A snake-like robot and a cave exploration method based on the snake-like robot

Abstract

This invention discloses a snake-like robot and a cave exploration method based on the snake-like robot. The snake-like robot includes: multiple main body devices, multiple steering devices, a power drive device, and a remote control device. The multiple main body devices and multiple steering devices are staggered, and each steering device is rotatably connected to a main body device at both ends, forming the snake-like main body of the robot. The power drive device is communicatively connected to the remote control device and is used to receive motion commands sent by the remote control device and control the movement of the snake-like main body according to the motion commands. The remote control device is communicatively connected to the snake-like main body and is used to send data acquisition commands to the snake-like main body, control the snake-like main body to perform environmental exploration, and receive environmental exploration data returned by the snake-like main body. This invention solves the technical problems in the prior art where robots have difficulty entering and locating themselves in complex cave environments and can stably and efficiently carry out surrounding environment exploration tasks.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a snake-like robot and a cave exploration method based on the snake-like robot. Background Technology

[0002] The demand for robots is growing in various applications, such as searching for survivors in earthquake wreckage, inspecting for hazardous gas leaks in industrial plant pipelines, fighting fires in tunnels, and exploring and analyzing deep underground spaces. Traditional robots, limited by their design, cannot perform exploration tasks in complex environments. In contrast, snake-like robots are multi-degree-of-freedom continuum robots with a more slender body and higher degrees of freedom. They are designed based on the structure and movement characteristics of biological organisms, drawing on the advantages of creatures like snakes and octopus tentacles. Because they possess the spinal structure of snakes, they have a strong ability to maintain their configuration and resist external disturbances. Furthermore, they can perform a variety of movements, resulting in greater flexibility and environmental adaptability. This structural performance allows them to be well-suited for applications in highly confined spaces or environments with numerous obstacles, such as deep underground space exploration using drilling wells.

[0003] However, while the high degree of redundancy in freedom brings snake-like robots greater dexterity and convenience (such as the ability to flexibly perform multi-angle turning and detection analysis in caves), it also makes the motion control and positioning of snake-like robots extremely complex. Furthermore, due to the complexity, unknown nature, and invisibility of the high-temperature, high-pressure environment of caves / underground spaces, snake-like robots are unable to perform self-positioning and reliably and efficiently carry out perimeter environmental detection and analysis tasks after entering the designated area of ​​the casing well. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a snake-like robot that solves the technical problem in the prior art that robots have difficulty entering and locating themselves in complex pipe casings, wells, or cave environments, as well as stably and efficiently carrying out surrounding environment exploration tasks.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a snake-like robot, comprising: multiple main components, multiple steering mechanisms, a power drive mechanism, and a remote control mechanism; wherein:

[0007] The multiple main bodies and multiple steering devices are staggered, and each steering device can be rotatably connected to one of the main bodies at both ends, forming the serpentine body of the robot.

[0008] The power drive device is communicatively connected to the remote control device, and is used to receive motion commands sent by the remote control device, and control the movement of the serpentine body according to the motion commands;

[0009] The remote control device is communicatively connected to the snake-shaped main body and is used to send data acquisition commands to the snake-shaped main body, control the snake-shaped main body to perform environmental detection, and receive environmental detection data returned by the snake-shaped main body.

[0010] In some embodiments, a communication control device is also included, which is used to establish a communication connection between the serpentine body and the remote control device;

[0011] The communication control device includes a real-time communication control module, a communication data backup module, and an optical fiber.

[0012] The optical fiber is distributed along the length of the serpentine body and connected to multiple body devices;

[0013] The real-time communication control module is used to acquire environmental detection data sent by the multiple main devices through the optical fiber;

[0014] The communication data backup module is connected to the real-time communication control module and is used to store the environmental detection data.

[0015] In some embodiments, the power drive device includes an air source auxiliary module, a swimming control module, and an air pipe;

[0016] The air source auxiliary module is communicatively connected to the remote control device and is used to provide a pneumatic power source based on the motion commands sent by the remote control device.

[0017] The swimming control module is used to control the jet volume and jet direction of the air tube according to the motion command;

[0018] The trachea includes a main trachea and multiple trachea branches. The multiple trachea branches are distributed along the length of the main trachea and are connected to the main trachea. One end of the main trachea is connected to the air source auxiliary module. The main trachea is distributed along the length of the serpentine main body, and each of the trachea branches is connected to the corresponding main body device.

[0019] In some embodiments, the swimming control module includes a first high-pressure air outlet, a second high-pressure air outlet, a third high-pressure air outlet, an attitude adjustment control unit, and a braking unit;

[0020] The first high-pressure air outlet, the second high-pressure air outlet, and the third high-pressure air outlet are arranged in a ring shape. The first high-pressure air outlet, the second high-pressure air outlet, and the third high-pressure air outlet are all connected to the main pipeline through the corresponding air pipe branch.

[0021] The attitude adjustment control unit is used to control the air output of the first high-pressure air outlet, the second high-pressure air outlet and the third high-pressure air outlet based on the motion command.

[0022] The braking unit is used to control the opening and closing of the airway based on the motion command.

[0023] In some embodiments, the snake-like robot further includes a tail data transfer device, an acoustic wave detection and positioning device, a sonar detection device, and an acoustic wave imaging detection device, wherein the tail data transfer device, the acoustic wave detection and positioning device, the sonar detection device, and the acoustic wave imaging detection device are sequentially and communicatively connected and are all connected to the optical fiber.

[0024] The tail data transfer device is communicatively connected to the remote control device and is used to filter and reduce noise in the detection data based on the data acquisition command, and to convert the detection data from electrical signals to digital signals and save them.

[0025] The acoustic wave detection and positioning device is used to detect acoustic wave data of the environment surrounding the cave based on the data acquisition command.

[0026] The sonar detection device is used to detect sonar data of the environment around the cave based on the data acquisition command.

[0027] The acoustic imaging detection device is used to obtain images of the environment around the cave through an acoustic imaging probe based on the data acquisition command.

[0028] In some embodiments, the communication control device, tail data transfer device, acoustic wave detection and positioning device, acoustic wave imaging detection device, sonar detection device, and swimming control module are respectively mounted on different main devices.

[0029] In some embodiments, the tail data transfer device includes a power supply module, a communication control and signal processing module, and a photoelectric conversion module, all of which are connected to the optical fiber.

[0030] The power supply module is communicatively connected to the remote control device and the communication control and signal processing module, and is used to provide power to the communication control and signal processing module based on the data acquisition command;

[0031] The communication control and signal processing module is connected to the remote control device and is used to filter and reduce noise in the detection data based on the data acquisition command.

[0032] The photoelectric conversion module is connected to the remote control device and is used to convert the detection data from electrical signals to digital signals based on the data acquisition command.

[0033] In some embodiments, the acoustic wave detection and positioning device includes at least three acoustic wave sensors and an acoustic wave detection control module. The at least three acoustic wave sensors are all communicatively connected to the acoustic wave detection control module. The at least three acoustic wave sensors are circumferentially distributed around the main body device on which they are mounted. The acoustic wave detection control module is connected to the remote control device for controlling the opening and closing of the acoustic wave sensors based on the data acquisition command.

[0034] In some embodiments, the acoustic imaging detection device includes a probe, an acoustic imaging detection control module, and an image data processing module;

[0035] The probe is installed at the end of the corresponding main device and is communicatively connected to the acoustic imaging detection and control module, used to acquire image information and transmit the acquired image information to the acoustic imaging detection and control module.

[0036] The acoustic imaging detection and control module is communicatively connected to the remote control device and is used to control the working status of the probe based on the data acquisition command.

[0037] The image data processing module is communicatively connected to the acoustic imaging detection and control module, and is used to filter and amplify the image information and transmit the processed result to the communication control device through the optical fiber.

[0038] Secondly, the present invention also provides a cave exploration method based on a snake-like robot, applied to any of the snake-like robots described above, the method comprising:

[0039] Using the traction provided by the optical fiber and the air tube, the snake-like robot is lowered into the cave to be inspected.

[0040] The acoustic wave detection and positioning device is used to acquire acoustic wave data of the environment around the cave, and the acoustic wave data is filtered, amplified and converted into digital data according to the communication control device and the tail data transfer device to obtain the positioning information of the snake-like robot itself, the length information of the optical fiber and the length information of the trachea.

[0041] Based on the positioning information, an acoustic imaging detection device is used to acquire images of the surrounding environment.

[0042] The snake-like robot is driven by a remote control device that controls the power drive unit.

[0043] Based on the surrounding environment image, the fiber optic length information, and the trachea length information, the surrounding environment is detected by the sonar detection device to obtain surrounding environment information;

[0044] Based on the surrounding environmental information, the cavity shape and cavern capacity of the cave are obtained.

[0045] Compared with existing technologies, the present invention provides a snake-like robot and a cave exploration method based on the snake-like robot. The main body of the snake-like robot is formed by connecting the main body through multiple steering devices. The staggered distribution of the steering devices and the main body can meet the movement conditions of the snake-like robot in complex cave environments. At the same time, a remote control device is used to communicate with the power drive device to drive the snake-like main body to move in the cave and explore the surrounding environment to obtain exploration data. The exploration data collected by the snake-like main body is transmitted to the remote control device for analysis and processing to obtain the internal environment of the cave, thus realizing the task of exploring the cave environment using a snake-like robot. Attached Figure Description

[0046] Figure 1 This is a structural diagram of an embodiment of the snake-like robot provided by the present invention;

[0047] Figure 2 This is a schematic diagram of an embodiment of the communication control device in the snake-like robot provided by the present invention;

[0048] Figure 3 This is a schematic diagram of an embodiment of the power drive device in the snake-like robot provided by the present invention;

[0049] Figure 4 This is a schematic diagram of an embodiment of the air source auxiliary module in the snake-like robot provided by the present invention;

[0050] Figure 5 This is a schematic diagram of an embodiment of the swimming control module in the snake-like robot provided by the present invention;

[0051] Figure 6 This is a schematic diagram of an embodiment of the three-dimensional and planar distribution of high-pressure air outlets in the snake-like robot provided by the present invention;

[0052] Figure 7 This is a schematic diagram of an embodiment of the tail data transfer device in the snake-like robot provided by the present invention;

[0053] Figure 8 This is a flowchart of an embodiment of the cave exploration method based on a snake-like robot provided by the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0055] To address the most challenging and complex cave exploration environments, and considering the limitations of existing technologies, a snake-like robot employing a combined pneumatic-electric braking system, combined with bionics and artificial intelligence, is proposed for cave exploration. The underground portion of the snake-like robot adopts a multi-segmented worm structure and a bionic snake shape, utilizing bionics and machine learning models to brake multiple underground components. Since the robot primarily faces deep, complex, and unknown underground caves, and access is via drilling casing, its space is limited. Therefore, it is lowered into the designated area under the traction of the drilling rig and casing, and connected for braking and detection analysis via a composite hose composed of air tubes and optical fibers. The air tubes provide the snake-like robot with forward propulsion, basic positioning power, attitude adjustment power, and other auxiliary power; the optical fibers, through their respective photoelectric conversion devices, enable real-time communication between the surface and underground, signal control, and rapid data transfer; and the robot's onboard battery controls the multiple air tube outlets and the control center of each segment module for attitude adjustment and sensor detection analysis. During the exchange of data with multiple detection sensors, the snake-like robot continuously adjusts its posture and saves and uploads the detection data to a ground-based display and storage system. Utilizing several relatively mature basic acoustic, optical, and electronic modules, the cave snake-like biomimetic robot achieves exploration and perception of the cave's perimeter environment and the detection, analysis, and storage of boundary signals at a relatively low cost. This provides a good detection and perception approach for cave exploration in complex underground environments with high temperatures and pressures.

[0056] This invention provides a snake-like robot; please refer to [link / reference]. Figure 1 It includes: multiple main components 1, multiple steering devices 2, power drive devices 3, and remote control devices 4; wherein:

[0057] The multiple main body devices 1 and multiple steering devices 2 are staggered, and each steering device 2 can be rotatably connected to a main body device 1 at both ends, forming the serpentine body of the robot.

[0058] The power drive device 3 is communicatively connected to the remote control device 4, and is used to receive motion commands sent by the remote control device 4, and control the movement of the serpentine body according to the motion commands;

[0059] The remote control device 4 is communicatively connected to the snake-shaped main body and is used to send data acquisition commands to the snake-shaped main body, control the snake-shaped main body to perform environmental detection, and receive environmental detection data returned by the snake-shaped main body.

[0060] In this embodiment, the main body of the snake robot is formed by connecting multiple steering devices. The staggered distribution of the steering devices and the main body can meet the movement conditions of the snake robot in complex cave environments. At the same time, a remote control device is used to communicate with the power drive device to drive the snake body to move in the cave and detect the surrounding environment to obtain detection data. The detection data collected by the snake body is transmitted to the remote control device for analysis and processing to obtain the internal environment of the cave, thus realizing the task of using a snake robot to detect the cave environment.

[0061] It should be noted that the steering device 2 is capable of changing the relative position of the main body device 1 connected to its two ends. Specifically, the steering device 2 can be a ball joint structure, a universal wheel structure, a universal coupling, or a universal chuck. In this embodiment, the steering device 2 is a universal chuck structure, and the two ends of the universal chuck are respectively connected to two adjacent main body devices 1.

[0062] It should be noted that the snake-like robot consists of multiple main components 1, each of which is relatively independently controlled, detachable, and replaceable without affecting each other. The number of each main component 1 can be increased or decreased according to the needs of the actual exploration project. The overall structure is relatively simple, easy to control, and relatively low in cost. If the overall cost of the snake-like robot is not high, multiple underground main components 1 can be designed as disposable for each deep cave exploration, meaning they can be discarded after use. The shape and size of the main component 1 determine the appearance and size of the snake-like robot. In this embodiment, the main component 1 is cylindrical, and its diameter can be appropriately adjusted according to the needs of the actual drilling exploration project. The adjustment is based on facilitating the snake-like robot's entry and exit from deep underground caves or drilling casings and their deep spaces for exploration and analysis. In one specific embodiment, in order to facilitate the snake-like robot to enter and exit the well casing with a borehole diameter of about 120mm, the diameter of the cylindrical surface of a single main body device 1 after approximating a cylinder does not exceed 110mm; since the longer the single main body device 1 is, the less flexible its motion control becomes, in order to facilitate the motion control of the snake-like robot, the external length / height of a single main body device 1 is controlled within 300mm as much as possible.

[0063] Furthermore, the control circuit unit inside the individual main unit 1 is sealed, and the periphery is covered with waterproof and anti-corrosion adhesive.

[0064] In some embodiments, please refer to Figure 2It also includes a communication control device 5, which is used to establish a communication connection between the serpentine body a and the remote control device 4;

[0065] The communication control device 5 includes a real-time communication control module 51, a communication data backup module 52, and an optical fiber 53.

[0066] The optical fiber 53 is distributed along the length direction of the serpentine body a and is connected to the plurality of the main body devices 1;

[0067] The real-time communication control module 51 is used to acquire environmental detection data sent by the plurality of main devices 1 through the optical fiber 53.

[0068] The communication data backup module 52 is communicatively connected to the real-time communication control module 51 and is used to store the environmental detection data.

[0069] In this embodiment, the communication control device 5 is used for data transmission and signal transmission of the entire system. The communication control device 5 also carries a backup battery. The backup battery is electrically connected to the real-time communication control module 51 and the communication data backup module 52. The real-time communication control module 51 is used to control the extraction or dissemination of signals transmitted by the optical fiber 53, thereby transmitting effective detection data to the remote control device 4.

[0070] It should be noted that optical fiber, as a signal transmission carrier, possesses transmission stability in deep caves and also serves as a traction device when the snake-like robot ventures deep into the cave. The optical fiber connects the remote control device 4, the power drive device 3, and multiple main components 1.

[0071] In some embodiments, please refer to Figure 3 and Figure 4 The power drive device 3 includes an air source auxiliary module 31, a swimming control module 32, and an air pipe 33;

[0072] The air source auxiliary module 31 is communicatively connected to the remote control device 4 and is used to provide a pneumatic power source based on the motion command sent by the remote control device 4.

[0073] The swimming control module 32 is used to control the jet volume and jet direction of the air pipe 33 according to the motion command;

[0074] The trachea 33 includes a main trachea and multiple trachea branches. The multiple trachea branches are distributed along the length of the main trachea and are connected to the main trachea. One end of the main trachea is connected to the air source auxiliary module 31. The main trachea is distributed along the length of the serpentine body a, and each of the trachea branches is connected to the corresponding main body device 1.

[0075] In this embodiment, the gas source auxiliary module 31 includes a high-pressure gas cylinder or gas station pipeline, a pressure reducing valve, a regulated power supply, and its control switch. The main function of the pressure valve is to control the gas pressure coming out of the high-pressure gas cylinder or the gas station pipeline, facilitating the control of the high-pressure gas pressure and its flow rate. Specifically, the remote control device 4 controls the opening and closing of its control switch.

[0076] It should be noted that a high-pressure air source can be replaced by a high-pressure water source, that is, the air pipe becomes a high-pressure water pipe / water gun, and the high-pressure air cylinder becomes a corresponding high-pressure water jet device.

[0077] Specifically, by setting the swimming control module 32 to control the movement direction and speed of the snake-shaped main body a, the movement ability and stability of the snake-shaped main body in deep caves can be further improved.

[0078] Furthermore, the air tube 33 and optical fiber 53 can be fixedly connected to the serpentine body via slots or clips, or the portions of the air tube 33 and optical fiber 53 at both ends of the serpentine body can be fixed to the solid structure of the serpentine body. The fixing method for other portions depends on the number and position of the modules mounted on the serpentine body. Figure 1 As shown, the air tube 33 and optical fiber 53 are fixedly connected to the serpentine body at both ends. Furthermore, the air tube 33 and optical fiber 53 are cabled together. Figure 1 This only shows the overall structure of the fiber optic cable and air duct after cabling, as well as the structure of the air duct branch tubes. For some embodiments, please refer to... Figure 5 and Figure 6 The swimming control module 32 includes a first high-pressure air outlet 32a, a second high-pressure air outlet 32b, a third high-pressure air outlet 32c, an attitude adjustment control unit 32d, and a braking unit 32e.

[0079] The first high-pressure air outlet, the second high-pressure air outlet, and the third high-pressure air outlet are arranged in a ring shape. The first high-pressure air outlet, the second high-pressure air outlet, and the third high-pressure air outlet are all connected to the main pipeline through the corresponding air pipe branch.

[0080] The attitude adjustment control unit is used to control the air output of the first high-pressure air outlet, the second high-pressure air outlet and the third high-pressure air outlet based on the motion command.

[0081] The braking unit is used to control the opening and closing of the airway based on the motion command.

[0082] In this embodiment, three high-pressure air outlets are arranged circumferentially on the main body. First, the braking unit receives motion commands sent by the remote control device to control the opening and closing of the three high-pressure air outlets. Then, the attitude adjustment control unit receives motion commands sent by the remote control device to control the air volume and direction of the high-pressure air outlets. When the air volume in the three directions is different, the head direction of the swimming control module will deflect, thereby causing the direction of the main body it carries to deflect, thus changing the movement direction of the snake-shaped main body a to adapt to the actual environment in the cave. When the air direction in the three directions is different, the snake-shaped main body can move forward or backward according to the change in the air jet direction.

[0083] It should be noted that the number of high-pressure air outlets and their corresponding air outlet directions can be set according to actual needs. In this embodiment, the three high-pressure air outlets are circumferentially distributed with the cylindrical main body device, and the three air outlets are all spaced 120° apart from each other.

[0084] In some embodiments, please refer to Figure 1 The snake-like robot also includes a tail data transfer device 6, an acoustic wave detection and positioning device 7, a sonar detection device 8, and an acoustic wave imaging detection device 9. The tail data transfer device 6, the acoustic wave detection and positioning device 7, the sonar detection device 8, and the acoustic wave imaging detection device 9 are sequentially connected in communication and are all connected to the optical fiber.

[0085] The tail data transfer device 6 is communicatively connected to the remote control device 4 and is used to filter and reduce noise on the detection data based on the data acquisition command, and to convert the detection data from electrical signals to digital signals and save it.

[0086] The acoustic wave detection and positioning device 7 is used to detect acoustic wave data of the environment around the cave based on the data acquisition command.

[0087] The sonar detection device 8 is used to detect sonar data of the environment around the cave based on the data acquisition command.

[0088] The acoustic imaging detection device 9 is used to obtain images of the surrounding environment of the cave through the acoustic imaging probe based on the data acquisition command.

[0089] In this embodiment, when the snake-shaped body conducts data exploration of the cave, the position of the snake-shaped body is first defined and located by the acoustic wave detection and positioning device. Then, the sonar detection device 8 is used to obtain the sonar signal of the cave and the acoustic wave imaging detection device 9 is used to obtain the image of the cave to obtain real-time scene information. Finally, the detected data is filtered, denoised, and converted from electrical signal to digital signal by the tail data transfer and saved. The processed signal is then sent to the remote control device 4 for analysis and processing to obtain real-time cave environment analysis results.

[0090] It should be noted that the connections between the various electrical units are wrapped into cables by a sheathing layer and distributed on the outer surface of the serpentine body, such as... Figure 1 The spiral distribution on the outer surface of the serpentine main body shown represents the electrical unit connections for cabling.

[0091] In some embodiments, the communication control device, tail data transfer device, acoustic wave detection and positioning device, acoustic wave imaging detection device, sonar detection device, and swimming control module are respectively mounted on different main devices.

[0092] In this embodiment, to avoid the bulky snake-like main structure caused by the centralized distribution of multiple electrical detection devices, and to facilitate the laying of optical fibers and air tubes, the communication control device, tail data transfer device, acoustic wave detection and positioning device, acoustic wave imaging detection device, sonar detection device and swimming control module are respectively mounted on different main devices.

[0093] In some embodiments, please refer to Figure 7 The tail data transfer device 6 includes a power supply module 61, a communication control and signal processing module 62, and a photoelectric conversion module 63. The power supply module 61, the communication control and signal processing module 62, and the photoelectric conversion module 63 are all connected to the optical fiber 53.

[0094] The power supply module is communicatively connected to the remote control device and the communication control and signal processing module, and is used to provide power to the communication control and signal processing module based on the data acquisition command;

[0095] The communication control and signal processing module is connected to the remote control device and is used to filter and reduce noise in the detection data based on the data acquisition command.

[0096] The photoelectric conversion module is connected to the remote control device and is used to convert the detection data from electrical signals to digital signals based on the data acquisition command.

[0097] In this embodiment, the tail data transfer device also includes a tail snap-fit ​​sealing and fixing component, which is mainly used to solve the sealing connection between the "air tube and fiber optic composite hose" and the "tail data transfer unit" and the fixing problem between the serpentine body and the composite hose. The battery power supply module is responsible for powering the multiple underground segment modules. The communication control and signal processing module is mainly responsible for the control, analysis, data processing and allocation of the control unit.

[0098] In some embodiments, the acoustic wave detection and positioning device includes at least three acoustic wave sensing and acoustic wave detection control modules. The at least three acoustic wave sensors are all communicatively connected to the acoustic wave detection control module. The at least three acoustic wave sensors are distributed circumferentially around the main body device on which they are mounted. The acoustic wave detection control module is connected to the remote control device for controlling the opening and closing of the acoustic wave sensors based on the data acquisition command.

[0099] In this embodiment, the acoustic detection and positioning device is used to obtain the position of the snake-shaped body in the cave and to locate the snake-shaped body. On the one hand, it can guide the snake-shaped body to reach the designated position to start working. On the other hand, by updating the positioning of the snake-shaped body in real time, it is easy to match the data collected by the snake-shaped body during its movement with the specific location of the cave.

[0100] It should be noted that by distributing three acoustic sensors circumferentially around the main body of the device, it is possible to collect signals around the circumference of the serpentine main body, thereby obtaining complete cave information.

[0101] In some embodiments, the acoustic imaging detection device includes a probe, an acoustic imaging detection control module, and an image data processing module;

[0102] The probe is installed at the end of the corresponding main device and is communicatively connected to the acoustic imaging detection and control module, used to acquire image information and transmit the acquired image information to the acoustic imaging detection and control module.

[0103] The acoustic imaging detection and control module is communicatively connected to the remote control device and is used to control the working status of the probe based on the data acquisition command.

[0104] The image data processing module is communicatively connected to the acoustic imaging detection and control module, and is used to filter and amplify the image information and transmit the processed result to the communication control device through the optical fiber.

[0105] In this embodiment, the forward-facing acoustic imaging probe and the image data processing module provide the underground robot with "eyes" to indicate its direction of movement, enabling efficient obstacle avoidance and forward movement. The acoustic imaging detection device is mainly responsible for the control and resource allocation of multi-frequency acoustic wave imaging detection and visualization data analysis. In the absence of water or in clean water, the forward-facing acoustic imaging probe can be replaced with other visualization detection modules such as a high-definition camera.

[0106] It should be noted that in explored deep caves, acoustic imaging detection devices are not necessarily required; in unknown caves without water or with clear water, forward acoustic imaging probes can be replaced with more efficient high-definition cameras and light source modules.

[0107] Based on the aforementioned snake-like robot, this invention also provides a cave exploration method using a snake-like robot. Please refer to [link to relevant documentation]. Figure 8 The methods include:

[0108] S801. Based on the traction of the optical fiber and the air tube, the snake-like robot is lowered into the cave to be inspected;

[0109] S802. The acoustic wave detection and positioning device is used to acquire acoustic wave data of the environment around the cave, and the acoustic wave data is filtered, amplified and converted into digital data according to the communication control device and the tail data transfer device to obtain the positioning information of the snake-like robot itself, the length information of the optical fiber and the length information of the trachea.

[0110] S803. Based on the positioning information, an acoustic imaging detection device is used to acquire images of the surrounding environment;

[0111] S804. The power drive device is controlled by a remote control device to drive the snake-like robot to move.

[0112] S805. Based on the surrounding environment image, the fiber optic length information, and the trachea length information, the surrounding environment is detected by the sonar detection device to obtain surrounding environment information;

[0113] S806. Based on the surrounding environment information, obtain the cavity shape and cavern capacity of the cave.

[0114] In this embodiment, the snake-like robot's work includes salt cavern wells in complex high-temperature and high-pressure environments, or connecting areas (connecting wells) between two adjacent wells, or deep turbid water bodies or underground spaces, or deep oil and gas wells and their horizontal wells, or deep chambers or underground spaces that can be entered through a relatively loose tunnel or opening, where there are impassable areas or water-filled areas, and the internal structure of deep caves is complex and there are many restricted risk areas, or deep water bodies or abysses with a certain risk factor that have not yet been explored by explorers, with complex internal structures and many restricted areas, or high and low risk areas in unstructured complex environments in geological exploration and multiple nuclear industry, aerospace industry, medical emergency, reconnaissance and search and rescue, marine exploration, planetary exploration, equipment maintenance and other related fields, as well as in highly restricted spaces or environments with multiple obstacles.

[0115] The snake-like robot is lowered into the cave to be inspected by traction based on the optical fiber and the trachea. Then, the acoustic detection and positioning device acquires acoustic data of the surrounding environment of the cave, and the acoustic data is filtered, amplified, and converted from digital to electronic format by the communication control device and the tail data transfer device to obtain the positioning information of the snake-like robot itself, the length information of the optical fiber, and the length information of the trachea. Based on the positioning information, an acoustic imaging detection device acquires images of the surrounding environment. The power drive device is then controlled by a remote control device to drive the snake-like robot. Subsequently, based on the surrounding environment images, the length information of the optical fiber, and the length information of the trachea, the sonar detection device detects the surrounding environment to obtain surrounding environment information. Finally, based on the surrounding environment information, the shape of the cave cavity, the capacity of the cavern cavity, preliminary exploration and morphological analysis of unknown areas of underground space, and the completion of deep water geological exploration and boundary detection are obtained.

[0116] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a memory, magnetic disk, optical disk, etc.

[0117] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A snake-like robot, characterized by, The application relates to a snake-shaped robot. The snake-shaped robot comprises a plurality of body devices, a plurality of turning devices, a power driving device and a remote control device. The plurality of body devices are staggered with the plurality of turning devices, and the head and tail ends of each turning device are rotatably connected with one body device to form a snake-shaped body of the robot. The power driving device is in communication connection with the remote control device, and is used for receiving a motion instruction sent by the remote control device and controlling the motion of the snake-shaped body according to the motion instruction. The remote control device is in communication connection with the snake-shaped body, and is used for sending a data acquisition instruction to the snake-shaped body, controlling the snake-shaped body to detect the environment, and receiving the environment detection data returned by the snake-shaped body. A communication control device is used for establishing a communication connection between the snake-shaped body and the remote control device. The communication control device comprises a real-time communication control module, a communication data backup module and an optical fiber. The optical fiber is distributed along the length direction of the snake-shaped body and is connected with the plurality of body devices. The real-time communication control module is used for acquiring the environment detection data sent by the plurality of body devices through the optical fiber. The communication data backup module is in communication connection with the real-time communication control module and is used for storing the environment detection data. The power driving device comprises a gas source auxiliary module, a swimming control module and a gas pipe. The gas source auxiliary module is in communication connection with the remote control device and is used for providing a gas power source based on the motion instruction sent by the remote control device. The swimming control module is used for controlling the jetting amount and direction of the gas pipe according to the motion instruction. The gas pipe comprises a main pipe and a plurality of gas pipe branch pipes, the plurality of gas pipe branch pipes are distributed along the length direction of the main pipe and are in communication with the main pipe, one end of the main pipe is in communication with the gas source auxiliary module, the main pipe is distributed along the length direction of the snake-shaped body, and each gas pipe branch pipe is in communication with a corresponding body device. The swimming control module comprises a first high-pressure gas outlet, a second high-pressure gas outlet, a third high-pressure gas outlet, a posture adjustment control unit and a brake unit. The gas outlet directions of the first high-pressure gas outlet, the second high-pressure gas outlet and the third high-pressure gas outlet are annularly distributed, and the first high-pressure gas outlet, the second high-pressure gas outlet and the third high-pressure gas outlet are all in communication with the main pipe through corresponding gas pipe branch pipes. The posture adjustment control unit is used for controlling the gas outlet amount of the first high-pressure gas outlet, the second high-pressure gas outlet and the third high-pressure gas outlet based on the motion instruction. The brake unit is used for controlling the opening and closing of the gas pipe based on the motion instruction.

2. The snake-like robot according to claim 1, wherein The snake-shaped robot further comprises a tail data transfer device, a sound wave detection positioning device, a sonar detection device and a sound wave imaging detection device, and the tail data transfer device, the sound wave detection positioning device, the sonar detection device and the sound wave imaging detection device are sequentially in communication connection and are all connected with the optical fiber. The tail data storage device is in communication connection with the remote control device, and is configured to filter and denoise the detection data, and convert the detection data from electrical signal to digital signal and save, based on the data acquisition instruction; The sound wave detection and positioning device is configured to detect sound wave data of the environment around the cave based on the data acquisition instruction; The sonar detection device is configured to detect sonar data of the environment around the cave based on the data acquisition instruction; The sound wave imaging detection device is configured to obtain an image of the environment around the cave by a sound wave imaging probe based on the data acquisition instruction.

3. The snake-like robot according to claim 2, wherein The communication control device, the tail data storage device, the sound wave detection and positioning device, the sound wave imaging detection device, the sonar detection device and the swimming control module are respectively carried on different main body devices.

4. The snake-like robot according to claim 3, wherein The tail data storage device comprises a power supply module, a communication control and signal processing module and an optoelectronic conversion module, and the power supply module, the communication control and signal processing module and the optoelectronic conversion module are all connected with the optical fiber; The power supply module is in communication connection with the remote control device and the communication control and signal processing module, and is configured to provide electrical energy for the communication control and signal processing module based on the data acquisition instruction; The communication control and signal processing module is connected with the remote control device, and is configured to filter and denoise the detection data based on the data acquisition instruction; The optoelectronic conversion module is connected with the remote control device, and is configured to convert the detection data from electrical signal to digital signal based on the data acquisition instruction.

5. The snake-like robot according to claim 3, wherein The sound wave detection and positioning device comprises at least three sound wave sensors and a sound wave detection control module, the at least three sound wave sensors are all in communication connection with the sound wave detection control module, the at least three sound wave sensors are distributed around the circumference of the main body device on which they are carried, and the sound wave detection control module is connected with the remote control device and is configured to control the opening and closing of the sound wave sensors based on the data acquisition instruction.

6. The snake-like robot according to claim 3, wherein The sound wave imaging detection device comprises a probe, a sound wave imaging detection control module and an image data processing module; The probe is installed at the end of the corresponding main body device and is in communication connection with the sound wave imaging detection control module, and is configured to collect image information and transmit the collected image information to the sound wave imaging detection control module; The sound wave imaging detection control module is in communication connection with the remote control device, and is configured to control the working state of the probe based on the data acquisition instruction; The image data processing module is in communication connection with the sound wave imaging detection control module, and is configured to filter and amplify the image information and transmit the processed result to the communication control device through the optical fiber.

7. A cave exploration method based on a snake-like robot, applied to the snake-like robot of any one of claims 2-6, characterized in that, The method comprises: Based on the traction of the optical fiber and the air duct, the snake-like robot is lowered into the cave to be detected; The sound wave detection and positioning device is used to obtain sound wave data of the environment around the cave, and the communication control device and the tail data storage device are used to filter, amplify and convert the sound wave data from electrical signal to digital signal, so as to obtain the positioning information of the snake-like robot itself, the length information of the optical fiber and the length information of the air duct; Based on the positioning information, an acoustic imaging detection device is used to acquire an image of the surrounding environment; The power driving device is controlled by a remote control device to drive the motion of the snake-like robot; According to the image of the surrounding environment, the fiber length information and the tracheal length information, the surrounding environment is detected by the sonar detection device to obtain surrounding environment information; According to the surrounding environment information, the cavity shape of the cave and the cave cavity storage capacity are obtained.

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