A multifunctional mining robot system

Abstract

The present invention discloses a multifunctional mining robot system, which includes a multifunctional mining safety robot, an autonomous patrol system, an alarm center system, an emergency rescue system and a data analysis center. The multifunctional mining safety robot includes a robot mechanical arm, a robot four-legged mechanical leg, and a robot eagle-eye camera. Its appearance is like a four-legged spider, and it can move in a complex environment through the robot four-legged mechanical legs. The multifunctional mining safety robot of the present invention collects and feeds back information underground, and realizes pre-disaster warning, feedback during disasters, and post-disaster rescue through an intelligent system, thereby truly realizing zero accidents in coal mine safety, better coordinating development and safety, and accelerating the promotion of high-quality development of mines.

Description

Technical Field

[0001] The invention belongs to the field of coal mining, and in particular relates to a multifunctional mining robot system. Background Art

[0002] In recent years, the Chinese government and local governments at all levels have attached great importance to coal mine safety production work, and all coal mining enterprises have established corresponding safety standards, effectively improved the traditional coal mine management mechanism, and enabled more technical personnel to devote themselves to coal mine safety scientific research work, which has greatly improved the safety conditions of coal mines. However, there are still a very small number of coal mines with problems, which have caused some safety accidents. Summary of the invention

[0003] In order to solve the safety problem of coal mines and minimize the damage caused by accidents, the present invention provides a multifunctional mining robot system, which is placed underground to work and achieve functions such as autonomous patrol, intelligent early warning, and emergency rescue. This will truly achieve zero accidents in coal mine safety, better coordinate development and safety, and accelerate the promotion of high-quality development of mines.

[0004] In order to achieve the above-mentioned invention object, the present invention adopts the following technical solutions:

[0005] A multifunctional mining robot system, which includes a multifunctional mining safety robot, an autonomous patrol system, an alarm center system, an emergency rescue system and a data analysis center;

[0006] The autonomous patrol system, alarm center system, emergency rescue system, and multifunctional mining safety robot are all electrically connected to the data analysis center;

[0007] The autonomous patrol system transmits the collected information to the data analysis center, which makes a decision after comparing the information and transmits the information to the multifunctional mining safety robot for execution;

[0008] The alarm center system is used to send out danger alarm signals;

[0009] The emergency rescue system completes positioning and navigation in conjunction with the data analysis center, and the multifunctional mining safety robot performs rescue work.

[0010] Furthermore, the multifunctional mining safety robot includes a robot mechanical arm, a robot quadruped mechanical legs and a robot eagle-eye camera. Its appearance is like a four-legged spider, and it moves in a complex environment through the robot quadruped mechanical legs.

[0011] Furthermore, the robot arm includes an upper arm, a lower arm, a hand and a terminal actuator. The upper arm is the connecting part between the robot arm and the multifunctional mining safety robot body. The upper arm is connected to the lower arm, the hand and the terminal actuator in sequence. The hand is used to control the terminal actuator. The terminal actuator is shaped like a human finger and is responsible for performing rescue tasks.

[0012] Furthermore, the robot's quadruped mechanical legs include four mechanical legs in the shape of spider legs; including a thigh, a mechanical leg controller, a calf and a foot end, the thigh is the connecting part of the entire mechanical leg and the multifunctional mining safety robot body, the thigh is connected to the mechanical leg controller, the calf and the foot end in sequence; the foot end is the component responsible for the contact between the entire robot and the ground.

[0013] Furthermore, the autonomous patrol system has a pre-disaster warning function, which specifically includes an explosion-proof and pressure-resistant module, a face recognition module, a data acquisition module, and a prohibited dangerous area module;

[0014] The explosion-proof and pressure-resistant module is used to protect its own safety;

[0015] The face recognition module is used to collect face information, working position and status;

[0016] The data acquisition module is used to collect the downhole stress magnitude, detect the gas content and temperature;

[0017] The forbidden danger zone module is connected to the data acquisition module and is used for abnormal signal zone determination.

[0018] Furthermore, the alarm center system has a disaster feedback function, specifically including a voice recognition module, an audible and visual alarm module and a large screen of the alarm center;

[0019] The large screen of the alarm center is electrically connected to a mine intelligent alarm and a mine intelligent monitoring system, and the mine intelligent alarm and the mine intelligent monitoring system are installed underground;

[0020] The speech recognition module combines the intelligent alarm and speech recognition technology to complete keyword recognition, and the multifunctional mining safety robot detects the alarm through the sensor and performs rescue;

[0021] The sound and light alarm module combines the intelligent alarm and the mining intelligent monitoring to complete the alarm function and push the location and image information to the large screen of the alarm center in real time.

[0022] Furthermore, the emergency rescue system has a post-disaster rescue function, including an abnormality recognition module, a positioning module and a navigation module;

[0023] The abnormality recognition module determines the different information as a disaster and feeds it back to the large screen of the alarm center; the positioning module and the navigation module are used for tracking personnel trajectories.

[0024] Furthermore, the multifunctional mining safety robot also includes a stress sensor, a gas sensor, an alarm recognition sensor, a temperature sensor and a robot control actuator. The face image is captured by the robot's eagle-eye camera, and the stress sensor, gas sensor, alarm recognition sensor and temperature sensor are used to collect surrounding data. With the robot control actuator as the core, a decision is made by comparison based on the information of the data analysis center, and finally the execution function is realized.

[0025] Furthermore, the robot eagle-eye camera includes an explosion-proof housing, a main camera, a secondary camera and a camera flash, the main camera is connected to the face recognition module, and the secondary camera is connected to the abnormality recognition module.

[0026] Furthermore, the intelligent mine alarm is connected to the large screen of the alarm center, and includes a radio alarm speaker, an alarm light and an equipment fault light. The radio alarm speaker collects sound signals and issues a sound warning.

[0027] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0028] 1. The present invention can autonomously complete the collection and comparison of information through the robot patrolling underground, and make a judgment on whether a danger occurs, thereby realizing pre-disaster warning, effectively avoiding the occurrence of accidents, and comprehensively protecting the personal safety of underground workers.

[0029] 2. After receiving the help signal, the robot of the present invention immediately sends out an alarm message and quickly arrives at the accident scene, and presents the real-time position, image and other information on the large screen of the alarm center, thereby realizing feedback during the disaster, improving the efficiency of rescue, and effectively reducing casualties.

[0030] 3. After receiving the rescue signal, the robot of the present invention quickly arrives at the scene according to positioning navigation and carries out the rescue mission, thereby realizing the post-disaster rescue mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A technical roadmap for the mining robot;

[0032] Figure 2 is a schematic diagram of the structure of the mining robot;

[0033] Figure 3 is a schematic diagram of the mechanical arm structure of the mining robot;

[0034] Figure 4is a schematic diagram of the structure of the four-legged mechanical legs of the mining robot;

[0035] Figure 5 A schematic diagram of the eagle-eye camera of the mining robot;

[0036] Figure 6 This is a schematic diagram of the intelligent alarm of the mining robot;

[0037] Figure 7 This is a schematic diagram of intelligent monitoring for mines;

[0038] Figure 8 This is a flow chart of speech recognition technology.

[0039] In the figure, 201. stress sensor; 202. gas sensor; 203. alarm identification sensor; 204 robot control actuator; 205. temperature sensor; 3. robot mechanical arm; 4. robot four-legged mechanical leg; 5. robot eagle eye camera; 301. upper arm; 302. lower arm; 303. hand; 304. terminal actuator; 401. thigh; 402. mechanical leg controller; 403. lower leg; 404. foot; 501. explosion-proof housing; 502. main camera; 503. auxiliary camera; 504. camera flash; 601. radio alarm speaker; 602. alarm light; 603. equipment fault light; 701. rotator; 702. main monitoring; 703. auxiliary monitoring; 704. night vision light. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Example 1

[0041] The present invention provides a multifunctional mining robot system, which comprises a multifunctional mining safety robot, an autonomous patrol system, an alarm center system, an emergency rescue system and a data analysis center; the autonomous patrol system, the alarm center system, the emergency rescue system, the multifunctional mining safety robot and the data analysis center are electrically connected.

[0042] The data analysis center is the central system of the present invention, which runs through the autonomous patrol system, the alarm center system and the emergency rescue system, provides network support for the robot, and is a necessary process for the robot to obtain and transmit information with the outside world. Before work, important information in the module will be collected in advance, such as the facial information of each worker underground, the safety range information of sensor data, the information of suspected dangerous areas, voice keyword information, etc., and the data will be stored in the robot data analysis center. When the robot is patrolling and rescuing, the data captured by the robot needs to be compared with the information collected in advance by the robot data analysis center, and subsequent work will be carried out according to the results after comparison.

[0043] The autonomous patrol system has a pre-disaster warning function, which specifically includes an explosion-proof and pressure-resistant module, a face recognition module, a data acquisition module, and a prohibited dangerous area module. When the robot is patrolling, the collected information is transmitted to the data analysis center, and the data analysis center makes a decision after comparing the information and transmits the information to the multifunctional mining safety robot for execution.

[0044] The explosion-proof and pressure-resistant module is a safety measure for the robot to protect itself during patrolling. The robot shell is resistant to bumps and collisions, which can effectively prevent the surface from being damaged. The robot has an explosion-proof function, which can effectively avoid explosion accidents caused by disasters such as fire when working underground.

[0045] The face recognition module is a technology that the robot uses to ensure the safety of workers during patrol work. Before work, the face information, work location and status of each worker are collected in advance and stored in the data analysis center. During the patrol process, the main camera in the robot's eagle-eye camera is used to capture the face information of the underground workers, and the captured face information is compared with the information stored in advance in the data analysis center. If the comparison result is successful, the patrol work will continue. If the comparison result is wrong, it means that the personnel have an accident, and the alarm and rescue system will be immediately activated for follow-up work.

[0046] The data acquisition module is realized by combining three sensors in the robot body: stress sensor: detects the stress size of each position underground when the robot is patrolling (the stress safety range should be less than 8Mpa), thereby eliminating the risk of rock burst. Gas sensor: detects the gas content during patrol and compares it with the safety range (the concentration should be less than 5%) to avoid accidents caused by gas leakage. Temperature sensor: when the robot is patrolling, it detects that the temperature in the area meets the safety standards (the temperature of the mining working face is less than 30°C, and the electromechanical equipment chamber is less than 34°C). If it is detected that the data is not within the safety range, the staff will be informed that the operation must be stopped. Alarm recognition sensor: when workers encounter danger or emergency, they can shout through keywords such as "help". The intelligent alarm will capture the sound signal and complete the keyword recognition through the voice recognition module. The robot will perform rescue after detecting the alarm through the sensor.

[0047] The forbidden danger zone module is connected to the data acquisition module. The robot collects data during patrol and compares it with the safety range of the data analysis center. If the data value is found not within the safety range, the abnormal signal area will be included in the blacklist and the area will be determined as a forbidden danger zone (all operations in this area will be stopped). After the well staff finds out the problem and solves it, they will collect data in the area again through the robot and compare it with the safety range. Only when it reaches the safety range can it be removed from the blacklist and the workers are allowed to continue working in the area.

[0048] The alarm center system has a disaster feedback function. When a danger occurs, it sends out a danger alarm signal. Specifically, it includes a voice recognition module, an audible and visual alarm module, and a large screen in the alarm center. When a danger occurs, the alarm work is completed by relying on the intelligent alarm, and the alarm information is presented on the large screen of the alarm center, which is convenient for the staff to view the on-site situation in real time, thereby completing the entire alarm work.

[0049] like Figure 8 As shown, the voice recognition module is the core module of the rescue work of the invention. It combines the intelligent alarm and voice recognition technology to complete the voice recognition function. When an underground worker accidentally shouts out an alarm keyword (such as help, etc.), the nearby intelligent alarm will recognize the voice signal and determine whether it meets the detection standard (whether it is recognizable text); if it does not meet the standard, it will return for re-identification; if it meets the standard, the sound will be pre-processed and converted, and keywords that meet the standard will be extracted from the voice information, and compared with the keywords entered in the data analysis center in advance. After the comparison is successful, the recognition result is output, and an alarm is issued.

[0050] The sound and light alarm module is also a module that completes the alarm function in combination with the mine intelligent alarm. When the mine intelligent alarm determines that an accident has occurred to the underground workers through the voice recognition module, it immediately issues a sound and light alarm. The on-site sound and light alarm deters, and links the mine intelligent monitoring nearby. The alarm center large screen pushes the location and image information in real time, which is convenient for the workers on the surface to find problems in time and deal with them quickly.

[0051] The alarm center screen is an output device for underground information. It is connected to the multifunctional mining safety robot, mining intelligent alarm, and mining intelligent monitoring. It is an important way for the workers on the surface to obtain on-site information and for the robots to capture information. All this information can be fed back on the alarm center screen, including pre-alarm information, video monitoring abnormal images, pre-alarm identification records, etc. When the robot patrols and finds an abnormality, combined with the forbidden dangerous area module, the image is fed back to the alarm center screen, which is convenient for the staff to observe the abnormality and remind the workers not to enter the area to work.

[0052] The emergency rescue system has a post-disaster rescue function, which is combined with the data analysis center to complete positioning and navigation, and the multifunctional mining safety robot performs rescue work. It includes an abnormality recognition module, a positioning module and a navigation module. After a danger occurs, the robot completes the positioning and navigation work in combination with the data analysis center, and rushes to the scene for emergency rescue. If no rescue information is received after an accident, the abnormality recognition module is used to detect whether an accident has occurred in the area, and the next step of rescue work is carried out as needed.

[0053] The abnormal identification module is a technology for alternatively detecting disasters when the robot does not receive rescue information. Its main principle is to use visual detection methods. Before working, the information of suspected dangerous areas is collected in advance and stored in the data analysis center. When the robot is working, the secondary camera of the robot's eagle-eye camera identifies the information of suspected dangerous areas, and compares the information collected in advance with the information identified on site. If there is a difference, it proves that a disaster has occurred, and the information is fed back to the large screen of the alarm center for processing.

[0054] After a disaster occurs, the positioning module and navigation module track the trajectory of personnel in combination with the information fed back from the data analysis center and the alarm center's large screen. First, the specific information of the workers to be rescued is determined based on the feedback from the smart alarm and smart monitoring, and the workers are positioned using their own positioning cards. Secondly, the data analysis center calculates the optimal path between the robot's location and the workers to be rescued, and feeds it back to the robot to rush to the scene for rescue, which can minimize the rescue time and help the injured escape from danger as soon as possible.

[0055] like Figure 2 and 3 As shown, the multifunctional mining safety robot includes a robot arm, a robot quadrupedal mechanical leg, and a robot eagle-eye camera. Its appearance is a four-legged spider, and it can move in a complex environment through the robot quadrupedal mechanical leg. The robot arm includes a large arm 301, a small arm 302, a hand 303, and a terminal actuator 304. The large arm 301 is the connecting part between the robot arm and the robot body, which is shaped like the large arm of a human body and is the center of the entire robot arm. The large arm 301 is connected with a small arm 302, a hand 303, and a terminal actuator 304 in sequence. The small arm 302 is shaped like the small arm of a human body, and the hand 303 is a component for controlling the terminal actuator 304, which is shaped like the palm of a human body. The terminal actuator 304 is the core component of the robot arm, which is shaped like a finger of a human body. When performing rescue, the terminal actuator 304 is used to move waste debris, gangue, etc. to a safe area to create a safe living environment for the injured, waiting for the next step of medical treatment.

[0056] like Figure 4As shown, the robot quadruped mechanical leg includes four mechanical legs, which are the components responsible for the movement of the robot. They are spider-leg-shaped, which facilitate the robot to move freely in complex environments without being affected by the environment such as coal blocks and gangue; they include a thigh part 401, a mechanical leg controller 402, a calf part 403 and a foot end 404. The thigh part 401 is the connecting part between the entire mechanical leg and the robot body, shaped like a human thigh, and is the center of the entire mechanical leg; the thigh part 401 is connected to the mechanical leg controller 402, the calf part 403 and the foot end 404 in sequence; the mechanical leg controller 402 is responsible for the rotation, flexion and other functions of its mechanical leg, shaped like a human knee joint, and is also the core part of the mechanical leg, the calf part 403 is shaped like a human calf; the foot end 404 is shaped like a human foot, and is the component responsible for the contact between the entire robot and the ground (bottom plate).

[0057] like Figure 5 As shown, the robot eagle eye camera is a device required by the face recognition module and the abnormality recognition module. It includes an explosion-proof housing 501, a main camera 502, a secondary camera 503 and a camera flash 504. The explosion-proof housing 501 is made of special explosion-proof and damage-proof materials, which can effectively prevent the camera from being damaged by collapsed debris during work; the main camera 502 is connected to the face recognition module, and the secondary camera 503 is connected to the abnormality recognition module. The camera flash 504 is automatically turned on when the line of sight is poor underground to avoid recognition errors caused by unclear images.

[0058] The multifunctional mining safety robot also includes a stress sensor 201, a gas sensor 202, an alarm identification sensor 203, a temperature sensor 205 and a robot control actuator 204. The robot eagle eye camera 5 is used to capture facial images, and then the stress sensor 201, the gas sensor 202, the alarm identification sensor 203 and the temperature sensor 205 are used to collect surrounding data. With the robot control actuator 204 as the core, a decision is made based on the information of the data analysis center for comparison, and finally the execution function is realized; after the information is compared, an abnormality is found, and the abnormality identification module is fed back to the alarm center system.

[0059] like Figure 6As shown, the mine intelligent alarm is the core equipment of the alarm center system, connected to the alarm center large screen, and mainly includes a radio alarm speaker 601, an alarm light 602, and an equipment fault light 603. An intelligent alarm is installed every 50 meters underground. When a disaster occurs, workers can shout keywords (such as "help", etc.), and the radio alarm speaker 601 in the nearest intelligent alarm will automatically collect sound signals and issue a sound warning to remind the robot to rush to this place for rescue. The alarm light 602 uses an LED high flash light. When a disaster occurs, the alarm light starts to flash at a high frequency, which will be extremely obvious in the dim environment underground, so that the bright light picture is fed back to the intelligent monitoring, which is convenient for the staff to observe and take emergency measures. The equipment fault light 603 will automatically light up when the mine intelligent alarm is in good condition, and will automatically go out when the mine intelligent alarm fails. Workers can judge whether the intelligent alarm is working normally through the equipment fault light.

[0060] like Figure 7 As shown, the mine intelligent monitoring mainly includes a rotator 701, a main monitor 702, a sub-monitor 703, and a night vision light 704. A mine intelligent monitor is installed every 50 meters underground, which is linked with the mine intelligent alarm. When the mine intelligent alarm emits a bright light, the abnormality on the scene can be observed; and it is connected to the large screen of the alarm center, and the captured video images are synchronized on the large screen of the alarm center. The staff can observe all the images underground through the rotator 701 of the mine intelligent monitoring by 360° rotation, which is convenient for deploying rescue work. Furthermore, the intelligent monitoring adopts the main monitor 702 and the sub-monitor 703 to realize high-definition monitoring at long and short distances. Similarly, in areas with poor light, the intelligent monitoring will automatically turn on the night vision 704 for lighting to ensure that the monitoring screen covers all areas underground.

[0061] The working principle of the present invention is based on the multifunctional mining safety robot control actuator 204. Based on the data comparison of the data analysis center, it can perceive the surrounding environment and make decisions, and finally realize the execution function. During patrol, the collected data is compared with the safety range through the stress sensor 201, the gas sensor 202, and the temperature sensor 205. If there is danger, it is fed back to the large screen of the alarm center for the staff to view; the area is blacklisted and workers are required to be prohibited from entering. Secondly, the face recognition module is combined with the robot eagle eye camera 5 to capture the face image and implement the safety of the workers. Furthermore, after an accident occurs somewhere, the alarm recognition sensor 203 is used to sense the alarm signal issued by the intelligent alarm. The multifunctional mining safety robot rushes to the scene as soon as possible through positioning and navigation technology, and performs emergency rescue through the robot mechanical arm; during patrol, if an abnormality is found in the working face, it can be fed back to the large screen of the alarm center through the abnormal recognition module, which is convenient for the staff to deal with.

[0062] Example 2 Pre-disaster warning part

[0063] When the multifunctional mining safety robot is patrolling, the main camera 502 of the robot's Eagle Eye camera 5 captures the worker's facial information and compares it with the pre-stored information. If there is a difference in the result, a danger occurs. The robot's stress sensor 201, gas sensor 202, and temperature sensor 205 are then used to collect surrounding data and compare it with the pre-stored data safety range. If it is not within the safety range, this area is automatically blacklisted, and all workers are required to prohibit entering the area to work. After the feedback is given to the staff for maintenance, the data is tested again, and they can only enter the work after it meets the safety requirements.

[0064] Example 3 Feedback during disaster

[0065] When a worker is in danger, the worker can ask for help by shouting keywords (such as "help", etc.). After the smart alarm determines that the worker is in danger through voice recognition technology, it immediately sounds a sound and light alarm to deter the worker. After the multifunctional mining safety robot recognizes the alarm issued by the smart alarm through the alarm recognition sensor 203, it rushes to the scene for emergency rescue as soon as possible, and links with the mining intelligent monitoring to present the real-time location, image and other information of the injured worker on the large screen of the alarm center, so as to facilitate subsequent disposal by the well staff.

[0066] Example 4 Post-disaster rescue

[0067] After a danger occurs, when the multifunctional mining safety robot receives rescue information, it rushes to the scene for emergency rescue through positioning and navigation technology, and clears obstacles for the injured through the robot arm 3, creating a safe living environment, waiting for the next step of medical treatment by medical staff; when the multifunctional mining safety robot does not receive rescue information, it collects information such as images of suspected dangerous areas through the auxiliary camera 503 of the robot's eagle-eye camera 5, compares the information collected in advance with the information collected on site, and when there is a difference, it proves that a disaster has occurred, and immediately feeds back to the large screen of the alarm center for processing, thereby comprehensively protecting the personal safety of underground workers.

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A multifunctional mining robot system, characterized in that: It includes multifunctional mining safety robots, autonomous patrol systems, alarm center systems, emergency rescue systems and data analysis centers; The autonomous patrol system, alarm center system, emergency rescue system, and multifunctional mining safety robot are all electrically connected to the data analysis center; The autonomous patrol system transmits the collected information to the data analysis center, which makes a decision after comparing the information and transmits the information to the multifunctional mining safety robot for execution; The alarm center system is used to send out danger alarm signals; The emergency rescue system and the data analysis center complete positioning and navigation, and the multifunctional mining safety robot performs rescue work; The multifunctional mining safety robot comprises a robot arm, a robot quadrupedal mechanical legs and a robot eagle-eye camera, and its appearance is like a four-legged spider, and it moves in a complex environment through the robot quadrupedal mechanical legs; The autonomous patrol system has a pre-disaster warning function, specifically including an explosion-proof and pressure-resistant module, a face recognition module, a data acquisition module, and a forbidden-entry dangerous area module; the explosion-proof and pressure-resistant module is used to protect its own safety; the face recognition module is used to collect face information, working position and status; the data acquisition module is used to collect the size of underground stress, detect gas content and temperature; the forbidden-entry dangerous area module is connected to the data acquisition module for abnormal signal area determination; During the patrol process, the main camera in the robot's Hawkeye camera is used to capture the facial information of underground workers, and the captured facial information is compared with the information stored in the data analysis center. If the comparison result is successful, the patrol work will continue. If the comparison result is incorrect, it means that there is an accident with the personnel, and the alarm center system and emergency rescue system will be immediately activated for follow-up work; The robot collects data during patrol and compares it with the safety range of the data analysis center. If the data value is found to be outside the safety range, the abnormal signal area will be added to the blacklist and the area will be determined as a prohibited dangerous area. After the well workers find out the problem and solve it, they will use the robot to collect data in the area again and compare it with the safety range. After reaching the safety range, the data will be removed from the blacklist and the workers will be allowed to continue working in the area. The emergency rescue system has a post-disaster rescue function, including an abnormality recognition module, a positioning module and a navigation module; the abnormality recognition module determines the different information as a disaster has occurred, and feeds back to the alarm center screen; the positioning module and the navigation module are used for tracking personnel trajectories; Before work, information on suspected dangerous areas is collected in advance and stored in the data analysis center; when the robot is working, the secondary camera of the robot's Eagle Eye camera identifies the information of suspected dangerous areas, and the information collected in advance is compared with the information identified on site. If there is a difference, it proves that a disaster has occurred, and the information is fed back to the large screen of the alarm center for processing.

2. A multifunctional mining robot system according to claim 1, characterized in that The robot arm includes an upper arm, a lower arm, a hand and a terminal actuator. The upper arm is the connecting part between the robot arm and the multifunctional mining safety robot body. The upper arm is connected to the lower arm, the hand and the terminal actuator in sequence. The hand is used to control the terminal actuator. The terminal actuator is in the shape of a human finger and is responsible for performing rescue tasks.

3. A multifunctional mining robot system according to claim 1, characterized in that The robot quadruped mechanical legs include four mechanical legs in the shape of spider legs; It includes a thigh part, a mechanical leg controller, a calf part and a foot end. The thigh part is the connecting part between the entire mechanical leg and the main body of the multifunctional mining safety robot. The thigh part is connected to the mechanical leg controller, the calf part and the foot end in sequence; the foot end is the component responsible for the contact between the entire robot and the ground.

4. A multifunctional mining robot system according to claim 1, characterized in that The alarm center system has a disaster feedback function, specifically including a voice recognition module, an audible and visual alarm module and a large screen of the alarm center; The large screen of the alarm center is electrically connected to a mine intelligent alarm and a mine intelligent monitoring system, and the mine intelligent alarm and the mine intelligent monitoring system are installed underground; The speech recognition module combines the intelligent alarm and speech recognition technology to complete keyword recognition, and the multifunctional mining safety robot performs rescue after detecting the alarm through the sensor; The sound and light alarm module combines the intelligent alarm and the mining intelligent monitoring to complete the alarm function and push the location and image information to the large screen of the alarm center in real time.

5. A multifunctional mining robot system according to claim 1, characterized in that The multifunctional mining safety robot also includes a stress sensor, a gas sensor, an alarm recognition sensor, a temperature sensor and a robot control actuator. The robot's eagle-eye camera is used to capture facial images, and the stress sensor, gas sensor, alarm recognition sensor and temperature sensor are used to collect surrounding data. The robot control actuator is used as the core, and decisions are made based on comparisons made based on the information of the data analysis center, thereby ultimately realizing the execution function.

6. A multifunctional mining robot system according to claim 5, characterized in that The robot eagle-eye camera comprises an explosion-proof housing, a main camera, a secondary camera and a camera flash, the main camera is connected to a face recognition module, and the secondary camera is connected to an abnormality recognition module.

7. A multifunctional mining robot system according to claim 4, characterized in that The mine-used intelligent alarm is connected to the large screen of the alarm center, and includes a radio alarm speaker, an alarm light and an equipment fault light. The radio alarm speaker collects sound signals and issues a sound warning.

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