Mine disaster detection metamorphic robot and detection method thereof

Abstract

The application provides a mine disaster detection metamorphic robot and a detection method thereof, which comprises a driving system, a main control system and a sensing and detection system; the driving system is composed of a straight hinge, an L-shaped hinge, a U-shaped hinge, a cross U-shaped hinge, a rudder, a walking part, a walking part rudder and a walking part hinge, and has three forms of normal walking, cone-shaped obstacle climbing and water moving; the main control system comprises a control mainboard, a motor driving chip and connecting wires, and can realize real-time analysis, wireless communication and intelligent control; the sensing and detection system comprises a SLAM laser radar, a digital infrared temperature sensor, a gas concentration monitor, an overpressure sensor and the like, and can realize functions of accurate positioning and environment map construction, abnormal temperature and fire source identification, gas and CO gas concentration monitoring and the like. The application can realize rapid advanced exploration and prediction of a mine disaster area, real-time monitoring of disaster changes, post-disaster emergency rescue route planning, and has important significance for promoting intelligent construction of mines.

Description

TECHNICAL FIELD

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

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

[0003] Mine intelligent robot is the key technical support to realize intelligent mine construction. In the notice of the State Energy Administration on deepening the construction of mine intelligence and promoting the development of mine safety, it is clearly pointed out that by 2026, the intelligent production capacity of coal mine will account for not less than 60%, the intelligent equipment or robot replacement rate of dangerous and heavy post operation in coal mine and non-coal mine will be not less than 30% and 20% respectively, and the number of underground personnel in the country will be reduced by more than 10%. Therefore, robot replacing manual work has become an inevitable trend in the process of intelligent mine construction.

[0004] At present, the rescue robot mechanism in the mine has poor flexibility, single function and is difficult to cope with the complex terrain and variable environment of the mine. It cannot take effective measures in time when facing different types of mine disasters. Compared with the existing rescue robots, the metamorphic robot has the characteristics of variable mechanism topology and variable mobility, can realize "one machine with multiple functions" and "one machine with multiple uses", and can flexibly cope with various mine disasters. Therefore, the applicant proposes a metamorphic robot for mine disaster detection, which realizes rapid advanced exploration and prediction of mine disaster area, real-time monitoring of disaster change, accurate positioning and map construction, and post-disaster emergency rescue route planning. It is of great significance to improve the efficiency of emergency rescue, reduce the risk of rescue and promote the construction of intelligent mines. SUMMARY

[0005] In view of the defects in the above background art, the present application intends to provide a mine disaster detection metamorphic robot to solve the problems of single function of traditional mine rescue robot, poor adaptability to complex and variable terrain and environment. It can monitor the disaster scale and evolution process in real time after gas outburst, gas and coal dust explosion, rock burst, fire and water disaster in the mine, analyze the terrain, obstacle information and environmental data in real time, and plan a reasonable rescue route to ensure the smooth progress of subsequent rescue operations.

[0006] Technical solution: To achieve the above purpose, the application provides a mine disaster detection metamorphic robot, which comprises a driving system, a main control system and a perception and detection system.

[0007] The driving system comprises a straight hinge, an L-shaped hinge, a U-shaped hinge, a cross U-shaped hinge, a rudder, a walking part, a walking part rudder, and a walking part hinge. One end of the straight hinge is directly connected with the L-shaped hinge, and the other end is connected with another hinge through the rudder. One end of the L-shaped hinge is connected with the U-shaped hinge and the rudder, and the other end is connected with the cross U-shaped rod and the walking part rudder. The walking part rudder is further connected with the walking part through the walking part hinge. The driving system makes the metamorphic robot have high flexibility, and can move in narrow or rugged terrain and quickly reach the disaster area.

[0008] Further, the driving system uses a fiber-reinforced composite material explosion-proof and heat-insulating shell, which is 80% lighter than a traditional metal shell, and achieves the effects of explosion-proof and heat insulation, so that the survival time of the metamorphic robot in the influence range of gas and coal dust explosion and fire disaster is increased.

[0009] Further, 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 a conventional walking form, a conical obstacle climbing form and a water moving form. The conventional walking part supports the flexible movement of the metamorphic robot on the roadway floor, the conical walking part can ensure the robot to climb upward in the coal and rock yard formed by gas outburst or rock burst disaster, and the air cushion walking part makes the robot float on the water surface.

[0010] The main control system is integrated in a control host located at the lower end of the driving system of the metamorphic robot, and comprises a control mainboard, motor driving chips and connecting wires. The control mainboard is provided with a central core processor and a wireless network card. When a mine disaster occurs, the metamorphic robot can judge the disaster type and scale according to the data detected by the sensor, and transmit the information to other metamorphic robots on duty. At the same time, the topography information sensed by the sensor can be analyzed, the signal is transmitted to the motor driving chip after the motion form of the metamorphic robot is determined, and the motor driving chip drives the walking part, the rudder and the hinge of the metamorphic robot to move, so that the metamorphic robot can move flexibly in different complex terrains.

[0011] The perception and detection system comprises 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] Further, the metamorphic robot observes feature points and landmarks in the environment through the SLAM laser radar, and constantly updates its own position and environment map according to the motion state of the robot itself, so as to realize the positioning and environment map construction of the metamorphic robot. The detection distance of the laser radar is > 25m, the accuracy reaches 10mm, and the effective point cloud density is 1200 points / revolution.

[0013] Further, the metamorphic robot explores the abnormal temperature of the mining area through the digital infrared temperature sensor and the infrared imager, identifies the fire source in advance, or detects and images the temperature of the disaster area and the fire field of the disaster area, so as to preliminarily judge the evolution and scale of the fire and explosion disaster. The temperature sensor can measure a range within a radius of 3m, and the measurement temperature interval is 0℃-1950℃. The infrared imager can generate a thermal image of 384x288 pixels, present a temperature difference of 40mK-50mK, and support multi-level fire point efficient detection.

[0014] Further, the metamorphic robot carries a gas concentration monitor and a dust concentration monitor to detect the gas, CO concentration and dust concentration, and obtain the gas and dust concentration parameter change information, so as to provide a basis for the main control system of the metamorphic robot to judge the disaster type and disaster situation. The gas concentration monitor has a monitoring range of 0-1000ppm, a monitoring error of less than 5%, and a response time of less than 30s. The dust concentration monitor has a range that can be customized according to the actual situation of the mine, an error of less than 0.1%, and a response time of less than 20s.

[0015] Further, the metamorphic robot monitors the shock wave overpressure generated by the gas outburst and gas and coal dust explosion through the overpressure sensor, identifies the disaster scale, and timely transmits the shock wave overpressure change to other robots. The overpressure sensor has a sensitivity of 0.1ms, and the overpressure monitoring range is between-0.06MPa and 3MPa.

[0016] Further, the metamorphic robot detects the water depth of the mine water disaster by using the liquid level sensor, realizes the preliminary identification of the underground water disaster, and then transmits the water level information to other metamorphic robots, so that the metamorphic robot with the air cushion walking part can quickly arrive at the scene. The liquid level sensor has a measurement range of 30m and a measurement range of-1bar-3bar.

[0017] The application also provides a disaster detection method using the metamorphic robot.

[0018] a. When the mine is in normal production, the metamorphic robot group is dispersedly arranged in the mining space, and then the patrol range of each robot is determined, and the gas concentration, temperature and other parameters in the responsible area are monitored in real time. The command robot is located at the rear, and the BML voice is used to issue control instructions to realize real-time scheduling of the cluster robot;

[0019] b. After the mine disaster, the metamorphic robot in the influence range of the disaster area detects the abnormal changes of important parameters such as gas, CO gas concentration, temperature, shock wave overpressure, liquid water level in the mine disaster through digital infrared temperature sensor, gas concentration monitor, overpressure sensor and other detection equipment. Then the monitoring data is transmitted to the rear command robot through the mine WiFi hotspot;

[0020] c. After the command robot receives the detection data of the front robot, the command robot analyzes the detection data through the main control system, preliminarily judges the type and scale of the mine disaster, and immediately issues instructions to the robots near the disaster area, so that the first robot near the disaster area moves quickly to the disaster area, and the other robots near the disaster area keep a distance and follow the first robot;

[0021] d. The metamorphic robot closest to the disaster area moves to the disaster area while detecting the environment and terrain information at all times through the perception system. When the digital infrared temperature sensor, overpressure sensor and SLAM laser radar detect a high-temperature, high-pressure area or perceive an obstacle such as a coal and rock yard or accumulated water, the metamorphic robot will try to move closer to the disaster area and change the shape of the walking part;

[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 all nailed to the surface of the coal rock, the spring mechanism of the upper two conical walking parts is contracted to recover the conical walking part, and the walking part moves upward again to release the conical walking part through the spring mechanism. Then the lower walking part moves upward along the same process, so that the metamorphic robot can climb in the coal pile;

[0023] e2. When the metamorphic robot near the disaster area encounters accumulated water, the metamorphic robot transmits the position information to the rear command robot, and the command robot immediately mobilizes a small tracked vehicle carrying a metamorphic robot with a water-skiing air cushion to the location of the accumulated water. Then the small tracked vehicle releases the metamorphic robot in the water-skiing form to move on the water surface;

[0024] f. While interacting with the first robot near the disaster area, the other robots near the disaster area move to the disaster area from other different paths. During this process, the environmental map construction and emergency rescue route planning are gradually completed, which provides a basis for the emergency rescue decision-making of the surface command center.

[0025] Compared with other conventional mine emergency rescue robots, the present application has the following advantages:

[0026] The variable cell robot can change the configuration during operation, so as to obtain a mechanism with different degrees of freedom. The shape mechanism of the variable cell robot can not only change into a crawling shape, a snake shape and a dog shape, but also can change into two modes of a cone-shaped obstacle climbing shape and a water moving shape through modification of a walking part, so that the robot can quickly move on a rock gap, a cave, a rock pile and a water surface in a mine, and successfully completes a detection task in a plurality of disaster environments. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 Fig. 1 is a schematic diagram of the overall structure of a mine disaster detection variable cell robot;

[0028] Figure 2 Fig. 2 is a schematic diagram of a main control system of the mine disaster detection variable cell robot;

[0029] Figure 3 Fig. 3 is a schematic diagram of sensors of a perception and detection system of the mine disaster detection variable cell robot;

[0030] Figure 4 Fig. 4 is a schematic diagram of three different action states of the mine disaster detection variable cell robot in a normal state, a coal rock pile field and water accumulation;

[0031] Figure 5 Fig. 5 is a layout diagram of the variable cell robot group in a mine roadway after a mine disaster occurs;

[0032] Figure 6 Fig. 6 is a collaborative work flowchart of the variable cell robot group after a mine disaster occurs;

[0033] In the drawings, 1 is a straight hinge, 2 is an L-shaped hinge, 3 is a steering engine, 4 is a U-shaped hinge, 5 is a cross U-shaped hinge, 6 is a walking part hinge, 7 is a walking part steering engine, 8 is a walking part, 9 is a spring mechanism, 10 is a cone-shaped walking part, 11 is a control host, 11-1 is a control mainboard, 11-2 is a motor driving 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 roadway, 21 is a mine WiFi hotspot, 22 is a disaster area, 23 is a robot in the influence range of the disaster area, 24 is a first robot close to the disaster area, 25 is another robot near the disaster area, and 26 is a command robot. DETAILED DESCRIPTION

[0034] In order to clearly illustrate the overall structure and technical process of the present application, the present application device is further described in detail by referring to the drawings of the specification. The specific examples described are only used to explain the present application, and are not used to limit the present application.

[0035] As shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 2 and the accompanying drawings Figure 3 , the present application provides a mine disaster detection metamorphic robot, including driving system, main control system and sensing and detection system.

[0036] The driving system includes straight hinge 1, L-shaped hinge 2, rudder 3, U-shaped hinge 4, cross U-shaped hinge 5, walking part hinge 6, walking part rudder 7, walking part 8, spring mechanism 9, conical walking part 10, air cushion 19.

[0037] Further, one end of the straight hinge 1 is directly connected with the L-shaped hinge 2, and the other end is connected with the rudder 3 and another straight hinge 1, and one end of the L-shaped hinge 2 is connected with the U-shaped hinge 4. The above structure has four and is parallel to each other, constituting the abdomen of the driving system.

[0038] Further, the other end of the L-shaped hinge 2 is connected with the rudder 3 and the cross U-shaped hinge 4, and is further connected with the walking part hinge 6, the walking part rudder 7 and the walking part 8. The above structure has four, constituting the foot of the driving system.

[0039] Further, the driving system of the metamorphic robot can move on the coal rock field formed by gas outburst and rock burst disaster and the accumulated water of mine water disaster by changing the foot, and the specific implementation manner is as follows:

[0040] a. The metamorphic robot detects the environment and terrain information at any time through the sensing and detection system, and moves normally through the walking part 8 in the case that no abnormal terrain or environment is detected;

[0041] b. When the metamorphic robot detects the coal pile through the sensing and detection system, the spring mechanism 9 connected with the walking part 8 is unlocked, the conical walking part 10 is released and nailed on the coal rock. When the four conical walking parts 10 of the metamorphic robot are all nailed on the surface of the coal rock, the spring mechanism 9 of the upper conical walking part 10 is contracted to make it recover, and the walking part 8 is restored, and the whole body of the metamorphic robot moves upward. After that, the metamorphic robot moves upward along the same process as before, so that the metamorphic robot can climb in the coal pile;

[0042] c. When the metamorphic robot detects the accumulated water through the sensing and detection system, the metamorphic robot contacts the rear, and then the robot with the air cushion 19 is quickly arrived at the accumulated water position, and the robot moves on the water surface.

[0043] The main control system is integrated in the control host 11, which includes the control mainboard 11-1 and the motor driving chip 11-2 inside, and is connected with the driving system and the sensing and detection system of the metamorphic robot through the connecting wire 11-3.

[0044] Further, the control mainboard 11-1 has analysis and communication functions, and when normal inspection or disaster occurs, the metamorphic robot based on the monitoring data of the sensing and detecting system can judge whether disaster occurs, the type and scale of the disaster, and transmit the sensor information and the judgment result to other metamorphic robots in the post.

[0045] Further, the motor driving chip 11-2 can drive the walking part, rudder and hinge of the metamorphic robot, so that the metamorphic robot can move flexibly in different complex terrains.

[0046] The sensing and detecting 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.

[0047] Further, the metamorphic robot can be accurately positioned and the environment map can be constructed through the SLAM laser radar, the abnormal temperature and fire source in the mining area can be identified through the digital infrared temperature sensor and the infrared imager, the disaster area fire can be detected and imaged, the gas and CO concentration and the dust concentration can be detected through the gas concentration monitor and the dust concentration monitor, the shock wave overpressure generated by the gas outburst and gas and coal dust explosion can be monitored through the overpressure sensor, and the water accumulation depth of the mine water disaster can be detected through the liquid level sensor.

[0048] As shown in Figure 5 and Figure 6 The application further provides a detection method of the metamorphic robot for detecting mine disasters, which comprises the following steps:

[0049] a. When the mine is in normal production, the metamorphic robot group is arranged in the roadway 20 to monitor the gas concentration, temperature and other parameters in the responsible area in real time. The command robot 26 is located at the rear, adopts BML voice to issue control instructions, transmits signals through the mine WiFi hotspot 21, and realizes real-time scheduling of the cluster robot;

[0050] b. After the mine disaster occurs, the disaster area 22, the robot 23 in the influence range of the disaster area detects the abnormal changes of important parameters such as gas, CO gas concentration, temperature, shock wave overpressure and liquid level of the mine disaster in advance through the digital infrared temperature sensor 13, the gas concentration monitor 14, the overpressure sensor 15 and other detecting devices. Then the monitoring data is transmitted to the rear command robot 26 through the mine WiFi hotspot 21;

[0051] c. After the robot 26 receives the detection data of the robot 23 in the influence range of the disaster area, it analyzes the type and scale of the mine disaster through the main control system, and then issues instructions to the robots near the disaster area, so that the first robot 24 near the disaster area moves quickly to the disaster area 22, and the other robots 25 near the disaster area keep a distance and follow them;

[0052] d. While moving to the disaster area 22, the first robot 24 near the disaster area changes the shape of the walking part according to different terrain features when it detects high temperature, high pressure area or perceives coal rock yard, water and other obstacles that hinder the action of the robot, and continues to monitor the disaster dynamic parameters and environmental data, and observes the evolution of the disaster in real time. At the same time, it interacts with the other robots 25 near the disaster area to exchange terrain, obstacle and environmental information, and locates and maps through the SLAM laser radar 12;

[0053] e. While interacting with the first robot 24 near the disaster area, the other robots 25 near the disaster area move to the disaster area 22 from other different paths, and gradually complete the planning of the emergency rescue route to provide basis for the emergency rescue decision of the mine command center.

Claims

1. A mine disaster detection metamorphic robot, characterized in that, It comprises a driving system, a master control system and a sensing and detecting system; The driving system is composed of 8 straight hinges (1), 8 L-shaped hinges (2), 6 steering engines (3), 4 U-shaped hinges (4), 4 cross U-shaped hinges (5), 8 walking part hinges (6), 8 walking part steering engines (7), 4 walking parts (8), 4 spring mechanisms (9), 4 conical walking parts (10) and 4 air cushions (19); one end of the straight hinge (1) is directly connected with the L-shaped hinge (2), and the other end is connected with the steering engine (3) and another straight hinge (1); one end of the L-shaped hinge (2) is connected with the U-shaped hinge (4), and the other end of the L-shaped hinge (2) is connected with the steering engine (3) and the cross U-shaped hinge (5), and further connected with the walking part hinge (6), the walking part steering engine (7) and the walking part (8); The master control system is integrated in the control host (11), which internally comprises a control mainboard (11-1) and a motor driving chip (11-2), and is connected with the metamorphic robot driving system and the sensing and detecting module through connecting wires (11-3); the control mainboard (11-1) has the functions of real-time analysis and wireless communication; when normal inspection or disaster occurs, the metamorphic robot judges whether it is affected by disaster, the type and scale of the disaster according to the monitoring results of the sensing and detecting module, and exchanges information with other metamorphic robots on duty; The sensing and detecting 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 performs accurate self-positioning and environment map construction through the SLAM laser radar (12), senses abnormal temperature and fire source in the mine area through the digital infrared temperature sensor (13) and the infrared imager (16), detects and images the fire in the disaster area, detects the concentration of harmful gas and dust through the gas concentration monitor (14) and the dust concentration monitor (17), monitors the overpressure of the shock wave generated by gas outburst and gas and coal dust explosion through the overpressure sensor (15), and detects the water depth of mine water disaster through the liquid level sensor (18); The driving system of the mine disaster detection metamorphic robot changes the foot to enable the robot to move on the coal and rock dump formed by gas outburst and rock burst disaster and the water of mine water disaster, and the specific implementation manner is as follows: a. The metamorphic robot senses the underground environment and terrain information in the task execution area in real time through the sensing and detecting system; in the case that no complex terrain or environment is detected, the metamorphic robot first feeds back the information to normally move through the walking part (8); b. When the metamorphic robot detects an obstacle through the perception detection system, the spring mechanism (9) connected with the walking part (8) releases the conical walking part (10) and embeds it in 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) retracts to make it recover and restore to the walking part (8), and the whole 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 detection system, it feeds back the decision to the command robot (26) in real time, and then the robot modified with air cushion (19) quickly reaches the water accumulation position, surveys the situation of the water accumulation area in the mine and evolves the disaster situation.

2. The mine disaster detection metamorphic robot according to claim 1, wherein, The perception detection system observes feature points and landmarks in the environment through the SLAM laser radar (12), constantly updates its own position and environment map according to the motion state of the robot itself, realizes the positioning and environment map construction of the metamorphic robot; the detection distance of the laser radar is >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, wherein, The perception detection system explores the abnormal temperature of the task execution area of the metamorphic robot through the digital infrared temperature sensor (13) and the infrared imager (16), identifies the fire source in advance, and then detects and images the temperature in the disaster area and the fire field in the disaster area, preliminarily judges the evolution situation and scale of the fire disaster and explosion disaster, and feeds back the disaster information to the command robot (26) in real time for decision-making; the digital infrared temperature sensor (13) can measure the range within a radius of 3m in real time, and the measurement temperature interval is 0℃-1950℃; the infrared imager (16) can generate a thermal image of 400×300 pixels, present a temperature difference of 40mK-50mK, and support multi-level fire point detection at the same time.

4. The mine disaster detection metamorphic robot according to claim 1, wherein The perception detection system detects the concentration of gas, CO and dust through the gas concentration monitor (14) and the dust concentration monitor (17), obtains the gas and dust concentration parameter change information, and provides a basis for the metamorphic robot main control system to judge the disaster type and disaster situation; the monitoring range of the gas concentration monitor is 0ppm-1000ppm, the monitoring error is less than 5%, and the response time is less than 30s; the measurement range of the dust concentration monitor 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, wherein The perception detection system monitors the overpressure generated by gas outburst and gas and coal dust explosion through the overpressure sensor (15), identifies the disaster scale, and timely transmits the overpressure change to the command robot (26); the sensitivity of the overpressure sensor is 0.1ms, and the overpressure monitoring range is -0.06MPa-3MPa.

6. The mine disaster detection metamorphic robot according to claim 1, wherein, The perception detection system detects the water depth of mine water disaster by a liquid level sensor (18), realizes the preliminary detection of underground water disaster, and transmits the water level information to the command robot (26), so that the walking part of the metamorphic robot modified with an air cushion can quickly reach the scene. The measurement range of the liquid level sensor is 30 m, and the measurement range is -1 bar~3 bar.

7. The method of claim 1 to 6, wherein, The specific steps are: a. During normal production of the mine, the metamorphic robot group is arranged in the roadway (20), and the gas concentration and temperature parameters in each responsible area are monitored in real time. The command robot (26) is located at the rear, adopts BML voice to issue control instructions, transmits signals through the mine WiFi hot spot (21), and realizes real-time scheduling of the cluster robot; b. After the mine disaster occurs, in the disaster area (22), the robots (23) in the influence range of the disaster area detect the abnormal changes of important parameters such as gas, CO gas concentration, temperature, shock wave overpressure, and liquid water level in the disaster area through digital infrared temperature sensor (13), gas concentration monitor (14), overpressure sensor (15), infrared imager (16), dust concentration monitor (17), and liquid level sensor (18) detection equipment. 10m~20m ahead of the working face, and then transmit the monitored data to the rear command robot (26) through the mine WiFi hot spot (21); c. After the command robot (26) receives the detection data of the robots (23) in the influence range of the disaster area, analyzes through the main control system, preliminarily judges the type and scale of the mine disaster, and immediately issues instructions to the robots near the disaster area, so that the first robot (24) near the disaster area moves quickly to the disaster area (22), and the other robots (25) near the disaster area maintain a distance behind; d. While moving to the disaster area (22), the first robot (24) near the disaster area changes the walking part shape according to different terrain features when detecting high temperature, high pressure area or perceiving coal rock yard, water accumulation obstacles, and metamorphic robot action is blocked. The robot will try to approach the disaster area (22), continue to monitor the disaster dynamic parameters and environmental data, and observe the evolution of the disaster in real time, while interacting with the other robots (25) near the disaster area to obtain terrain, obstacle and environmental information, and positioning and map construction through SLAM laser radar (12); e. While interacting with the first robot (24) near the disaster area, the other robots (25) near the disaster area move to the disaster area (22) from other different paths, and gradually complete the planning of the emergency rescue route, and provide basis for the emergency rescue decision of the mine command center.

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