3D laser-based exploration-clearance integrated specialized robot

Abstract

The invention discloses a 3D laser-based exploration-clearance integrated specialized robot, and relates to the technical field of coal bunker exploration-clearance equipment. The method solves the problems that an existing coal bunker coal pile volume measurement method is extremely tedious in measurement step, extremely low in measurement precision and low in reliability. An edge control terminal (4) is installed outside a coal bunker and electrically connected with a 3D stock bin scanning assembly (1), a rope-driven suspension system (2) and a spiral bunker cleaning actuator (3). The 3D stock bin scanning assembly (1) is installed on the top of a coal bin for bin detection. The upper portions of the rope-driven suspension systems (2) are installed at the four corners of the top of a coal bunker, the lower portions of the rope-driven suspension systems (2) are connected with the spiral bunker cleaning actuator (3), and the rope-driven suspension systems (2) drive the spiral bunker cleaning actuator (3) to achieve bunker cleaning operation under the control of the edge control terminal (4). The device is used for real-time volume detection of coal bunkers and automatic cleaning of hardened coal briquettes.

Description

Technical Field

[0001] The present invention relates to the technical field of coal bunker detection and cleaning equipment, and specifically to a special robot for integrated detection and cleaning based on 3D laser. It is mainly used in the technical field of real-time volume detection of coal piles in coal bunkers and automatic cleaning equipment for coal block compaction. Specifically, it relates to an integrated detection and cleaning system composed of an explosion-proof laser radar and a multi-degree-of-freedom rope-driven robot, which is used for automated detection and cleaning operations of coal bunkers in coal mines to improve operation efficiency and safety. Background Art

[0002] In the management and operation of coal bunkers, the compaction and clogging of coal blocks are important issues that affect their storage efficiency and safety of use. The occurrence of this phenomenon is mainly due to the interaction of multiple factors. First, the increase in environmental humidity will cause the coal blocks to absorb moisture, resulting in adhesion and agglomeration on their surfaces, increasing the friction between the coal blocks, and then leading to compaction. Second, during the long-term storage of coal blocks, the gravity load of the upper coal blocks exerts pressure on the lower coal blocks, causing the latter to gradually compact and form a tight structure, which intensifies the mutual adhesion between the coal blocks. Third, some types of coal have high volatility and high moisture content, which will further enhance the adhesion of coal blocks and form agglomerates during storage in the coal bunker. Fourth, when the temperature of the coal blocks in the coal bunker changes, the volume of the coal blocks may expand and contract due to heat and cold, resulting in the deposition of coal powder, which in turn causes clogging.

[0003] At present, artificial blockage breaking method or air cannon shaking method is usually used to solve this problem, both of which have obvious shortcomings. The artificial blockage breaking method has low efficiency and dangerous working environment; and the ventilation in the bunker is not smooth, and the accumulated harmful gases such as methane can easily cause safety accidents. In addition, the internal structure of the coal bunker is unstable, and the coal pile may collapse during manual operation, posing a threat to the life and safety of the operators. Although the air cannon shaking method can achieve remote shaking of coal, its range of action is limited and it is ineffective for blocked areas far away from the gun body. Moreover, the air cannon may make the coal powder on the bunker wall more compact, which aggravates the blockage problem. Furthermore, the installation of air cannons usually needs to be carried out in the early stage of coal bunker construction. For the built coal bunker, the transformation cost is high, and the installation position is fixed, which makes it difficult to solve the problem of blockage at all points inside the coal bunker. Therefore, the existing technology faces the dual challenges of clearing efficiency and operator safety in coal bunker clearing management.

[0004] In addition, the blockage condition in the coal bunker is generally judged by measuring the change in the bunker capacity. When the coal flows in or out, a corresponding reasonable bunker capacity change value is set. When the bunker capacity changes abnormally, it means that there may be blockage in the bunker or condensation on the bunker wall.

[0005] Traditional methods for measuring the volume of coal piles in coal bunkers mainly include total station single-point measurement method, RTK single-point measurement method, and heavy hammer method. These methods basically have high requirements for the measurement environment and are easily affected by environmental factors. The main defects are: first, the quality of the measurement personnel is high, and they need to have rich measurement experience; second, the measurement steps are extremely cumbersome, the equipment is bulky and the operation is complicated, and the measurement cycle is long; third, the measurement accuracy is extremely low, and the imaging error of the simulated coal pile is large, which cannot meet the requirements of real-time and high-precision data acquisition in actual production operations; fourth, the reliability is low, and the high dust working environment in the coal mine leads to poor equipment measurement effect.

[0006] In summary, the existing method for measuring the volume of coal piles in coal bunkers has the problems of extremely complicated measurement steps, extremely low measurement accuracy and low reliability. Summary of the invention

[0007] The purpose of the present invention is to solve the problems of extremely complicated measurement steps, extremely low measurement accuracy and low reliability in the existing coal bunker coal pile volume measurement method, and further provide a 3D laser-based integrated exploration and clearing special robot.

[0008] The technical solution of the present invention is:

[0009] A 3D laser-based integrated detection and clearing special robot includes a 3D bunker scanning component, a rope-driven suspension system, a spiral bunker clearing actuator and an edge control terminal. The edge control terminal is installed outside the coal bunker and is electrically connected to the 3D bunker scanning component, the rope-driven suspension system and the spiral bunker clearing actuator; the 3D bunker scanning component is installed on the top of the coal bunker for bunker detection; the upper part of the rope-driven suspension system is installed at the four corners of the top of the coal bunker, the lower part of the rope-driven suspension system is connected to the spiral bunker clearing actuator, and the rope-driven suspension system drives the spiral bunker clearing actuator under the control of the edge control terminal to realize the bunker clearing operation.

[0010] Furthermore, the 3D silo scanning assembly includes an explosion-proof laser radar, a support rod, an angle adjustment mechanism and a base flange. The base flange is installed on the top of the coal bin. The upper and lower ends of the support rod are respectively connected to the support rod and the angle adjustment mechanism. The explosion-proof laser radar is installed on the angle adjustment mechanism, and the angle adjustment mechanism can realize arbitrary angle adjustment of the explosion-proof laser radar.

[0011] Preferably, the support rod is a telescopic support rod.

[0012] Furthermore, the rope-driven suspension system includes four driving members, four ropes and four tension sensors. The four driving members are installed on the top of the coal bunker in the form of a rectangular array. One end of the rope is connected to a driving member, and one end of the rope is dynamically adjusted under the drive of the driving member. The other end of the rope is connected to the spiral cleaning actuator, and the tension sensor is installed at the other end of the rope.

[0013] Preferably, the driving member is a servo motor.

[0014] Furthermore, the rope-driven suspension system also includes a gear reducer, and the output shaft of the driving member is connected to the gear reducer.

[0015] Furthermore, the spiral clearing actuator includes a power source, a transmission member, a knife arm and a clearing member. The power source is connected to the knife arm through the transmission member, and the clearing member is detachably mounted on the outer periphery of the knife arm.

[0016] Preferably, the transmission member is a transmission gear.

[0017] Furthermore, the knife arm includes a columnar rod body and a plurality of branch rod bodies, which are installed on the lower outer circumference of the columnar rod body in a circular array, the upper part of the columnar rod body is connected to the transmission gear, and the outer diameter of the branch rod body is smaller than the outer diameter of the columnar rod body.

[0018] Preferably, the clearing piece is a drill bit or a blade. When the clearing piece is a blade, the shape of the clearing piece is an "X"-shaped blade.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] 1. The present invention can effectively improve the safety of coal mine exploration and clearance operations:

[0021] The present invention can simultaneously realize coal mine exploration and clearing operations, wherein, through the collection of real-time high-precision data information of the 3D silo scanning component 1, direct silo exploration operations at all angles without blind spots are realized, avoiding the problem of extremely cumbersome measurement steps, and no staff is required to explore the silo to measure data, ensuring the timeliness and accuracy of data collection, and the laser radar directly measures and transmits it to the edge control terminal 4 for data processing, ensuring accurate imaging of the coal pile, without the need for other additional measurement equipment for collection, and the 3D silo scanning component 1 located at the highest point not only has a wide field of view, but is also less affected by the high dust environment and has high reliability. The rope-driven suspension system 2 drives the spiral clearing actuator 3 under the control of the edge control terminal 4 to realize the clearing operation.

[0022] The present invention reduces the need for manual entry into the coal bunker through automated exploration and clearing operations, greatly reduces the safety risks of operators, especially the safety of operations in flammable, explosive and collapse-prone environments, thereby ensuring the safety of coal mine operations.

[0023] 2. The present invention can enhance operating efficiency:

[0024] By combining a multi-degree-of-freedom parallel mechanical rope-driven suspension system 2 with a visual system laser radar (referring to the 3D silo scanning component 1), the spiral bin cleaning actuator 3 can automatically plan the execution path and quickly move to any position in the coal bunker, which significantly shortens the operation time and improves the bin cleaning efficiency.

[0025] 3. The present invention can effectively expand the scope of warehouse clearance:

[0026] Compared with the traditional bunker cleaning method, the present invention can cover a larger cleaning range and can reach more difficult-to-reach areas in the coal bunker.

[0027] 4. The present invention has remarkable flexibility and adaptability:

[0028] The spiral bin cleaning actuator 3 of the present invention is provided with a replaceable drill bit and / or blade design, so that the actuator can adapt to coal blocks of different hardness and compaction conditions, thereby improving the adaptability and flexibility of the equipment.

[0029] 5. The present invention can operate continuously around the clock:

[0030] The ability to support continuous work around the clock means that clearance operations are no longer restricted by time, enhancing the production continuity and stability of coal mines.

[0031] 6. The present invention can effectively improve production efficiency:

[0032] Through fast and efficient bunker clearing operations, the continuous emptying capacity of the coal bunker is ensured, thereby improving the production efficiency and profitability of the entire coal mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure of the 3D silo scanning assembly 1 of the present invention;

[0035] Figure 3 It is a structural schematic diagram of the spiral bin clearing actuator 3 of the present invention;

[0036] Figure 4 It is a schematic diagram of the process of the automatic warehouse exploration and warehouse clearing operation of the present invention.

[0037] Description of reference numerals:

[0038] 1. 3D silo scanning assembly, 1-1. Explosion-proof laser radar, 1-2. Support rod, 1-3. Angle adjustment mechanism, 1-4. Base flange;

[0039] 2. Rope-driven suspension system, 2-1. Driving member, 2-2. Rope, 2-3. Tension sensor, 2-4. Gear reducer;

[0040] 3. Spiral clearing actuator, 3-1. Power source, 3-2. Transmission parts, 3-3. Knife arm, 3-4. Clearing parts;

[0041] 4. Edge control terminal. DETAILED DESCRIPTION

[0042] Specific implementation method 1: Combination Figures 1 to 3 This embodiment is described. This embodiment includes a 3D silo scanning component 1, a rope-driven suspension system 2, a spiral bin-clearing actuator 3 and an edge control terminal 4.

[0043] The edge control terminal 4 is installed outside the coal bunker and is electrically connected to the 3D bunker scanning component 1, the rope-driven suspension system 2 and the spiral bunker cleaning actuator 3; the 3D bunker scanning component 1 is installed on the top of the coal bunker for bunker detection; the upper part of the rope-driven suspension system 2 is installed at the four corners of the top of the coal bunker, and the lower part of the rope-driven suspension system 2 is connected to the spiral bunker cleaning actuator 3, and the rope-driven suspension system 2 drives the spiral bunker cleaning actuator 3 under the control of the edge control terminal 4 to realize the bunker cleaning operation.

[0044] The 3D laser-based integrated detection and cleaning robot used in this embodiment has an explosion-proof laser radar as the core component of its visual system (3D bunker scanning component 1), which has the characteristics of realizing completely unmanned coal collection in the coal bunker, high collection accuracy, simple installation, and very low requirements for the measurement environment. It can also work well in harsh low temperature and high dust conditions. Its core component for cleaning the bunker, the rope-driven special robot (rope-driven suspension system 2 and spiral cleaning actuator 3), has the ability to accurately locate the cleaning area, reduce labor costs, and ensure personal safety, becoming an important technical solution in modern coal bunker management.

[0045] The edge computing terminal 4 in this embodiment is mainly composed of an industrial computer, a switching power supply, a time relay, an explosion-proof circuit breaker, an indicator light, and a network module, which are integrated in an explosion-proof control cabinet. The industrial computer is used to control, collect and process the point cloud data scanned by the explosion-proof laser radar, and perform real-time three-dimensional modeling to determine the changes in the coal bunker capacity. When an abnormal change is detected, it is determined whether it is a coal block compaction according to the algorithm. Then, the operation path of the rope-driven suspension system is automatically planned according to the three-dimensional modeling situation, so that the spiral clearing actuator can perform the clearing operation. The switching power supply provides a voltage conversion function for multiple different voltage outputs inside. The time relay is used for countdown calculation. When the set default value is reached, the power is automatically turned on to make the device work. The explosion-proof circuit breaker can be used to independently cut off the power supply of the device in the event of an accident to ensure the reliability and safety of the system. The indicator light provides information such as "normal operation", "module overvoltage / undervoltage", "alarm protection", and "network interruption" of the control box. The network module is used to transmit information in the computing terminal, which is used for remote display of modeling and provision of remote access services.

[0046] Specific implementation method 2: Combination Figures 1 to 3 To explain this embodiment, the 3D silo scanning assembly 1 of this embodiment includes an explosion-proof laser radar 1-1, a support rod 1-2, an angle adjustment mechanism 1-3 and a base flange 1-4.

[0047] The base flange 1-4 is installed on the top of the coal bunker, the upper and lower ends of the support rod 1-2 are respectively connected to the support rod 1-2 and the angle adjustment mechanism 1-3, the explosion-proof laser radar 1-1 is installed on the angle adjustment mechanism 1-3, and the explosion-proof laser radar 1-1 can be adjusted at any angle driven by the angle adjustment mechanism 1-3.

[0048] In this way, the explosion-proof laser radar 1-1 of this embodiment is connected to the telescopic support rod with freely adjustable length and the angle adjustment mechanism based on the high-torque steering gear through fasteners, and the steering gear can realize adaptive adjustment of the laser radar scanning range; then, it is fixedly installed in the center of the top of the coal bunker through the flange at the bottom of the telescopic support rod, and the coal pile in the coal bunker is scanned vertically downward in real time. Other components and implementation methods are the same as the specific implementation method one.

[0049] At the same time, in order to simplify the layout of explosion-proof laser radar power lines and signal lines, the present invention processes the telescopic support rod and the angle adjustment duckbill into a central hollow form, and the radar cable passes through it and is led out to the edge control terminal through the hole in the center of the bottom flange. There is no need to drill additional holes on the top of the coal bunker for laying cables, which facilitates on-site construction and installation of the coal bunker.

[0050] Specific implementation method three: Combination Figures 1 to 3To explain this embodiment, the support rods 1-2 of this embodiment are telescopic support rods. Such a configuration facilitates telescopic adjustment according to the actual situation of the coal pile, providing necessary position adjustment for accurate collection of coal pile information. Other components and connection relationships are the same as those of the first or second embodiment.

[0051] There are many ways to realize the telescopic support rod 1-2 in this embodiment, for example, an electric telescopic cylinder is used to realize it. In order to prevent the telescopic cylinder from failing, a telescopic sleeve is sleeved on the outside of the telescopic cylinder.

[0052] Specific implementation method four: Combination Figures 1 to 3 The present embodiment is described. The rope-driven suspension system 2 of the present embodiment includes four driving members 2-1, four ropes 2-2 and four tension sensors 2-3.

[0053] Four driving members 2-1 are installed on the top of the coal bunker in the form of a rectangular array. One end of the rope 2-2 is connected to a driving member 2-1, and one end of the rope 2-2 is dynamically adjusted under the drive of the driving member 2-1. The other end of the rope 2-2 is connected to the spiral cleaning actuator 3, and the tension sensor 2-3 is installed at the other end of the rope 2-2.

[0054] Such arrangement facilitates efficient movement and control of the spiral bin cleaning actuator in the coal bin. Other components and connection relationships are the same as any one of the specific implementation modes 1 to 3.

[0055] Specific implementation method five: Combination Figures 1 to 3 To explain this embodiment, the driving member 2-1 of this embodiment is a servo motor. This arrangement facilitates the provision of accurate driving power. Other components and connection relationships are the same as any one of the specific embodiments 1 to 4.

[0056] Specific implementation method six: Combination Figures 1 to 3 To explain this embodiment, the rope-driven suspension system 2 of this embodiment further includes a gear reducer 2-4, and the output shaft of the driving member 2-1 is connected to the gear reducer 2-4.

[0057] This arrangement facilitates adjusting the output speed of the driving member 2-1, ensuring the stability of tightening and releasing the rope 2-2, and preventing the spiral cleaning actuator 3 from moving unstably due to releasing the rope 2-2 too quickly. The other components and connection relationships are the same as any one of the specific embodiments 1 to 5.

[0058] The servo motor in the rope-driven suspension system 2 precisely controls the tension and displacement of the rope, and is connected to the rope through a gear reducer to achieve dynamic adjustment, so that the coal cleaning mechanism connected to the rope can move freely in three-dimensional space. During operation, the explosion-proof laser radar first monitors the environment inside the coal bunker in real time to obtain the location and status information of the coal block compaction in the coal bunker.

[0059] According to the monitoring data, the motor controller calculates the optimal moving path based on the preset intelligent control algorithm and sends instructions to the servo motor. After receiving the instructions, the servo motor adjusts the length and tension of the rope according to the control signal, thereby achieving precise positioning of the spiral clearing actuator. In addition, the system also has fault detection and safety protection functions. When an abnormal situation is detected, the controller can quickly and automatically stop the operation of the servo motor to ensure the safety and efficiency of the operation.

[0060] Specific implementation method seven: Combination Figures 1 to 3 To illustrate this embodiment, the spiral clearing actuator 3 of this embodiment includes a power source 3-1, a transmission member 3-2, a knife arm 3-3 and a clearing member 3-4. The power source 3-1 is connected to the knife arm 3-3 through the transmission member 3-2, and the clearing member 3-4 is detachably installed on the periphery of the knife arm 3-3.

[0061] In this way, the power source 3-1 realizes the torque and speed conversion of the motor through a series of transmission parts 3-2, thereby driving the cleaning part 3-4 to work. Other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0062] Specific implementation method eight: Combination Figures 1 to 3 To explain this embodiment, the transmission member 3-2 of this embodiment is a transmission gear. With such a configuration, the transmission accuracy is high and it can transmit and adapt to a larger torque. The other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0063] Specific implementation method nine: Combination Figures 1 to 3 To explain this embodiment, the knife arm 3-3 of this embodiment includes a columnar rod body and a plurality of branch rod bodies, the plurality of branch rod bodies are installed on the lower outer circumference of the columnar rod body in a circular array, the upper part of the columnar rod body is connected to the transmission gear, and the outer diameter of the branch rod body is smaller than the outer diameter of the columnar rod body. Such an arrangement is convenient for cleaning areas where coal blocks are severely compacted, and can also provide a larger torque to increase the service life. Other components and connection relationships are the same as any one of the specific embodiments one to eight.

[0064] Specific implementation method ten: Combination Figures 1 to 3 To explain this embodiment, the clearing piece 3 - 4 of this embodiment is a drill bit or a blade. When the clearing piece 3 - 4 is a blade, the shape of the clearing piece 3 - 4 is an “×”-shaped blade.

[0065] With such arrangement, the clearance area is large and the use of the drill bit is more flexible. The other components and connection relationships are the same as any one of the specific implementation modes 1 to 9.

[0066] The motor of the spiral cleaning actuator 3 serves as a power source, and a series of transmission gears are used to realize the conversion of the motor's torque and speed to drive the knife arm to work. The transmission gears can ensure the stable operation of the knife arm, so that it can maintain good performance under high-load conditions of hard coal blocks. In actual operation, the rope-driven suspension system first pulls the spiral cleaning actuator to the hardened area in the coal bin. After reaching the predetermined position, the motor starts to run, driving the transmission gear to rotate, so that the knife arm rotates at the set angle and speed; the rotation of the knife arm drives the blade to spirally rotate at the hardened area to quickly break up the hardened coal blocks. At the same time, the blade of the spiral cleaning actuator can be freely replaced to cope with different coal block hardening conditions.

[0067] Combination Figures 1 to 4 Describe the embodiments of the present invention:

[0068] The present invention can be specifically applied to coal mine bunkers to perform coal pile detection and bunker clearing operations in a fully automated manner without the need for manual supervision, thereby greatly improving the safety and efficiency of operations.

[0069] During the system installation phase, the staff selected six suitable installation points around the outer ring of the top of the coal bunker and installed the fixed rope-driven suspension robot and its servo motor system. At the same time, ensure that the network and power supply lines of the laser radar and edge computing terminal are connected correctly. After starting the edge computing terminal, the edge computing terminal first sends an opening command to the time relay in the system, so that the laser radar is powered on and starts scanning.

[0070] During the data collection phase, the LiDAR scans the coal pile in the coal bunker at a high frequency to collect 3D point cloud data of the coal pile. This data is transmitted to the edge computing terminal in real time, which intelligently identifies the coal blockage points on the inner wall of the coal bunker and automatically plans an optimal clearing path.

[0071] During the clearing phase, the rope drive mechanism moves the spiral clearing actuator to the designated blocking point along the planned path under the precise control of the servo motor. The spiral clearing actuator crushes the coal blocks at the blocking point and removes the crushed coal blocks from the coal bunker. The system continues to guide the rope drive mechanism to move to the next blocking point and repeats the crushing and clearing process until all identified blocking points are cleared.

[0072] During the clearance inspection and verification phase, after the clearance operation is completed, the laser radar scans the coal bunker again, and the software system compares the three-dimensional models before and after clearance to verify the clearance effect.

[0073] The staff can get accurate presentation of coal pile changes through the large screen at the remote workstation, including coal pile quality and volume reports before and after the cleaning. After confirming that the cleaning effect is satisfactory, the operator sends a shutdown command at the control terminal, shuts down the laser radar and rope drive mechanism, and completes the entire cleaning operation. Through this implementation, the spiral cleaning actuator system of the present invention can efficiently and accurately complete the cleaning operation of large coal bunkers while ensuring safety, significantly improving the production efficiency and safety of coal mines.

[0074] In addition, the present invention has significant advantages in the following aspects:

[0075] (1) Vision system: The scanner uses explosion-proof laser radar to provide a visual source for the system, ensuring the safety of the equipment in the flammable and explosive coal mine environment. The laser radar can achieve high-precision and high-efficiency measurement of the coal bunker capacity, ensuring the real-time and accuracy of the capacity data, thereby providing accurate spatial information for the warehouse clearance operation and realizing truly unmanned measurement of the coal bunker capacity.

[0076] (2) Rope drive mechanism: A multi-degree-of-freedom parallel mechanical rope drive mechanism is used to realize the free movement of the spiral cleaning actuator at any position in the three-dimensional space of the coal bunker, significantly shortening the operation time. Compared with traditional methods, the cleaning range is larger, the operation is safer and more flexible, and it can work continuously around the clock.

[0077] (3) The actuator is replaceable: The spiral cleaning actuator is designed with coal blocks of different compaction conditions in mind. A variety of drill bits and blades are designed for use under different working conditions, which can be flexibly replaced according to the actual working conditions.

[0078] (4) Innovation of the exploration-clearing scheme: The present invention integrates the exploration and clearing functions, and uses an explosion-proof laser radar to realize autonomous intelligent identification of compacted coal blocks in the coal bunker. After the identification results are transmitted to the control terminal, the processor can perform fully automated clearing path planning for the rope-driven robot, quickly clear the compacted coal blocks in the bunker, and ensure the production efficiency and safety of the coal mine.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A 3D laser-based integrated exploration and warehouse cleaning special robot, characterized by: It includes a 3D bin scanning component (1), a rope-driven suspension system (2), a spiral bin clearing actuator (3) and an edge control terminal (4). The edge control terminal (4) is installed outside the coal bunker and is electrically connected to the 3D bunker scanning component (1), the rope-driven suspension system (2) and the spiral bunker clearing actuator (3); the 3D bunker scanning component (1) is installed on the top of the coal bunker for bunker detection; the upper part of the rope-driven suspension system (2) is installed at the four corners of the top of the coal bunker, the lower part of the rope-driven suspension system (2) is connected to the spiral bunker clearing actuator (3), and the rope-driven suspension system (2) drives the spiral bunker clearing actuator (3) under the control of the edge control terminal (4) to realize the bunker clearing operation.

2. According to claim 1, a 3D laser-based integrated exploration and clearance special robot is characterized in that: The 3D silo scanning assembly (1) comprises an explosion-proof laser radar (1-1), a support rod (1-2), an angle adjustment mechanism (1-3) and a base flange (1-4). The base flange (1-4) is installed on the top of the coal bunker, the upper end and the lower end of the support rod (1-2) are respectively connected to the support rod (1-2) and the angle adjustment mechanism (1-3), the explosion-proof laser radar (1-1) is installed on the angle adjustment mechanism (1-3), and the explosion-proof laser radar (1-1) can be adjusted to any angle under the drive of the angle adjustment mechanism (1-3).

3. The 3D laser-based integrated warehouse exploration and cleaning special robot according to claim 2, characterized in that: The support rod (1-2) is a telescopic support rod.

4. The 3D laser-based integrated warehouse exploration and cleaning special robot according to claim 3, characterized in that: The rope-driven suspension system (2) comprises four driving members (2-1), four ropes (2-2) and four tension sensors (2-3). Four driving members (2-1) are installed on the top of the coal bunker in the form of a rectangular array, one end of a rope (2-2) is connected to one driving member (2-1), and one end of the rope (2-2) is dynamically adjusted under the drive of the driving member (2-1), the other end of the rope (2-2) is connected to a spiral bin cleaning actuator (3), and a tension sensor (2-3) is installed at the other end of the rope (2-2).

5. The 3D laser-based integrated exploration and clearing special robot according to claim 4, characterized in that: The driving component (2-1) is a servo motor.

6. The 3D laser-based integrated warehouse exploration and cleaning special robot according to claim 5, characterized in that: The rope-driven suspension system (2) also includes a gear reducer (2-4), and the output shaft of the driving member (2-1) is connected to the gear reducer (2-4).

7. A 3D laser-based integrated exploration and warehouse cleaning special robot according to claim 1 or 6, characterized in that: The spiral bin clearing actuator (3) comprises a power source (3-1), a transmission member (3-2), a knife arm (3-3) and a bin clearing member (3-4); the power source (3-1) is connected to the knife arm (3-3) via the transmission member (3-2); and the bin clearing member (3-4) is detachably mounted on the outer periphery of the knife arm (3-3).

8. The 3D laser-based integrated warehouse exploration and cleaning special robot according to claim 7, characterized in that: The transmission member (3-2) is a transmission gear.

9. The 3D laser-based integrated exploration and warehouse cleaning special robot according to claim 8, characterized in that: The knife arm (3-3) comprises a columnar rod body and a plurality of branch rod bodies, wherein the plurality of branch rod bodies are mounted on the lower outer circumference of the columnar rod body in a circular array, the upper portion of the columnar rod body is connected to a transmission gear, and the outer diameter of the branch rod body is smaller than the outer diameter of the columnar rod body.

10. The 3D laser-based integrated exploration and warehouse cleaning special robot according to claim 7, characterized in that: The clearing piece (3-4) is a drill bit or a blade. When the clearing piece (3-4) is a blade, the shape of the clearing piece (3-4) is an "X"-shaped blade.

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