one end of the frequency converter I73 is connected with the discharging connector I, the other end of the frequency converter I is connected with the output quick-change connector I, and the output quick-change connector I is connected.

Vice headstock 8 is including arranging chargeable and dischargeable lithium cell II82 and converter II83 in explosion-proof box II81 in, explosion-proof box II81 is provided with input quick-change coupler II and output quick-change coupler II, chargeable and dischargeable lithium cell II82 has charge joint II and discharge joint II, it is connected with input quick-change coupler II to charge joint II, converter II83 one end is connected with discharge joint II, the other end is connected with output quick-change coupler II, output quick-change coupler II respectively with explosion-proof motor 61, detecting device 4 and intelligence control system 5 link to each other.

The main power box 7 and the auxiliary power box 8 are arranged up and down and are arranged behind the vehicle body platform 1.

In this embodiment, in the travel driving device 2, there are 4 wheels 21, 4 wheel reducers 24 correspond to the wheels 21 one by one, 4 wheel hydraulic motors 25 correspond to the wheel reducers 24 one by one, and 4 support oil cylinders 23 correspond to the wheels 21 one by one; the walking crawler belt 22 has 2, 2 crawler belt reducers and the walking crawler belt 22 are in one-to-one correspondence, and 2 crawler belt hydraulic motors and the crawler belt reducers are in one-to-one correspondence.

In this embodiment, the support cylinder has a spring buffer.

One end of the rotary support 3 is connected with the vehicle body platform 1 through a bolt, and the other end is connected with the walking crawler 22 through a bolt.

In the intelligent control system 5, a microprocessor, a receiver, an input unit and an output unit are all placed in an explosion-proof control box, and a transmitter and a display unit are arranged in a remote operation room.

The intelligent control system can perform calculation and analysis according to the obtained information, autonomously decide to select a proper operation mode and an optimized working path, or perform remote interactive control on an operator, and transmit the accurate position, the operation mode and the optimized path of the autonomous mobile platform to the walking driving device; according to the coal mine tunnel condition, the walking driving device comprises 2 operation modes: wheel and track drives.

When the autonomous mobile platform is transferred and transported in a common tunnel, the walking driving device adopts wheel type driving, the supporting oil cylinder can move downwards to suspend the walking crawler belt in the air, and the autonomous mobile platform is contacted with the ground through wheels; the main power box drives the explosion-proof motor through direct current to complete the rapid moving and transferring work of the autonomous mobile platform;

when the autonomous mobile platform is transported in a severe environment of an abrupt slope or a pothole, the walking driving device is driven by a crawler belt, the supporting oil cylinder can move upwards to suspend the wheels in the air, and the autonomous mobile platform is in contact with the ground through the walking crawler belt; the main power box drives the explosion-proof motor through direct current so as to ensure that the autonomous mobile platform is moved and transferred under severe environment.

Example 2:

the embodiment provides a moving method of an underground coal mine autonomous mobile platform capable of realizing remote interaction, wherein when the autonomous mobile platform runs in a coal mine tunnel, a detection device obtains multi-source information data of coal mine tunnel environment images, obstacle information and platform running parameters, and transmits the multi-source information data to an intelligent control system, the intelligent control system performs calculation and analysis according to the obtained information, autonomously decides to select a proper running mode and an optimized working path, or an operator performs remote interaction control, and transmits the accurate position, the running mode and the optimized path of the autonomous mobile platform to a walking driving device; the walking driving device is divided into 2 operation modes according to the coal mine tunnel condition: wheel and track drives.

When the autonomous mobile platform is transferred and transported in a common roadway, the walking driving device adopts a wheel type driving mode, as shown in fig. 7, a walking crawler belt is suspended by downwards moving 4 supporting oil cylinders, the autonomous mobile platform is contacted with the ground through 4 groups of wheels, an explosion-proof motor is driven by a main power box direct current, front wheel driving, rear wheel driving or front and rear wheel driving is selected according to working conditions, when the autonomous mobile platform is in need of getting rid of difficulties under special working conditions, an auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transfer and transportation work is completed, the main power box and the auxiliary power box are detached according to needs and then are brought to the ground for charging for the next use; the rapid moving and transferring work of the autonomous mobile platform can be completed by adopting a wheel type driving mode.

When the autonomous mobile platform is transported in severe environments such as steep slopes and potholes, the walking driving device adopts a crawler type driving mode at the moment, as shown in fig. 8, 4 supporting oil cylinders move upwards to suspend wheels in the air, the autonomous mobile platform is in contact with the ground through a walking crawler, the explosion-proof motor is driven by a main power box in a direct current mode, when the autonomous mobile platform meets special working conditions and needs to get rid of difficulties, the auxiliary power box can be adopted to simultaneously provide power for the explosion-proof motor, and after the transportation work is completed, the main power box and the auxiliary power box are detached according to needs and then are brought into the well for charging for the next use; the crawler-type driving mode is adopted, so that the moving and transferring work of the autonomous mobile platform in a severe environment can be guaranteed.