Detection device and method for filling uncontacted headspace area based on snakelike robot

Abstract

The invention provides a detection device and method for filling an uncontacted headspace area based on a snakelike robot. The detection device comprises n snakelike robots and a mobile workbench, the n snakelike robots are divided into a leading snakelike robot and (n-1) relay snakelike robots, the snakelike robots adopt modular design, and each snakelike robot is composed of a snakelike head module, a snakelike tail module, a crawler walking module and a winding-wriggling module; when the detection of the uncontacted headspace area is carried out, the collected data information is transmitted to the mobile workbench through mutual wireless relay among the snake-shaped robots, and after being processed by the central processor on the mobile workbench, the data information is displayed on the display in the forms of a point cloud model, an audio video and visual data and is stored in the data memory. The method effectively solves the technical problems of difficult detection, long time consumption and low precision of the filling uncontacted headspace area, and has the advantages of good reliability, high maintainability, strong universality, simple operation and the like.

Description

technical field [0001] The invention relates to the technical field of mine measurement and safety, in particular to a detection device and method for unconnected headspace based on a snake-like robot. Background technique [0002] Mining and filling technology is a construction technology widely used in current underground mining projects. Compared with other construction technologies, filling mining technology has the characteristics of high recovery rate, good safety, and low impact on the environment. It is the mainstream direction of current mining development. However, due to the consolidation and settlement of the slurry during the filling process, the self-flowing slope of the slurry, the low concentration of the slurry, the slow water filtration speed, the irregular shape of the roof of the goaf, the unreasonable layout of the filling well and the filling sequence, etc., the goaf filling connection Topping is extremely difficult, and there is often a phenomenon that...

AI Technical Summary

Problems solved by technology

Obviously, there are many deficiencies in the traditional method of detecting empty areas: the workload and effectiveness of the detection work are heavily dependent on the location of the borehole, and since everything is unknown at the initial stage of the detection, the workload and effectiveness of the detection become a random event

However, the form of filling the unconnected headspace area has its own particularity, mainly cracks and fissures, small size and shelter, and the possibility of water accumulation in the upper part is relatively high. UAVs are only suitable for areas with large space volumes. active without access to fill voids

At present, there is no method and device for detecting unfilled headspace at home and abroad.

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