The invention discloses a micro-miniature aircraft for unmanned detection of a coal mine goaf and a method thereof. The aircraft comprises an aircraft body, a driving mechanism arranged in the middle of the aircraft body, a gas monitoring system, an inertial navigation system, a visual navigation system and an empennage. The front portion of the driving mechanism is provided with a crank rocker mechanism, the side portion of the driving mechanism is connected with a flexible wing mechanism, and the rear portion of the driving mechanism is connected with a main control machine box. The crank rocker mechanism is connected with the driving mechanism through gear meshing, the flexible wing mechanism is connected with the crank rocker mechanism through a rotating pair, and the driving mechanism provides power to drive the crank rocker mechanism. Self-positioning and navigation of the aircraft are achieved by utilizing a typical mechanical structure in combination with bionics, machine vision, inertial navigation, a sensor technology and a three-dimensional reconstruction technology, scanning detection of a fully caving goaf is completed under the condition of no human intervention, and the concentrations of methane and carbon monoxide gases in the goaf are measured. The actual situation of a coal mine goaf can be truly reflected, and safe and efficient production of a coal mine is guaranteed.
本发明公开了一种用于煤矿采空区无人探测的微小型飞行器及其方法,飞行器包括机体、设在机体中部的驱动机构、气体监测系统、惯性导航系统、视觉导航系统和尾翼,驱动机构的前部设有曲柄摇杆机构,侧部连接有柔性翼机构,后部连接有主控机盒,曲柄摇杆机构通过齿轮啮合与驱动机构相连接,柔性翼机构通过转动副与曲柄摇杆机构相连接,驱动机构提供动力驱动曲柄摇杆机构,利用典型机械结构,结合仿生学、机器视觉、惯性导航、传感器技术以及三维重构技术实现飞行器的自主定位与导航,在无人干预条件下完成充分垮落采空区的扫描探测,并实现对采空区甲烷、一氧化碳气体浓度的测定。能够真实反映煤矿采空区的实际情况,为煤矿安全高效生产提供保障。
Micro-miniature aircraft for unmanned detection of coal mine goaf and method thereof
一种用于煤矿采空区无人探测的微小型飞行器及其方法
2021-06-15
Patent
Electronic Resource
Chinese
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