Mine catastrophe detection metamorphic robot and detection method thereof

Abstract

The invention provides a mine catastrophe detection metamorphic robot and a detection method thereof. The mine catastrophe detection metamorphic robot comprises a driving system, a main control system and a sensing detection system. The driving system consists of a straight hinge, an L-shaped hinge, a U-shaped hinge, a cross-shaped U-shaped hinge, a steering engine, a walking part, a walking part steering engine and a walking part hinge, and has three forms of conventional walking, conical obstacle crossing climbing and wading movement; the main control system comprises a control mainboard, a motor driving chip and a connecting wire, and can realize real-time analysis, wireless communication and intelligent control; the sensing detection system comprises an SLAM laser radar, a digital infrared temperature sensor, a gas concentration monitor, an overpressure sensor and the like, and the functions of precise positioning, environment map construction, abnormal temperature and fire source identification, gas and CO gas concentration monitoring and the like are achieved. According to the invention, rapid advanced exploration and forecast, real-time monitoring of disaster change and post-disaster emergency rescue route planning of the mine catastrophe area can be realized, and the method has important significance for promoting mine intelligent construction.

Description

Technical Field

[0001] The present invention relates to the field of mine disaster emergency rescue, and in particular to a mine disaster detection metamorphic robot and a detection method thereof. Technical Background

[0002] Coal resources occupy an important position in my country's energy structure, accounting for 55.3% of total energy consumption in 2023. However, with the increase in mining depth, accompanied by complex conditions such as high gas, high ground pressure, high ground temperature, and high pressure water, the risk level of disasters such as gas outburst, gas and coal dust explosion, rock burst, fire, and water disasters increases, and the difficulty of governance increases sharply. In order to cope with the challenges brought by the development of deep coal seams, intelligent mine construction has become the only way to mine deep coal seams.

[0003] Intelligent robots in mines are the key technical support for realizing the construction of intelligent mines. The National Energy Administration clearly stated in the notice on "Guiding Opinions on Deepening the Construction of Intelligent Mines and Promoting the Safety Development of Mines" that by 2026, the proportion of intelligent production capacity in coal mines will be no less than 60%, and the replacement rate of intelligent equipment or robots in dangerous and heavy positions in coal mines and non-coal mines will be no less than 30% and 20% respectively, and the number of underground personnel in mines across the country will be reduced by more than 10%. Therefore, robots replacing manual labor has become an inevitable trend in the construction of smart mines.

[0004] At present, underground rescue robots have poor structural flexibility, single functions, and are difficult to cope with the complex terrain and changing environment of mines. They are unable to take effective measures in time when facing different types of mine disasters. Compared with existing rescue robots, metamorphic robots have the characteristics of structural topological evolution and variable activity. They can "one machine with multiple functions" and "one machine with multiple uses" and flexibly respond to various mine disasters. Therefore, the applicant proposed a metamorphic robot for mine disaster detection, which can realize rapid advance exploration and forecasting of mine disaster areas, real-time monitoring of disaster changes, precise positioning and map construction, and post-disaster emergency rescue route planning. It is of great significance to improve the overall efficiency of emergency rescue, reduce rescue risks, and promote the construction of smart mines. Summary of the invention

[0005] In view of the defects existing in the above-mentioned background technology, the present invention intends to provide a mine disaster detection metamorphic robot to solve the problem that traditional mine rescue robots have single functions and poor adaptability to complex and changeable terrain and environment. It can monitor the scale and evolution of disasters in real time after gas outbursts, gas and coal dust explosions, rock bursts, fires, and water disasters occur in mines, analyze terrain, obstacle information and environmental data in real time, and plan reasonable rescue routes to ensure the smooth progress of subsequent rescue operations.

[0006] Technical solution: To achieve the above objectives, the present invention provides a mine disaster detection metamorphic robot, including a drive system, a main control system and a perception detection system.

[0007] The drive system includes a straight hinge, an L-shaped hinge, a U-shaped hinge, a cross U-shaped hinge, a steering gear, a walking part, a walking part steering gear, and a walking part hinge. One end of the straight hinge is directly connected to the L-shaped hinge, and the other end is connected to another straight hinge through a steering gear. One end of the L-shaped hinge is connected to the U-shaped hinge and the steering gear, and the other end is connected to the cross U-shaped rod and the walking part steering gear, and the walking part steering gear is then connected to the walking part through the walking part hinge. The drive system enables the metamorphic robot to have high flexibility, can move in narrow or rugged terrain, and quickly reach the disaster area.

[0008] Furthermore, the drive system uses a fiber-reinforced composite explosion-proof and heat-insulating casing, which is 80% lighter than a traditional metal casing, while achieving explosion-proof and heat-insulating effects, thereby increasing the survival time of the metamorphic robot within the range of gas and coal dust explosions and fire disasters.

[0009] Furthermore, in order to cope with different disaster environments and adapt to various tasks, the walking part of the mine disaster detection metamorphic robot has three forms, including conventional walking form, conical obstacle climbing form and wading movement form. The conventional walking part supports the flexible movement of the metamorphic robot on the tunnel floor, the conical walking part can ensure that the robot can climb up in the coal and rock yard formed by gas outburst or rock burst disaster, and the air cushion walking part allows the robot to float on the water.

[0010] The main control system is integrated into a control host, located at the lower end of the metamorphic robot drive system, including a control mainboard, a motor drive chip and connecting wires. The control mainboard is equipped with a central core processor and a wireless network card. When a mine disaster occurs, the metamorphic robot can judge the type and scale of the disaster based on the data detected by the sensor, and transmit the information to other metamorphic robots at their posts. At the same time, it can analyze the terrain information sensed by the sensor, determine the movement form of the metamorphic robot, and then transmit the signal to the motor drive chip. The motor drive chip drives the walking part, steering gear and hinge of the metamorphic robot to move flexibly in different complex terrains.

[0011] The perception detection system includes a SLAM laser radar, a digital infrared temperature sensor, a gas concentration monitor, an overpressure sensor, an infrared imager, a dust concentration monitor, and a liquid level sensor.

[0012] Furthermore, the metamorphic robot observes the characteristic points and landmarks in the environment through the SLAM laser radar, and continuously updates its own position and environmental map according to the robot's own motion state, thus realizing the positioning of the metamorphic robot and the construction of the environmental map. The laser radar detection distance is >25m, the accuracy reaches 10mm, and the effective point cloud density is 1200 points / turn.

[0013] Furthermore, the Metamorph robot uses digital infrared temperature sensors and infrared imagers to explore abnormal temperatures in mining areas, identify fire sources in advance, or detect and image the temperature and fire scene in disaster areas to preliminarily determine the evolution and scale of fire and explosion disasters. The temperature sensor can measure within a radius of 3m, with a temperature range of 0℃ to 1950℃. The infrared imager can generate a 384×288 pixel thermal image, showing a temperature difference of 40mK to 50mK, and supports efficient detection of multiple fire points.

[0014] Furthermore, the metamorphic robot carries a gas concentration monitor and a dust concentration monitor to detect gas, CO concentration, and dust concentration, and obtains information on changes in gas and dust concentration parameters, providing a basis for the metamorphic robot main control system to determine the type and severity of disasters. The gas concentration monitor has a monitoring range of 0 to 1000ppm, a monitoring error of less than 5%, and a response time of less than 30s. The dust concentration monitor range can be customized according to the actual situation of the mine, with an error of less than 0.1% and a response time of less than 20s.

[0015] Furthermore, the Metacell robot uses overpressure sensors to monitor the shock wave overpressure generated by gas outbursts, gas and coal dust explosions, identify the scale of the disaster, and promptly transmit the shock wave overpressure changes to other robots. The overpressure sensor has a sensitivity of 0.1ms, and the overpressure monitoring range is between -0.06MPa and 3MPa.

[0016] Furthermore, the metamorphic robot uses a liquid level sensor to detect the depth of water in the mine, achieving preliminary detection of underground flooding. After that, the water level information is transmitted to other metamorphic robots, so that the metamorphic robots with air cushions installed in their walking parts can quickly rush to the scene. The liquid level sensor has a measurement range of 30m and a measurement range of -1bar to 3bar.

[0017] The present invention also provides a method for detecting a disaster using the above-mentioned metamorphic robot, the steps of which are as follows:

[0018] a. When the mine is in normal production, the cluster of metamorphic robots is dispersed in the mining space, and then the inspection range of each robot is determined to monitor the gas concentration, temperature and other parameters in each responsible area in real time. The command robot is located at the rear and uses BML voice to issue control instructions to achieve real-time scheduling of cluster robots;

[0019] b. After a mine disaster occurs, the Metacell robot located within the disaster area will use digital infrared temperature sensors, gas concentration monitors, overpressure sensors and other detection equipment to detect abnormal changes in important parameters of the mine disaster, such as gas and CO concentration, temperature, shock wave overpressure, and liquid water level. The data obtained from the monitoring will then be transmitted to the rear command robot through the mine WiFi hotspot;

[0020] c. After receiving the detection data from the robot in front, the command robot analyzes it through the main control system, preliminarily determines the type and scale of the mine disaster, and then issues instructions to the robots near the disaster area, so that the first robot near the disaster area quickly moves to the disaster area, and the other robots near the disaster area follow it at a distance;

[0021] d. The Metamorphic Robot closest to the disaster area will constantly detect environmental and terrain information through the perception system while moving towards the disaster area. When the digital infrared temperature sensor, overpressure sensor and SLAM laser radar detect high temperature and high pressure areas or perceive obstacles such as coal and rock storage yards and accumulated water that hinder the movement of the Metamorphic Robot, the robot will try to continue to approach the disaster area and change the walking part shape;

[0022] e1. When the metamorphic robot near the disaster area encounters a coal pile, the spring mechanism connected to the walking part is unlocked, the conical walking part is released and nailed to the coal rock. When the four conical walking parts of the metamorphic robot are nailed to the surface of the coal rock, the spring mechanism of the upper two conical walking parts contracts to retract the conical walking parts, and the walking parts move upward and release the conical walking parts again through the spring mechanism, and then the lower walking parts move upward along the same process, so that the metamorphic robot can climb in the coal pile;

[0023] e2. When a metamorphic robot near the disaster area encounters water accumulation, the metamorphic robot transmits its position information to the command robot behind it. The command robot then urgently mobilizes a small tracked transport vehicle carrying a metamorphic robot that has been modified with a water-wading air cushion to rush to the location of the water accumulation. The small tracked vehicle then releases the metamorphic robot in the water-wading form to enable it to move on the water surface;

[0024] f. While other robots near the disaster area exchange information with the first robot close to the disaster area, they move towards the disaster area from other different paths. During this process, they gradually complete the construction of the environmental map and the emergency rescue route planning, providing a basis for the Inoue Command Center to make emergency rescue decisions.

[0025] Compared with other traditional mine emergency rescue robots, the present invention has the following advantages: Achieve multi-functionality and multi-purpose in a variety of complex mine disaster environments. The metamorphic robot can change its configuration during operation, thereby obtaining mechanisms with different degrees of freedom. The metamorphic robot morphological mechanism of the present invention can not only be transformed into a crawling form, a snake form and a dog form, but its walking part has been modified to add two modes, including a cone obstacle climbing form and a wading movement form, so that the robot can quickly move in rock crevices, caves, rock piles and water surfaces underground, and successfully complete detection tasks in a variety of disaster environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a mine disaster detection metamorphic robot;

[0027] Figure 2 This is a schematic diagram of the main control system of the mine disaster detection metamorphic robot;

[0028] Figure 3 This is a schematic diagram of the sensors of the mine disaster detection metamorphic robot perception and detection system;

[0029] Figure 4 It is a schematic diagram of the three different action states of the mine disaster detection cellular robot in normal state, coal and rock storage yard and water accumulation;

[0030] Figure 5 It is the layout diagram of the cell robot group in the tunnel after the mine disaster occurs;

[0031] Figure 6 It is a diagram of the collaborative workflow of the cellular robot group after a mine disaster occurs;

[0032] In the figure, 1 is a straight hinge, 2 is an L-shaped hinge, 3 is a servo, 4 is a U-shaped hinge, 5 is a cross U-shaped hinge, 6 is a walking part hinge, 7 is a walking part servo, 8 is a walking part, 9 is a spring mechanism, 10 is a conical walking part, 11 is a control host, 11-1 is a control mainboard, 11-2 is a motor driver chip, 11-3 is a connecting wire, 12 is a SLAM laser radar, 13 is a digital infrared temperature sensor, 14 is a gas concentration monitor, 15 is an overpressure sensor, 16 is an infrared imager, 17 is a dust concentration monitor, 18 is a liquid level sensor, 19 is an air cushion, 20 is an underground tunnel, 21 is a mine WiFi hotspot, 22 is a disaster area, 23 is a robot within the influence range of the disaster area, 24 is the first robot close to the disaster area, 25 is other robots near the disaster area, and 26 is a command robot. DETAILED DESCRIPTION

[0033] In order to clearly illustrate the overall structure and technical process of the present invention, the inventive device is further described in detail by referring to the drawings in the specification. The specific examples described are only used to explain the present invention and are not used to limit the present invention.

[0034] As attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, a mine disaster detection metamorphic robot provided by the present invention includes a drive system, a main control system and a perception detection system.

[0035] The driving system includes a straight hinge 1, an L-shaped hinge 2, a steering gear 3, a U-shaped hinge 4, a cross U-shaped hinge 5, a walking part hinge 6, a walking part steering gear 7, a walking part 8, a spring mechanism 9, a conical walking part 10, and an air cushion 19.

[0036] Furthermore, one end of the straight hinge 1 is directly connected to the L-shaped hinge 2, and the other end is connected to the steering gear 3 and another straight hinge 1, and one end of the L-shaped hinge 2 is connected to the U-shaped hinge 4. There are four structures above and they are parallel to each other, forming the belly of the drive system.

[0037] Furthermore, the other end of the L-shaped hinge 2 is connected to the steering gear 3 and the cross U-shaped hinge 4, and then connected to the walking part hinge 6, the walking part steering gear 7 and the walking part 8. There are four of the above structures, which constitute the foot of the driving system.

[0038] Furthermore, the driving system of the metamorphic robot changes its feet so that the robot can move on coal and rock storage yards and water accumulation caused by mine water disasters caused by gas outbursts and rock bursts. The specific implementation method is as follows:

[0039] a. The metamorphic robot constantly detects the environment and terrain information through the sensing detection system. If no abnormal terrain or environment is detected, the metamorphic robot moves normally through the walking unit 8;

[0040] b. When the metamorphic robot detects the coal pile through the sensing detection system, the spring mechanism 9 connected to the walking part 8 is unlocked, and the conical walking part 10 is released and nailed to the coal rock. When the four conical walking parts 10 of the metamorphic robot are nailed to the surface of the coal rock, the spring mechanism 9 of the upper conical walking part 10 contracts to retract it, and restore it to the walking part 8, and the entire body of the metamorphic robot moves upward. After this, the metamorphic robot moves upward along the same process as before, so that the metamorphic robot can climb in the coal pile;

[0041] c. When the metamorphic robot detects accumulated water through the sensing detection system, the metamorphic robot contacts the rear, and then the robot modified with the air cushion 19 quickly reaches the location of the accumulated water, and the robot will move on the water surface.

[0042] The main control system is integrated into the control host 11, which includes a control mainboard 11-1 and a motor drive chip 11-2, and is connected to the metamorphic robot drive system and the perception detection system through connecting wires 11-3.

[0043] Furthermore, the control main board 11-1 has analysis and communication functions. During normal inspections or when a disaster occurs, the meta-robot can judge whether there is a disaster, the type and scale of the disaster based on the monitoring data of the perception detection system, and transmit the sensor information and judgment results to other meta-robots on duty.

[0044] Furthermore, the motor driving chip 11-2 can drive the walking part, steering gear and hinge activities of the metamorphic robot, so that the metamorphic robot can move flexibly in different complex terrains.

[0045] The perception detection system includes a SLAM laser radar 12 , a digital infrared temperature sensor 13 , a gas concentration monitor 14 , an overpressure sensor 15 , an infrared imager 16 , a dust concentration monitor 17 , and a liquid level sensor 18 .

[0046] Furthermore, the Metacell robot uses SLAM laser radar for precise positioning and environmental map construction, uses digital infrared temperature sensors and infrared imagers to identify abnormal temperatures and fire sources in mining areas, or detects and images fire scenes in disaster areas, uses gas concentration monitors and dust concentration monitors to detect gas, CO concentrations, and dust concentrations, uses overpressure sensors to monitor shock wave overpressures caused by gas outbursts, gas and coal dust explosions, and uses liquid level sensors to detect the depth of water accumulation in mines.

[0047] like Figure 4 and Figure 5 As shown, the present invention also provides a detection method of a mine disaster detection metamorphic robot after a mine disaster occurs, comprising the following steps:

[0048] a. When the mine is in normal production, the cluster of metamorphic robots is deployed in the tunnel 20 to monitor the gas concentration, temperature and other parameters in each responsible area in real time. The command robot 26 is located at the rear and uses BML voice to issue control instructions and transmit signals through the mine WiFi hotspot 21 to achieve real-time scheduling of the cluster robots;

[0049] b. After a mine disaster occurs, the robot 23 in the disaster area 22 and the affected area uses detection equipment such as digital infrared temperature sensors 13, gas concentration monitors 14, and overpressure sensors 15 to detect abnormal changes in important parameters of the mine disaster, such as gas and CO concentration, temperature, shock wave overpressure, and liquid water level. The data obtained from the monitoring is then transmitted to the rear command robot 26 through the mine WiFi hotspot 21;

[0050] c. After receiving the detection data from the robot 23 within the affected area of ​​the disaster, the command robot 26 analyzes the data through the main control system, preliminarily determines the type and scale of the mine disaster, and then issues instructions to the robots near the disaster area, so that the first robot 24 near the disaster area quickly moves to the disaster area 22, and the other robots 25 near the disaster area follow it at a distance;

[0051] d. The first robot 24 near the disaster area moves towards the disaster area 22. When the digital infrared temperature sensor 13, overpressure sensor 15, SLAM laser radar 12, and liquid level sensor 18 of the perception system detects high temperature and high pressure areas or perceives obstacles such as coal and rock yards and water accumulation that hinder the movement of the mutator robot, the robot will change the shape of the walking part according to different terrain features and try to approach the disaster area 22, continue to monitor the dynamic parameters and environmental data of the disaster, and observe the evolution of the disaster in real time. At the same time, it exchanges terrain, obstacles and environmental information with other robots 25 near the disaster area, and performs positioning and map construction through SLAM laser radar 12;

[0052] e. The other robots 25 near the disaster area move toward the disaster area 22 from other different paths while exchanging information with the first robot 24 near the disaster area. In this process, the planning of the emergency rescue route is gradually completed, providing a basis for the Inoue Command Center to make emergency rescue decisions.

Claims

1. A mine disaster detection metamorphic robot, characterized in that: Including driving system, main control system and perception detection system; The driving system is composed of 8 straight hinges (1), 8 L-shaped hinges (2), 6 steering gears (3), 4 U-shaped hinges (4), 4 cross U-shaped hinges (5), 8 running part hinges (6), 8 running part steering gears (7), 4 running parts (8), 4 spring mechanisms (9), 4 conical running parts (10), and 4 air cushions (19); one end of the straight hinge (1) is directly connected to the L-shaped hinge (2), and the other end is connected to the steering gear (3) and another straight hinge (1); one end of the L-shaped hinge (2) is connected to the U-shaped hinge (4), and the other end of the L-shaped hinge (2) is connected to the steering gear (3) and the cross U-shaped hinge (5), and then connected to the running part hinge (6), the running part steering gear (7), and the running part (8); The main control system is integrated into a control host (11), which includes a control mainboard (11-1) and a motor drive chip (11-2) and is connected to the metamorphic robot drive system and the sensing and detection module via connecting wires (11-3); the control mainboard (11-1) has real-time analysis and wireless communication functions. During normal inspections or when a disaster occurs, the metamorphic robot determines whether it is affected by a disaster, the type and scale of the disaster based on the monitoring results of the sensing and detection module, and exchanges information with other metamorphic robots at their posts; The sensing and detection system comprises a SLAM laser radar (12), a digital infrared temperature sensor (13), a gas concentration monitor (14), an overpressure sensor (15), an infrared imager (16), a dust concentration monitor (17), and a liquid level sensor (18); the metamorphic robot accurately positions itself and constructs an environmental map through the SLAM laser radar (12), senses abnormal temperature and fire sources in the mining area through the digital infrared temperature sensor (13) and the infrared imager (16), detects and images the fire scene in the disaster area, detects the concentration of harmful gases and dust through the gas concentration monitor (14) and the dust concentration monitor (17), monitors the shock wave overpressure generated by gas outbursts and gas and coal dust explosions through the overpressure sensor (15), and detects the depth of water accumulation in the mine water disaster by using the liquid level sensor (18).

2. The mine disaster detection metamorphic robot according to claim 1, characterized in that: The perception detection system observes characteristic points and landmarks in the environment through a SLAM laser radar (12), and continuously updates its own position and environmental map according to the robot's own motion state, thereby realizing the positioning of the metamorphic robot and the construction of the environmental map; the laser radar detection distance is greater than 25m, the accuracy reaches 10mm, and the effective point cloud density is 1200 points / revolution.

3. The mine disaster detection metamorphic robot according to claim 1, characterized in that: The sensing and detection system detects abnormal temperatures in the mission execution area of ​​the metamorphic robot through a digital infrared temperature sensor (13) and an infrared imager (16), identifies the fire source in advance, and then detects and images the temperature and fire scene in the disaster area, preliminarily determines the evolution and scale of fire and explosion disasters, and feeds back the disaster information to the command robot (26) in real time for decision-making; the digital infrared temperature sensor (13) can perform real-time measurement within a radius of 3m, and the measurement temperature range is 0°C to 1950°C; the infrared imager (16) can generate a thermal image of 400×300 pixels, presenting a temperature difference of 40mK to 50mK, and supports efficient detection of multiple fire points.

4. The mine disaster detection metamorphic robot according to claim 1, characterized in that: The sensing detection system detects the concentration of gas, CO and dust through a gas concentration monitor (14) and a dust concentration monitor (17), obtains information on changes in gas and dust concentration parameters, and provides a basis for the metamorphic robot main control system to judge the type and severity of disasters. The monitoring range of the gas concentration monitor is 0ppm to 1000ppm, the monitoring error is less than 5%, and the response time is less than 30s. The dust concentration monitor range can be customized according to the actual situation of the mine, the error is less than 0.1%, and the response time is less than 20s.

5. The mine disaster detection metamorphic robot according to claim 1, characterized in that: The sensing and detection system monitors the shock wave overpressure generated by gas outbursts, gas and coal dust explosions through an overpressure sensor (15), identifies the scale of the disaster, and promptly transmits the shock wave overpressure changes to the command robot (26). The overpressure sensor has a sensitivity of 0.1 ms and an overpressure monitoring range of -0.06 MPa to 3 MPa.

6. The mine disaster detection metamorphic robot according to claim 1, characterized in that: The sensing detection system detects the depth of water accumulation in the mine through a liquid level sensor (18), realizes preliminary detection of underground water disasters, and transmits water level information to a command robot (26), so that the metamorphic robot with a modified air cushion on its walking part can quickly rush to the scene. The liquid level sensor has a measurement range of 30m and a measurement range of -1bar to 3bar.

7. The mine disaster detection metamorphic robot according to any one of claims 1 to 6, characterized in that: The driving system of the mine disaster detection metamorphic robot changes its feet to enable the robot to move on coal and rock storage yards formed by gas outbursts and rock burst disasters and on accumulated water in mine water disasters. The specific implementation method is as follows: a. The metamorphic robot perceives the underground environment and terrain information in real time in the task execution area through the perception detection system. If no complex terrain or environment is detected, the metamorphic robot first feeds back the information to the walking unit (8) for normal movement; b. When the metamorphic robot detects an obstacle through the sensing and detection system, the spring mechanism (9) connected to the walking part (8) releases the conical walking part (10) and embeds it on the surface of the coal pile; when the four conical walking parts (10) of the metamorphic robot are firmly fixed on the surface of the coal pile, the spring mechanism (9) of the upper conical walking part (10) contracts to retract it and restore it to the walking part (8), and the entire body of the metamorphic robot moves upward; thereafter, the metamorphic robot moves upward along the same process as before, so that the metamorphic robot can climb on the coal pile; c. When the metamorphic robot detects water accumulation through the perception and detection system, it will provide real-time feedback to the command robot (26) for decision-making, and then command the robot modified with an air cushion (19) to quickly reach the water accumulation location, survey the situation in the water accumulation area of ​​the mine, and evolve the disaster situation.

8. The detection method of a mine disaster detection metamorphic robot according to any one of claims 1 to 7, characterized in that: The specific steps are: a. When the mine is in normal production, the cluster of cellular robots is arranged in the tunnel (20) to monitor the gas concentration, temperature and other parameters in each responsible area in real time. The command robot (26) is located at the rear and uses BML voice to issue control instructions. The signal is transmitted through the mine WiFi hotspot (21) to realize the real-time scheduling of the cluster robot; b. After a mine disaster occurs, the robot (23) in the disaster area (22) and the affected area uses detection equipment such as a digital infrared temperature sensor (13), a gas concentration monitor (14), and an overpressure sensor (15) to detect abnormal changes in important parameters of the mine disaster, such as gas and CO concentration, temperature, shock wave overpressure, and liquid water level, 10m to 20m ahead of the working face, and then transmits the monitored data to the rear command robot (26) through the mine WiFi hotspot (21); c. After receiving the detection data from the robot (23) within the affected area of ​​the disaster, the command robot (26) analyzes the data through the main control system, preliminarily determines the type and scale of the mine disaster, and then issues instructions to the robots near the disaster area, so that the first robot (24) near the disaster area quickly moves to the disaster area (22), and the other robots (25) near the disaster area follow at a distance; d. The first robot (24) approaching the disaster area moves toward the disaster area (22). When the digital infrared temperature sensor (13), overpressure sensor (15), SLAM laser radar (12), and liquid level sensor (18) of the perception system detects high temperature or high pressure areas or perceives obstacles such as coal and rock yards and accumulated water that hinder the movement of the mutator robot, the robot will change the shape of the walking part according to different terrain features and try to approach the disaster area (22). It will continue to monitor the dynamic parameters and environmental data of the disaster, observe the evolution of the disaster in real time, and exchange terrain, obstacles and environmental information with other robots (25) near the disaster area, and perform positioning and map construction through the SLAM laser radar (12); e. The other robots (25) near the disaster area move toward the disaster area (22) from other different paths while exchanging information with the first robot (24) near the disaster area. In this process, the planning of the emergency rescue route is gradually completed, providing a basis for the Inoue Command Center to make emergency rescue decisions.

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