Underground intelligent inspection robot and inspection method based on RFID detection

Abstract

The present invention discloses an underground intelligent inspection robot and inspection method based on RFID detection. The underground intelligent inspection robot based on RFID detection includes: a signal transceiver unit, an analysis and control unit, a composite walking unit, an alarm display unit, a reader, and a passive electronic tag. The analysis and control unit is connected to the signal transceiver unit, the composite walking unit, and the alarm display unit; the reader is respectively connected to the signal transceiver unit and the analysis and control unit; the passive electronic tags are installed in the underground tunnel and on the underground operation equipment, and the reader identifies the passive electronic tags through an antenna. The intelligent inspection robot of the present invention can move along a predetermined route in the underground tunnel and can realize inspections of different parts of multiple equipment; it can realize monitoring of multiple sources of information such as equipment vibration, strain, temperature, displacement, etc., improve inspection efficiency, enhance the intelligence level of underground operations, reduce the labor intensity of workers, and improve the safety of underground operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to an underground intelligent inspection robot and an inspection method based on RFID detection. Background Art

[0002] In recent years, with the continuous advancement of fully mechanized mining technology, a wide range of equipment, including shearers, scraper conveyors, hydraulic supports, and roadheaders, has been widely used in underground mining operations, leading to a gradual shift towards automation and intelligentization. However, the harsh underground environment, the large number of mining machines, and the ever-changing working environment increase the risk factors for machine operators and the probability of failure. Furthermore, due to long communication distances, signal transmission interference, poor underground monitoring quality, and relatively small camera coverage, the operating status of many underground operating equipment cannot be properly monitored.

[0003] At present, most mines in my country still rely on manual monitoring. However, due to the harsh working environment and poor lighting underground, manual monitoring is not conducive to patrol personnel to patrol and discover problems in a timely manner. At the same time, the labor intensity of workers is high and the detection effect is unstable. The existing automated detection system is complex due to the long distance of underground tunnels and the large number of monitoring points. The monitoring equipment is of various types, large in number and high in cost. There are also some inspection robots based on vision systems, but they are also affected by the poor lighting underground and cannot detect damage to the internal components of the machine. Summary of the Invention

[0004] In order to solve the above problems, an embodiment of the present invention proposes an underground intelligent inspection robot and an inspection method based on RFID detection.

[0005] The RFID detection-based underground intelligent inspection robot of the present invention includes: a signal transceiver unit, which includes an antenna; an analysis control unit, which is connected to the signal transceiver unit and is located below the signal transceiver unit; a compound walking unit, which is connected to the analysis control unit and is located below the analysis control unit; an alarm display unit, which is connected to the analysis control unit and is located above the compound walking unit; a reader, which is respectively connected to the signal transceiver unit and the analysis control unit; a passive electronic tag, which is arranged in the underground tunnel and on the underground working equipment, and the reader identifies the passive electronic tag through the antenna.

[0006] Optionally, the signal transceiver unit further includes an angle adjustment shaft and an angle adjustment motor, the angle adjustment motor is connected to the antenna through the angle adjustment shaft, the angle adjustment shaft and the angle adjustment motor are installed at one end of the first electric push rod, the other end of the first electric push rod is connected to the support frame, and the support frame is installed on the rotating platform.

[0007] Optionally, the analysis control unit is a controller.

[0008] Optionally, the composite walking unit includes a base, a walking track is provided at the bottom of the base, two walking units are symmetrically provided on both sides of the base, each walking unit includes a guide rail provided on the side of the base, a constraint slider is slidably provided in the guide rail, the outer side of the constraint slider is connected to the walking link, the bottom of the walking link is connected to the rotatable support leg, the bottom of the rotatable support leg is connected to the walking base plate, and the top of the walking link is connected to the second electric push rod.

[0009] Optionally, the top end of the second electric push rod is hinged to the top end of the transmission connecting rod, the middle position of the transmission connecting rod is hinged to the constraint pillar, the bottom end of the transmission connecting rod is connected to one end of the rotating crank, and the other end of the rotating crank is connected to the motor installed inside the analysis control unit, and the analysis control unit is located above the base.

[0010] Optionally, the composite walking unit further includes a fixed seat, which is arranged on the top of the analysis and control unit, and the constraint pillar is fixedly connected to the side of the fixed seat, the constraint pillar is hinged to the transmission connecting rod, and the rotating platform is arranged on the top of the fixed seat.

[0011] Optionally, the alarm display unit includes a display, two taillights and four alarm lights. The display is installed behind the analysis and control unit, the four alarm lights are installed at the four corners of the top surface of the base, the two taillights are installed on both sides of the back of the base, and a reader is also installed behind the base, and the reader is located between the two taillights.

[0012] Optionally, the passive electronic tags include passive landmark tags and passive sensor tags. The passive landmark tags are pasted in the underground tunnels, and the passive sensor tags are pasted on the underground operating equipment. The passive sensor tags include passive vibration sensor tags, passive strain sensor tags, passive temperature sensor tags, and passive displacement sensor tags.

[0013] The inspection method of the underground intelligent inspection robot of the present invention, wherein the underground intelligent inspection robot is the underground intelligent inspection robot based on RFID detection of the present invention, comprises the following steps:

[0014] S1. Turn on the power of the intelligent inspection robot and set the inspection route on the display. The intelligent inspection robot will cruise along the set route.

[0015] S2. Identify the passive landmark tag through the antenna, access the landmark information and movement instructions in the passive landmark tag, and confirm that the walking route is correct;

[0016] S3: The analysis and control module takes inventory of the passive landmark tags, increases the sampling frequency, obtains the RSSI and phase information of the passive landmark tags, determines the road conditions ahead, and decides whether to stop moving or continue cruising;

[0017] S4, the analysis and control module selects the crawler walking mode or the bipedal walking mode according to the movement instructions in the passive landmark tag;

[0018] S5. The reader identifies the passive sensor tag on the downhole operation equipment through the antenna, and the signal transceiver unit rotates to maximize the sampling frequency of the passive sensor tag to be read;

[0019] S5. The analysis control module analyzes the collected data and determines the operating status of the underground operating equipment. If the underground operating equipment here is operating normally, the intelligent inspection robot continues to cruise along the predetermined route to detect the operating status of the next important part of the underground operating equipment. If an abnormality occurs, the intelligent inspection robot immediately stops moving and issues an alarm through the alarm light. At the same time, it is displayed on the monitor, indicating which part of the equipment has the abnormality.

[0020] The beneficial effects of the present invention are:

[0021] 1. The signal transceiver unit of the intelligent inspection robot of the present invention can control the direction, angle and distance of the antenna from the tag through the sampling frequency of the tag, so as to achieve comprehensive reading of surrounding tags and adaptive adjustment of the tag sampling effect.

[0022] 2. The intelligent inspection robot of the present invention adopts a variety of passive sensor tags, which can detect various data such as mechanical vibration, mechanical strain, equipment displacement, important parts of equipment, and temperature and humidity in the tunnel. Compared with visual detection, it can realize sensor detection of obscured places.

[0023] 3. The cruising motion of the intelligent inspection robot of the present invention is different from the traditional positioning method. Instead, landmark tags are affixed in the underground tunnels. The tags record the location of the tags in the mine. Robot motion auxiliary instructions are also set at special road conditions. The robot reads the tag RSSI and phase information to determine the distance between itself and the coordinate tag and move in a tracking manner.

[0024] 4. When cruising, the intelligent inspection robot of the present invention will also determine whether there are large obstacles or staff on the route ahead based on abnormal information of RSSI and phase, make an emergency stop, and determine whether to remove them before continuing cruising.

[0025] 5. The composite walking unit of the intelligent inspection robot of the present invention can simultaneously move in underground tunnels and fully mechanized mining working faces, thereby realizing the status monitoring of machinery in the coal mining working face.

[0026] 6. The intelligent inspection robot of the present invention can realize an alarm for abnormal conditions according to the preset threshold values ​​of each sensor data, and display the location of the damage to which part of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the underground intelligent inspection robot based on RFID detection of the present invention.

[0028] Figure 2 It is a rear view of the underground intelligent inspection robot based on RFID detection of the present invention.

[0029] Figure 3 It is a structural diagram of the signal transceiver unit of the present invention.

[0030] Figure 4 It is a structural schematic diagram of the composite walking unit of the present invention.

[0031] Figure 5 It is a flow chart of the downhole cruising method of the present invention.

[0032] Figure 6 It is a flow chart of the multi-source information detection method for downhole equipment of the present invention.

[0033] Figure 7 It is a schematic diagram of underground inspection of the present invention.

[0034] Reference numerals:

[0035] 1. Signal transceiver unit; 101. Antenna; 102. Angle adjustment shaft; 103. Angle adjustment motor; 104. First electric push rod; 105. Support frame; 106. Rotating platform;

[0036] 2. Analysis and control unit;

[0037] 3. Alarm display unit; 301. Alarm light; 302. Display; 303. Tail light;

[0038] 4. Reader;

[0039] 5. Composite walking unit; 501. Constraint support; 502. Transmission connecting rod; 503. Rotating crank; 504. Fixed seat; 505. Second electric push rod; 506. Constraint slider; 507. Guide rail; 508. Walking connecting rod; 509. Rotatable support leg; 510. Walking base; 511. Spring block; 512. Base; 513. Walking track;

[0040] 6. Intelligent inspection robot; 7. Underground tunnel; 8. Passive landmark tag; 9. Underground operation equipment; 10. Passive sensor tag. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0042] like Figure 1-Figure 7 As shown, the RFID-based underground intelligent inspection robot of the present invention comprises: a signal transceiver unit 1, an analysis and control unit 2, a composite walking unit 5, an alarm display unit 3, a reader 4, and a passive electronic tag. The signal transceiver unit 1 includes an antenna 101, which is used to transmit electromagnetic waves to the surrounding area and receive signals from the passive electronic tag. The antenna 101's orientation, angle, and distance from the passive electronic tag are adaptively adjusted based on the passive electronic tag's sampling frequency to achieve optimal sampling. The analysis and control unit 2 is connected to the signal transceiver unit 1 and located below it. It processes and analyzes the passive electronic tag's signals, determines whether the underground operating equipment 9 is experiencing anomalies, and determines the position of the intelligent inspection robot 6 itself, thereby enabling precise control of its navigation and alarming actions. The composite walking unit 5 is connected to the analysis and control unit 2 and located below it. The composite walking unit 5 is used to move the intelligent inspection robot 6 underground, and can choose between tracked or bipedal locomotion. The alarm display unit 3 is connected to the analysis and control unit 2 and is located above the composite travel unit 5. It displays the operating status of the underground operating equipment 9 and the intelligent inspection robot 6 itself. The reader 4 is connected to the signal transceiver unit 1 and the analysis and control unit 2. Passive electronic tags are installed in the underground tunnel 7 and on the underground operating equipment 9. The reader 4 uses the antenna 101 to identify the passive electronic tags.

[0043] The signal transceiver unit 1 includes an antenna 101, an angle adjustment shaft 102, an angle adjustment motor 103, a first electric push rod 104, a support frame 105, and a rotating platform 106. There are three antennas 101, evenly distributed on the horizontal plane. The back of each antenna 101 is bolted to the angle adjustment shaft 102, and the angle adjustment shaft 102 is rotated by the angle adjustment motor 103, thereby achieving angle adjustment of the antenna 101. The antenna 101 is installed at one end of the first electric push rod 104, and the other end is connected to the support frame 105, which allows the antenna 101 to move along the length of the first electric push rod 104. The support frame 105 is fixedly mounted on the rotating platform 106 and can rotate with the rotation of the rotating platform 106, allowing the antenna 101 to rotate in a circumferential direction perpendicular to the ground, thereby achieving omnidirectional transmission of electromagnetic waves around the intelligent inspection robot 6 and receiving signals from passive electronic tags.

[0044] Analysis and control unit 2 is a controller or single-chip microcomputer, which is conventional technology and will not be discussed in detail here. Analysis and control unit 2 is used to: 1. Analyze and process the sensor signals read from the sensor tags, including performing FFT transformation on the vibration signal and analyzing whether the vibration frequency is abnormal; process signals such as strain, displacement, and temperature, and determine whether these parameters exceed set thresholds; 2. Analyze the robot's position in the underground tunnel and control the robot's navigation based on the analysis results.

[0045] The composite walking unit 5 includes a base 512 and a fixed seat 504. The analysis control unit 2 is arranged between the base 512 and the fixed seat 504, and the analysis control unit 2 is arranged in the middle position of the top of the base 512. The fixed seat 504 is arranged on the top of the analysis control unit 2, and the rotating platform 106 is arranged on the top of the fixed seat 504.

[0046] A walking track 513 is set at the bottom of the base 512, and two walking units are symmetrically arranged on both sides of the base 512. Each walking unit includes a constraint support 501, a transmission connecting rod 502, a rotating crank 503, a second electric push rod 505, a constraint slider 506, a guide rail 507, a walking connecting rod 508, a rotatable support leg 509, a walking base plate 510, a spring block 511, a track chassis 512 and a walking track 513.

[0047] Two guide rails 507 are symmetrically arranged on the side of the base 512, and a constraint slider 506 is slidably arranged in the guide rail 507, and the constraint slider 506 is slidably connected to the guide rail 507; the outer side of the constraint slider 506 is connected to the walking link 508, and the bottom of the walking link 508 is connected to the rotatable support leg 509, and the bottom of the rotatable support leg 509 is connected to the walking base plate 510, and a spring block 511 is installed below the walking base plate 510.

[0048] The top of the walking link 508 is connected to the second electric push rod 505, allowing it to be extended and retracted. The top of the second electric push rod 505 is hinged to the top of the transmission link 502. The middle of the transmission link 502 is hinged to the restraining support 501. The restraining support 501 is fixedly connected to the side of the fixed seat 5054. The bottom of the transmission link 502 is connected to one end of the rotating crank 503, and the other end of the rotating crank 503 is connected to the motor installed in the analysis and control unit 2. The two rotating cranks are connected to both sides of the motor and are separated by 180 degrees. The analysis and control module 2 controls the rotating crank 503 by controlling the speed of the motor to control the speed of the bipedal walking.

[0049] When the intelligent inspection robot 6 moves on the smooth road surface of the underground tunnel 7, the second electric push rod 505 drives the walking link 508 to retract, and at the same time the rotatable support legs 509 rotate to the two sides of the robot, and moves in a crawler walking manner; when moving in complex road conditions such as the comprehensive mining working face, the second electric push rod 505 pushes the walking link 508 downward to extend, and at the same time the rotatable support legs 509 rotate toward the base 512, supporting the intelligent inspection robot 6 off the ground, and moving in a bipedal walking manner, and its walking base plate 510 combined with the design of the spring block 511 can adapt to uneven surfaces such as small protrusions and stones on the road.

[0050] The alarm display unit 3 includes a display 302, two tail lights 303 and four alarm lights 301. The display 3032 is installed in the middle position behind the analysis and control unit 2, above the reader 4, and is used to display the operating status of the downhole operation equipment 9 and the operating status parameters of the intelligent inspection robot 6 itself; the four alarm lights 301 are installed at the four corners of the top surface of the base 512, and an alarm is sounded when a fault is detected in the downhole operation equipment 9; the two tail lights 303 are installed on both sides of the back of the base 512 to indicate the position of the intelligent inspection robot 6 to the personnel at the rear.

[0051] A reader 4 is also installed behind the base 512 , and the reader 4 is located between the two taillights 303 .

[0052] like Figure 7As shown, the passive electronic tags include passive landmark tags 8 and passive sensor tags 10. Passive landmark tags 8 are affixed to underground tunnels 7 at regular intervals. Each passive landmark tag 8 contains its underground location information, such as the middle of tunnel 1. Passive landmark tags 8 also contain instructions for the intelligent inspection robot 6 to navigate to this location and its next movement, such as turning left upon reaching this passive landmark tag 8. The intelligent inspection robot 6 identifies the passive landmark tag 8 in front of it via antenna 101, accesses the landmark information and movement instructions stored in the passive landmark tag 8, and compares the landmark information with its internal map database to confirm that the current route is correct.

[0053] After the intelligent inspection robot 6 has accessed the landmark information and movement instructions of the current passive landmark tag 8, it changes the recognition mode, only takes inventory of the passive landmark tag 8, increases the sampling frequency, and continuously obtains the RSSI and phase information of this passive landmark tag 8.

[0054] RSSI information can be sampled at least 50 times per second. Under normal circumstances, the distance between the intelligent patrol robot 6 and the landmark tag 8 can be preliminarily judged through RSSI information and the RSSI-based positioning algorithm. When the RSSI information suddenly jumps from a stable value to a very low value, it means that there is a large obstacle or a staff member in front of the intelligent patrol robot 6, and the phase information will also jump significantly from a stable state. At this time, the robot determines that the road condition ahead is abnormal and stops moving immediately. When the RSSI and phase information return to the state before the abnormal value, it means that the obstacle ahead has been cleared or the staff member has left. At this time, the intelligent patrol robot 6 determines that the road condition ahead has returned to normal and continues to cruise.

[0055] The analysis and control module 2 controls the intelligent inspection robot 6 to move forward correctly according to the movement instructions in the passive landmark tag 8 and the above-mentioned RSSI-based positioning algorithm. The movement instructions here are: when the road ahead is a steep slope, it will be marked in the passive landmark tag 8, and instructions to guide the intelligent inspection robot 6 to change speed will be written; when the information in the passive landmark tag 8 shows that the road ahead is a comprehensive mining working face, the intelligent inspection robot 6 is prompted to switch to a bipedal walking mode, etc.

[0056] When the RSSI information determines that the intelligent inspection robot 6 is close to the passive landmark tag 8, the phase information is used to accurately calculate the distance between the intelligent inspection robot 6 and the passive landmark tag 8 so as to accurately control the movement of the intelligent inspection robot 6.

[0057] When it is determined through RSSI and phase information that the intelligent inspection robot 6 has passed this passive landmark tag 8, the intelligent inspection robot 6 identifies the next passive landmark tag 8 and repeats the above steps.

[0058] The passive sensor tag 10 is attached to the downhole operation equipment 9. The passive sensor tag 10 includes a passive vibration sensor tag, a passive strain sensor tag, a passive temperature sensor tag, a passive displacement sensor tag, and the like.

[0059] When the intelligent inspection robot 6 cruises along the passive landmark tag 8, the reader 4 will also identify the passive sensor tags 10 on the surrounding underground operating equipment 9 through the antenna 101. The passive sensor tag 10 obtains energy from the electromagnetic waves in the antenna 101 and backscatters sensor information to the antenna 101. In addition, the intelligent inspection robot 6 will determine whether the orientation of the antenna 101 to the passive sensor tag 10 is optimal at this time based on the sampling frequency of the passive sensor tag 10: since the sampling frequency will decrease as the orientation of the antenna 101 deviates, the signal transceiver unit 1 will adjust the orientation, height and distance of the antenna 101 from the passive sensor tag 10 through the rotating platform 106, the angle adjustment motor 103 and the first electric push rod 104, so that the sampling frequency of the passive sensor tag 10 to be read reaches the maximum.

[0060] The sensor information is transmitted to the reader 4 via the antenna 101, and then to the analysis and control module 2 of the intelligent inspection robot 6. The analysis and control module 2 analyzes the sensor data and judges the operating status of the downhole operating equipment through the vibration frequency, strain threshold, temperature threshold, displacement threshold and other parameters of the corresponding parts of the downhole operating equipment 9, combined with the fault diagnosis algorithm.

[0061] If all the underground operating equipment here are operating normally, the intelligent inspection robot 6 will continue to cruise along the predetermined route to detect the operating status of the important parts of the next underground operating equipment 9; if an abnormality occurs, the intelligent inspection robot 6 will immediately stop moving and issue an alarm through the alarm light 301, and at the same time display it on the display 302, indicating which equipment and which part has the abnormality.

[0062] Since each passive sensor tag 10 has a specific code, it can accurately correspond to which part of the equipment has a problem: 1. The passive sensor tag 10 can detect the strain of the cutting arm of the coal mining machine, and issue an alarm and display when the strain of the cutting arm exceeds the set threshold; 2. The passive sensor tag 10 can detect the temperature of the electric control box of the coal mining machine, and issue an alarm and display when the temperature is too high; 3. The passive sensor tag 10 can detect the position of the coal mining machine, and issue an alarm and display when the coal mining machine exceeds the predetermined track; 4. The passive sensor tag 10 can detect the support height and support position of the hydraulic support. Positioning detection, when an abnormality occurs, an alarm is issued and displayed; 5. The passive sensor tag 10 can detect the strain of important parts of the hydraulic support, and when the strain exceeds the set threshold, an alarm is issued and displayed; 6. The passive sensor tag 10 can detect the motor temperature of the belt conveyor, and when the temperature exceeds the threshold, an alarm is issued and displayed; 7. The passive sensor tag 10 can also detect the temperature and humidity of the underground tunnel 7, detect the vibration frequency of the equipment, and analyze the health status of the equipment through its own fault diagnosis algorithm, such as whether the bearings, supports, rotors and other parts are worn, and issue an alarm and display when an abnormality occurs.

[0063] The inspection method of the underground intelligent inspection robot based on RFID detection of the present invention comprises the following steps:

[0064] S1. Turn on the power of the intelligent inspection robot 6, set the inspection route for this time on the display 302, and the intelligent inspection robot 6 automatically cruises along the set route;

[0065] S2. Identify the passive landmark tag 8 in front through the antenna 101, access the landmark information and movement instructions in the passive landmark tag 8, and compare the obtained landmark information with the internal map database of the intelligent inspection robot 6 to confirm that the walking route at this time is correct;

[0066] S3, the analysis control module 2 takes inventory of the passive landmark tag 8, increases the sampling frequency, obtains the RSSI and phase information of the passive landmark tag 8, determines the road condition ahead, and chooses to stop moving or continue cruising;

[0067] S4, the analysis and control module 2 controls the intelligent inspection robot 6 to move forward correctly according to the movement instructions in the passive landmark tag 8 and the above-mentioned RSSI-based positioning algorithm, and selects the crawler walking mode or the bipedal walking mode;

[0068] S5. When the intelligent inspection robot 6 cruises along the passive landmark tag 8, the reader 4 identifies the passive sensor tag 10 on the downhole operation equipment 9 through the antenna 101, and the signal transceiver unit 1 rotates to maximize the sampling frequency of the passive sensor tag 10 to be read;

[0069] S5. The analysis control module 2 analyzes the collected data and determines the operating status of the downhole operating equipment 9. If the downhole operating equipment 9 here is operating normally, the intelligent inspection robot 6 continues to cruise along the predetermined route to detect the operating status of the next important part of the downhole operating equipment 9. If an abnormality occurs, the intelligent inspection robot 6 immediately stops moving and issues an alarm through the alarm light 301. At the same time, it is displayed on the display 302, indicating which part of the equipment has the abnormality.

[0070] In describing the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being described. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of the features.

[0071] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0072] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those skilled in the art are all within the scope of protection of the present invention.

Claims

1. An underground intelligent inspection robot based on RFID detection, characterized in that: include: a signal transceiver unit, the signal transceiver unit comprising an antenna; The signal transceiver unit further includes an angle adjustment shaft and an angle adjustment motor, the angle adjustment motor is connected to the antenna through the angle adjustment shaft, the angle adjustment shaft and the angle adjustment motor are installed at one end of the first electric push rod, the other end of the first electric push rod is connected to the support frame, and the support frame is installed on the rotating platform; An analysis control unit, located below the signal transceiver unit; A composite walking unit, the composite walking unit being located below the analysis and control unit; The composite walking unit includes a base, a walking track is provided at the bottom of the base, two walking units are symmetrically provided on both sides of the base, each walking unit includes a guide rail provided on the side of the base, a constraint slider is slidably provided in the guide rail, the outer side of the constraint slider is connected to the walking connecting rod, the lower side of the walking connecting rod is connected to the rotatable support leg, the lower side of the rotatable support leg is connected to the walking bottom plate, and the upper side of the walking connecting rod is connected to the second electric push rod; The top end of the second electric push rod is hinged to the top end of the transmission connecting rod, the middle position of the transmission connecting rod is hinged to the constraint support, the bottom end of the transmission connecting rod is hinged to one end of the rotating crank, and the other end of the rotating crank is connected to the motor installed in the analysis control unit, and the analysis control unit is located above the base; The composite walking unit further includes a fixed seat, which is arranged on the top of the analysis and control unit, and the constraint pillar is fixedly connected to the side of the fixed seat, the constraint pillar is hinged to the transmission connecting rod, and the rotating platform is arranged on the top of the fixed seat; An alarm display unit, located on the composite traveling unit and the analysis and control unit; A reader, wherein the reader is located on the composite walking unit; Passive electronic tags are installed in underground tunnels and on underground operating equipment. Readers identify passive electronic tags through antennas.

2. The underground intelligent inspection robot based on RFID detection according to claim 1 is characterized in that: The analysis control unit includes a controller.

3. The underground intelligent inspection robot based on RFID detection according to claim 1 is characterized in that: The alarm display unit includes a display, two tail lights and four alarm lights. The display is installed behind the analysis and control unit, the four alarm lights are installed at the four corners of the top surface of the base, the two tail lights are installed on both sides of the back of the base, and a reader is also installed behind the base, and the reader is located between the two tail lights.

4. The underground intelligent inspection robot based on RFID detection according to claim 3 is characterized in that: The passive electronic tags include passive landmark tags and passive sensor tags. The passive landmark tags are pasted in the underground tunnels, and the passive sensor tags are pasted on the underground operating equipment. The passive sensor tags include passive vibration sensor tags, passive strain sensor tags, passive temperature sensor tags, and passive displacement sensor tags.

5. A method for inspecting an underground intelligent inspection robot, wherein the underground intelligent inspection robot is the underground intelligent inspection robot based on RFID detection according to claim 4, characterized in that: The following steps are involved: S1. Turn on the robot power, set the inspection route on the display, and the robot will cruise along the set route; S2. Identify the passive landmark tag in front through the antenna, access the landmark information and movement instructions in the passive landmark tag, and confirm that the walking route is correct; S3. The analysis control unit takes inventory of the passive landmark tags, increases the sampling frequency, obtains the RSSI and phase information of the passive landmark tags, determines the road conditions ahead, and chooses to stop moving or continue cruising; S4, analyzing the control unit and selecting the crawler walking mode or the bipedal walking mode according to the movement instruction in the passive landmark tag; S5. The reader identifies the passive sensor tag on the downhole operation equipment through the antenna, and the signal transceiver unit rotates to maximize the sampling frequency of the passive sensor tag to be read; S5. The analysis control unit analyzes the data collected by the reader and determines the operating status of the downhole operating equipment. If the downhole operating equipment here is operating normally, the robot continues to cruise along the predetermined route to detect the operating status of the next important part of the downhole operating equipment. If an abnormality occurs, the robot immediately stops moving and issues an alarm through the alarm light. At the same time, it is displayed on the monitor, indicating which part of the equipment has the abnormality.

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