Bionic frog inspection platform for underground coal mine monitoring and working method of bionic frog inspection platform

Abstract

The invention discloses a bionic frog inspection platform for coal mine underground monitoring and a working method thereof, the platform comprises a bionic frog robot and a crawler, the bionic frog robot is mounted on the crawler through a locking device, a power switch and a main control system are arranged on the crawler, and a roadway camera unit is mounted at the front part of the crawler; the bionic frog robot comprises a head body, an upper limb body, a lower limb body, a sensing unit, a bionic frog robot control system and an energy storage unit, the upper limb body and the lower limb body are hinged to form a frog leg and frog body structure, the energy storage unit is installed at the hinged position of the upper limb body and the lower limb body, the head body is installed on the front side of the upper limb body, and the sensing unit is installed on the front side of the head body. The bionic frog robot is tightly matched with the crawler through the lock catch device and advances continuously, the situation that the inspection range is limited due to the fact that the crawler cannot cross obstacles can be avoided, the inspection capacity is improved, the inspection range is expanded, and the bionic frog robot can be well suitable for complex environment sites of an underground coal mine.

Description

Technical Field

[0001] The invention relates to a monitoring platform, in particular to a bionic frog inspection platform for underground coal mine monitoring and a working method thereof. Background Art

[0002] With the vigorous development of my country's coal industry, the number of coal mines has increased year by year, and accidents have occurred frequently. The causes of mining accidents are various, such as coal dust accumulation explosion, excessive gas concentration, failure of protective facilities, etc., which have caused many casualties. Therefore, in order to protect the personal safety of coal miners, it is of great significance to regularly inspect the safety of coal mines and prevent accidents. Conventional coal mine inspections are mainly carried out by inspectors carrying inspection equipment, which are not very capable and prone to danger.

[0003] Existing inspection technology mainly uses small vehicles to realize underground inspections in coal mines; such inspection small vehicles are controlled by inspection personnel to inspect tunnels, equipment, etc. However, coal mine wall collapse occurs from time to time. When the fallen coal and rocks block the path of the small vehicle, the small vehicle cannot pass and the inspection cannot be carried out. The flexibility of the wheeled mobile vehicle is mainly affected by the driving mechanism of the mobile vehicle, which determines the movement mode of the mobile vehicle. Although the wheeled vehicle has a simple structure and consumes little energy during the movement process, it has limited obstacle crossing ability and poor flexibility. It has deficiencies in terms of rapid traversal of terrain and rapid obstacle crossing, and has poor adaptability to complex terrain.

[0004] Patent CN218226626U proposes a coal mine explosion-proof intelligent obstacle-crossing inspection robot, which is an intelligent obstacle-crossing crawler vehicle. However, the crawler vehicle's obstacle-crossing capability is still limited, and it is still unable to overcome huge obstacles caused by coal mine collapse. Tracked vehicles can adapt to more terrains, but the speed of tracked vehicles is usually slow, which may reduce inspection efficiency, especially when large areas need to be covered quickly; at the same time, its maneuverability is poor, and it cannot be completed efficiently when frequent changes of direction or rapid rotation are required during inspection tasks; and its cost is high. In order to drive the crawler, a larger power output is usually required, which leads to greater energy consumption. It may need to be charged or replaced more frequently, and the maintenance of the crawler part is relatively cumbersome, and regular inspection and replacement of worn parts are required.

[0005] Finally, existing technologies can usually only carry limited detection equipment, and for some complex inspection tasks, it may be necessary to cooperate with other equipment or manual inspection. The obstacle-crossing ability of crawling and walking mobile robots designed by bionics has been improved, but the structure is relatively complex and the energy utilization rate is low.

[0006] In the existing bionic frog robot technology, the key is to realize the bionic skeletal muscle structure; common solutions include Solution 1: imitate the muscle principle by stretching the wire harness to achieve the effect closest to muscle traction. This kind of artificial muscle imitates the muscle principle and achieves the effect closest to muscle traction by stretching the wire harness. However, the current control method of this kind of artificial muscle is relatively complicated, and the efficiency is low because the muscle harness is controlled by the motor to contract; Solution 2: Robot arm joint motor solution; This solution is the most commonly used joint motor solution for robotic arms. The advantage of this solution is that it is easy to control and can produce highly complex terminal outputs. However, this type of robot does not require sophisticated end control and is not easy to have a large power output; Option 3: Use pneumatic or hydraulic drive to achieve the contraction and extension of artificial muscles. This method is relatively cutting-edge and easier to achieve large loads. It is difficult to achieve rapid muscle changes to generate a large acceleration to achieve jumping using the hydraulic solution. The pneumatic solution can achieve a faster moving speed to make the frog jump, but this solution requires a pneumatic system and is heavy overall; Option 4: The spring mechanism stores energy and releases it instantly. The motor is combined with a large transmission ratio solution to compress the torsion spring, and it is released instantly after the compression is completed. This solution can produce huge energy release, but the defect of this solution is that it cannot achieve specific position control. Existing bionic skeletal muscle structures such as harness stretching, mechanical arm joint motors, pneumatic or hydraulic drives, springs, etc. all have their own defects. Among them, the harness stretching control method is relatively complicated, and the motor controls the muscle harness contraction, resulting in low efficiency; the mechanical arm joint motor requires sophisticated end control and is not easy to have a large power output; pneumatic or hydraulic drives require pneumatic or hydraulic systems, and the overall weight is heavy; spring drives are difficult to achieve specific position control. Therefore, each scheme cannot independently complete the jump inspection task in the coal mine. Summary of the invention

[0007] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide a bionic frog inspection platform for underground coal mine monitoring, which improves the ability to cross obstacles, can adapt to jumping in various environments, cross narrow mine caves, adapt to various complex terrains, realize jumping of different distances, expand the range of movement, and improve the inspection ability. And provide its working method.

[0008] Technical solution: A bionic frog inspection platform for underground coal mine monitoring, including a bionic frog robot and a tracked vehicle. The bionic frog robot is installed on the tracked vehicle through a locking device. The tracked vehicle is provided with a power switch and a main control system. A tunnel camera unit is installed at the front of the tracked vehicle.

[0009] The bionic frog robot includes a head body, an upper limb body, a lower limb body, a sensor unit, a bionic frog robot control system, and an energy storage unit. The upper limb body and the lower limb body are hinged to form a frog leg and frog body structure. The energy storage unit is installed at the hinge between the two. The head body is installed on the front side of the upper limb body, the sensor unit is installed on the front side of the head body, and the bionic frog robot control system is installed on the upper limb body. The head body and the sensor unit are respectively connected to the bionic frog robot control system signal, and the lane camera unit and the bionic frog robot control system are respectively connected to the main control system signal.

[0010] Furthermore, the head body includes a second drive motor, a first drive motor, a third drive motor, a left reel, and a right reel. The second drive motor, the first drive motor, and the third drive motor are respectively installed on the upper limb body and the second drive motor and the first drive motor are located on opposite sides of the upper limb body. The left reel is connected to the first drive motor, and the right reel is connected to the second drive motor. The left reel and the right reel are respectively connected to the lower part of the lower limb body through a wiring harness.

[0011] Furthermore, the upper limb body includes a left upper limb, a right upper limb, a head support, and a fixing rod. The left upper limb and the right upper limb are arranged in parallel and spaced apart, one end of the two is connected by the head support, and the other end is connected by the fixing rod.

[0012] Preferably, the connection ends of the left upper limb and the right upper limb with the fixing rod are respectively provided with a left upper limb bearing groove and a right upper limb bearing groove, and the bottom surfaces of the left upper limb and the right upper limb are respectively provided with a left upper limb groove and a right upper limb groove;

[0013] The first drive motor mounting frame and the second drive motor mounting frame are respectively arranged on opposite sides of the head bracket, the front and rear sides are respectively arranged with a sensor unit mounting frame and a third drive motor mounting frame, and the upper surface is provided with a main control system mounting frame.

[0014] Furthermore, the lower limb body includes a left lower limb, a right lower limb, and a bottom plate. The left lower limb and the right lower limb are arranged in parallel and spaced apart. A bottom plate is respectively installed on one end surface of each of them, and the other end is respectively connected to the upper limb body.

[0015] Preferably, a left lower limb groove and a right lower limb groove are respectively provided on one side of the left lower limb and the right lower limb facing the upper limb body, and a left lower limb bearing groove and a right lower limb bearing groove are respectively provided on one end of the left lower limb and the right lower limb connected to the upper limb body;

[0016] The bottom plate includes a fixing plate, a ground pad, and a harness hole. The upper surface of the fixing plate is fixed to the left lower limb or the right lower limb, the bottom surface is installed with a ground pad, and a harness hole is also opened on the fixing plate. The bottom plate is connected to the head body through the harness hole.

[0017] Optimally, the platform also includes a locking turntable, which is rotatably connected to the head body and faces the lower limb body. The left lower limb and the right lower limb are respectively installed with a left lower limb fixing plate and a right lower limb fixing plate. The left lower limb fixing plate and the right lower limb fixing plate are relatively spaced apart, and the locking turntable can be stuck between the two. The left lower limb fixing plate, the right lower limb fixing plate and the locking turntable constitute a locking mechanism.

[0018] Furthermore, the energy storage unit includes a left torsion spring, a right torsion spring, a left torsion spring support, a left bolt, a right torsion spring support, and a right bolt. The left torsion spring is installed on the left bolt through the left torsion spring support, and the right torsion spring is installed on the right bolt through the right torsion spring support. The left bolt and the right bolt are respectively installed at the hinges of the upper limb body and the lower limb body, and the two torsion bars of the left torsion spring and the right torsion spring are respectively in contact with the upper limb body and the lower limb body.

[0019] The left reel is driven to rotate by the first drive motor, thereby tightening the upper limb and lower limb ends to complete the compression energy storage of the left torsion spring. The right reel is driven to rotate by the second drive motor, thereby tightening the upper limb and lower limb ends to complete the compression energy storage of the right torsion spring. The left torsion spring is fixed at the shaft connecting the left upper limb and the left lower limb, and the two feet are respectively inserted into the grooves of the left upper limb and the left lower limb; the right torsion spring is fixed at the shaft connecting the right upper limb and the right lower limb, and the two feet are respectively inserted into the grooves of the right upper limb and the right lower limb; at the same time, in order to reduce the damping at the shaft and reduce the deflection of the lower limb, the shaft is designed to use a thrust ball bearing to reduce the rotational resistance, and a torsion spring support is added to protect the contact between the torsion spring and the shaft.

[0020] When the two torsion springs are contracted to the limit, the third drive motor drives the locking turntable to rotate and cooperate with the left lower limb fixing plate and the right lower limb fixing plate to complete the energy storage state to lock the closed locking mechanism and release the winding harness through the first drive motor and the second drive motor. After the harness is completely released, the locking mechanism is opened to achieve explosive output of kinetic energy, thereby achieving rapid changes in the angles of the frog's upper limb and lower limb bodies. The energy storage unit stores energy through harness drive, converts energy into elastic potential energy stored in the torsion spring, and then releases it to achieve jumping, thereby greatly changing the angle between the upper limb and lower limb bodies, and achieving long-distance jumping; it overcomes the disadvantages of traditional hydraulic drive, which is heavy and dangerous, and achieves large explosive output in a small volume; compared with the transmission of the mechanical arm motor solution, it can achieve a larger kinetic energy output.

[0021] Furthermore, the locking device includes a locking buckle and a locking buckle support. The locking buckle is installed on the upper surface of the tracked vehicle through the locking buckle support. The lower limb body can be connected to the locking buckle so that the bionic frog robot can be installed on the tracked vehicle.

[0022] A working method of the above-mentioned bionic frog inspection platform for underground coal mine monitoring comprises the following steps:

[0023] S1: The tracked vehicle carries the bionic frog robot forward, and uses the tunnel camera unit to capture images and transmit them back to the main control system for analysis and autonomous path planning. When encountering an insurmountable obstacle, it issues a command, the locking device opens, and the bionic frog robot is unlocked; the bionic frog robot control system controls the head body to make the bionic frog robot enter the jumping preparation mode;

[0024] S2: The bionic frog robot jumps. During the continuous jumping process, the bionic frog robot control system controls the head body to adjust the jumping distance and speed of the bionic frog robot. The inspection camera unit in the sensor unit continuously shoots the forward image and transmits it to the inspection personnel. After the inspection personnel issue a stop command through the main control system, the bionic frog robot stops jumping. When the jump ends or stops, if the inspection camera unit recognizes that the ground is rugged, the head body can be controlled through the adaptive adjustment of the bionic frog robot control system to stabilize the fuselage to continue shooting the forward image and prepare for the next jump or stay in place.

[0025] S3: After receiving the return command from the main control system, the bionic frog robot control system adjusts its direction to return to the position of the tracked vehicle. After finding the tracked vehicle, it identifies the position of the locking device, adjusts its own position and direction to return to the loading position, and finally closes the locking device and is carried by the tracked vehicle to continue the inspection at the next location.

[0026] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0027] The bionic frog inspection platform of the present invention has both ground driving and jumping capabilities, and can adapt to the complex terrain under the coal mine. The bionic frog robot cooperates with the crawler vehicle to complete the complex inspection tasks. That is, when the crawler vehicle encounters a huge obstacle formed by collapsed coal, rock, etc. and cannot move forward, or needs to frequently change direction and require rapid rotation during the inspection task, the main system issues an instruction to start the bionic frog robot to jump through the obstacle and continue to inspect; after the bionic frog robot control system issues a stop instruction, the robot stops moving forward, and if the camera unit recognizes that the ground is rugged, the first drive motor and the second drive motor can be adjusted by the adaptive adjustment of the control system to adjust the tightening state of the left and right harnesses, thereby stabilizing the fuselage to continue shooting the front picture and prepare for the next jump or stay in place; after completing the inspection task at this position, the bionic frog robot can adjust the direction, return to the crawler vehicle position, adjust its own direction and position by identifying the position of the locking device, jump back to the carrying position, and finally close the locking device; the crawler vehicle continues to carry the bionic frog robot to the next inspection location.

[0028] The bionic frog robot of the present invention realizes torsion spring energy storage through the contraction of the wire harness. The bionic skeletal muscle structure scheme combines the existing wire harness drive scheme and the spring drive scheme. It imitates the essence of the frog leg structure, uses the rotation of the motor to drive the wire harness to contract and then causes the torsion spring to contract to realize bionic muscle energy storage, and imitates the contraction of the frog leg Achilles tendon, thereby realizing the contraction of the frog leg and storing energy. When the flexible mechanism contracts to the limit, the locking mechanism is closed and the wire harness is released. After the wire harness is completely released, the locking mechanism is opened to realize the explosive output of kinetic energy, thereby realizing the rapid and large-scale change of the angle between the upper limb body and the lower limb body and then jumping. It solves the problem that the contraction efficiency of the single wire harness drive scheme is low and the single spring drive scheme is difficult to realize specific position control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0030] Figure 2 It is a three-dimensional picture of a tracked vehicle;

[0031] Figure 3 This is a three-dimensional picture of the bionic frog robot;

[0032] Figure 4 It is a structural diagram of the head body;

[0033] Figure 5 It is the structural diagram of the main body of the upper limb;

[0034] Figure 6 This is a structural diagram of the head bracket;

[0035] Figure 7 It is the structural diagram of the left upper limb and the right upper limb;

[0036] Figure 8 It is the structural diagram of the main body of the lower limb;

[0037] Fig. 9 This is the structural diagram of the base plate;

[0038] Fig.10 The structure diagram of the energy storage unit installed on the bionic frog robot;

[0039] Fig.11 is a structural diagram of the energy storage unit;

[0040] Fig.12 This is a stereoscopic picture of the bionic frog robot in normal state;

[0041] Fig.13 A three-dimensional diagram of the bionic frog robot in the energy storage state;

[0042] Fig.14 A three-dimensional diagram of the bionic frog robot's locking mechanism in a closed state;

[0043] Fig.15 This is a three-dimensional diagram of the working state of the locking mechanism of the bionic frog robot;

[0044] Fig.16 It is an operation flow chart of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0046] A bionic frog inspection platform for underground coal mine monitoring, such as Figures 1 to 16 As shown, it includes a bionic frog robot 1 and a tracked vehicle 2, and the bionic frog robot 1 is installed on the tracked vehicle 2 through a locking device.

[0047] The bionic frog robot 1 includes a head body 8, an upper limb body 9, a lower limb body 10, a sensor unit 11, a bionic frog robot control system 12, and an energy storage unit 13. The upper limb body 9 and the lower limb body 10 are hinged to form a frog leg and frog body structure, and the energy storage unit 13 is installed at the hinge between the two.

[0048] The upper limb body 9 includes a left upper limb 91, a right upper limb 92, a head support 93, and a fixing rod 94. The left upper limb 91 and the right upper limb 92 are arranged in parallel and spaced apart. One end of the left upper limb 91 and the right upper limb 92 are connected by the head support 93, and the other end is connected by the fixing rod 94. The left upper limb 91 and the right upper limb 92 are respectively provided with a left upper limb bearing groove 912 and a right upper limb bearing groove 922 on the connecting ends of the fixing rod 94. The lower limb body 10 includes a left lower limb 101, a right lower limb 102, and a bottom plate 103. The left lower limb 101 and the right lower limb 102 are arranged in parallel and spaced apart. A bottom plate 103 is respectively installed on one end surface of the two, and a left lower limb bearing groove 1012 and a right lower limb bearing groove 1022 are respectively provided on the other end. The left upper limb bearing groove 912 matches the left lower limb bearing groove 1012, and the right upper limb bearing groove 922 matches the right lower limb bearing groove 1022.

[0049] The energy storage unit 13 includes a left torsion spring 131, a right torsion spring 132, a left torsion spring support 1311, a left bolt 1312, a right torsion spring support 1321, and a right bolt 1322. The left torsion spring 131 is installed on the left bolt 1312 through the left torsion spring support 1311, and the right torsion spring 132 is installed on the right bolt 1322 through the right torsion spring support 1321. The left bolt 1312 and the right bolt 1322 are respectively installed at the hinge of the upper limb body 9 and the lower limb body 10, that is, they are installed in the left upper limb bearing groove 912 and the left lower limb bearing groove 1012, and in the right upper limb bearing groove 922 and the right lower limb bearing groove 1022, so that the upper limb body 9 and the lower limb body 10 are hinged.

[0050] The bottom surfaces of the left upper limb 91 and the right upper limb 92 are respectively provided with a left upper limb groove 911 and a right upper limb groove 921, and the side surfaces of the left lower limb 101 and the right lower limb 102 facing the upper limb body 9 are respectively provided with a left lower limb groove 1011 and a right lower limb groove 1021. The two torsion bars of the left torsion spring 131 are respectively placed in the left upper limb groove 911 and the left lower limb groove 1011, and the two torsion bars of the right torsion spring 132 are respectively placed in the right upper limb groove 921 and the right lower limb groove 1021, so that the left torsion spring 131 and the right torsion spring 132 are respectively in contact with the upper limb body 9 and the lower limb body 10.

[0051] The head bracket 93 is provided with a first drive motor mounting frame 931 and a second drive motor mounting frame 932 on opposite sides respectively, and a sensor unit mounting frame 934 and a third drive motor mounting frame 933 are provided on the front and rear sides respectively, and a main control system mounting frame 935 is provided on the upper surface; the base plate 103 includes a fixing plate 1031, a ground pad 1032, and a wiring harness hole 1033. The upper surface of the fixing plate 1031 is fixed to the left lower limb 101 or the right lower limb 102, and a ground pad 1032 is installed on the bottom surface. A wiring harness hole 1033 is also opened on the fixing plate 1031, and the base plate 103 is connected to the head body 8 through the wiring harness hole 1033.

[0052] The head body 8 is installed on the front side of the upper limb body 9, that is, it is located on the sensor unit mounting frame 934. The sensor unit 11 is installed on the front side of the head body 8. The head body 8 includes a second drive motor 81, a first drive motor 82, a third drive motor 83, a left reel 84, and a right reel 85. The second drive motor 81 is installed on the second drive motor mounting frame 932, the first drive motor 82 is installed on the first drive motor mounting frame 931, and the third drive motor 83 is installed on the third drive motor mounting frame 933. The left reel 84 is connected to the first drive motor 82, and the right reel 85 is connected to the second drive motor 81. The left reel 84 and the right reel 85 are respectively connected to the wiring harness hole 1033 on a base plate 103 corresponding to the lower limb body 10 through the wiring harness 14.

[0053] A locking turntable 15 is installed on the third driving motor 83, and the locking turntable 15 faces the lower limb main body 10. A left lower limb fixing plate 1013 and a right lower limb fixing plate 1023 are respectively installed on the left lower limb 101 and the right lower limb 102. The left lower limb fixing plate 1013 and the right lower limb fixing plate 1023 are relatively spaced apart, and the locking turntable 15 can be stuck therebetween. The left lower limb fixing plate 1013, the right lower limb fixing plate 1023 and the locking turntable 15 constitute a locking mechanism.

[0054] The locking device includes a lock 4 and a lock support 6. The lock 4 is installed on the upper surface of the tracked vehicle 2 through the lock support 6. The two bottom plates 103 of the lower limb body 10 can be clamped in the lock 4, so that the bionic frog robot 1 is installed on the tracked vehicle 2. The bionic frog robot control system 12 is installed on the upper limb body 9. The tracked vehicle 2 is provided with a power switch 3 and a main control system 5. The front of the tracked vehicle 2 is installed with a lane camera unit 7. The second drive motor 81, the first drive motor 82, the third drive motor 83, and the sensor unit 11 are respectively connected to the bionic frog robot control system 12 signal connection, and the lane camera unit 7 and the bionic frog robot control system 12 are respectively connected to the main control system 5 signal connection.

[0055] The sensing unit 11 is installed at the front end of the head, and a torsion spring equipped with a sensor energy storage unit such as a camera is fixed at the connecting shaft of the upper limb body and the lower limb body, and the two feet are respectively inserted into the grooves of the upper limb and the lower limb; the control system of the bionic frog robot is controlled by a single-chip microcomputer.

[0056] The left reel 84 and the right reel 85 are driven by the first drive motor 82 and the second drive motor 81 respectively; the first drive motor 82 drives the left reel 84 to rotate and then tightens the upper limb end and the lower limb end to complete the compression energy storage of the left torsion spring 131; the second drive motor 81 drives the left reel 85 to rotate and then tightens the upper limb end and the lower limb end to complete the compression energy storage of the left torsion spring 132.

[0057] The two legs of the left torsion spring 131 are respectively inserted into the left upper limb slot 911 and the left lower limb slot 1011; the left upper limb bearing slot 912 and the left lower limb bearing slot 1012 are connected through a thrust ball bearing; further, the left torsion spring support 1311 passes through the axis of the left torsion spring 131; finally, the left bolt 1312 connects the left torsion spring support 1311, the left upper limb 91, and the left lower limb 101. Similarly, the two legs of the right torsion spring 132 are respectively inserted into the right upper limb slot 921 and the right lower limb slot 1021; the right upper limb bearing slot 922 and the right lower limb bearing slot 1022 are connected through a thrust ball bearing; further, the right torsion spring support 1321 passes through the axis of the right torsion spring 132; finally, the right bolt 1322 connects the right torsion spring support 1321, the right upper limb 92, and the right lower limb 102. The locking turntable 15 is connected to the third drive motor 83, driven by the third drive motor 83, and cooperates with the left lower limb fixing plate 1013 and the right lower limb fixing plate 1023 to complete the energy storage state locking task. During the manufacturing and testing process, if the bottom plate 103 is a regular rectangular parallelepiped shape, it is unstable during the crawler vehicle loading process, so the fixing plate 1031 and the locking device (lock 4, lock support 6) are used to ensure the stability of the bionic frog robot during the loading process; secondly, the bottom of the bottom plate 103 is completely flat and can adapt to the flat ground well, but the ground environment in the underground inspection task of the coal mine is relatively complex and cannot be flat all the time, so a number of cylindrical ground pads 1032 can better adapt to the inspection work of complex road conditions, and at the same time, this also increases the friction between the bottom and the ground to a certain extent, thereby improving the gripping ability of the bionic frog robot, allowing the bionic frog robot to stay more stably.

[0058] See also Figures 12 to 15 In normal state, the bionic frog robot Fig.12 When the first drive motor 82 and the second drive motor 81 drive the left reel 84 and the right reel 85 to rotate and retract the wire harness 14 and then compress the torsion spring 13, if the two torsion springs are compressed to the limit, the third drive motor 83 drives the locking turntable 15 to rotate and cooperate with the left lower limb fixing plate 1013 and the right lower limb fixing plate 1023 to complete the energy storage state locking, and release the wound wire harness 14 through the first drive motor 82 and the second drive motor 81. After the wire harness is completely released, the locking mechanism is opened by the third drive motor 83 to realize the explosive output of kinetic energy, thereby realizing the rapid and large-scale change of the angle between the frog's upper limb body 9 and the lower limb body 10.

[0059] See also Fig.16 ,The working process of this bionic frog inspection platform is as follows:

[0060] (1): The inspection personnel control the bionic frog inspection platform to enter the tunnel, and the ground personnel start the main system; the main system controls the tunnel camera unit to shoot the road ahead. When the light in the mine is dim, the main system starts the fill light in the tunnel camera unit to fill in the light. The main system autonomously analyzes the shooting picture and plans the route; when the tunnel camera unit captures a huge obstacle that the crawler vehicle cannot overcome, the main system controls the locking device on the top of the crawler vehicle to open, the bionic frog robot is unlocked, and the bionic frog robot control system starts and connects to the main system;

[0061] (2): The bionic frog robot control system controls the first drive motor and the second drive motor to tighten the left rope and the right rope through the left drum and the right drum respectively, so as to provide jumping energy for the bionic frog robot, thereby realizing jumping; during the jumping process, the first drive motor and the second drive motor synchronously change the amplitude and frequency of the movement to adjust the jumping distance and speed of the robot; the first drive motor and the second drive motor respectively change the amplitude and frequency of the movement to adjust the jumping energy storage difference between the left limb and the right limb, thereby realizing the direction adjustment during the jumping process; the inspection camera unit in the sensor unit continuously captures the forward picture, which is transmitted to the inspection personnel through the main system; the bionic frog robot stops jumping by issuing a stop command through the main system.

[0062] (3): When the jump ends or stops, if the camera unit recognizes that the ground is rough, the control system can adaptively adjust the control system to control the first drive motor and the second drive motor to adjust the tightening state of the left and right ropes, thereby stabilizing the fuselage to continue shooting the front view and prepare for the next jump or stay in place; after completing the inspection of the position, the bionic frog robot control system receives a return command from the main system, adjusts the direction, returns to the position of the crawler vehicle, and after finding the crawler vehicle, adjusts its own position and direction to return to the loading position by identifying the position of the locking device, and finally closes the locking device. After completing an inspection task, the main system adjusts the forward direction of the crawler vehicle and continues to inspect the next place, repeating this process.

Claims

1. A bionic frog inspection platform for underground coal mine monitoring, comprising a bionic frog robot (1) and a crawler vehicle (2), characterized in that: The bionic frog robot (1) is installed on a crawler vehicle (2) through a locking device. The crawler vehicle (2) is provided with a power switch (3) and a main control system (5). A tunnel camera unit (7) is installed at the front of the crawler vehicle (2). The bionic frog robot (1) comprises a head body (8), an upper limb body (9), a lower limb body (10), a sensor unit (11), a bionic frog robot control system (12), and an energy storage unit (13). The upper limb body (9) and the lower limb body (10) are hinged to form a frog leg and frog body structure. The energy storage unit (13) is installed at the hinge between the two. The head body (8) is installed at the front side of the upper limb body (9), the sensor unit (11) is installed at the front side of the head body (8), the bionic frog robot control system (12) is installed on the upper limb body (9), the head body (8) and the sensor unit (11) are respectively connected to the bionic frog robot control system (12) by signal, and the lane camera unit (7) and the bionic frog robot control system (12) are respectively connected to the main control system (5) by signal.

2. A bionic frog inspection platform for underground coal mine monitoring according to claim 1, characterized in that: The head body (8) comprises a second drive motor (81), a first drive motor (82), a third drive motor (83), a left reel (84), and a right reel (85); the second drive motor (81), the first drive motor (82), and the third drive motor (83) are respectively mounted on the upper limb body (9), and the second drive motor (81) and the first drive motor (82) are located on opposite sides of the upper limb body (9); the left reel (84) is connected to the first drive motor (82), and the right reel (85) is connected to the second drive motor (81); and the left reel (84) and the right reel (85) are respectively connected to the lower part of the lower limb body (10) via a wiring harness (14).

3. A bionic frog inspection platform for underground coal mine monitoring according to claim 1, characterized in that: The upper limb body (9) comprises a left upper limb (91), a right upper limb (92), a head support (93), and a fixing rod (94). The left upper limb (91) and the right upper limb (92) are arranged in parallel and spaced apart, and one end of the two is connected by the head support (93), and the other end is connected by the fixing rod (94).

4. A bionic frog inspection platform for underground coal mine monitoring according to claim 3, characterized in that: The connection ends of the left upper limb (91) and the right upper limb (92) and the fixing rod (94) are respectively provided with a left upper limb bearing groove (912) and a right upper limb bearing groove (922); the bottom surfaces of the left upper limb (91) and the right upper limb (92) are respectively provided with a left upper limb groove (911) and a right upper limb groove (921); A first drive motor mounting frame (931) and a second drive motor mounting frame (932) are respectively provided on opposite sides of the head support (93), a sensor unit mounting frame (934) and a third drive motor mounting frame (933) are respectively provided on the front and rear sides, and a main control system mounting frame (935) is provided on the upper surface.

5. The bionic frog inspection platform for underground coal mine monitoring according to claim 1 is characterized by: The lower limb body (10) comprises a left lower limb (101), a right lower limb (102), and a bottom plate (103). The left lower limb (101) and the right lower limb (102) are arranged in parallel and spaced apart. A bottom plate (103) is respectively installed on one end surface of each of the two, and the other end is respectively connected to the upper limb body (9).

6. A bionic frog inspection platform for underground coal mine monitoring according to claim 5, characterized in that: A left lower limb groove (1011) and a right lower limb groove (1021) are respectively provided on one side of the left lower limb (101) and the right lower limb (102) facing the upper limb body (9); and a left lower limb bearing groove (1012) and a right lower limb bearing groove (1022) are respectively provided on one end of the left lower limb (101) and the right lower limb (102) connected to the upper limb body (9); The bottom plate (103) comprises a fixing plate (1031), a ground contact pad (1032), and a harness hole (1033); the upper surface of the fixing plate (1031) is fixed to the left lower limb (101) or the right lower limb (102); the ground contact pad (1032) is installed on the bottom surface; the fixing plate (1031) is also provided with a harness hole (1033); and the bottom plate (103) is connected to the head body (8) via the harness hole (1033).

7. The bionic frog inspection platform for underground coal mine monitoring according to claim 5 is characterized by: The invention also comprises a locking turntable (15), which is rotatably connected to the head body (8) and faces the lower limb body (10); a left lower limb fixing plate (1013) and a right lower limb fixing plate (1023) are respectively installed on the left lower limb (101) and the right lower limb (102); the left lower limb fixing plate (1013) and the right lower limb fixing plate (1023) are arranged relatively spaced apart, and the locking turntable (15) can be clamped between the two; the left lower limb fixing plate (1013), the right lower limb fixing plate (1023) and the locking turntable (15) constitute a locking mechanism.

8. The bionic frog inspection platform for underground coal mine monitoring according to claim 1 is characterized by: The energy storage unit (13) comprises a left torsion spring (131), a right torsion spring (132), a left torsion spring support (1311), a left bolt (1312), a right torsion spring support (1321), and a right bolt (1322); the left torsion spring (131) is mounted on the left bolt (1312) via the left torsion spring support (1311); the right torsion spring (132) is mounted on the right bolt (1322) via the right torsion spring support (1321); the left bolt (1312) and the right bolt (1322) are respectively mounted at the hinge of the upper limb body (9) and the lower limb body (10); and two torsion bars of the left torsion spring (131) and the right torsion spring (132) are respectively engaged with the upper limb body (9) and the lower limb body (10).

9. The bionic frog inspection platform for underground coal mine monitoring according to claim 1, characterized in that: The locking device comprises a locking buckle (4) and a locking buckle support (6); the locking buckle (4) is mounted on the upper surface of a tracked vehicle (2) via the locking buckle support (6); the lower limb body (10) can be connected to the locking buckle (4) so ​​that the bionic frog robot (1) is mounted on the tracked vehicle (2).

10. A working method of the bionic frog inspection platform for underground coal mine monitoring as claimed in any one of claims 1 to 9, characterized in that The following steps are involved: S1: The tracked vehicle carries the bionic frog robot forward, and uses the tunnel camera unit to capture images and transmit them back to the main control system for analysis and autonomous path planning. When encountering an insurmountable obstacle, it issues a command, the locking device opens, and the bionic frog robot is unlocked; the bionic frog robot control system controls the head body to make the bionic frog robot enter the jumping preparation mode; S2: The bionic frog robot jumps. During the continuous jumping process, the bionic frog robot control system controls the head body to adjust the jumping distance and speed of the bionic frog robot. The inspection camera unit in the sensor unit continuously shoots the forward image and transmits it to the inspection personnel. After the inspection personnel issue a stop command through the main control system, the bionic frog robot stops jumping. When the jump ends or stops, if the inspection camera unit recognizes that the ground is rugged, the head body can be controlled through the adaptive adjustment of the bionic frog robot control system to stabilize the fuselage to continue shooting the forward image and prepare for the next jump or stay in place. S3: After receiving the return command from the main control system, the bionic frog robot control system adjusts its direction to return to the position of the tracked vehicle. After finding the tracked vehicle, it identifies the position of the locking device, adjusts its own position and direction to return to the loading position, and finally closes the locking device and is carried by the tracked vehicle to continue the inspection at the next location.

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