A multifunctional inspection robot device for a fully-mechanized coal mining face and a use method thereof

Abstract

The present application relates to the technical field of coal mine inspection, and particularly discloses a multifunctional inspection robot device for a fully-mechanized excavation face and a use method, which comprises a robot body rack, a servo manipulator grabbing system for obstacle cleaning is installed on the robot body rack, a hybrid manipulator and its end local perception subsystem and a robot body and its global perception subsystem for sensing information are installed on the robot body rack, a walking system for walking is installed at the bottom of the robot body rack, and an explosion-proof battery system for protecting a battery is also installed at the bottom of the robot body rack. The present application can realize walking in a complex environment of a fully-mechanized excavation face, obstacle cleaning and intelligent inspection operation of fully-mechanized equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine inspection, in particular to a multifunctional inspection robot device for fully-mechanized excavation face and a use method thereof. BACKGROUND

[0002] In recent years, with the continuous development of intelligent coal mines, the inspection operation demand in the coal mine has gradually shifted from simple scenes such as substations and transportation lanes to complex scenes of fully-mechanized excavation faces. Due to the complex and changeable environment of fully-mechanized excavation faces (high dust, low illumination, and high noise), safety accidents such as fires, floods, and gas explosions often occur. In addition, there are many fully-mechanized excavation equipment such as roadheaders, drilling and anchoring equipment, and belt conveyors, which leads to an increase in safety hazards and labor intensity of manual inspection operations, an increase in inspection difficulty, and a decrease in inspection efficiency. Therefore, in order to solve the above problems and promote the "few people" and "no people" of the inspection operation, the inspection robots represented by patents CN202123056021.X, CN202210984954.5, CN202310227236.8, CN202310057104.5, CN202310091719.X, and CN202310119185.7 are designed from the aspects of robot driving mode, information perception mode, and monitoring mode to realize the daily inspection of fully-mechanized excavation faces and improve the inspection efficiency to a certain extent. However, they still have the following defects:

[0003] Firstly, the existing inspection robots have poor multi-source information fusion perception ability and lack obstacle cleaning means, which are difficult to adapt to the complex operation conditions of the fully-mechanized excavation face of the coal mine with many equipment and limited space.

[0004] The existing inspection robots mainly use cameras, laser radars, and ultrasonic waves to obtain image, point cloud, and distance information. The sensors are independent of each other, and the multi-source information output is not fused and analyzed, which leads to a sharp decrease in monitoring accuracy or even monitoring failure of a single sensor when facing complex operation scenes such as coal mining, tunneling, and drilling and anchoring. In addition, the fully-mechanized excavation face is distributed with many large equipment such as roadheaders, drilling and anchoring equipment, and belt conveyors, which makes the walkable space in the tunnel limited. At the same time, during the tunneling, coal mining, and transportation processes, many large-sized coal gangue obstacles are easily generated, which makes it difficult for the existing inspection robots to walk long distances with only simple obstacle crossing mechanisms or obstacle avoidance means.

[0005] Secondly, the existing inspection robots have limited perception range and lack the perception linkage ability of the global information of the working face and the local information of the equipment, which leads to a large number of inspection blind areas of the robot, low inspection quality, and low efficiency.

[0006] Although the existing inspection robot is equipped with cameras, sound waves, temperature and humidity and other sensors for collecting images, sounds, infrared images, temperature and humidity, gas concentration and other information, these sensors are mostly scattered on the robot body itself, limited by the body structure, and can only perceive the surface information of the environment around the robot and the equipment outside, and it is difficult to perceive the internal information of the equipment that is blocked, resulting in a large number of inspection blind areas of the robot, which still needs to be supplemented by traditional manual inspection, and the lack of sensing linkage ability among the various sensors of the robot, making it difficult for the robot to deploy various sensors to collect and analyze information from the high-voltage motor, reducer and other key components of the equipment according to the global sensing information. SUMMARY

[0007] The purpose of the present application is to solve the problems existing in the prior art and provide a multifunctional inspection robot device for fully mechanized working face and a use method thereof.

[0008] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0009] A multifunctional inspection robot device for fully mechanized working face, comprising a robot body rack, a servo manipulator grabbing system for obstacle cleaning is installed on the robot body rack, a hybrid manipulator and its end local sensing subsystem and a robot body and its global sensing subsystem for sensing information are arranged on the robot body rack, a walking system for walking is installed at the bottom of the robot body rack, and an explosion-proof battery system for protecting the battery is also installed at the bottom of the robot body rack.

[0010] Preferably, the hybrid manipulator and its end local sensing subsystem comprise a hybrid manipulator fixed platform, a hybrid manipulator, and a flexible manipulator, the hybrid manipulator fixed platform is installed above the middle part of the robot body rack in the robot body and its global sensing subsystem, the hybrid manipulator is installed at the end of the output shaft of the series manipulator first drive unit in the hybrid manipulator fixed platform, and the flexible manipulator is installed at the end of the swing oil cylinder of the parallel posture adjusting mechanism in the hybrid manipulator.

[0011] Preferably, the hybrid manipulator fixed platform comprises a hybrid manipulator rotary table, a hybrid manipulator fixed base, and a hybrid manipulator power source, the hybrid manipulator rotary table is installed above the middle part of the robot body rack in the robot body and its global sensing subsystem, the hybrid manipulator fixed base is installed above the hybrid manipulator rotary table, and the hybrid manipulator power source is installed above the hybrid manipulator fixed base.

[0012] Preferably, the hybrid mechanical arm comprises a series mechanical arm first drive unit, a first series arm, a series mechanical arm second drive unit, a second drive joint, a second drive joint swing cylinder, a third drive joint, a series mechanical arm third drive unit, a six-axis parallel posture adjusting mechanism, and a parallel posture adjusting mechanism swing cylinder, the series mechanical arm first drive unit is installed on one side of the hybrid mechanical arm fixed base, the first series arm is installed on the shaft end of the series mechanical arm first drive unit, the series mechanical arm second drive unit is installed at the end of the first series arm, the second drive joint is installed at the two ends outside the series mechanical arm second drive unit, the second drive joint swing cylinder is installed at the bottom of the second drive joint, the third drive joint is installed below the second drive joint swing cylinder, the series mechanical arm third drive unit is installed at the two ends of the third drive joint, the six-axis parallel posture adjusting mechanism is installed inside the third drive joint, and the parallel posture adjusting mechanism swing cylinder is installed at the bottom of the six-axis parallel posture adjusting mechanism.

[0013] Preferably, the six-axis parallel posture adjusting mechanism comprises a parallel mechanism fixed base, a parallel mechanism drive cylinder, a spherical hinge connecting piece, and a parallel mechanism movable platform, the parallel mechanism fixed base is installed inside the series mechanical arm third drive unit, and six groups of the parallel mechanism drive cylinder are installed below the parallel mechanism fixed base and above the parallel mechanism movable platform through the spherical hinge connecting piece.

[0014] Preferably, the flexible mechanical arm comprises a flexible mechanical arm unit and a flexible mechanical arm end local perception subsystem, the flexible mechanical arm end local perception subsystem is installed at the tail of five groups of the flexible mechanical arm unit through the U-shaped connecting piece.

[0015] Preferably, the flexible mechanical arm unit comprises a U-shaped connecting piece, a flexible mechanical arm unit bidirectional drive motor, and a flexible mechanical arm unit shell, and the flexible mechanical arm end local perception subsystem comprises an acoustic wave sensor, a buzzer, a depth camera, a temperature and humidity sensor, a gas sensor, and a flexible mechanical arm end effector.

[0016] Preferably, the robot body and its global perception subsystem comprise an ultrasonic sensor, an industrial camera, and a laser radar, the ultrasonic sensor is fixedly installed in front of the head of the robot body rack, the industrial camera is fixedly installed in front of the head of the robot body rack, and the laser radar is fixedly installed at the tail of the robot body rack.

[0017] A use method of a multifunctional inspection robot for a fully-mechanized coal mining face, the method comprising the following steps:

[0018] Step one: in the walking operation state, the whole machine is driven by the walking system to run on the roadway floor with continuous slope change and ruggedness facing the fully-mechanized excavation working face;

[0019] Step two: in the inspection operation state, in the complex roadway environment of high dust, low illumination and thick fog on the fully-mechanized excavation working face, the sensing linkage mechanism of the flexible mechanical arm and its end local sensing subsystem and the robot body and its global sensing subsystem realizes all-around sensing operation on the external and internal information of the key components of various fully-mechanized excavation equipments, and completes the real-time inspection operation on the various equipments on the fully-mechanized excavation working face.

[0020] Step three: in the obstacle sensing and cleaning operation state, the three-dimensional modeling and positioning of the obstacle are first completed by the robot body and its global sensing subsystem, then the obstacle is grabbed and cleaned by the servo manipulator grabbing system, and finally the closed-loop operation from multi-source information fusion sensing to rapid decision control is realized.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] (1) The present application adopts a multi-source information fusion sensing system, which performs fusion sensing on the complex environment of high dust, uneven illumination and irregular distribution of various obstacles on the fully-mechanized excavation working face, and mobilizes the multi-degree-of-freedom servo manipulator and the end gripping hand for obstacle cleaning operation according to the sensing information, so as to realize the closed-loop operation from multi-source information fusion sensing to rapid decision control.

[0023] The robot performs dynamic sensing and point cloud construction on the three-dimensional environment of the roadway through the multi-source information fusion sensing system composed of a laser radar, an industrial camera and an ultrasonic sensor, so as to fuse and output the relative distance between the robot and various obstacles, the virtual model of the obstacle and the position coordinates of the robot, and mobilize the multi-degree-of-freedom servo manipulator and the end gripping hand to perform directional grabbing and cleaning of the large-sized obstacles on the roadway floor according to the above sensing information, so as to realize the closed-loop operation from multi-source information fusion sensing to rapid decision control, which is especially suitable for the complex operation conditions of mixed and irregular distribution of various obstacles on the fully-mechanized excavation working face.

[0024] (2) The present application adopts the global sensing subsystem of the robot body and the local sensing subsystem of the flexible arm end, which respectively performs all-around sensing on the operation state of the key components of the external and internal parts of the fully-mechanized excavation equipment, so as to form a sensing linkage system of "interconnection, intercommunication and accurate monitoring", and realize the real-time inspection operation on the roadheader, the drilling and anchoring equipment and the belt conveyor and other multi-equipment in the complex environment.

[0025] The robot adopts the laser radar and industrial camera of the global perception subsystem of the body, and the trajectory prediction, collision avoidance warning and other monitoring tasks are carried out on the working state of the key components outside the equipment (such as the cutting head state of the tunneling machine, the anchor rod drill state of the drilling and anchoring equipment, and the advance support shield state of the supporting equipment), and then the depth camera, temperature and humidity sensor, sound wave sensor and gas sensor of the local perception subsystem at the end of the flexible arm are used to perceive the three-dimensional image, temperature and humidity, sound and gas concentration and other local information inside the key components outside the corresponding equipment, and finally form a perception linkage system of "interconnection, accurate monitoring", and realize the real-time inspection operation of the tunneling machine, drilling and anchoring equipment and belt conveyor and other equipment in complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The overall structure schematic diagram of the application;

[0027] Figure 2 The servo mechanical hand grabbing system schematic diagram of the application;

[0028] Figure 3 The mixed mechanical arm and its end local perception subsystem schematic diagram of the application;

[0029] Figure 4 The mixed mechanical arm fixed platform schematic diagram of the application;

[0030] Figure 5 The mixed mechanical arm schematic diagram of the application;

[0031] Figure 6 The six-axis parallel posture adjusting mechanism schematic diagram of the application;

[0032] Figure 7 The flexible mechanical arm schematic diagram of the application;

[0033] Figure 8 The flexible mechanical arm unit schematic diagram of the application;

[0034] Figure 9 The flexible mechanical arm end local perception subsystem schematic diagram of the application;

[0035] Figure 10 The robot body and its global perception subsystem schematic diagram of the application;

[0036] Figure 11 The walking system schematic diagram of the application.

[0037] In the figure: 1, servo manipulator grabbing system; 2, hybrid manipulator and its end local perception subsystem; 3, robot body and its global perception subsystem; 4, walking system; 5, explosion-proof battery system; 1-1, rotating table; 1-2, large arm fixed bearing seat; 1-3, manipulator first servo motor; 1-4, manipulator large arm; 1-5, manipulator; 1-6, manipulator small arm; 1-7, manipulator second servo motor; 1-8, small arm fixed bearing seat; 2-1, hybrid manipulator fixed platform; 2-2, hybrid serial-parallel manipulator; 2-3, flexible manipulator; 3-1, robot body frame; 3-2, ultrasonic sensor; 3-3, industrial camera; 3-4, laser radar; 4-1, leg fixed connecting piece; 4-2, leg first servo motor; 4-3, leg rotating connecting piece; 4-4, leg second servo motor; 4-5, leg fixed support; 4-6, track wheel; 2-1-1, hybrid manipulator rotating table; 2-1-2, hybrid manipulator fixed base; 2-1-3, hybrid manipulator power source; 2-2-1, serial manipulator first level driving unit; 2-2-2, first level serial large arm; 2-2-3, serial manipulator second level driving unit; 2-2-4, second level driving joint; 2-2-5, second level driving joint swing oil cylinder; 2-2-6, third level driving joint; 2-2-7, serial manipulator third level driving unit; 2-2-8, six-axis parallel posture adjusting mechanism; 2-2-9, parallel posture adjusting mechanism swing oil cylinder; 2-3-1, flexible manipulator unit; 2-3-2, flexible manipulator end local perception subsystem; 2-2-8-1, parallel mechanism fixed base; 2-2-8-2, parallel mechanism driving cylinder; 2-2-8-3, spherical hinge connecting piece; 2-2-8-4, parallel mechanism movable platform; 2-3-1-1, U-shaped connecting piece; 2-3-1-2, flexible manipulator unit bidirectional driving motor; 2-3-1-3, flexible manipulator unit shell; 2-3-2-1, acoustic wave sensor; 2-3-2-2, buzzer; 2-3-2-3, depth camera; 2-3-2-4, temperature and humidity sensor; 2-3-2-5, gas sensor; 2-3-2-6, flexible manipulator end effector. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0039] Reference Figure 1The utility model provides a kind of multifunctional inspection robot of fully mechanized excavation face, including servo manipulator gripping system 1, mixed mechanical arm and its end local perception subsystem 2, robot body and its global perception subsystem 3, walking system 4, explosion-proof battery system 5, five parts in total;Servo manipulator gripping system 1 is fixedly installed in the robot body and its global perception subsystem 3 in the robot body rack 3-1 head above robot body;Mixed mechanical arm and its end local perception subsystem 2 are installed in the robot body and its global perception subsystem 3 in the robot body rack 3-1 middle above robot body;Walking system 4 is hinged in the robot body and its global perception subsystem 3 in the robot body rack 3-1 below four corners;Explosion-proof battery system 5 is fixedly installed in the robot body and its global perception subsystem 3 in the robot body rack 3-1 middle directly below, explosion-proof battery system 5 is mainly protective shell, and it is used to protect battery from collision and other damage.By walking system 4, the gravity center height of robot body rack 3-1 is adjusted in real time, to adapt to the continuous change of fully mechanized excavation face roadway slope and the complex road conditions of rugged uneven, especially suitable for fully mechanized excavation face large slope inclined roadway working condition;By servo manipulator gripping system 1 and the robot body and its global perception subsystem 3, realize from multi-source information fusion perception to the closed loop operation of quick decision control;By mixed mechanical arm and its end local perception subsystem 2 and the robot body and its global perception subsystem 3, respectively for the working condition of key components of the external and internal of fully mechanized equipment are perceived in all directions, to form the perception linkage mechanism of "interconnection, accurate monitoring", realize the real-time inspection operation of multiple equipments such as heading machine, drilling and anchoring equipment and belt conveyor under complex environment.

[0040] See Figure 2, the servo mechanical hand grabbing system 1 includes a rotating table 1-1, a large arm fixed bearing seat 1-2, a mechanical hand first servo motor 1-3, a mechanical arm large arm 1-4, a mechanical hand 1-5, a mechanical arm small arm 1-6, a mechanical hand second servo motor 1-7, and a small arm fixed bearing seat 1-8; the rotating table 1-1 is installed above the head of the robot body and the robot body rack 3-1 in the global perception subsystem 3 thereof; the large arm fixed bearing seat 1-2 is hinged above the rotating table 1-1; two groups of mechanical hand first servo motors 1-3 are fixedly installed on the left and right sides of the large arm fixed bearing seat 1-2; the mechanical arm large arm 1-4 is hinged above the middle part of the large arm fixed bearing seat 1-2; the small arm fixed bearing seat 1-8 is hinged above the mechanical arm large arm 1-4; a plurality of mechanical hand second servo motors 1-7 are fixedly installed behind the small arm fixed bearing seat 1-8; the mechanical arm small arm 1-6 is hinged in front of the small arm fixed bearing seat 1-8; and the mechanical hand 1-5 is hinged in front of the mechanical arm small arm 1-6. The servo mechanical hand grabbing system 1 fuses and perceives the complex environment of the fully-mechanized excavation face with high dust, uneven illumination, and irregular distribution of various obstacles through the robot body and the global perception subsystem 3 thereof, and mobilizes the multi-degree-of-freedom servo mechanical arm and the mechanical hand 1-5 to clean the obstacles according to the multi-source perception information, so as to realize the closed-loop operation from multi-source information fusion perception to rapid decision control.

[0041] Referring to Figure 3 , Figure 4 , the hybrid mechanical arm and the end local perception subsystem 2 thereof include a hybrid mechanical arm fixed platform 2-1, a hybrid mechanical arm 2-2, and a flexible mechanical arm 2-3; the hybrid mechanical arm fixed platform 2-1 is installed above the middle part of the robot body rack 3-1 in the robot body and the global perception subsystem 3 thereof; the hybrid mechanical arm 2-2 is installed at the output shaft end of the series mechanical arm first drive unit 2-2-1 in the hybrid mechanical arm fixed platform 2-1; and the flexible mechanical arm 2-3 is installed at the end of the parallel posture adjusting mechanism swing cylinder 2-2-9 in the hybrid mechanical arm 2-2. The hybrid mechanical arm fixed platform 2-1 includes a hybrid mechanical arm rotating table 2-1-1, a hybrid mechanical arm fixed base 2-1-2, and a hybrid mechanical arm power source 2-1-3; the hybrid mechanical arm rotating table 2-1-1 is installed above the middle part of the robot body rack 3-1 in the robot body and the global perception subsystem 3 thereof; the hybrid mechanical arm fixed base 2-1-2 is installed above the hybrid mechanical arm rotating table 2-1-1; and the hybrid mechanical arm power source 2-1-3 is installed above the hybrid mechanical arm fixed base 2-1-2. The hybrid mechanical arm and the end local perception subsystem 2 thereof can perceive the local information such as three-dimensional images, temperature and humidity, sound, and gas concentration inside the robot body and the global perception subsystem 3 thereof according to the perception information outside the key components of the equipment.

[0042] Referring to Figure 5 ,Figure 6 The hybrid serial-parallel manipulator 2-2 comprises a serial manipulator primary drive unit 2-2-1, a primary serial arm 2-2-2, a serial manipulator secondary drive unit 2-2-3, a secondary drive joint 2-2-4, a secondary drive joint swing cylinder 2-2-5, a tertiary drive joint 2-2-6, a serial manipulator tertiary drive unit 2-2-7, a six-axis parallel posture adjusting mechanism 2-2-8, and a parallel posture adjusting mechanism swing cylinder 2-2-9. The serial manipulator primary drive unit 2-2-1 is installed on one side of the hybrid manipulator fixed base 2-1-2. The primary serial arm 2-2-2 is installed on the shaft end of the serial manipulator primary drive unit 2-2-1. The serial manipulator secondary drive unit 2-2-3 is installed at the end of the primary serial arm 2-2-2. The secondary drive joint 2-2-4 is installed at both ends outside the serial manipulator secondary drive unit 2-2-3. The secondary drive joint swing cylinder 2-2-5 is installed at the bottom of the secondary drive joint 2-2-4. The tertiary drive joint 2-2-6 is installed below the secondary drive joint swing cylinder 2-2-5. The serial manipulator tertiary drive unit 2-2-7 is installed at both ends of the tertiary drive joint 2-2-6. The six-axis parallel posture adjusting mechanism 2-2-8 is installed inside the tertiary drive joint 2-2-6. The parallel posture adjusting mechanism swing cylinder 2-2-9 is installed at the bottom of the six-axis parallel posture adjusting mechanism 2-2-8. The six-axis parallel posture adjusting mechanism 2-2-8 comprises a parallel mechanism fixed base 2-2-8-1, a parallel mechanism drive cylinder 2-2-8-2, a spherical hinge connecting piece 2-2-8-3, and a parallel mechanism movable platform 2-2-8-4. The parallel mechanism fixed base 2-2-8-1 is installed inside the serial manipulator tertiary drive unit 2-2-7. The two ends of the six parallel mechanism drive cylinders 2-2-8-2 are respectively installed below the parallel mechanism fixed base 2-2-8-1 and above the parallel mechanism movable platform 2-2-8-4 through the spherical hinge connecting piece 2-2-8-3. The hybrid serial-parallel manipulator 2-2 drives the flexible manipulator 2-3 to quickly move from the initial station to the sensing operation station through the related components of the serial manipulator, and adjusts the position and posture of the flexible manipulator 2-3 through the six-axis parallel posture adjusting mechanism 2-2-8.

[0043] Referring to Figure 7 , Figure 8 , Figure 9, the flexible mechanical arm 2-3 includes a flexible mechanical arm unit 2-3-1, a flexible mechanical arm end local perception subsystem 2-3-2; the flexible mechanical arm end local perception subsystem 2-3-2 is installed at the tail of the five groups of flexible mechanical arm units 2-3-1 through a U-shaped connecting piece 2-3-1-1; wherein the flexible mechanical arm unit 2-3-1 includes a U-shaped connecting piece 2-3-1-1, a flexible mechanical arm unit bidirectional drive motor 2-3-1-2, a flexible mechanical arm unit shell 2-3-1-3; the flexible mechanical arm end local perception subsystem 2-3-2 includes a sound wave sensor 2-3-2-1, a buzzer 2-3-2-2, a depth camera 2-3-2-3, a temperature and humidity sensor 2-3-2-4, a gas sensor 2-3-2-5, a flexible mechanical arm end effector 2-3-2-6; the five groups of flexible mechanical arm units 2-3-1 are connected end to end through the U-shaped connecting piece 2-3-1-1; the five groups of flexible mechanical arm units 2-3-1 are installed at the lower end of the parallel posture adjusting mechanism swing cylinder 2-2-9 through the U-shaped connecting piece 2-3-1-1; the flexible mechanical arm unit shell 2-3-1-3 is installed outside the flexible mechanical arm unit bidirectional drive motor 2-3-1-2; the sound wave sensor 2-3-2-1, the buzzer 2-3-2-2, the temperature and humidity sensor 2-3-2-4 and the gas sensor 2-3-2-5 are fixedly installed inside the flexible mechanical arm end effector 2-3-2-6; the depth camera 2-3-2-3 is fixedly installed at the end of the flexible mechanical arm end effector 2-3-2-6. The sound wave sensor 2-3-2-1 is used to collect and analyze the sound signals in the running process of the key components of the equipment, the depth camera 2-3-2-3 is used to collect and analyze the three-dimensional entity information in the running process of the key components of the equipment, and the temperature and humidity sensor 2-3-2-4 is used to collect and analyze the temperature and humidity information and the flammable and explosive gas information in the running process of the key components of the equipment. The buzzer 2-3-2-2 gives an early warning for abnormal working conditions such as abnormal temperature and humidity, high concentration of dangerous gas, etc. The flexible mechanical arm 2-3, according to the perception information provided by the perception linkage system, through the cooperative control of the five groups of flexible mechanical arm units 2-3-1, drives the flexible mechanical arm end effector 2-3-2-6 to deeply penetrate into the key components of the fully-mechanized mining equipment, and comprehensively perceives the local information such as three-dimensional image, temperature and humidity, running sound wave and gas concentration.

[0044] See Figure 10The robot body and its global perception subsystem 3 include a robot body frame 3-1, an ultrasonic sensor 3-2, an industrial camera 3-3, and a laser radar 3-4; the ultrasonic sensor 3-2 is fixedly installed at the front of the head of the robot body frame 3-1; the industrial camera 3-3 is fixedly installed at the front of the head of the robot body frame 3-1; and the laser radar 3-4 is fixedly installed at the tail of the robot body frame 3-1. The ultrasonic sensor 3-2, the industrial camera 3-3, and the laser radar 3-4 synchronously detect multi-dimensional information such as the relative distance, shape, color, and position of a large obstacle. The robot body and its global perception subsystem 3 complete three-dimensional modeling and positioning for the obstacle by fusing multi-source perception information of the ultrasonic sensor 3-2, the industrial camera 3-3, and the laser radar 3-4, realize dynamic perception and point cloud construction of a three-dimensional environment of a roadway, and complete the monitoring task of external information of key components of equipment such as a roadheader cutting head, a roof bolter, and a forepoling shield.

[0045] Referring to Figure 11 The walking system 4 is composed of four track wheel support legs with the same structure, and one of the track wheel support legs is described in the present application, which includes a support leg fixed connecting piece 4-1, a support leg first servo motor 4-2, a support leg rotating connecting piece 4-3, a support leg second servo motor 4-4, a support leg fixed support 4-5, and a track wheel 4-6. The support leg fixed connecting piece 4-1 is connected with the robot body frame 3-1 through a bolt at one end and connected with the support leg first servo motor 4-2 at the other end. The support leg rotating connecting piece 4-3 is connected with the support leg fixed support 4-5 through a bolt. The support leg second servo motor 4-4 is connected with the inner side upper end of the support leg fixed support 4-5 through a bolt, and the track wheel 4-6 is connected with the inner side end of the support leg fixed support 4-5 through a bolt. The walking system 4 adopts a four-legged track mechanism, can adjust the gravity center height of the robot body frame 3-1 in real time by driving multiple sets of support leg rotating connecting pieces 4-3 through the support leg first servo motor 4-2 according to the terrain of a roadway bottom plate, so as to adapt to large slope inclined roadway working conditions, and can keep flexibility while taking into account stability. The support leg second servo motor 4-4 drives the track wheel 4-6 to provide power for walking and steering of the whole machine.

[0046] The electrical equipment in the above technical solution is controlled by a control module and can transmit remote information.

[0047] The working process includes the following steps:

[0048] S1: In the walking operation state, when facing the continuous slope change and rough uneven roadway floor of the fully-mechanized excavation face, the whole machine is driven to travel by the walking system 4, and the first servo motor 4-2 of the support leg is used to drive a plurality of support leg rotating connectors 4-3 to adjust the height of the gravity center of the robot body frame 3-1 in real time, so as to adapt to the large slope inclined roadway working condition, and the stability is considered while the flexibility is maintained; the second servo motor 4-4 of the support leg drives the track wheel 4-6 to provide power for the walking and steering of the whole machine;

[0049] S2: In the inspection operation state, in the complex roadway environment of high dust, low illumination and thick fog of the fully-mechanized excavation face, the robot forms a "interconnection, accurate monitoring" sensing linkage mechanism by the hybrid manipulator and its end local sensing subsystem 2 and the robot body and its global sensing subsystem 3, realizes all-around sensing operation of the external and internal information of the key components of various fully-mechanized equipment, and completes the real-time inspection operation of the fully-mechanized equipment.

[0050] S3: First, the ultrasonic sensor 3-2, the industrial camera 3-3 and the laser radar 3-4 of the robot body and its global sensing subsystem 3 are used to construct a multi-source information fusion sensing system, mainly through the ultrasonic sensor 3-2 to measure the distance between the robot body and the roadway section, obstacles, coal mine equipment and other targets in real time, and to carry out anti-collision warning; through the industrial camera 3-3, the target shape, color and other key feature information are extracted by real-time dynamic tracking of various equipment and workers; through the laser radar 3-4, the three-dimensional environment of the fully-mechanized roadway and the key components of the fully-mechanized equipment are dynamically scanned in real time; finally, the distance information of the ultrasonic sensor 3-2, the color, shape and other information sensed by the industrial camera 3-3 and the point cloud information scanned by the laser radar 3-4 are time and space registered and fused, so as to complete the dynamic sensing of the three-dimensional environment of the fully-mechanized roadway and the real-time monitoring of the external information of the key components of the fully-mechanized equipment.

[0051] S4: Then, according to the external information of the key components of the fully-mechanized equipment provided by the robot body and its global sensing subsystem 3, the hybrid manipulator and its end local sensing subsystem 2 cooperates with the hybrid manipulator 2-2 and the flexible manipulator 2-3 to drive the flexible manipulator end local sensing subsystem 2-3-2 to penetrate into the corresponding key component, and then the sound signal, three-dimensional entity information, temperature and humidity information and flammable and explosive gas information in the running process of the equipment key component are collected and analyzed by the sound sensor 2-3-2-1, the depth camera 2-3-2-3, the temperature and humidity sensor 2-3-2-4 and the gas sensor 2-3-2-5, and finally the abnormal working conditions such as temperature and humidity abnormality, high concentration of dangerous gas and the like are warned by the buzzer 2-3-2-2.

[0052] S5: In the obstacle perception and cleaning operation state, the relative distance, shape, color, position and other multi-dimensional information of the large obstacle are detected synchronously by the robot body and the ultrasonic sensor 3-2, the industrial camera 3-3 and the laser radar 3-4 of the global perception subsystem 3 to complete the three-dimensional modeling and positioning of the obstacle; then according to the positioning information, the mechanical gripper 1-5 is quickly moved from the initial station to the grabbing station through the coordinated cooperation of the rotating table 1-1, the large arm fixed bearing seat 1-2, the first servo motor 1-3 of the manipulator, the large arm 1-4 of the mechanical arm, the second servo motor 1-7 of the manipulator and the small arm 1-6 of the mechanical arm, and the opening space of the mechanical gripper 1-5 is adjusted in real time according to the three-dimensional modeling information of the obstacle to match the size of the obstacle, so as to complete the grabbing and cleaning operation of the obstacle, and finally realize the closed-loop operation from multi-source information fusion perception to rapid decision control.

[0053] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-functional inspection robot device for a tunneling face, comprising a robot body frame, characterized in that, The robot frame is equipped with a servo manipulator gripping system for obstacle clearing. The robot frame is also equipped with a hybrid manipulator and its end-effector local perception subsystem for sensing information, as well as the robot body and its global perception subsystem. A walking system for locomotion is installed at the bottom of the robot frame. An explosion-proof battery system for battery protection is also installed at the bottom of the robot frame. The walking system consists of four identical tracked wheel outriggers. Each outrigger includes a fixed outrigger connector, a first outrigger servo motor, a rotating outrigger connector, a second outrigger servo motor, a fixed outrigger bracket, and track wheels. The fixed outrigger connector is bolted to the robot frame at one end and to the first outrigger servo motor at the other end. The rotating outrigger connector is bolted to the fixed outrigger bracket. The second outrigger servo motor is bolted to the upper inner side of the fixed outrigger bracket, and the track wheels are bolted to the lower inner side of the fixed outrigger bracket. The walking system uses a four-legged tracked mechanism. Based on the terrain of the tunnel floor, the first outrigger servo motor drives multiple sets of rotating outrigger connectors to adjust the center of gravity of the robot frame in real time. The second outrigger servo motor drives the track wheels, providing power for the robot's movement and steering. The hybrid robotic arm and its end-effector local perception subsystem include a hybrid robotic arm fixing platform, a hybrid robotic arm, and a flexible robotic arm. The hybrid robotic arm fixing platform is installed above the middle part of the robot body frame in the robot body and its global perception subsystem. The hybrid robotic arm is installed at the end of the output shaft of the serial robotic arm primary drive unit in the hybrid robotic arm fixing platform. The flexible robotic arm is installed at the end of the swing cylinder of the parallel attitude adjustment mechanism in the hybrid robotic arm. The hybrid robotic arm includes a serial robotic arm primary drive unit, a primary serial arm, a serial robotic arm secondary drive unit, a secondary drive joint, a secondary drive joint swing cylinder, a tertiary drive joint, a serial robotic arm tertiary drive unit, a six-axis parallel attitude adjustment mechanism, and a parallel attitude adjustment mechanism swing cylinder. The serial robotic arm primary drive unit is installed on one side of the hybrid robotic arm fixed base. The primary serial arm is installed at the shaft end of the serial robotic arm primary drive unit. The serial robotic arm secondary drive unit is installed at the end of the primary serial arm. The secondary drive joint is installed at both ends of the serial robotic arm secondary drive unit. The secondary drive joint swing cylinder is installed at the bottom of the secondary drive joint. The tertiary drive joint is installed below the secondary drive joint swing cylinder. The serial robotic arm tertiary drive unit is installed at both ends of the tertiary drive joint. The six-axis parallel attitude adjustment mechanism is installed inside the tertiary drive joint. The parallel attitude adjustment mechanism swing cylinder is installed at the bottom of the six-axis parallel attitude adjustment mechanism. The flexible robotic arm includes a flexible robotic arm unit and a flexible robotic arm end-effector local sensing subsystem. The flexible robotic arm unit includes a U-shaped connector, a flexible robotic arm unit bidirectional drive motor, and a flexible robotic arm unit housing. The flexible robotic arm end-effector local sensing subsystem includes an acoustic sensor, a buzzer, a depth camera, a temperature and humidity sensor, a gas sensor, and a flexible robotic arm end effector. The local sensing subsystem at the end of the flexible robotic arm is installed at the tail of the five sets of flexible robotic arm units via the U-shaped connector.

2. The multi-functional inspection robot device for tunneling faces according to claim 1, characterized in that, The hybrid robotic arm fixing platform includes a hybrid robotic arm rotary table, a hybrid robotic arm fixing base, and a hybrid robotic arm power source. The hybrid robotic arm rotary table is installed above the middle of the robot body frame in the robot body and its global perception subsystem. The hybrid robotic arm fixing base is installed above the hybrid robotic arm rotary table, and the hybrid robotic arm power source is installed above the hybrid robotic arm fixing base.

3. The multi-functional inspection robot device for a fully mechanized tunneling face according to claim 2, characterized in that, The six-axis parallel attitude adjustment mechanism includes a parallel mechanism fixed base, a parallel mechanism drive cylinder, a ball joint connector, and a parallel mechanism movable platform. The parallel mechanism fixed base is installed inside the three-stage drive unit of the serial robotic arm. The six sets of parallel mechanism drive cylinders are respectively installed below the parallel mechanism fixed base and above the parallel mechanism movable platform through the ball joint connector.

4. The multi-functional inspection robot device for a fully mechanized tunneling face according to claim 1, characterized in that, The robot body and its global perception subsystem include an ultrasonic sensor, an industrial camera, and a lidar. The ultrasonic sensor is fixedly installed at the front of the head of the robot body frame, the industrial camera is fixedly installed at the front of the head of the robot body frame, and the lidar is fixedly installed at the rear of the robot body frame.

5. A method for using a multi-functional inspection robot in a fully mechanized tunneling face, comprising the multi-functional inspection robot device as described in claim 1, characterized in that, The method includes the following steps: Step 1: In the traveling operation mode, the machine is driven by the traveling system to travel on the roadway floor with continuous slope changes and uneven terrain facing the tunnel face; Step 2: During the inspection operation, in the complex roadway environment of high dust, low light and dense fog at the tunnel face, the flexible robotic arm and its end local perception subsystem and the robot body and its global perception subsystem perception linkage mechanism realize the all-round perception of the external and internal information of key components of various tunneling equipment, and complete the real-time inspection operation of multiple equipment at the tunnel face. Step 3: Obstacle perception and clearing operation. First, the robot body and its global perception subsystem complete the 3D modeling and localization of the obstacle. Then, the servo manipulator grasping system completes the grasping and clearing of the obstacle, ultimately realizing a closed-loop operation from multi-source information fusion perception to rapid decision control.

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