A wheeled robot for all-round inspection of underground tunnels and chambers and its control method

Abstract

The invention discloses a wheeled robot for all-round inspection of underground roadways and chambers and a control method thereof, including a patrol inspection perception system, an external environment monitoring system, a walking obstacle-surpassing system, and a control system; the inspection perception system uses laser radar, Depth cameras, infrared thermal imaging sensors and other sensors use the fusion of multiple sensors such as lidar, depth cameras, and infrared thermal imaging sensors to achieve more reliable inspections; the external environment monitoring system includes sensors such as smoke sensors, sound sensors, and gas sensors to ensure that the robots Safety during inspections; the control system includes the main control box, upper and lower computers and power supplies, and millimeter-wave radar is used for robot driving and obstacle avoidance; the walking obstacle-surpassing mechanism based on the differential balance bar adopts a six-wheel structure to ensure that the robot Between the roadway and the chamber, the variable space can be used to overcome obstacles, which is more stable and reliable. The present invention can be applied to complex environments such as underground roadway chambers to realize advance prediction and early warning of roadway chamber problems.

Description

technical field [0001] The invention relates to an omnidirectional inspection robot, in particular to an omnidirectional inspection wheeled robot for underground roadways and chambers and a control method thereof. Background technique [0002] In the complex and harsh working environment of coal mines, regular inspection of various production and transportation equipment is an important technical means to ensure their safe and stable operation. To achieve a more comprehensive and all-round inspection, it is impossible to achieve it only with a single sensor. Traditional single-sensor positioning often has many disadvantages, and is easily affected by the strength of the inspection signal. If the signal is blocked, positioning may even fail. At this time, it is necessary to use multi-sensor fusion to fuse information from different types of sensors to complement each other. [0003] Most of the underground inspection robots developed at this stage adopt rail-type inspection...

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