Underground coal mine robot inspection man-machine interaction platform

Abstract

The invention relates to the technical field of inspection robots, and discloses an underground coal mine robot inspection man-machine interaction platform which comprises a height adjusting assembly, the bottom end of the height adjusting assembly is installed at the top of an anti-explosion machine body, a buffering assembly is installed at the top of the height adjusting assembly and used for relieving impact force of falling objects on the upper portion, and an object receiving platform is arranged at the top of the buffering assembly and used for receiving objects on the object receiving platform. A matrix sensor module is arranged at the top of the object receiving platform and used for accurately weighing the weight change of the falling object and judging the condition of the falling object in real time, so that the robot conducts environment monitoring and dynamic adjustment. By integrating a height adjusting assembly, a matrix sensor module, a buffer assembly and a dust collection cleaning system, the problems of falling object impact, dust pollution and equipment cleaning faced by the underground coal mine robot in the inspection process are solved, and the adaptability, stability and inspection efficiency of the robot in a complex environment are improved; and the cleanliness and accuracy of the equipment are ensured, so that the inspection process and data acquisition are optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, in particular to a coal mine underground robot inspection human-machine interaction platform. Background Art

[0002] Inspection work in coal mines is a challenging task. Although traditional inspection robots can complete the inspection of underground equipment to a certain extent, there are some shortcomings that cannot be ignored in practical applications. Especially in the complex operating environment of mines, existing technologies have not fully solved the problems of flexibility and stability of robots in dealing with environmental changes and emergencies.

[0003] First, falling objects in the mine environment, such as gravel and debris, often cause impacts on the inspection robot. The sudden arrival of these objects directly affects the robot's equipment and sensors, affecting the normal operation of the robot. The existing inspection robot system fails to effectively monitor and respond to the weight changes of falling objects, resulting in the robot being unable to respond and adjust in time when encountering such emergencies, which may ultimately affect the accuracy of the inspection results and even damage the robot's core components. This shows that the existing technology has obvious deficiencies in dynamic adjustment and environmental perception.

[0004] Secondly, mines are filled with a lot of dust and pollutants, which have a direct impact on robotic equipment. When operating in mines, the robot's camera and sensors are often covered with dust, causing the equipment's monitoring function to fail. Existing technologies rely on manual regular cleaning of equipment or use simple cleaning methods, which cannot continuously maintain the clean state of the equipment during inspection tasks. The accumulation of dust not only affects the operation of visual sensors, but may even cause permanent damage to the sensors, thereby reducing inspection efficiency and increasing maintenance costs. Therefore, existing technologies lack effective mechanisms that can automatically clean and prevent pollution.

[0005] Finally, for low-level inspections, existing robot designs do not provide an effective automatic cleaning solution. Low-level inspection robots often face the problem of dust accumulation, and the accuracy of cameras and sensors decreases as dust accumulates. In this case, the inspection effect of the robot is greatly reduced, which ultimately leads to inaccurate inspection data, which in turn affects mine safety monitoring and equipment status assessment. These problems show that existing technologies are not effective enough in dealing with the cleaning and maintenance of low-level inspection robots. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a human-machine interaction platform for underground coal mine robot inspection, which solves the problems of impact of falling objects, influence of dust pollution on equipment and insufficient cleaning of low-level inspection equipment during underground coal mine robot inspection.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: A coal mine underground robot inspection human-machine interaction platform, comprising:

[0008] An explosion-proof body, with a double-folding mechanical arm installed on the top, a multi-task detection platform installed on the top of the double-folding mechanical arm, a voiceprint sensor module installed on the front side of the top of the explosion-proof body, lighting components installed at both ends of the top front side of the explosion-proof body, and ultrasonic sensors installed on both sides of the explosion-proof body;

[0009] A height adjustment component, the bottom of which is mounted on the top of the explosion-proof body, and a buffer component is mounted on the top, which is used to mitigate the impact of falling objects from above. A receiving platform is arranged on the top of the buffer component, and a matrix sensor module is arranged on the top of the receiving platform, which is used to accurately weigh the weight change of the falling object, judge the situation of the falling object in real time, and enable the robot to perform environmental monitoring and dynamic adjustment;

[0010] A low-level surface inspection robot is arranged in the explosion-proof body, a hatch is arranged on the front side of the explosion-proof body, a cleaning component is arranged on the top of the explosion-proof body, which is used to clean the top camera of the low-level surface inspection robot, and dust suction components are installed on both sides of the explosion-proof body, which are used to remove dust in front of the platform to reduce the pollution of dust to the camera on the platform, and an inspection intelligent control system is arranged inside.

[0011] Preferably, the height component includes a limit seat, the bottom of the limit seat is installed on the top of the explosion-proof body, a bidirectional screw rod is rotated in the middle of the limit seat, a motor is installed at the end of the bidirectional screw rod, both sides of the bidirectional screw rod are threaded with a mounting seat, the two mounting seats have two ends of a movable rod that are rotated on opposite sides, the bottom ends of the electric telescopic rods are rotated in the middle of the two mounting seats, and the top ends of the electric telescopic rods are installed in the middle of the movable rod through a rotating shaft.

[0012] Preferably, the buffer assembly includes a second mounting seat, the middle part of which rotates on the top of a movable rod, springs are installed inside both sides of the second mounting seat, a T-shaped seat is installed on the top of the spring, the outside of the T-shaped seat slides inside the second mounting seat, a slider is installed on the top of the T-shaped seat, and limiting grooves are opened on both sides of the lower surface of the receiving platform, and the outside of the slider slides in the limiting grooves.

[0013] Preferably, the cleaning component includes a second motor, the second motor is externally mounted on the top of the explosion-proof body, a second bidirectional screw is fixed to the driving end of the second motor, both sides of the second bidirectional screw are rotatable with a movable seat, a limiting rod is installed on the top of the explosion-proof body, the middle part of the movable seat slides on the outer wall of the limiting rod, one end of the second movable rod is rotatable on both sides of the bottom of the two movable seats, the other ends of the two groups of the second movable rods are rotatable with a connecting seat, and a cleaning plate is installed at the bottom of the connecting seat.

[0014] Preferably, the dust collection assembly includes a dirt collecting box, the outer wall of the dirt collecting box is installed on the side wall of the explosion-proof body, one end of a conduit is installed at the input port of the dirt collecting box, a vacuum cleaner is installed at the other end of the conduit, and a suction nozzle is installed at the input end of the vacuum cleaner.

[0015] Preferably, the inspection intelligent control system includes:

[0016] The main control module is used to centrally control and make decisions on the entire robot system and coordinate the work of each sub-module;

[0017] Communication module, used to realize data transmission between the robot and the ground control system, supporting wireless communication and UWB positioning and navigation module;

[0018] The posture perception and control module is used to monitor and adjust the posture and motion state of the robot through sensors;

[0019] Environmental monitoring module, used to detect gas concentration, temperature, humidity, and dust environment parameters in coal mines in real time;

[0020] Inspection and detection module, used for equipment status detection, foreign object identification, and coal pile condition monitoring tasks;

[0021] Energy management module, used to manage the power required by the robot, including battery monitoring, charging control, and charging function of low-level inspection robots;

[0022] Data collection and storage module, responsible for collecting and storing various data during the inspection process;

[0023] The alarm and fault diagnosis module is used to monitor the system operation status, detect equipment failures in time and issue alarms, and provide fault diagnosis functions;

[0024] Navigation and positioning module, used to provide high-precision positioning support;

[0025] Safety protection module, used to provide emergency response in emergency situations;

[0026] The human-computer interaction module is used to conveniently interact with the operator through a graphical interface, sound feedback or voice recognition.

[0027] Preferably, the inspection and detection module includes:

[0028] High-definition camera unit, used to capture equipment status, environmental images, and monitor equipment operation;

[0029] Ultrasonic sensor units for equipment fault detection;

[0030] Voiceprint sensor unit, used to monitor the sound of the equipment and combine algorithms for fault identification and alarm;

[0031] A LiDAR unit for environment modeling and obstacle detection to help the robot navigate.

[0032] Preferably, the posture perception and control module includes:

[0033] The attitude sensor unit is used to monitor the pitch and roll attitude changes of the robot in real time using sensors;

[0034] Motion control unit, used to keep the robot running smoothly by adjusting its moving speed and direction;

[0035] The stability algorithm unit calculates and adjusts the robot's posture based on real-time sensor data to avoid tilting or tipping over.

[0036] The present invention provides a coal mine underground robot inspection human-machine interaction platform. It has the following beneficial effects:

[0037] 1. The present invention uses a height adjustment component in conjunction with a matrix sensor module and a buffer component to accurately monitor the weight changes of falling objects, so that the robot can judge changes in the environment in real time and make dynamic adjustments, effectively solving the problem of impact and performance impact on the robot caused by falling objects in the mine environment, and improving the robot's adaptability, stability and ability to cope with emergencies during the inspection process.

[0038] 2. The present invention designs a dust collection component so that it can pre-process the dust in front of the platform when it is working, avoiding the dust from affecting the surface of the mirror device in operation, effectively reducing the impact of dust and debris on its inspection effect, keeping the equipment on the robot platform, especially the mirror equipment, clean, solving the problem of dust pollution on the equipment in the mine, improving the clarity of key equipment such as sensors and cameras during the inspection process, and improving the accuracy and efficiency of the inspection.

[0039] 3. The present invention uses a cleaning component to drive a cleaning plate to clean the camera of the low-level surface inspection robot, thereby achieving the purpose of cleaning the equipment in time after the inspection task is completed, effectively solving the problem of reduced equipment accuracy caused by dust accumulation, and ensuring that the low-level surface inspection robot is always in the best working condition, providing reliable data support for the next round of inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A perspective view of the present invention;

[0041] Figure 2 It is a structural schematic diagram of the low-level surface inspection robot of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the height adjustment assembly of the present invention;

[0043] Figure 4 It is a schematic diagram of the structure of the buffer assembly of the present invention;

[0044] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0045] Figure 6 It is a schematic diagram of the structure of the cleaning component of the present invention;

[0046] Figure 7 It is a framework diagram of the system of the present invention;

[0047] Figure 8 It is a framework diagram of the patrol detection module of the present invention;

[0048] Fig. 9 It is a framework diagram of the posture perception and control module of the present invention.

[0049] Among them, 1. explosion-proof body; 2. double-folding robotic arm; 3. multi-task detection platform; 4. voiceprint sensor module; 5. lighting component; 6. limit seat; 7. motor one; 8. two-way screw rod one; 9. mounting seat one; 10. electric telescopic rod; 11. movable rod one; 12. mounting seat two; 13. spring; 14. T-shaped seat; 15. slider; 16. receiving platform; 17. limit slot; 18. matrix sensor module; 19. motor two; 20. two-way screw rod two; 21. limit rod; 22. moving seat; 23. movable rod two; 24. connecting seat; 25. cleaning board; 26. low-level surface inspection robot; 27. hatch; 28. dirt collection box; 29. ​​duct; 30. vacuum cleaner; 31. nozzle; 32. ultrasonic sensor. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Please see attached Figure 1 -Attached Figure 2 The embodiment of the present invention provides a coal mine underground robot inspection human-machine interaction platform, including:

[0052] An explosion-proof body 1 is provided with a double-folding mechanical arm 2 on the top, a multi-task detection platform 3 is provided on the top of the double-folding mechanical arm 2, a voiceprint sensor module 4 is provided on the front side of the top of the explosion-proof body 1, lighting components 5 are provided at both ends of the front side of the top of the explosion-proof body 1, and ultrasonic sensors 32 are provided on both sides of the explosion-proof body 1;

[0053] A height adjustment component, the bottom of which is mounted on the top of the explosion-proof body 1, and a buffer component is mounted on the top, which is used to mitigate the impact of falling objects from above, and a receiving platform 16 is arranged on the top of the buffer component, and a matrix sensor module 18 is arranged on the top of the receiving platform 16, which is used to accurately weigh the weight change of the falling object, judge the situation of the falling object in real time, and enable the robot to perform environmental monitoring and dynamic adjustment;

[0054] A low-level surface inspection robot 26 is arranged in the explosion-proof body 1, a hatch 27 is arranged on the front side of the explosion-proof body 1, a cleaning component is arranged on the top of the explosion-proof body 1, which is used to clean the top camera of the low-level surface inspection robot 26, and dust suction components are installed on both sides of the explosion-proof body 1, which are used to remove dust in front of the platform to reduce the pollution of dust to the camera on the platform. An inspection intelligent control system is arranged in 1.

[0055] Specifically, in order to ensure the safe operation of the equipment in the underground environment, a soundprint sensor module 4 is installed on the front side of the explosion-proof body, which can monitor the equipment operation noise in real time through soundprint analysis and detect equipment failure or abnormality in time. The lighting components 5 at both ends provide a strong light source for the robot to ensure that the robot's vision is not affected even in the dim environment of the mine.

[0056] Ultrasonic sensors 32 are installed on both sides of the explosion-proof body 1, which can detect obstacles or equipment failures in the surrounding environment, help the robot navigate accurately, and avoid collisions. The height adjustment component is installed on the top of the explosion-proof body 1, and has a flexible adjustment function to ensure that the robot can adjust itself according to different environmental heights.

[0057] The receiving platform 16 is specially used to receive and carry fallen objects, and monitors the changes in the weight of the objects in real time through the matrix sensor module 18. It can accurately weigh the weight changes of the falling objects, determine the falling conditions of the objects, and then adjust the working state and path of the robot.

[0058] During inspection, if high-level detection is required, the main control module can be used to control the double-folding robotic arm 2 to operate the multi-task detection platform 3 to perform high-level detection. If low-level detection is required, the low-level inspection robot 26 can be controlled to move out of the explosion-proof body 1 to perform inspection work.

[0059] Please see attached Figure 3The height component includes a limit seat 6, the bottom of the limit seat 6 is installed on the top of the explosion-proof body 1, a two-way screw rod 8 is rotated in the middle of the limit seat 6, and a motor 7 is installed at the end of the two-way screw rod 8. Both sides of the two-way screw rod 8 are threaded with mounting seats 9, and one end of a movable rod 11 is rotated on the opposite sides of the two mounting seats 9. The bottom ends of the electric telescopic rods 10 are rotated in the middle of the two mounting seats 9, and the top ends are installed in the middle of the movable rod 11 through a rotating shaft.

[0060] Please see attached Figure 4 -Attached Figure 5 The buffer assembly includes a second mounting seat 12, the middle part of the second mounting seat 12 rotates on the top of the movable rod 11, springs 13 are installed inside both sides of the second mounting seat 12, a T-shaped seat 14 is installed on the top of the spring 13, the outside of the T-shaped seat 14 slides inside the second mounting seat 12, a slider 15 is installed on the top of the T-shaped seat 14, and limiting grooves 17 are provided on both sides of the lower surface of the receiving platform 16, and the outside of the slider 15 slides in the limiting groove 17.

[0061] Specifically, during the inspection process, the height adjustment component will control the object receiving platform 16 to rise, and the bidirectional screw rod 18 will rotate by starting the motor 17, and the mounting seats 19 on both sides will be controlled to move relative to each other or move in the opposite direction. At the same time, the electric telescopic rod 10 will be started to control the angle between the movable rod 11 and the mounting seat 19, and the mounting seat 2 12 will slide in the limit groove 17 in cooperation with each other, so as to control the distance between the object receiving platform 16 and the upper surface of the explosion-proof body 1 to increase or decrease. When performing the detection work, if debris such as gravel falls from above the platform, the matrix sensor module 18 on the limit groove 17 will receive the weight of the object, and transmit the detected data to the system for processing, so as to judge the situation of the falling object in real time, so as to enable the robot to perform environmental monitoring and dynamic adjustment. When the object falls on the matrix sensor module 18, it is affected by gravity, and the spring 13 will be squeezed by the gravity above, resulting in compression and rebound, which reduces the influence of gravity.

[0062] Please see attached Figure 6 The cleaning component includes a motor 19, which is externally mounted on the top of the explosion-proof body 1. A bidirectional screw rod 20 is fixed to the driving end of the motor 19. Both sides of the bidirectional screw rod 20 are rotatable with a moving seat 22. A limit rod 21 is mounted on the top of the explosion-proof body 1. The middle of the moving seat 22 slides on the outer wall of the limit rod 21. Both sides of the bottom of the two moving seats 22 are rotatable with one end of a movable rod 23. The other ends of the two groups of movable rods 23 are rotatable with a connecting seat 24, and a cleaning plate 25 is mounted on the bottom of the connecting seat 24.

[0063] Specifically, after the low-level surface inspection robot 26 finishes its inspection and returns to the interior of the explosion-proof body 1, its system drives the motor 2 19 to operate, causing the bidirectional screw 20 to rotate, driving the moving seats 22 on both sides to move along the outer wall of the limit rod 21, and the moving seats 22 on both sides move relative to each other, thereby reducing the angle, and the connecting seat 24 can be driven to move downward, so that the cleaning plate 25 moves down to a suitable position on the top of the low-level surface inspection robot 26. At this time, the low-level surface inspection robot 26 moves back and forth in the explosion-proof body 1, and cooperates with the cleaning plate 25 to clean the camera on its top, so that it is convenient for the next inspection.

[0064] Please see attached Figure 1 -Attached Figure 2 The dust collection assembly includes a dirt collecting box 28, the outer wall of the dirt collecting box 28 is installed on the side wall of the explosion-proof body 1, the input port of the dirt collecting box 28 is installed with one end of a conduit 29, the other end of the conduit 29 is installed with a dust collector 30, and the input end of the dust collector 30 is installed with a suction nozzle 31.

[0065] Specifically, during the inspection process, in order to prevent dust from affecting the mirrored equipment on the platform, the dust collection components on both sides continue to operate, and the vacuum cleaner 30 is started to generate suction, so that the powered air carries the dust from the suction nozzle 31 into the duct 29 and finally reaches the dirt collection box 28 for collection.

[0066] Please see attached Figure 7 , the inspection intelligent control system includes:

[0067] The main control module is used to centrally control and make decisions on the entire robot system and coordinate the work of each sub-module;

[0068] Communication module, used to realize data transmission between the robot and the ground control system, supporting wireless communication and UWB positioning and navigation module;

[0069] The posture perception and control module is used to monitor and adjust the posture and motion state of the robot through sensors;

[0070] Environmental monitoring module, used to detect gas concentration, temperature, humidity, and dust environment parameters in coal mines in real time;

[0071] Inspection and detection module, used for equipment status detection, foreign object identification, and coal pile condition monitoring tasks;

[0072] Energy management module, used to manage the power required by the robot, including battery monitoring, charging control, and charging function of the low-level inspection robot 26;

[0073] Data collection and storage module, responsible for collecting and storing various data during the inspection process;

[0074] The alarm and fault diagnosis module is used to monitor the system operation status, detect equipment failures in time and issue alarms, and provide fault diagnosis functions;

[0075] Navigation and positioning module, used to provide high-precision positioning support;

[0076] Safety protection module, used to provide emergency response in emergency situations;

[0077] The human-computer interaction module is used to conveniently interact with the operator through a graphical interface, sound feedback or voice recognition.

[0078] Specifically, when the system starts, the robot first performs a self-check through the main control module to ensure the normal operation of all subsystems. At this time, the communication module establishes a wireless communication connection with the ground control system, and uses the UWB positioning and navigation module for precise positioning to ensure that the robot can accurately identify its position in the complex mine environment.

[0079] At the beginning of the inspection mission, the attitude perception and control module monitors the robot's attitude and motion status in real time to ensure its stable operation. If the robot encounters a tilt or obstacle, the motion control unit will adjust the robot's movement direction and speed based on real-time data to keep it stable and avoid tipping over or collision.

[0080] At the same time, the inspection and detection module uses the high-definition camera unit to obtain the status and environmental images of the mine equipment in real time and detect the operation of the equipment. The ultrasonic sensor unit and the voiceprint sensor unit monitor the sound of the equipment, identify faults through algorithms, and promptly warn of equipment problems. The robot also uses the laser radar unit to model the environment, detect obstacles, and avoid collisions with obstacles.

[0081] The environmental monitoring module detects environmental parameters such as gas concentration, temperature, humidity, and dust concentration in real time. When the concentration of hazardous gases is too high or the environmental conditions do not meet safety standards, the robot will automatically alarm and stop the inspection task.

[0082] During the inspection process, all monitored data is stored in real time through the data acquisition and storage module, and provides data support for subsequent analysis and report generation. The alarm and fault diagnosis module will promptly detect equipment failures and alarm, and send the fault information to the ground control center through the communication module.

[0083] If the battery power drops to a certain threshold, the energy management module will automatically start the charging mechanism to ensure that the robot can continue to perform inspection tasks.

[0084] When the robot encounters an emergency, the safety protection module will automatically start, stop running or adjust the route to ensure safety.

[0085] Please see attached Figure 8, the inspection and detection module includes:

[0086] High-definition camera unit, used to capture equipment status, environmental images, and monitor equipment operation;

[0087] Ultrasonic sensor units for equipment fault detection;

[0088] Voiceprint sensor unit, used to monitor the sound of the equipment and combine algorithms for fault identification and alarm;

[0089] A LiDAR unit for environment modeling and obstacle detection to help the robot navigate.

[0090] Please see attached Fig. 9 , the posture perception and control module includes:

[0091] The attitude sensor unit is used to monitor the pitch and roll attitude changes of the robot in real time using sensors;

[0092] Motion control unit, used to keep the robot running smoothly by adjusting its moving speed and direction;

[0093] The stability algorithm unit calculates and adjusts the robot's posture based on real-time sensor data to avoid tilting or tipping over.

[0094] Working principle: When the system is started, the robot first performs a self-check, and the main control module initializes each subsystem to ensure the normal operation of each module. Through the communication module, the robot establishes a communication link with the ground control system and performs high-precision positioning to ensure that the robot can accurately determine its position in a complex mine environment.

[0095] When the robot starts to perform inspection tasks, the attitude perception and control module monitors the robot's attitude and motion status in real time to ensure its stable operation. If the robot encounters a tilt or obstacle, the motion control unit will adjust the robot's movement speed, direction and other parameters to avoid tipping over or collision.

[0096] At the same time, the inspection and detection module starts working. Through the high-definition camera unit installed on the robot, the system can obtain the status of the mine equipment and the environment image in real time, and check whether the equipment has foreign matter accumulation, damage or abnormal operation. The ultrasonic sensor unit and the voiceprint sensor unit monitor the sound of the equipment in real time, combine the algorithm to perform fault diagnosis, and promptly alarm the equipment when there is a problem. In addition, the robot also detects the surrounding environment through the laser radar unit to avoid collision with obstacles.

[0097] The environmental monitoring module detects environmental parameters such as mine gas concentration, temperature, humidity and dust concentration in real time to ensure a safe working environment. When the concentration of hazardous gases is too high or the environment does not meet safety standards, the robot will automatically alarm and stop the inspection task to ensure the safety of the staff.

[0098] During the inspection process, all monitored data is stored in real time through the data acquisition and storage module, and provides data support for subsequent analysis and report generation. Through the alarm and fault diagnosis module, the system can promptly alarm when any fault occurs, and report to the ground control center through the communication module, providing fault diagnosis information to help maintenance personnel handle it.

[0099] When the robot's battery drops to a certain threshold, the energy management module automatically starts the charging mechanism to ensure that the robot can continue to perform inspection tasks. At this time, the robot can automatically return to the designated location for charging, or use the charging function to replenish power when inspecting at low levels.

[0100] If during the inspection process, the robot encounters an emergency situation such as a collision with an obstacle or a dangerous environment, the safety protection module will automatically start and the robot will stop running or automatically adjust its route to avoid accidents.

[0101] During inspection, if high-level detection is required, the main control module can be used to control the double-folding robotic arm 2 to operate the multi-task detection platform 3 to perform high-level detection. If low-level detection is required, the low-level inspection robot 26 can be controlled to move out of the explosion-proof body 1 to perform inspection work.

[0102] During the inspection process, the height adjustment component will control the object receiving platform 16 to rise and perform detection work. If debris such as gravel falls from the platform, the matrix sensor module 18 on the limit slot 17 will receive the weight of the object and transmit the detected data to the system for processing, so as to judge the situation of the falling object in real time and enable the robot to perform environmental monitoring and dynamic adjustment. When the object falls on the matrix sensor module 18, it is affected by gravity, and the spring 13 will be squeezed by the gravity above, resulting in compression and rebound, which reduces the influence of gravity. In addition, during the inspection process, in order to prevent dust from affecting the equipment with mirrors on the platform, the dust suction components on both sides continue to operate, and the vacuum cleaner 30 is started to generate suction, so that the powered air carries the dust from the suction nozzle 31 into the duct 29, and finally reaches the dust collection box 28 for collection.

[0103] After the low-level surface inspection robot 26 finishes its inspection and returns to the explosion-proof body 1, its system drives the motor 2 19 to operate, causing the bidirectional screw 20 to rotate, driving the moving seats 22 on both sides to move along the outer wall of the limit rod 21, and the moving seats 22 on both sides move relative to each other, thereby reducing the angle, and driving the connecting seat 24 to move downward, so that the cleaning plate 25 moves down to a suitable position on the top of the low-level surface inspection robot 26. At this time, the low-level surface inspection robot 26 moves back and forth in the explosion-proof body 1, and cooperates with the cleaning plate 25 to clean the camera on its top, so that it is convenient for the next inspection.

[0104] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The coal mine underground robot inspection human-machine interaction platform is characterized by: include: An explosion-proof body (1) is provided with a double-folding mechanical arm (2) on the top, a multi-task detection platform (3) is provided on the top of the double-folding mechanical arm (2), a voiceprint sensor module (4) is provided on the front side of the top of the explosion-proof body (1), lighting components (5) are provided at both ends of the front side of the top of the explosion-proof body (1), and ultrasonic sensors (32) are provided on both sides of the explosion-proof body (1); A height adjustment component, the bottom end of which is mounted on the top of the explosion-proof body (1), a buffer component is mounted on the top, which is used to mitigate the impact force of the upper falling object, a receiving platform (16) is arranged on the top of the buffer component, and a matrix sensor module (18) is arranged on the top of the receiving platform (16) for accurately weighing the weight change of the falling object, judging the situation of the falling object in real time, and enabling the robot to perform environmental monitoring and dynamic adjustment; A low-level inspection robot (26) is arranged in the explosion-proof body (1), a hatch (27) is arranged on the front side of the explosion-proof body (1), a cleaning component is arranged on the top of the explosion-proof body (1), which is used to clean the top camera of the low-level inspection robot (26), dust suction components are installed on both sides of the explosion-proof body (1), which are used to remove dust in front of the platform to reduce dust pollution to the camera on the platform, and an inspection intelligent control system is arranged in the (1).

2. The coal mine underground robot inspection human-machine interaction platform according to claim 1 is characterized in that: The height assembly comprises a limit seat (6), the bottom of the limit seat (6) is mounted on the top of the explosion-proof body (1), a bidirectional screw rod (8) is rotatable in the middle of the limit seat (6), a motor (7) is mounted on the end of the bidirectional screw rod (8), both sides of the bidirectional screw rod (8) are threaded with mounting seats (9), one end of a movable rod (11) is rotatable on the opposite sides of the two mounting seats (9), the bottom ends of the electric telescopic rods (10) are rotatable in the middle of the two mounting seats (9), and the top ends of the electric telescopic rods (10) are mounted on the middle of the movable rod (11) through a rotating shaft.

3. The coal mine underground robot inspection human-machine interaction platform according to claim 2 is characterized in that: The buffer assembly comprises a second mounting seat (12), the middle part of the second mounting seat (12) is rotated on the top of the first movable rod (11), springs (13) are installed inside both sides of the second mounting seat (12), a T-shaped seat (14) is installed on the top of the spring (13), the outside of the T-shaped seat (14) slides inside the second mounting seat (12), a slider (15) is installed on the top of the T-shaped seat (14), and limiting grooves (17) are provided on both sides of the lower surface of the receiving platform (16), and the outside of the slider (15) slides in the limiting grooves (17).

4. The coal mine underground robot inspection human-machine interaction platform according to claim 1, characterized in that: The cleaning component comprises a second motor (19), the second motor (19) is externally mounted on the top of the explosion-proof body (1), a second bidirectional screw rod (20) is fixed to the driving end of the second motor (19), both sides of the second bidirectional screw rod (20) are rotatably provided with a moving seat (22), a limit rod (21) is mounted on the top of the explosion-proof body (1), the middle part of the moving seat (22) slides on the outer wall of the limit rod (21), one end of two movable rods (23) are rotatably provided on both sides of the bottom of the two movable seats (22), the other ends of the two groups of the two movable rods (23) are rotatably provided with a connecting seat (24), and a cleaning plate (25) is mounted on the bottom of the connecting seat (24).

5. The coal mine underground robot inspection human-machine interaction platform according to claim 1, characterized in that: The dust collection assembly comprises a dirt collection box (28), the outer wall of the dirt collection box (28) is mounted on the side wall of the explosion-proof body (1), one end of a conduit (29) is mounted on the input port of the dirt collection box (28), a dust collector (30) is mounted on the other end of the conduit (29), and a suction nozzle (31) is mounted on the input end of the dust collector (30).

6. The coal mine underground robot inspection human-machine interaction platform according to claim 1, characterized in that: The inspection intelligent control system comprises: The main control module is used to centrally control and make decisions on the entire robot system and coordinate the work of each sub-module; Communication module, used to realize data transmission between the robot and the ground control system, supporting wireless communication and UWB positioning and navigation module; The posture perception and control module is used to monitor and adjust the posture and motion state of the robot through sensors; Environmental monitoring module, used to detect gas concentration, temperature, humidity, and dust environment parameters in coal mines in real time; Inspection and detection module, used for equipment status detection, foreign object identification, and coal pile condition monitoring tasks; Energy management module, used to manage the power required by the robot, including battery monitoring, charging control, and charging function of low-level inspection robots; Data collection and storage module, responsible for collecting and storing various data during the inspection process; The alarm and fault diagnosis module is used to monitor the system operation status, detect equipment failures in time and issue alarms, and provide fault diagnosis functions; Navigation and positioning module, used to provide high-precision positioning support; Safety protection module, used to provide emergency response in emergency situations; The human-computer interaction module is used to conveniently interact with the operator through a graphical interface, sound feedback or voice recognition.

7. The coal mine underground robot inspection human-machine interaction platform according to claim 6, characterized in that: The inspection and detection module comprises: High-definition camera unit, used to capture equipment status, environmental images, and monitor equipment operation; Ultrasonic sensor units for equipment fault detection; Voiceprint sensor unit, used to monitor the sound of the equipment and combine algorithms for fault identification and alarm; A LiDAR unit for environment modeling and obstacle detection to help the robot navigate.

8. The coal mine underground robot inspection human-machine interaction platform according to claim 6, characterized in that: The posture perception and control module includes: The attitude sensor unit is used to monitor the pitch and roll attitude changes of the robot in real time using sensors; Motion control unit, used to keep the robot running smoothly by adjusting its moving speed and direction; The stability algorithm unit calculates and adjusts the robot's posture based on real-time sensor data to avoid tilting or tipping over.

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