Underground coal mine intrinsic safety wireless charging type bionic visual inspection system and method

Abstract

The invention relates to a coal mine underground intrinsic safety wireless charging type bionic visual inspection system and method.The system comprises a walking mechanism, a photoelectric pod, a charging module, an electrical control system, a sensing module, a charging cabin and a walking track, the walking mechanism is driven by symmetrically-arranged motors, and through cooperation of walking wheels, auxiliary wheels and a clamping device, the photoelectric pod is driven by the charging module; the inspection system can stably run on a walking track, the photoelectric pod can conduct pitching and rotation control so that the visual detection module can conduct all-dimensional and accurate monitoring on the surrounding environment, and the visual detection module comprises a visible light camera, an infrared camera, a laser radar and other sensor equipment. The sensing module comprises a laser dust sensor, an illuminance temperature and humidity sensor, a gas sensor and the like, the charging cabin is fixed on the inspection track, it can be ensured that the inspection robot is automatically charged in a closed environment, the inspection robot can adapt to complex environments such as an underground coal mine, comprehensive, real-time and accurate monitoring of the environment is achieved, and therefore the production safety performance is improved.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots in complex scenarios, and particularly to an intrinsically safe wireless charging type inspection system based on bionic vision in complex operation scenarios. For complex working scenarios such as underground coal mines, visible light, infrared vision, and lasers are used to collaboratively perceive the state of the working scenario and extract relevant information, so as to timely discover relevant dangerous situations and master the production situation. Background Art

[0002] The coal mine operation environment is complex and there are many potential safety hazards, such as gas accumulation, roof collapse, equipment failure, etc. The application of visual monitoring technology has largely prevented the occurrence of faults and accidents in underground coal mines and improved the automation and intelligence level of coal mine safety management. However, for complex scenarios such as fully mechanized mining and tunneling in underground coal mines, the environmental characteristics of high dust, high water vapor, and low illuminance are likely to cause errors in the process of image acquisition and processing of traditional visual detection technology, thus reducing the accuracy and efficiency of the monitoring system. Therefore, designing visual detection equipment that can adapt to the underground coal mine environment to achieve comprehensive, real-time, and accurate monitoring of the mine environment is of great significance for ensuring the safety and stable production of coal mines. Summary of the Invention

[0003] In order to overcome the above deficiencies of the prior art, the present invention attempts to provide an intrinsically safe wireless charging type bionic vision inspection system and method for underground coal mines.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] An intrinsically safe wireless charging type bionic vision inspection system for underground coal mines, including a charging module, an optoelectronic pod, a sensing module, a charging cabin, and a traveling mechanism that can travel on a traveling track. The charging module is installed at the bottom of the traveling mechanism for supplying power to the optoelectronic pod, the sensing module, and the traveling mechanism. The optoelectronic pod is installed at the bottom of the charging module. A visual detection module is arranged in the optoelectronic pod. The visual detection module includes a bionic vision module arranged in a trapezoidal shape. The bionic vision module includes a visible light camera and a lidar arranged at the near corner points of its trapezoid, and an infrared camera arranged at the far corner points of its trapezoid. The sensing module is installed at the front end of the traveling mechanism. The sensing module includes a laser dust sensor for detecting the concentration of particulate matter, an illuminance temperature and humidity sensor for detecting air temperature and humidity, and a gas sensor for detecting the content of dangerous gases in the air. The charging cabin is arranged on the traveling path of the traveling mechanism corresponding to the traveling track. The charging cabin is used to realize wireless charging of the charging module. The sensing module and the visual detection module are communicatively connected to an external terminal processor through a controller of the charging module.

[0006] Preferably, the traveling mechanism includes a motor base and an explosion-proof housing. A servo motor is installed on the motor base. The output shaft of the servo motor is connected to a speed reducer through a direction-changing device. An output shaft sleeve and a traveling wheel adapted to a traveling track are sequentially arranged from bottom to top on the output shaft of the speed reducer. The explosion-proof housing is arranged outside the traveling mechanism. Four groups of auxiliary traveling devices adapted to the traveling track and a pre-tightening mechanism adapted to the traveling mechanism are symmetrically arranged on the upper end face of the explosion-proof housing.

[0007] Preferably, the direction-changing device includes a protective housing connected to the motor base. A pair of vertically arranged and meshing bevel gears are arranged in the protective housing. The bevel gears are respectively installed on the input shaft of the speed reducer and the output shaft of the servo motor. The upper part of the traveling wheel is fixed on the output shaft of the speed reducer through a shrink disc.

[0008] Preferably, the auxiliary traveling device includes a base fixed on the upper end face of the explosion-proof housing. A side plate is vertically installed on the base. A bearing seat is installed on the side plate. The bearing seat is connected to a support wheel shaft through a bearing. A support wheel adapted to the lower part of the traveling track is installed on the support wheel shaft. A support wheel shaft sleeve corresponding to the support wheel is arranged on the support wheel shaft. A top auxiliary wheel connecting plate is connected to a position near the bearing seat on the upper part of the side plate. The top auxiliary wheel connecting plate is connected to an auxiliary wheel support through a spring. A top auxiliary wheel adapted to the upper part of the traveling track is installed on the auxiliary wheel support. Two side auxiliary wheels are installed at a position near the bearing seat on the lower part of the side plate. The side auxiliary wheels are connected to the side of the traveling track.

[0009] Preferably, the top auxiliary wheel connecting plate is arranged in an F-shaped structure. A buffer hole corresponding to the opening of the F shape is arranged on the top auxiliary wheel connecting plate. The auxiliary wheel support is arranged in an L-shaped structure corresponding to the top auxiliary wheel connecting plate. A spring fixing support rod is connected between the auxiliary wheel support and the top auxiliary wheel connecting plate. The spring is fixed on the spring fixing support rod and arranged between the auxiliary wheel support and the top auxiliary wheel connecting plate, forming a spring buffer structure.

[0010] Preferably, the charging module includes a battery compartment housing fixed to the explosion-proof housing of the traveling mechanism, a lithium battery and a controller arranged in the battery compartment housing, and a receiving board arranged outside the battery compartment housing. The lithium battery, the receiving board and the controller are electrically connected.

[0011] Preferably, the optoelectronic pod includes an upper connecting plate, a housing, and a bearing platform. The upper connecting plate is connected to the battery compartment housing of the charging module through a robot base plate. The housing is fixed to the connecting plate through a base. A first servo motor for controlling the horizontal rotation of the housing and a shock absorption device for ensuring the stability of the optoelectronic pod are installed on the base. The first servo motor is fixed to the housing through a vertical bracket. A second servo motor for controlling the vertical rotation of the bearing platform is installed on the housing. The second servo motor is fixed to the bearing platform through a horizontal bracket. The bearing platform is correspondingly arranged inside the housing through the horizontal bracket. A visible light camera and a lidar are installed on the upper part of the bearing platform. Two infrared cameras are symmetrically installed on the lower part of the bearing platform. A fixing seat hinged to the bearing platform is fixed to the bottom of each infrared camera. An electric push rod fixed to the bearing platform is arranged between the two infrared cameras. The front end of the electric push rod is symmetrically connected to two connecting rods, and each connecting rod is hinged to a fixing seat respectively; a limiting rod corresponding to the fixing seat is arranged on the lower part of the bearing platform. An explosion-proof lens corresponding to the visible light camera, the lidar, and the infrared camera, and a dust removal device corresponding to the explosion-proof lens are arranged on the housing. The dust removal device includes a dust removal motor installed inside the housing. The dust removal motor is connected to a dust brush mounting shaft through a coupling. A boneless wiper corresponding to the explosion-proof lens is installed on the dust brush mounting shaft. A rear cover corresponding to the bearing platform is arranged on the housing. The rear cover is connected to the housing through screws. An explosion-proof interface corresponding to the visible light camera, the lidar, and the infrared camera is arranged on the rear cover. The first servo motor, the second servo motor, the explosion-proof interface, the electric push rod, and the dust removal motor are communicatively connected to the controller.

[0012] Preferably, the charging compartment includes a base, a charging compartment housing fixed to the base, a drying device installed inside the charging compartment housing, and a wireless charging transmitter board. The upper part of the charging compartment housing is fixed to the track through a charging compartment fixing seat. The wireless charging transmitter board is fixed to an inner side wall of the charging compartment housing through a bracket. The drying device is installed on the other inner side wall of the charging compartment housing corresponding to the wireless charging transmitter board. A left retractable door and a right retractable door that can automatically open and close are installed on the charging compartment housing. The base is connected to a retractable door motor for controlling the opening and closing of the left retractable door and the right retractable door through a motor seat two. A gear and rack transmission mechanism is adopted to connect the left retractable door, the right retractable door, and the retractable door motor. The drying device includes a drying device bottom plate fixed to the inner side wall of the charging compartment housing. A first lead screw support seat and a second lead screw support seat are correspondingly arranged on the drying device bottom plate. Trapezoidal lead screws are correspondingly installed on the first lead screw support seat and the second lead screw support seat. The trapezoidal lead screws are connected to a motor fixed to the drying device bottom plate through a coupling two. The trapezoidal lead screws are connected to two sliders through connecting rods. Fans are installed on the sliders. Slide rails corresponding to the sliders are installed on the drying device bottom plate.

[0013] Preferably, the walking track is a narrow flange H-shaped steel track. The pre-tightening mechanism includes a support base, on which a sliding rod is threadedly connected. A clamping block is installed on the sliding rod, and a pre-tightening knob is provided on the support base for pushing the clamping block to slide along the sliding rod so as to pre-tighten the walking mechanism.

[0014] The calculation formula of the pre-tightening force is as follows:

[0015] μ0(F N1 +F N2 )≥mgsinα

[0016] Where μ0 is the maximum static friction coefficient, F N1 ,F N2 is the normal pressure of the driving wheel on the track, m is the total mass of the inspection robot part, and α is the maximum climbing angle of the inspection system.

[0017] The present invention also provides a usage method of the above system, which specifically includes: during work, the walking mechanism is controlled by a servo motor to move forward, and the angles of the optoelectronic pod are adjusted by the first steering gear and the second steering gear, so as to adjust the shooting angle of the bionic vision module to obtain multi-directional data information; the visible light camera, infrared camera, lidar, laser dust sensor, illuminance temperature and humidity sensor, and gas sensor respectively transmit the acquired real-time image data, real-time position information, air particulate matter concentration, real-time monitored environmental temperature, and real-time content of each gas to the controller; the controller transmits the data to an external terminal processor for further processing and analysis; when the battery of the inspection robot is insufficient, the walking mechanism walks to the charging cabin for charging and establishes a wireless connection with the charging cabin. The inspection robot walks to a designated position inside the charging cabin. After the sensors monitor that the surrounding environment meets the charging conditions, the door of the charging cabin is closed, and the charging of the inspection robot starts. After the charging is completed, the door of the charging cabin is opened. When the walking mechanism leaves, the door of the charging cabin is closed. When using the bionic vision module to collect information, it specifically includes the following steps:

[0018] S1. Detect the on-site environmental dust concentration, hazardous gas content, temperature and humidity, and light conditions through the laser dust sensor, gas sensor, and illuminance temperature and humidity sensor;

[0019] S2. When the light conditions are good and there is no dust environment (light intensity > 15 lx, dust concentration < 2 mg / m 3 ), the visible light camera and lidar work. The visible light camera is responsible for providing high-resolution color visual information, and the lidar is used for obstacle detection;

[0020] S3. In a low-illuminance and low-dust environment (light intensity < 15 lx, dust concentration < 2 mg / m 3) When it is time, the infrared camera and lidar work. The infrared camera rotates outward by 45° to obtain a wider field of view, thereby improving the perception ability of the surrounding environment;

[0021] S4. When the dust concentration > 2mg / m 3 At this time, the visible light camera, two infrared cameras, and lidar work simultaneously. The two infrared cameras are adjusted to be arranged in parallel, and the image resolution and clarity are improved through image fusion technology;

[0022] Beneficial effects:

[0023] Compared with the prior art, a kind of intrinsically safe wireless charging bionic vision inspection system and method for coal mine underground of the present invention have the following beneficial effects:

[0024] 1. The present invention uses a multi-modal perception technology that combines a visible light camera, infrared cameras, and lidar, overcomes the deficiencies of traditional visual detection technologies in the process of image acquisition and processing, and realizes a comprehensive perception of the coal mine underground environment, including surface defects, temperature anomalies, fire sources, heat sources, and three-dimensional space information, etc.

[0025] 2. The inspection system of the present invention has an optoelectronic pod with a two-degree-of-freedom pan-tilt, which can rotate up and down and left and right to ensure a comprehensive monitoring of the surrounding environment. At the same time, the optoelectronic pod is designed with a shock absorption device, which can effectively absorb the vibration generated by the movement of the inspection system, ensure the stability of the vision detection module, and thus ensure the clarity and accuracy of the images.

[0026] 3. The inspection system of the present invention has a charging cabin and can charge autonomously. Autonomous charging can solve the problem of traditional battery endurance and realize the continuous operation and long-term operation of the inspection robot; when the inspection robot has low power, it can autonomously move into the charging cabin for wireless charging, ensuring the safety of the charging process and reducing the safety risk.

[0027] 4. The inspection robot body, bionic vision optoelectronic pod, and charging cabin of the intrinsically safe wireless charging inspection system for coal mine underground of the present invention adopt a modular design concept, enabling it to quickly adapt to the development of future technologies and respond to market changes by replacing or upgrading specific modules.

[0028] 5. The inspection system of the present invention has an auxiliary walking mechanism, which can enhance the stability and reliability of the robot on the track and ensure the smooth progress of the inspection task. At the same time, the side plates and the base of the auxiliary walking mechanism are connected by bolts, so that the quick installation and disassembly of the intrinsically safe wireless charging inspection system for coal mine underground can be realized, reducing the maintenance cost.

[0029] 6. The inspection system of the present invention is equipped with various sensors such as a laser dust sensor, an illuminance temperature and humidity sensor, and a gas sensor, which can monitor the underground environmental parameters in real time and detect potential safety hazards in a timely manner. At the same time, the multi-sensor data provides richer information for data analysis, improving the inspection efficiency and accuracy.

[0030] 7. The inspection system of the present invention adopts a dual explosion-proof strategy of flameproof and intrinsically safe types. For the main compartments of the track inspection system, we adopt a flameproof explosion-proof design, which can effectively isolate and limit the spread of explosion, preventing the explosion from spreading outward to the surrounding explosive environment, thus protecting the safety of mine workers and the integrity of equipment. For some low-power electrical components in the system, such as sensors and controllers, we adopt an intrinsically safe explosion-proof design, eliminating the possibility of causing an explosion from the source and avoiding the extra weight brought to the inspection system by excessive use of flameproof explosion-proof, ensuring the light weight of the inspection system.

[0031] 8. The visual detection module is based on the unique visual mechanism of rattlesnakes and has significant similarities with it in many aspects such as the working wavelength band, spatial layout, data fusion method, working mode, and fusion strategy. Specifically, it is manifested in:

[0032] 9. In terms of the working wavelength band: Both the bionic vision module and the rattlesnake's visual system can perceive electromagnetic radiation in different wavelength bands. The bionic vision module uses a high-resolution visible light camera to capture the surface features of the target object; an infrared camera to capture the infrared radiation emitted by the object; and a lidar to send and receive laser pulses to accurately measure the distance between the inspection system and the object. The rattlesnake's visual system has a visible light eye (eye) and a heat eye (pit organ), which can detect visible light signals through the visible light eye and capture the thermal radiation emitted by the prey through the heat eye.

[0033] 10. In terms of the spatial layout: Both the bionic vision module and the rattlesnake adopt a distributed layout. The rattlesnake's visual system as a whole presents a trapezoid. Its eyes are located on both sides of the head, and the distance between the two eyes is relatively far to obtain a larger field of view and depth perception range. The pit organ is located below the head, between the eyes and the nostrils, with a small spacing to better perceive the heat source in the environment and the thermal signal of the prey. The visual system of the bionic vision module also presents a trapezoid as a whole. The visible light camera and the lidar are distributed at the near corner points of the trapezoid, which is conducive to obtaining high-definition visual data and accurate depth information. The infrared camera is located at the far corner point of the trapezoid, enabling it to cover a wider field of view.

[0034] 11. In terms of data fusion methods, both the bionic vision module and the rattlesnake vision system adopt multi-sensor information fusion technology. Although the thermal perception and light perception organs in the rattlesnake vision system are distributed in different positions, they can perform rapid information exchange and fusion through the bimodal cells in the optic tectum. In the bionic vision system, a visible light camera, an infrared camera, and a lidar can jointly aim at the same target area to achieve synchronous data acquisition. These data can be fused through algorithms to improve the accuracy of target detection and recognition.

[0035] 12. In terms of working modes, both the bionic vision module and the rattlesnake vision system have multiple working modes: The rattlesnake's vision system can process and integrate information from different modalities through different types of cells, so as to perceive the environment more comprehensively. The bionic vision module designed in this paper allows the system to switch between three different working modes to adapt to different underground coal mine environmental conditions.

[0036] 13. In terms of fusion strategies, the rattlesnake vision system can perform adversarial enhancement or suppression on infrared signals and visible light signals during image fusion. In this invention, before fusing the visible light image and the infrared image, a low-light image enhancement algorithm is used to enhance the visible light image with insufficient or excessive exposure, which overcomes the interference of factors such as uneven illumination in the coal mine underground to a certain extent and improves the visual quality and scene adaptability of the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the drawings and embodiments.

[0038] Figure 1 It is a schematic diagram of a intrinsically safe wireless charging bionic vision inspection system for underground coal mines provided by an embodiment of the present invention working in a roadway;

[0039] Figure 2 It is a schematic structural diagram of a intrinsically safe wireless charging bionic vision inspection system for underground coal mines provided by an embodiment of the present invention;

[0040] Figure 3 It is a schematic front view of the structure of the robot part of a intrinsically safe wireless charging bionic vision inspection system for underground coal mines provided by an embodiment of the present invention;

[0041] Figure 4 It is an axonometric view of the robot part of a intrinsically safe wireless charging bionic vision inspection system for underground coal mines provided by an embodiment of the present invention after removing the housing 8;

[0042] Figure 5 It is a schematic structural diagram of an optoelectronic pod provided by an embodiment of the present invention;

[0043] Figure 6Schematic front view of the optoelectronic pod provided by the embodiment of the present invention;

[0044] Figure 7 Planar layout drawing of the infrared camera and the electric push rod provided by the embodiment of the present invention;

[0045] Figure 8 Schematic front view of the walking mechanism provided by the embodiment of the present invention;

[0046] Figure 9 Schematic structure diagram of the auxiliary walking mechanism provided by the embodiment of the present invention;

[0047] Figure 10 Schematic front view of the auxiliary walking mechanism provided by the embodiment of the present invention;

[0048] Figure 11 Schematic structure diagram of the pre-tightening mechanism provided by the embodiment of the present invention;

[0049] Figure 12 Schematic structure diagram of the charging cabin provided by the embodiment of the present invention;

[0050] Figure 13 Cross-sectional view of the charging cabin provided by the embodiment of the present invention;

[0051] Figure 14 Schematic structure diagram of the air drying device provided by the embodiment of the present invention;

[0052] Figure 15 Workflow diagram of a intrinsically safe wireless charging bionic vision inspection system for coal mine underground provided by the embodiment of the present invention;

[0053] Figure 16 Principle flow chart of visible light image enhancement of a intrinsically safe wireless charging bionic vision inspection system for coal mine underground provided by the embodiment of the present invention;

[0054] Figure 17 Obstacle avoidance principle diagram of a intrinsically safe wireless charging bionic vision inspection system for coal mine underground provided by the embodiment of the present invention.

[0055] Explanation of reference numerals:

[0056] 1. Optoelectronic pod; 101. Second steering gear; 102. Horizontal bracket; 103. Boneless windshield wiper; 104. Upper connecting plate; 105. Shock absorber; 106. Optoelectronic pod housing; 107. Electric push rod; 108. Infrared camera; 109. Visible light camera; 110. Coupling; 111. Dust removal brush mounting shaft; 112. Visible light camera base; 113. Base; 114. First steering gear; 115. Vertical bracket; 116. Lidar; 117. Lidar fixing seat; 118. Horizontal base; 119. Infrared camera base; 120. Explosion-proof interface; 121. Rear cover; 2. Traveling mechanism; 201. Protective shell; 202. Steering device; 203. Reducer; 204. Output shaft sleeve; 205. Expansion sleeve; 206. Traveling wheel; 207. Driving motor; 208. Driving motor seat; 3. Auxiliary traveling mechanism; 301. Support seat; 302. Side plate; 303. Top auxiliary wheel connecting plate; 304. Spring; 305. Top auxiliary wheel; 306. Support wheel; 307. Bearing seat; 308. Support wheel shaft; 309. Bearing; 310. Spring fixing support rod; 311. Auxiliary wheel support; 312. Support wheel shaft sleeve; 313. Side auxiliary wheel; 4. Pre-tightening mechanism; 401. Pre-tightening knob; 402. Support seat; 403. Clamping block; 404. Slide bar; 5. Charging module; 501. Controller; 502. Battery pack; 503. Wireless charging receiving board; 6. Charging cabin; 601. Charging cabin housing; 602. Air drying device; 603. Charging cabin bottom plate; 604. Second motor seat; 605. Retractable door motor; 606. Left retractable door; 607. Bracket; 608. Wireless charging transmitting board; 609. Charging cabin fixing seat; 610. Right retractable door; 602-1. Air drying device bottom plate; 602-2. Second lead screw support seat; 602-3. Slide rail; 602-4. Trapezoidal lead screw; 602-5. Connecting rod; 602-6. Slide block; 602-7. Fan; 602-8. Motor; 602-9. Second coupling; 602-10. First lead screw support seat; 7. Sensing module; 701. Gas sensor; 702. Laser dust sensor; 703. Illuminance, temperature and humidity sensor; 8. Explosion-proof housing; 9. Auxiliary wheel protective shell; 10. Track; 11. Battery compartment housing; 12. Robot bottom plate. Detailed implementation manners

[0057] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] As shown Figure 1-17 in the figure, an intrinsically safe wireless charging bionic vision inspection system and method for underground coal mines are provided in an embodiment of the present invention.

[0059] An intrinsically safe wireless charging bionic vision inspection system for underground coal mines includes a charging module 5, an optoelectronic pod 1, a sensing module 7, a charging cabin 6, and a traveling mechanism 2 capable of traveling on a traveling track 10. The charging module 5 is installed at the bottom of the traveling mechanism 2 for supplying power to the optoelectronic pod 1, the sensing module 7, and the traveling mechanism 2. The optoelectronic pod 1 is installed at the bottom of the charging module 5. A vision detection module is arranged in the optoelectronic pod 1. The vision detection module includes a bionic vision module arranged in a trapezoidal shape. The bionic vision module includes a visible light camera 109 and a lidar 116 arranged at the near corner points of its trapezoid, and an infrared camera 108 arranged at the far corner points of its trapezoid. The visible light camera 109 is responsible for taking high-definition images, the infrared camera 108 is responsible for capturing infrared radiation and generating a thermal image by measuring the infrared radiation on the surface of an object, and the lidar 116 is used to generate three-dimensional space information around the inspection system. The sensing module 7 is installed at the front end of the traveling mechanism 2. The sensing module 7 includes a laser dust sensor 702 for detecting the particulate matter concentration, an illuminance temperature and humidity sensor 703 for detecting the air temperature and humidity, and a gas sensor 701 for detecting the content of dangerous gases in the air. The charging cabin 6 is arranged on the traveling path of the traveling mechanism 2 corresponding to the traveling track 10. The charging cabin 6 is used to realize wireless charging of the charging module 5. The sensing module 7 and the vision detection module are communicatively connected to an external terminal processor through a controller 501 of the charging module 5.

[0060] The traveling mechanism 2 in this embodiment is also called an inspection robot.

[0061] The traveling mechanism 2 includes a motor base 208 and an explosion-proof housing 8. A servo motor 207 is installed on the motor base 208. The output shaft of the servo motor 207 is connected to a speed reducer 203 through a steering device 202. The output shaft of the speed reducer 203 is sequentially provided with an output shaft sleeve 204 and a traveling wheel 206 that cooperates with the traveling track 10 from bottom to top. The explosion-proof housing 8 is arranged outside the traveling mechanism 2. Four groups of auxiliary traveling devices 3 that cooperate with the traveling track 10 and a pre-tightening mechanism 4 that cooperate with the traveling mechanism 2 are symmetrically arranged on the upper end face of the explosion-proof housing 8.

[0062] The speed reducer 203 uses a 3Z(Ⅱ) type micro planetary speed reducer, which not only has the characteristics of a traditional planetary speed reducer such as a compact planetary transmission structure and high transmission efficiency, but also has the characteristics of small volume, light weight, and small installation space brought by miniaturization. Its transmission ratio calculation formula is:

[0063]

[0064] where z a 、z b 、z c are the number of teeth of the central gear a, the internal gear b, and the internal gear e, respectively.

[0065] The thickness calculation formula of the explosion-proof shell 8 is as follows

[0066]

[0067] where b is the length of the short side, k is the safety factor, C is the stress factor, P is the explosion pressure, and δ T is the yield limit of the material;

[0068] The calculation formula of the pre-tightening force of the pre-tightening mechanism is as follows:

[0069] μ0(F N1 +F N2 )≥mgsinα

[0070] where μ0 is the maximum static friction coefficient.

[0071] The walking track 10 is a narrow flange H-shaped steel track. The pre-tightening mechanism 4 includes a support base 402. A slide bar 404 is threadedly connected to the support base 402. A clamping block 403 is installed on the slide bar 404. A pre-tightening knob 401 is provided on the support base 402 for pushing the clamping block 403 to slide along the slide bar 404 to pre-tighten the walking mechanism 2. The function of the pre-tightening mechanism 4 is to provide sufficient pre-tightening force for the inspection robot to prevent it from sliding on the track.

[0072] The steering device 202 includes a protective shell 201 connected to the motor base 208. A pair of vertically placed and meshing bevel gears are arranged inside the protective shell 201. The bevel gears are respectively installed on the input shaft of the reducer 203 and the output shaft of the servo motor 207. The upper part of the walking wheel 206 is fixed to the output shaft of the reducer 203 through a shrink disc 205. The function of the steering device 202 is to change the output direction of the servo motor 207 to make the system layout more compact so that the robot can move flexibly in a narrow track environment. The outer side of the walking wheel 206 has a rubber wheel cover, which can buffer the vibration and impact between the inspection robot and the track during walking, and improve the reliability and stability of the movement of the inspection robot.

[0073] The auxiliary walking device 3 includes a base 301 fixed to the upper end face of the explosion-proof housing 8. A side plate 302 is vertically installed on the base 301. A bearing seat 307 is installed on the side plate 302. The bearing seat 307 is connected to a support wheel shaft 308 through a bearing 309. A support wheel 306 connected to the lower part of the walking track 10 is installed on the support wheel shaft 308. A support wheel bushing 312 corresponding to the support wheel 306 is arranged on the support wheel shaft 308. A top auxiliary wheel connecting plate 302 is connected to a position of the upper part of the side plate 302 close to the bearing seat 307. The top auxiliary wheel connecting plate 302 is connected to an auxiliary wheel support 311 through a spring 304. A top auxiliary wheel 305 connected to the upper part of the walking track 10 is installed on the auxiliary wheel support 311. Two side auxiliary wheels 313 are installed at a position of the lower part of the side plate 302 close to the bearing seat 307. The side auxiliary wheels 313 are connected to the side of the walking track 10.

[0074] The top auxiliary wheel connecting plate 302 is arranged in an F-shaped structure. A buffer hole 313 corresponding to the opening of the F shape is arranged on the top auxiliary wheel connecting plate 302. The auxiliary wheel support 311 and the top auxiliary wheel connecting plate 302 are correspondingly arranged in an L-shaped structure. A spring fixing support rod 310 is connected between the auxiliary wheel support 311 and the top auxiliary wheel connecting plate 302. The spring 304 is fixed on the spring fixing support rod 310 and arranged between the auxiliary wheel support 311 and the top auxiliary wheel connecting plate 302, forming a spring buffer structure.

[0075] The charging module 5 includes a battery compartment housing 11 fixed to the explosion-proof housing 8 of the walking mechanism 2, a lithium battery 502 and a controller 501 arranged in the battery compartment housing 11, and a receiving board 503 arranged outside the battery compartment housing 11. The lithium battery 502, the receiving board 503 and the controller 501 are electrically connected. The receiving board 503 can receive electric energy, convert the high-frequency magnetic field into high-frequency current and transmit it to the controller 501. The controller 501 controls the charging, converts the received high-frequency alternating current into direct current, and can control the charging voltage and current as well as the charging on-off state, and finally sends the current into the lithium battery 502 for charging. The charging module 5 realizes wireless power supply by using the principle of magnetic resonance.

[0076] The optoelectronic pod 1 includes an upper connecting plate 104, a housing 106, and a bearing platform 118. The upper connecting plate 104 is connected to the battery compartment housing 11 of the charging module 5 through a robot base plate 12. The housing 106 is fixed to the connecting plate 104 through a base 113. On the base 113, a first servo motor 114 for controlling the horizontal rotation of the housing 106 and a shock absorption device 105 for ensuring the stability of the optoelectronic pod are installed. Four shock absorption devices 105 for ensuring the stability of the optoelectronic pod are provided around the base 113. The shock absorption device 105 adopts an existing product or structure well-known to those skilled in the art, and specifically includes a copper column, a shock absorption ball, and a shock absorption device base plate. The shock absorption principle of the shock absorption device 105 is based on the elasticity of the shock absorption ball and its ability to absorb vibration. The first servo motor 114 is fixed to the housing 106 through a vertical bracket 115. On the housing 106, a second servo motor 101 for controlling the vertical rotation of the bearing platform 118 is installed. The second servo motor 101 is fixed to the bearing platform 118 through a horizontal bracket 102. The bearing platform 118 is correspondingly arranged inside the housing 106 through the horizontal bracket 102. A visible light camera 109 and a lidar 116 are installed on the upper part of the bearing platform 118. Two infrared cameras 108 are symmetrically installed on the lower part of the bearing platform 118. A fixing seat 119 hinged to the bearing platform 118 is fixed to the bottom of each infrared camera 108. An electric push rod 107 fixed to the bearing platform 118 is arranged between the two infrared cameras 108. The front end of the electric push rod 107 is symmetrically connected to two connecting rods, and each connecting rod is respectively hinged to a fixing seat 119. A limiting rod corresponding to the fixing seat 119 is provided on the lower part of the bearing platform 118. An explosion-proof lens corresponding to the visible light camera 109, the lidar 116, and the infrared camera 108, and a dust removal device corresponding to the explosion-proof lens are provided on the housing 106. The dust removal device includes a dust removal motor installed inside the housing 106. The dust removal motor is connected to a dust removal brush mounting shaft 111 through a coupling 110. A boneless wiper 103 corresponding to the explosion-proof lens is installed on the dust removal brush mounting shaft 111. A rear cover 121 corresponding to the bearing platform 118 is provided on the housing 106. The rear cover 121 is connected to the housing 106 through screws. An explosion-proof interface 120 corresponding to the visible light camera 109, the lidar 116, and the infrared camera 108 is provided on the rear cover 121. The first servo motor 114, the second servo motor 101, the explosion-proof interface 120, the electric push rod 107, and the dust removal motor are communicatively connected to a controller 501. The optoelectronic pod can control the pitching and rotation of its visual detection module to achieve shooting in different directions and increase the situation awareness range.

[0077] The charging chamber 6 includes a base 603, a charging chamber housing 601 fixed to the base 603, a drying device 602 installed in the charging chamber housing 601, and a wireless charging transmitter board 608. The upper part of the charging chamber housing 601 is fixed to the track 10 through a charging chamber fixing base 609. The wireless charging transmitter board 608 is fixed to an inner side wall of the charging chamber housing 601 through a bracket 607. The drying device 602 is installed on the other inner side wall of the charging chamber housing 601 corresponding to the wireless charging transmitter board 608. The charging chamber housing 601 is provided with a left retractable door 606 and a right retractable door 610 that can automatically open and close. The base 603 is connected with a retractable door motor 605 for controlling the opening and closing of the left retractable door 606 and the right retractable door 610 through a motor base two 604. The left retractable door 606 and the right retractable door 610 are connected with the retractable door motor 605 through a gear and rack transmission mechanism. The drying device 602 includes a drying device bottom plate 602-1 fixed to the inner side wall of the charging chamber housing 601. A lead screw support base one 602-10 and a lead screw support base two 602-2 are correspondingly arranged on the drying device bottom plate 602-1. A trapezoidal lead screw 602-4 is correspondingly installed on the lead screw support base one 602-10 and the lead screw support base two 602-2. The trapezoidal lead screw 602-4 is connected with a motor 602-8 fixed to the drying device bottom plate 602-1 through a coupling two 602-9. The trapezoidal lead screw 602-4 is connected with two sliders 602-6 through a connecting rod 602-5. A fan 602-7 is installed on the slider 602-6. A slide rail 602-3 corresponding to the slider 602-6 is installed on the drying device bottom plate 602-1.

[0078] The drying device 602 is used to dry the robot entering the charging chamber 6 to reduce the influence of water vapor and the like on the charging of the robot.

[0079] The optoelectronic pod 1, the second steering gear 101, the horizontal bracket 102, the boneless windshield wiper 103, the upper connecting plate 104, the shock absorber 105, the optoelectronic pod housing 106, the electric push rod 107, the infrared camera 108, the visible light camera 109, the coupling 110, the dust removal brush mounting shaft 111, the visible light camera base 112, the base 113, the first steering gear 114, the vertical bracket 115, the lidar 116, the lidar fixing seat 117, the horizontal base 118, the infrared camera base 119, the explosion-proof interface 120, the rear cover 121, the traveling mechanism 2, the protective shell 201, the steering device 202, the reducer 203, the output shaft sleeve 204, the expansion sleeve 205, the traveling wheel 206, the drive motor 207, the drive motor seat 208, the auxiliary traveling mechanism 3, the support seat 301, the side plate 302, the top auxiliary wheel connecting plate 303, the spring 304, the top auxiliary wheel 305, the support wheel 306, the bearing seat 307, the support wheel shaft 308, the bearing 309, the support wheel shaft sleeve 312, the side auxiliary wheel 313, the pre-tightening mechanism 4, the pre-tightening knob 401, the support seat 402, the clamping block 403, the slide rod 404, the charging module 5, the controller 501, the battery pack 502, the wireless charging receiving board 503, the charging compartment 6, the charging compartment housing 601, the air drying device 602, the charging compartment bottom plate 603, the motor seat two 604, the retractable door motor 605, the left retractable door 606, the bracket 607, the wireless charging transmitting board 608, the charging compartment fixing seat 609, the right retractable door 610, the air drying device bottom plate 602-1, the lead screw support seat two 602-2, the slide rail 602-3, the trapezoidal lead screw 602-4, the connecting rod 602-5, the slider 602-6, the fan 602-7, the motor 602-8, the coupling two 602-9, the lead screw support seat one 602-10, the sensing module 7, the gas sensor 701, the laser dust sensor 702, the illuminance temperature and humidity sensor 703, the explosion-proof housing 8, the auxiliary wheel protective shell 9, the track 10, the battery compartment housing 11, the robot bottom plate 12 in this example, the structures not disclosed in this example all adopt the existing products or structures well-known to those skilled in the art, and the connection methods and control methods between them all adopt the existing connection methods and control methods well-known to those skilled in the art.

[0080] This embodiment also provides a method for using the above system, which specifically includes: when working, the traveling mechanism 2 is controlled to move forward by the servo motor 207, and the angles of the optoelectronic pod 1 are adjusted by the first steering gear 114 and the second steering gear 101, so as to adjust the shooting angle of the bionic vision module to obtain multi-directional data information; the visible light camera 109, the infrared camera 108, the lidar 116, the laser dust sensor 702, the illuminance temperature and humidity sensor 703, and the gas sensor 701 respectively transmit the acquired real-time image data, real-time position information, air particulate matter concentration, real-time monitored environmental temperature, and real-time gas content to the controller 501; the controller 501 transmits the data to an external terminal processor for further processing and analysis; when the battery power of the inspection robot is insufficient, the traveling mechanism 2 walks to the charging cabin 6 for charging and establishes a wireless connection with the charging cabin 6. The inspection robot walks to a designated position inside the charging cabin 6. After the sensors monitor that the surrounding environment meets the charging conditions, the door of the charging cabin 6 is closed, and the charging of the inspection robot starts. After the charging is completed, the door of the charging cabin 6 is opened. When the traveling mechanism 2 leaves, the door of the charging cabin 6 is closed. When using the bionic vision module to collect information, the following steps are specifically included:

[0081] 1. Detect the dust concentration, hazardous gas content, temperature, humidity, and light conditions of the on-site environment through the laser dust sensor (702), gas sensor (701), and illuminance temperature and humidity sensor (703);

[0082] 2. When the light conditions are good and there is no dust environment (light intensity > 15 lx, dust concentration < 2 mg / m 3 ), the visible light camera (109) and the lidar (116) work. The visible light camera (109) is responsible for providing high-resolution color visual information, and the lidar (116) is used for obstacle detection;

[0083] 3. When the light intensity is low and the dust concentration is low (light intensity < 15 lx, dust concentration < 2 mg / m 3 ), the infrared camera (108) and the lidar (116) work. The infrared camera (108) rotates outward by 45° to obtain a wider field of view, thereby improving the perception ability of the surrounding environment;

[0084] The field of view angles of the visible light camera (109) and the infrared camera (108) are calculated by the formula:

[0085]

[0086] where H FOV and V FOV are the horizontal and vertical field of view angles of the camera respectively, w is the width of the CCD chip;

[0087] h is the height of the CCD chip; f is the focal length of the camera lens.

[0088] 4. When the dust concentration > 2 mg / m 3 , the visible light camera (109), two infrared cameras (108), and lidar (116) work simultaneously. The two infrared cameras (108) are adjusted to be arranged in parallel, and the resolution and clarity of the image are improved through image fusion technology;

[0089] The vision detection module of this embodiment is based on the unique vision mechanism of rattlesnakes and has significant similarities with it in multiple aspects such as working band, spatial layout, data fusion method, and working mode:

[0090] In terms of the working band: Both the bionic vision module and the rattlesnake's vision system can perceive electromagnetic radiation in different bands. The bionic vision module uses a high-resolution visible light camera to capture the surface features of the target object; an infrared camera is used to capture the infrared radiation emitted by the object; and a lidar is used to send and receive laser pulses to accurately measure the distance between the inspection system and the object. The rattlesnake's vision system has a visible light eye (eye) and a heat eye (pit organ). It can detect visible light signals through the visible light eye and capture the heat radiation emitted by the prey through the heat eye, enabling better capture of environmental information.

[0091] In terms of spatial layout: Both the bionic vision module and the rattlesnake adopt a distributed layout. The overall shape of the rattlesnake's vision system is trapezoidal. Its eyes are located on both sides of the head, and the distance between the two eyes is relatively far to obtain a larger field of view and depth perception range. The pit organ is located below the head, between the eyes and the nostrils, with a small spacing to better perceive the heat source in the environment and the heat signal of the prey. The overall shape of the vision system of the bionic vision module is also trapezoidal. The visible light camera and the lidar are distributed at the near corner points of the trapezoid, which is beneficial for obtaining high-definition visual data and accurate depth information. The infrared camera is located at the far corner point of the trapezoid and can cover a wider field of view.

[0092] In terms of the data fusion method, both the bionic vision module and the rattlesnake's vision system use multi-sensor information fusion technology. Although the heat perception and light perception organs in the rattlesnake's vision system are distributed in different positions, they can quickly exchange and fuse information through the bimodal cells in the optic tectum. In the bionic vision system, the visible light camera, infrared camera, and lidar can jointly aim at the same target area to achieve synchronous data acquisition. These data are fused through algorithms to improve the accuracy of target detection and recognition;

[0093] In terms of working modes, both the bionic vision module and the rattlesnake vision system have multiple working modes: the rattlesnake's vision system can process and integrate information from different modalities through different types of cells, so as to perceive the environment more comprehensively; the bionic vision module system design of this embodiment allows switching between three different working modes and can adapt to different underground coal mine environmental conditions.

[0094] The advantages of the present invention are as follows: (1) The present invention uses a multi-modal perception technology that fuses visible light cameras, infrared cameras, and lidar, which can reduce the errors in the image acquisition and processing process of traditional vision detection technologies in environments with high dust, high water vapor, and low illuminance, and realize multi-dimensional perception of the underground coal mine environment, including surface defects, temperature anomalies, fire sources, heat sources, and three-dimensional space information, which can improve the accuracy and efficiency of the monitoring system.

[0095] (2) The vision detection module in the optoelectronic pod of the present invention has multiple degrees of freedom and can rotate up and down and left and right, which can better achieve comprehensive monitoring of the surrounding environment. At the same time, the optoelectronic pod is designed with a shock absorption device, which can effectively absorb the vibration generated by the movement of the inspection system and ensure the stability of the vision detection module, thereby ensuring the clarity and accuracy of the images.

[0096] (3) The present invention is provided with a charging cabin and can autonomously charge the inspection equipment, which can effectively solve the problem of battery life and realize the continuous operation and long-term operation of the inspection robot; when the inspection robot has low power, it can autonomously move into the charging cabin for wireless charging, which can better ensure the safety of the charging process and reduce the safety risk.

[0097] (4) The vision detection module of the present invention adopts a bionic vision module arranged in a trapezoid. Based on the unique vision mechanism of the rattlesnake, it can capture the infrared radiation emitted by an object through an infrared camera; and it can accurately measure the distance between the inspection system and the object by sending and receiving laser pulses through a lidar; in the trapezoidal arrangement, the visible light camera and the lidar are distributed at the near corner points of the trapezoid, which is conducive to obtaining high-definition visual data and accurate depth information. The infrared camera is located at the far corner point of the trapezoid, enabling it to cover a wider field of view; the visible light camera, infrared camera, and lidar can jointly aim at the same target area to achieve synchronous data acquisition. These data can be fused through algorithms to improve the accuracy of target detection and recognition; the bionic vision module system can switch between different working modes in three different working environments and can adapt to different underground coal mine environmental conditions.

[0098] The above content is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the present invention.

Claims

1. A intrinsically safe wireless charging bionic vision inspection system for underground coal mines, comprising a charging module (5), an optoelectronic pod (1), a sensing module (7), a charging cabin (6), and a traveling mechanism (2) capable of traveling on a traveling track (10). The charging module (5) is installed at the bottom of the traveling mechanism (2) for supplying power to the optoelectronic pod (1), the sensing module (7), and the traveling mechanism (2). The optoelectronic pod (1) is installed at the bottom of the charging module (5). A vision detection module is arranged in the optoelectronic pod (1). The vision detection module includes a bionic vision module arranged in a trapezoidal shape. The bionic vision module includes a visible light camera (109) and a lidar (116) arranged at the near corner points of its trapezoid, and an infrared camera (108) arranged at the far corner points of its trapezoid. The sensing module (7) is installed at the front end of the traveling mechanism (2). The sensing module (7) includes a laser dust sensor (702) for detecting the particulate matter concentration, an illuminance temperature and humidity sensor (703) for detecting the air temperature and humidity, and a gas sensor (701) for detecting the content of dangerous gases in the air. The charging cabin (6) is arranged on the traveling path of the traveling mechanism (2) corresponding to the traveling track (10). The charging cabin (6) is used to realize wireless charging of the charging module (5). The sensing module (7) and the vision detection module are communicatively connected to an external terminal processor through a controller (501) of the charging module (5).

2. The intrinsically safe wireless charging bionic vision inspection system for coal mines underground according to claim 1, characterized in that: The traveling mechanism (2) includes a motor base (208) and an explosion-proof housing (8). A servo motor (207) is installed on the motor base (208). The output shaft of the servo motor (207) is connected to a speed reducer (203) through a direction-changing device (202). An output shaft sleeve (204) and a traveling wheel (206) cooperating with the traveling track (10) are sequentially arranged from bottom to top on the output shaft of the speed reducer (203). The explosion-proof housing (8) is arranged outside the traveling mechanism (2). Four groups of auxiliary traveling devices (3) cooperating with the traveling track 10 and a pre-tightening mechanism (4) cooperating with the traveling mechanism (2) are symmetrically arranged on the upper end face of the explosion-proof housing (8). The direction-changing device (202) includes a protective housing (201) connected to the motor base (208). A pair of vertically placed and meshing bevel gears are arranged in the protective housing (201). The bevel gears are respectively installed on the input shaft of the speed reducer (203) and the output shaft of the servo motor (207). The upper part of the traveling wheel (206) is fixed on the output shaft of the speed reducer (203) through a shrink disc (205).

3. The intrinsically safe wireless charging bionic vision inspection system for coal mine underground according to claim 2, characterized in that The auxiliary walking device (3) includes a base (301) fixed to the upper end face of the explosion-proof housing (8). A side plate (302) is vertically installed on the base (301). A bearing seat (307) is installed on the side plate (302). The bearing seat (307) is connected to a support wheel shaft (308) through a bearing (309). A support wheel (306) connected to the lower part of the walking track (10) is installed on the support wheel shaft (308). A support wheel bushing (312) corresponding to the support wheel (306) is arranged on the support wheel shaft (308). A top auxiliary wheel connecting plate (303) is connected to a position near the bearing seat (307) at the upper part of the side plate (302). The top auxiliary wheel connecting plate (303) is connected to an auxiliary wheel support (311) through a spring (304). A top auxiliary wheel (305) connected to the upper part of the walking track (10) is installed on the auxiliary wheel support (311). Two side auxiliary wheels (313) are installed at a position near the bearing seat (307) at the lower part of the side plate (302). The side auxiliary wheels (313) are connected to the side of the walking track (10).

4. The intrinsically safe wireless charging bionic vision inspection system for coal mines underground according to claim 3, characterized in that: The top auxiliary wheel connecting plate (303) is arranged in an F-shaped structure. A buffer hole corresponding to the opening of its F shape is arranged on the top auxiliary wheel connecting plate (303). The auxiliary wheel support (311) is arranged in an L-shaped structure corresponding to the top auxiliary wheel connecting plate (303). A spring fixing support rod (310) is connected between the auxiliary wheel support (311) and the top auxiliary wheel connecting plate (303). The spring (304) is fixed on the spring fixing support rod (310) and arranged between the auxiliary wheel support (311) and the top auxiliary wheel connecting plate (303) to form a spring buffer structure.

5. The intrinsically safe wireless charging bionic vision inspection system for coal mines underground according to claim 1, characterized in that: The charging module (5) includes a battery compartment housing (11) fixed to the explosion-proof housing (8) of the walking mechanism (2), a lithium battery (502) and a controller (501) arranged in the battery compartment housing (11), and a receiving board (503) arranged outside the battery compartment housing (11). The lithium battery (502), the receiving board (503) and the controller (501) are electrically connected.

6. The intrinsically safe wireless charging bionic vision inspection system for underground coal mines according to claim 4, characterized in that: The optoelectronic pod (1) includes an upper connecting plate (104), a housing (106), and a bearing platform (118). The upper connecting plate (104) is connected to the battery compartment housing (11) of the charging module (5) through a robot base plate (12). The housing (106) is fixed to the connecting plate (104) through a base (113). A first servo (114) for controlling the horizontal rotation of the housing (106) and a shock absorption device (105) for ensuring the stability of the optoelectronic pod are installed on the base (113). The first servo (114) is fixed to the housing (106) through a vertical bracket (115). A second servo (101) for controlling the vertical rotation of the bearing platform (118) is installed on the housing (106). The second servo (101) is fixed to the bearing platform (118) through a horizontal bracket (102). The bearing platform (118) is correspondingly arranged inside the housing (106) through the horizontal bracket (102). A visible light camera (109) and a lidar (116) are installed on the upper part of the bearing platform (118). Two infrared cameras (108) are symmetrically installed on the lower part of the bearing platform (118). A fixing seat (119) hinged to the bearing platform (118) is fixed to the bottom of each infrared camera (108). An electric push rod (107) fixed to the bearing platform (118) is arranged between the two infrared cameras (108). The front end of the electric push rod (107) is symmetrically connected with two connecting rods, and each connecting rod is hinged to a fixing seat (119) respectively; a limiting rod corresponding to the fixing seat (119) is arranged on the lower part of the bearing platform (118). An explosion-proof lens corresponding to the visible light camera (109), the lidar (116), and the infrared camera (108), and a dust removal device corresponding to the explosion-proof lens are arranged on the housing (106). The dust removal device includes a dust removal motor installed inside the housing (106). The dust removal motor is connected to a dust removal brush mounting shaft (111) through a coupling (110). A boneless wiper (103) corresponding to the explosion-proof lens is installed on the dust removal brush mounting shaft (111). A rear cover (121) corresponding to the bearing platform (118) is arranged on the housing (106). The rear cover (121) is connected to the housing (106) through screws. An explosion-proof interface (120) corresponding to the visible light camera (109), the lidar (116), and the infrared camera (108) is arranged on the rear cover (121). The first servo (114), the second servo (101), the explosion-proof interface (120), the electric push rod (107), and the dust removal motor are in communication connection with a controller (501).

7. A intrinsically safe wireless charging bionic vision inspection system for underground coal mines according to claim 1, characterized in that: The charging compartment (6) includes a base (603), a charging compartment housing (601) fixed to the base (603), an air drying device (602) installed inside the charging compartment housing (601), and a wireless charging transmitter board (608). The upper part of the charging compartment housing (601) is fixed to the track (10) through a charging compartment fixing seat (609). The wireless charging transmitter board (608) is fixed to an inner side wall of the charging compartment housing (601) through a bracket (607). The air drying device (602) is installed on the other inner side wall of the charging compartment housing (601) corresponding to the wireless charging transmitter board (608). An automatically openable and closable left retractable door (606) and a right retractable door (610) are installed on the charging compartment housing (601). The base (603) is connected through a motor base two (604) to a retractable door motor (605) for controlling the opening and closing of the left retractable door (606) and the right retractable door (610). A gear and rack transmission mechanism is used to connect the left retractable door (606), the right retractable door (610) and the retractable door motor (605). The air drying device (602) includes an air drying device bottom plate (602-1) fixed to the inner side wall of the charging compartment housing (601). On the air drying device bottom plate (602-1), a lead screw support seat one (602-10) and a lead screw support seat two (602-2) are correspondingly arranged. On the lead screw support seat one (602-10) and the lead screw support seat two (602-2), a trapezoidal lead screw (602-4) is correspondingly installed. The trapezoidal lead screw (602-4) is connected to a motor (602-8) fixed to the air drying device bottom plate (602-1) through a coupling two (602-9). The trapezoidal lead screw (602-4) is connected through a connecting rod (602-5) to two sliders (602-6). A fan (602-7) is installed on the slider (602-6). A slide rail (602-3) corresponding to the slider (602-6) is installed on the air drying device bottom plate (602-1).

8. The intrinsically safe wireless charging bionic vision inspection system for coal mines underground according to claim 1, characterized in that: The walking track (10) is a narrow flange H-shaped steel track. The pre-tightening mechanism (4) includes a support seat (402). A slide bar (404) is threadedly connected to the support seat (402). A clamping block (403) is installed on the slide bar (404). A pre-tightening knob (401) for pushing the clamping block (403) to slide along the slide bar (404) to pre-tighten the walking mechanism (2) is arranged on the support seat (402).

9. The usage method of a intrinsically safe wireless charging bionic vision inspection system for coal mines underground as described in claim 1, characterized in that: Specifically, it includes: During operation, the walking mechanism (2) is controlled by a servo motor (207) to move forward, and the angles of the optoelectronic pod (1) are adjusted by the first steering gear (114) and the second steering gear (101), so as to adjust the shooting angle of the bionic vision module to obtain multi-directional data information. The visible light camera (109), infrared camera (108), lidar (116), laser dust sensor (702), illuminance temperature and humidity sensor (703), and gas sensor (701) respectively transmit the acquired real-time image data, real-time position information, air particulate matter concentration, real-time monitored environmental temperature, and real-time content of each gas to the controller (501). The controller (501) transmits the data to an external terminal processor for further processing and analysis. When the battery of the inspection robot is insufficient, the walking mechanism (2) walks to the charging compartment (6) for charging and establishes a wireless connection with the charging compartment (6). The inspection robot walks to a designated position inside the charging compartment (6). After the sensors detect that the surrounding environment meets the charging conditions, the door of the charging compartment (6) closes, and the charging of the inspection robot begins. After the charging is completed, the door of the charging compartment (6) opens, and when the walking mechanism (2) leaves, the door of the charging compartment (6) closes. When using the bionic vision module to collect information, it specifically includes the following steps: S1. Detect the dust concentration, hazardous gas content, temperature and humidity, and light conditions of the on-site environment through the laser dust sensor (702), gas sensor (701), and illuminance temperature and humidity sensor (703); S2. When the lighting conditions are good and there is no dust environment, that is, the light intensity > 15 lx and the dust concentration < 2 mg / m 3 ³, the visible light camera (109) and the lidar (116) work. The visible light camera (109) is responsible for providing high-resolution color visual information, and the lidar (116) is used for obstacle detection; S3. When in a low-illumination and low-dust environment, i.e., the light intensity < 15 lx and the dust concentration < 2 mg / m 3 ³, the infrared camera (108) and the lidar (116) work. The infrared camera (108) rotates outward by 45° to obtain a wider field of view, thereby improving the perception ability of the surrounding environment; S4. When the dust concentration > 2 mg / m 3 , the visible light camera (109), two infrared cameras (108), and the lidar (116) work simultaneously. The two infrared cameras (108) are adjusted to be arranged in parallel, and the resolution and clarity of the image are improved through image fusion technology.

10. A visible light image enhancement algorithm for the intrinsically safe wireless charging bionic vision inspection system in coal mines described in claim 1, characterized in that, Using the Feature Pyramid Network, effective enhancement of low-light images is achieved by combining local context information and neural implicit representation at different scales; it specifically includes the following steps: S1. HSV decomposition: Convert the input visible light image from the RGB color space to the HSV color space, and separate the three components of Hue, Saturation, and Value; S2. Multi-scale feature extraction: Use the Feature Pyramid Network to extract context windows at different scales from the Value component. This window contains the luminance information of the local area around each pixel and is used to provide richer local environmental information. At the same time, extract the coordinate information of the image, which will be used in the MLP network to encode spatial information; S3. MLP network: Take the context windows and coordinate information at different scales as inputs and input them into the multi-layer perceptron network, i.e., the MLP network. The MLP network contains two branches. One branch processes the context window information to extract local luminance features; the other branch processes the coordinate information to encode spatial position features; The outputs of the two branches are merged in the later stage of the network to generate the final illumination component estimation; S4. Illumination fixed recovery: Use the output of the MLP network to adjust the Value component to enhance the brightness of the image; the formula used is as follows: Among them, is the estimated illumination component, P i is the feature map of the i-th layer of the Value component, f θ is the function of the MLP network; S5. S component enhancement: When the brightness component of the image is enhanced, the saturation of the image will be relatively low. To make the image more saturated, use an adaptive non-linear algorithm to stretch the S component of the image. The formula is as follows: S out = w·α·S in where S out and S in are the S components of the output and input respectively, and w is the normalized weight factor, and the calculation formula is as follows: Among them, V, V min , V max are respectively the brightness value of the current pixel and the minimum and maximum values of the image brightness; α is the gray-level mapping adjustment coefficient, and the calculation formula is as follows: Among them, mean(R, G, B), max(R, G, B), and min(R, G, B) are the average value, maximum value, and minimum value of the R, G, and B components of the corresponding pixel points of the image, respectively. S6. Composite image creation: Combine the enhanced Value component and Saturation component with the original Hue to form the final enhanced image; the formula is as follows: Among them, is the final Value component, D is the number of layers of the Feature Pyramid Network, and ⊙ represents element-wise multiplication; S7. Zero-shot training: By defining the total loss function L total to train the model, which includes the spatial consistency loss L spa , the exposure control loss L exp and the illumination smoothing loss L s ; The formula for the total loss function is as follows: L total = w1L spa + w2L exp + w3L s Among them, w1, w2, and w3 are the weights of the loss; the definitions of the loss functions in the total loss function are as follows: Fidelity loss L f The mean squared error MSE is used to maintain pixel-level consistency between the estimated illumination component and the low-light observation; Spatial consistency loss L spa The spatial consistency of the enhanced image is obtained by maintaining the difference between adjacent regions between the input image and its enhanced image. The formula is as follows: Among them, M is the total number of pixels in the image. Exposure loss L exp Measures the distance between the average intensity value of a local area and the appropriate exposure level E, and the formula is as follows: Among them, M is the number of non-overlapping local regions, and Y is the average intensity value of the local regions in the enhanced image; Illumination smoothing loss L s Enforced by total variation TV, the formula is as follows: Among them, and represent vertical and horizontal gradient operations respectively, and D represents the number of channels of the feature extraction network.

Images