Underground coal mine inspection robot working platform and control system thereof

Abstract

The invention relates to the technical field of coal mine underground inspection, and discloses a coal mine underground inspection robot working platform which comprises an inspection mechanism, a driving mechanism and a front end observation camera, the driving mechanism is arranged in the middle of the inspection mechanism and used for driving the inspection mechanism to inspect in a coal mine, and the front end observation camera is arranged at the front end of the inspection mechanism. The front-end observation camera is arranged at the top of the inspection mechanism, the outer side of the front-end observation camera is fixedly connected with a lighting piece, the invention further provides a control system of the underground coal mine inspection robot working platform, and the control system comprises a task planning module used for generating an inspection task according to an inspection target and distributing the inspection task to the robot for execution. Through the adjusting mechanism, the active obstacle clearing design and the multi-sensor fusion technology, the flexibility, the obstacle clearing capability and the data acquisition precision of the inspection robot are improved, and the efficiency and the stability of an underground inspection task of a coal mine are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine inspection, in particular to an underground coal mine inspection robot working platform and a control system thereof. Background Art

[0002] The working environment of coal mines is complex and full of dangers, so efficient and safe inspections are the key to ensuring safe production in mines. However, traditional inspection methods mostly rely on manual labor, which has safety hazards and low efficiency. With the development of automation technology, coal mine inspection robots have gradually become an important tool in inspection work. Such robots can autonomously inspect underground coal mines, collect environmental data in real time, and promptly discover potential safety issues.

[0003] Existing coal mine inspection robots usually rely on fixed cameras and basic sensor systems to perform some basic inspection tasks in coal mines. These robots collect environmental data through gas detectors, ultrasonic sensors, laser rangefinders and other equipment, and perform path planning and obstacle avoidance based on sensor feedback. They play a basic role in coal mine inspection tasks and can complete some environmental monitoring and simple inspection tasks.

[0004] There are still some shortcomings in the inspection robots in the existing technology. First, the camera design with a fixed angle of view cannot adapt to the complex spatial structure of underground coal mines, and cannot flexibly adjust the angle of view, which can easily miss key inspection areas. Moreover, the existing obstacle clearance design is usually relatively passive. When encountering obstacles, the robot often stops waiting for human intervention or cannot effectively clear the obstacles, resulting in interruption of inspection tasks and reduced efficiency. In addition, a single sensor system cannot fully obtain environmental information, which can easily cause data errors or information omissions. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a coal mine underground inspection robot working platform and a control system thereof, which solves the problems of low inspection efficiency, insufficient accuracy and untimely obstacle clearing caused by fixed-view cameras, passive obstacle clearance designs and single sensor systems in the prior art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a coal mine underground inspection robot working platform and its control system, including:

[0007] An inspection mechanism, a driving mechanism and a front-end observation camera, wherein the driving mechanism is arranged in the middle of the inspection mechanism and is used to drive the inspection mechanism to inspect in the coal mine, the front-end observation camera is arranged on the top of the inspection mechanism, and a lighting component is fixedly connected to the outside of the front-end observation camera, and the lighting component is used to provide lighting conditions for the device, and the front-end observation camera is used to provide an inspection viewing angle, and the inspection mechanism includes a high-level surface detection robot installed on the top and a low-level surface inspection robot stored inside, so that the inspection mechanism can inspect in coal mines of different heights and sizes;

[0008] An adjustment mechanism, which is arranged on the upper side of the inspection mechanism and is used to adjust the direction of the front-end observation camera so that the front-end observation camera can obtain a viewing angle of a specified position inside the coal mine;

[0009] Two sets of obstacle clearing mechanisms are arranged on the outside of the inspection mechanism and are used to simultaneously clear the coal mine in front of the driving area during driving, so that the device can move forward smoothly and ensure the stability of the inspection viewing angle.

[0010] Preferably, the inspection mechanism includes a moving seat, a storage bin is fixedly connected to the upper side of the moving seat, the high-level surface detection robot is installed on the top of the storage bin, a gas detector and a path positioning sensor are installed on the upper side of the storage bin from left to right, a plurality of groups of ultrasonic sensors are fixedly connected to the outer side of the moving seat, a support plate is installed on the front side of the moving seat, a laser rangefinder is fixedly connected to the side of the support plate away from the moving seat, and a flap is rotatably connected to the front side of the storage bin.

[0011] Preferably, the driving mechanism includes two groups of mounting blocks, the mounting blocks are fixedly connected to the bottom of the movable seat, the middle part of the mounting blocks is rotatably connected to two connecting shafts, the outer periphery of the connecting shafts is fixedly connected to wheels, the middle part of one group of the mounting blocks is fixedly connected to a double-headed motor, and the two connecting shafts are respectively fixedly connected to two output ends of the double-headed motor.

[0012] Preferably, the adjustment mechanism includes a connecting plate, the connecting plate is fixedly connected to the top of the storage bin, the middle part of the connecting plate is fixedly connected to motor 1, the output end of the motor 1 is fixedly connected to arc plate 1, the inner side of the arc plate 1 is rotatably connected to a ball via a rotating rod, the outer side of the ball is fixedly connected to a connecting rod, the front end observation camera is installed at an end of the connecting rod away from the ball, the top of the connecting plate is fixedly connected to a support plate, the middle part of the support plate is fixedly connected to motor 2, the output end of the motor 2 is fixedly connected to arc plate 2, and the connecting rod is rotatably connected to the middle part of arc plate 2.

[0013] Preferably, the obstacle clearing mechanism comprises a fixing plate, the fixing plate is fixedly connected to the middle part of the mounting block, the other side of the fixing plate is fixedly connected to a sleeve shell, the sleeve shell is installed on the front side of the moving seat, the outer periphery of the connecting shaft is fixedly connected to a sprocket 1, the middle part of the sleeve shell is rotatably connected to two sets of sprocket 2, the outer peripheries of the sprocket 1 and the sprocket 2 are sleeved with a chain, the opposite sides of the two sets of the sprocket 2 are fixedly connected to a bevel gear 1, the inside of the mounting block is rotatably connected to two sets of bevel gear 2, the bevel gear 1 and the bevel gear 2 are meshed with each other, the outer side of the bevel gear 2 is fixedly connected to a turntable, the other side of the turntable is fixedly connected to an eccentric rod, the outer periphery of the eccentric rod is sleeved with a connecting rod belt, the bottom of the connecting rod belt is fixedly connected to a slider, the slider is slidably connected to the middle part of the sleeve shell, the bottom of the slider is fixedly connected to a shell, the inside of the shell is fixedly connected to a return spring, the other end of the return spring is fixedly connected to a limiting plate, and the other side of the limiting plate is fixedly connected to a dial plate.

[0014] Preferably, a slide groove is provided at the bottom of the housing, and the sliding block is slidably connected to the middle of the slide groove.

[0015] The present invention also provides a control system for a coal mine underground inspection robot working platform, comprising:

[0016] The task planning module is used to generate inspection tasks according to the inspection targets and assign them to robots for execution;

[0017] The sensor data processing module is used to receive and process camera data, gas concentration data, path positioning information, and distance information from objects on the robot, and provide real-time feedback to the control system;

[0018] The optimal path planning module is used to calculate and plan the optimal path for the robot to move according to the inspection task and feedback data to ensure the efficient execution of the inspection task;

[0019] The control module is used to adjust the shooting angle according to the demand to obtain the pictures at different angles of the coal mine;

[0020] The control feedback module is used to collect feedback data during the robot's execution process in real time, and optimize and adjust the path planning and control instructions according to the actual situation of task execution.

[0021] Preferably, the task planning module includes:

[0022] A task receiving unit, used to receive inspection target information and generate a task list;

[0023] The task scheduling unit is used to automatically assign tasks to robots based on task priority, inspection area, and the current status of the robot;

[0024] The task priority adjustment unit is used to dynamically adjust the priority of tasks during task execution to ensure that the most important tasks are completed first.

[0025] Preferably, the sensor data processing module includes:

[0026] Data preprocessing unit, used to process various types of data, including denoising and filtering;

[0027] A data fusion unit, used to fuse all data to generate unified environmental perception data;

[0028] The real-time data processing unit is used to update the robot's current environment model based on real-time sensor feedback and provide dynamic data support for the path planning and control modules.

[0029] Preferably, the optimal path planning module includes:

[0030] The path calculation unit is used to calculate the shortest path according to the task requirements and the current position of the robot, and take into account the real-time environmental factors;

[0031] The path optimization unit is used to optimize the path calculation results, consider the constraints of energy consumption, speed limit and obstacle avoidance requirements, and generate the optimal path;

[0032] The real-time path adjustment unit is used to adjust the current travel path according to the real-time feedback data of the robot to ensure the efficient execution of the inspection task.

[0033] The present invention provides a coal mine underground inspection robot working platform and a control system thereof. It has the following beneficial effects:

[0034] 1. The present invention adjusts the angle of the front-end observation camera through an adjustment mechanism, so that the camera can change the viewing angle in real time as needed to capture image data at different positions. Compared with the fixed viewing angle solution in the prior art, this adjustment method allows the robot to be more flexible in complex spaces, especially suitable for the narrow and uneven environment of coal mines. The multi-angle adjustment of the camera improves the accuracy and efficiency of inspections and avoids missing important inspection points due to viewing angle limitations.

[0035] 2. The present invention actively clears obstacles through the obstacle-clearing mechanism, ensuring that the robot can move smoothly and keep the front-end observation camera stable. The working continuity of the robot is improved, and the path deviation or stagnation caused by obstacles is avoided. Compared with the solutions in the prior art that rely on manual or passive cleaning, the active obstacle-clearing mechanism of the present invention effectively reduces downtime and improves the completion efficiency and accuracy of inspection tasks.

[0036] 3. The present invention improves the accuracy and real-time performance of inspections through data fusion by integrating multiple sensors, including gas detectors, path positioning sensors, laser rangefinders and ultrasonic sensors. Compared with the traditional single sensor system, the present invention can more comprehensively monitor the environmental changes of coal mines through the collaborative work of multiple sensors, avoiding the information bias that may be caused by a single data source, and improving the stability and security of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A perspective view of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the inspection mechanism of the present invention;

[0039] Figure 3 It is a structural schematic diagram of the driving mechanism of the present invention;

[0040] Figure 4 It is a structural schematic diagram of the chute of the present invention;

[0041] Figure 5 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0042] Figure 6 It is a structural schematic diagram of the obstacle removal mechanism of the present invention;

[0043] Figure 7 It is a structural schematic diagram of the return spring of the present invention;

[0044] Figure 8 is a system structure diagram of the present invention;

[0045] Fig. 9 A module architecture diagram for the task planning of the present invention;

[0046] Fig.10 This is a module architecture diagram of the sensor data processing of the present invention;

[0047] Fig.11 This is a module architecture diagram for the optimal path planning of the present invention.

[0048] Among them, 10, inspection mechanism; 101, mobile seat; 102, storage bin; 103, high-level surface inspection robot; 104, front-end observation camera; 105, gas detector; 106, path positioning sensor; 107, laser rangefinder; 108, ultrasonic sensor; 109, flap; 110, low-level surface inspection robot; 111, support plate; 112, lighting element; 20, driving mechanism; 201, mounting block; 202, double-headed motor; 203, connecting shaft; 204, wheel; 30, adjustment mechanism; 301, connecting plate; 302, motor one; 303, arc plate one; 304, rolling ball; 305, connecting rod; 306, support plate; 307, motor two; 308, arc plate two; 40, obstacle removal mechanism; 401, fixing plate; 402, sleeve; 403, sprocket one; 404, sprocket two; 405, chain; 406, bevel gear one; 407, bevel gear two; 408, turntable; 409, eccentric rod; 410, connecting rod belt; 411, slider; 412, housing; 413, reset spring; 414, limit plate; 415, dial plate; 416, slide groove. DETAILED DESCRIPTION

[0049] 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.

[0050] Please see attached Figure 1 -Attached Figure 7 The embodiment of the present invention provides a coal mine underground inspection robot working platform and a control system thereof, including:

[0051] The inspection mechanism 10, the driving mechanism 20 and the front-end observation camera 104, the driving mechanism 20 is arranged in the middle of the inspection mechanism 10, and is used to drive the inspection mechanism 10 to inspect in the coal mine. The driving source provided by the driving mechanism 20 can ensure the operational safety of the inspection mechanism 10 and the smooth progress of the inspection task. The front-end observation camera 104 is arranged on the top of the inspection mechanism 10, and the outer side of the front-end observation camera 104 is fixedly connected with a lighting component 112, which is used to provide lighting conditions for the device, and the front-end observation camera 104 is used to provide an inspection viewing angle. The combination of the front-end observation camera 104 and the lighting component 112 enables the robot to effectively perform inspection tasks under various lighting conditions without being restricted by changes in ambient light. At the same time, real-time image acquisition not only improves the efficiency of inspection tasks, but also improves the inspection accuracy, providing data support for subsequent intelligent analysis and fault diagnosis. The inspection mechanism 10 includes a high-level surface inspection robot 103 installed on the top and a low-level surface inspection robot 110 stored inside, so that the inspection mechanism 10 can inspect in coal mines of different heights and sizes. By combining the high-level surface inspection robot 103 with the low-level surface inspection robot 110, the inspection mechanism 10 can perform all-round inspections in various environments of coal mines, maximizing the inspection range, improving work efficiency, and also ensuring that different industry standards and safety requirements are met;

[0052] The adjustment mechanism 30 is arranged on the upper side of the inspection mechanism 10 and is used to adjust the direction of the front-end observation camera 104 so that the front-end observation camera 104 can obtain the viewing angle of the specified position inside the coal mine. The multi-angle adjustment of the adjustment mechanism 30 improves the flexibility and intelligence level of the inspection robot, so that it can flexibly adjust the observation angle according to the complex structure of the coal mine and the specific requirements of the inspection task, comprehensively scan the inspection area, and ensure the accuracy and efficiency of task execution;

[0053] Two sets of obstacle clearing mechanisms 40 are arranged on the outside of the inspection mechanism 10, and are used to synchronously clear the coal mine in front of the driving area during driving, so that the device can move forward smoothly and ensure the stability of the inspection viewing angle. The design of the obstacle clearing mechanism 40 improves the driving stability of the robot in a complex coal mine environment, and can ensure that the robot avoids pausing or deviating from the path due to obstacles during the inspection process. At the same time, by synchronously clearing the driving path, the smooth movement of the device is ensured, thereby improving the accuracy and stability of the image collected by the front-end observation camera 104.

[0054] Please refer to the attached Figure 1 -Attached Figure 3In a preferred embodiment of the present invention, the inspection mechanism 10 includes a mobile seat 101, and a storage bin 102 is fixedly connected to the upper side of the mobile seat 101. The mobile seat 101 serves as the base of the entire inspection device, and ensures stability during the inspection process through stable support. The high-level surface detection robot 103 is installed on the top of the storage bin 102. The storage bin 102 is used to provide support for the high-level surface detection robot 103 and provide a storage place for the low-level surface inspection robot 110. A gas detector 105 and a path positioning sensor 106 are installed on the upper side of the storage bin 102 from left to right, wherein the gas detector 105 is used to monitor the gas concentration in the coal mine in real time so as to detect the leakage of harmful gas in time; the path positioning sensor 106 is used to track the current position of the robot and help the path planning module to navigate. The outer side of the mobile seat 101 is fixedly connected to multiple groups of Ultrasonic sensor 108, a support plate 111 is installed on the front side of the moving seat 101, and a laser rangefinder 107 is fixedly connected to the side of the support plate 111 away from the moving seat 101. The ultrasonic sensor 108 monitors the distance of obstacles in front in real time by emitting and receiving ultrasonic signals to ensure that the robot can avoid collision with obstacles. The laser rangefinder 107 accurately measures the distance to the obstacle through a laser beam, thereby providing high-precision spatial information for the path planning module. By combining the laser rangefinder 107 and the ultrasonic sensor 108, the robot's obstacle avoidance ability in a complex coal mine environment is improved, and the accuracy and robustness of the robot's path planning are also enhanced. The front side of the storage bin 102 is rotatably connected with a flap 109, and the flap 109 is used to close the storage bin 102, thereby completing the storage of the low-level inspection robot 110 to prevent it from falling out.

[0055] Please see attached Figure 1 and attached Figure 3 In a preferred embodiment of the present invention, the driving mechanism 20 includes two groups of mounting blocks 201, the mounting blocks 201 are fixedly connected to the bottom of the moving seat 101, the middle part of the mounting blocks 201 is rotatably connected to two connecting shafts 203, the periphery of the connecting shafts 203 is fixedly connected to wheels 204, and the middle part of one group of mounting blocks 201 is fixedly connected to a double-headed motor 202, and the two connecting shafts 203 are respectively fixedly connected to two output ends of the double-headed motor 202, wherein the double-headed motor 202 is used to provide power to the connecting shafts 203, which is then transmitted to the wheels 204 by the connecting shafts 203, so that the device can be moved.

[0056] Please see attached Figure 5In a preferred embodiment of the present invention, the adjustment mechanism 30 includes a connecting plate 301, which is fixedly connected to the top of the storage bin 102, a motor 302 is fixedly connected to the middle of the connecting plate 301, an arc plate 303 is fixedly connected to the output end of the motor 302, the inner side of the arc plate 303 is rotatably connected to a ball 304 through a rotating rod, the outer side of the ball 304 is fixedly connected to a connecting rod 305, the front end observation camera 104 is installed on the end of the connecting rod 305 away from the ball 304, a support plate 306 is fixedly connected to the top of the connecting plate 301, a motor 307 is fixedly connected to the middle of the support plate 306, the output end of the motor 307 is fixedly connected to the arc plate 2 308, and the connecting rod 305 is rotatably connected to the middle of the arc plate 2 308.

[0057] Please refer to the attached Figure 4 , Attachment Figure 6 and attached Figure 7 In a preferred embodiment of the present invention, the obstacle removal mechanism 40 includes a fixing plate 401, the fixing plate 401 is fixedly connected to the middle of the mounting block 201, the other side of the fixing plate 401 is fixedly connected to a casing 402, the casing 402 is installed on the front side of the moving seat 101, the outer periphery of the connecting shaft 203 is fixedly connected to a sprocket wheel 1 403, the middle of the casing 402 is rotatably connected to two groups of sprocket wheels 2 404, and the outer peripheries of the sprocket wheels 1 403 and sprocket wheels 2 404 are sleeved with chains 405, The arrangement of sprocket 1 403 and sprocket 2 404 allows one of them to rotate when the connecting shaft 203 rotates. At this time, the action of chain 405 can prevent sprocket 2 404 and sprocket 1 403 from being damaged. The two sets of sprocket 2 404 are fixedly connected to the opposite sides with bevel gear 1 406. The internal rotation of the mounting block 201 is connected to two sets of bevel gear 2 407. Bevel gear 1 406 and bevel gear 2 407 are meshed with each other. The outer side of bevel gear 2 407 is fixedly connected to the outer side of the bevel gear 2 The rotating disk 408 is fixedly connected, and the other side of the rotating disk 408 is fixedly connected to an eccentric rod 409. The outer periphery of the eccentric rod 409 is provided with a connecting rod belt 410. The bottom of the connecting rod belt 410 is fixedly connected to a slider 411. The slider 411 is slidably connected to the middle part of the sleeve shell 402. The bottom of the slider 411 is fixedly connected to a shell 412. The inside of the shell 412 is fixedly connected to a return spring 413. The other end of the return spring 413 is fixedly connected to a limit plate 414. The limit plate 414 The other side is fixedly connected with a paddle 415, when the sprocket wheel 404 rotates, the bevel gear 1 406 can drive the bevel gear 2 407 to rotate, and the rotating disk 408 with the eccentric rod 409 can rotate in the casing 402, when the eccentric rod 409 rotates, the connecting rod belt 410 can move parallel to each other through the limit of the slider 411, so that after the center point of the rotating disk 408 rotates, the connecting rod belt 410 can move parallel to each other, so that the paddle 415 can clean up the debris in the moving area;

[0058] The reset spring 413 is provided to keep the paddle 415 in contact with the ground for a long time, and at the same time, the paddle 415 moves parallel to the ground when the turntable 408 rotates, thereby completing the obstacle clearing operation ahead of the motion track, so as to improve the stability of the device during movement.

[0059] Please see attached Figure 4 In a preferred embodiment of the present invention, a slide groove 416 is provided at the bottom of the housing 402, and the slider 411 is slidably connected to the middle of the slide groove 416. The slider 411 and the connecting rod belt 410 can only move in parallel through the limit of the slide groove 416, so that the paddle 415 can clear the protruding coal on the ground, ensuring clear image quality when the device is moving, thereby improving the accuracy of inspection.

[0060] The control system of the coal mine underground inspection robot working platform described below and the coal mine underground inspection robot working platform described above can be referenced to each other.

[0061] Please see attached Figure 8 The present invention also provides a control system for a coal mine underground inspection robot working platform, including:

[0062] The task planning module is used to generate inspection tasks according to the inspection targets and assign them to robots for execution;

[0063] The sensor data processing module is used to receive and process camera data, gas concentration data, path positioning information, and distance information from objects on the robot, and provide real-time feedback to the control system;

[0064] The optimal path planning module is used to calculate and plan the optimal path for the robot to move according to the inspection task and feedback data to ensure the efficient execution of the inspection task;

[0065] The control module is used to adjust the shooting angle according to the demand to obtain the pictures at different angles of the coal mine;

[0066] The control feedback module is used to collect feedback data during the robot's execution process in real time, and optimize and adjust the path planning and control instructions according to the actual situation of task execution.

[0067] Please see attached Fig. 9 In a preferred embodiment of the present invention, the task planning module includes:

[0068] A task receiving unit, used to receive inspection target information and generate a task list;

[0069] The task scheduling unit is used to automatically assign tasks to robots based on task priority, inspection area, and the current status of the robot;

[0070] The task priority adjustment unit is used to dynamically adjust the priority of tasks during task execution to ensure that the most important tasks are completed first.

[0071] Please refer to the attached Fig.10 In a preferred embodiment of the present invention, the sensor data processing module includes:

[0072] Data preprocessing unit, used to process various types of data, including denoising and filtering;

[0073] A data fusion unit, used to fuse all data to generate unified environmental perception data;

[0074] The real-time data processing unit is used to update the robot's current environment model based on real-time sensor feedback and provide dynamic data support for the path planning and control modules.

[0075] Please refer to the attached Fig.11 In a preferred embodiment of the present invention, the optimal path planning module includes:

[0076] The path calculation unit is used to calculate the shortest path according to the task requirements and the current position of the robot, and take into account the real-time environmental factors;

[0077] The path optimization unit is used to optimize the path calculation results, consider the constraints of energy consumption, speed limit and obstacle avoidance requirements, and generate the optimal path;

[0078] The real-time path adjustment unit is used to adjust the current travel path according to the real-time feedback data of the robot to ensure the efficient execution of the inspection task.

[0079] The system of this embodiment can be used to execute the above-mentioned device embodiments, and its principles and technical effects are similar, which will not be repeated here.

[0080] Working principle: By driving the double-headed motor 202, the inspection mechanism 10 can be moved in the coal mine, and the data in the coal mine can be collected through the front-end observation camera 104, the gas detector 105, the path positioning sensor 106, the laser rangefinder 107 and the ultrasonic sensor 108, so as to complete the inspection operation. During the inspection, the arc plate 1 303 can be driven by the motor 1 302 to drive the rolling ball 304 and the connecting rod 305 to rotate, so that the angle of the front-end observation camera 104 moves to the left or right, and then the motor 2 307 can be driven to move the angle of the front-end observation camera 104 upward or downward, so as to collect complete image data in the coal mine;

[0081] When a high place is encountered in the coal mine, the high-level surface inspection robot 103 is used. When a low and narrow space is encountered in the coal mine, the flap 109 is opened to release the low-level surface inspection robot 110, so that the low-level surface inspection robot 110 can enter and perform inspection work;

[0082] When the double-headed motor 202 is driven, the connecting shaft 203 drives the sprocket wheel 1 403 to rotate. During rotation, the connection of the chain 405 can make the sprocket wheel 2 404 drive the bevel gear 1 406 to rotate, so that the bevel gear 2 407 is forced to drive the turntable 408 and the eccentric rod 409 to rotate. At this time, due to the limitation of the slider 411, the connecting rod belt 410 can only slide in parallel, so that when the eccentric rod 409 rotates, it will pull the connecting rod belt 410 to move. When the connecting rod belt 410 moves, the paddle plate 415 can sweep the moving area in advance, and under the action of the reset spring 413, the paddle plate 415 can contact the ground, thereby maintaining the obstacle removal effect.

[0083] 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 inspection robot working platform is characterized by: include: An inspection mechanism (10), a driving mechanism (20) and a front-end observation camera (104), wherein the driving mechanism (20) is arranged in the middle of the inspection mechanism (10) and is used to drive the inspection mechanism (10) to inspect in a coal mine, the front-end observation camera (104) is arranged on the top of the inspection mechanism (10), an illuminating element (112) is fixedly connected to the outside of the front-end observation camera (104), the illuminating element (112) is used to provide lighting conditions for the device, the front-end observation camera (104) is used to provide an inspection viewing angle, the inspection mechanism (10) comprises a high-level surface detection robot (103) installed on the top and a low-level surface inspection robot (110) stored inside, so that the inspection mechanism (10) can inspect in coal mines of different heights and sizes; An adjustment mechanism (30) is arranged on the upper side of the inspection mechanism (10) and is used to adjust the orientation of the front-end observation camera (104) so ​​that the front-end observation camera (104) obtains a viewing angle of a specified position inside the coal mine; Two groups of obstacle clearing mechanisms (40) are arranged outside the inspection mechanism (10) and are used to simultaneously clear the coal mine in front of the driving area during driving, so that the device can move forward smoothly and ensure the stability of the inspection viewing angle.

2. The coal mine underground inspection robot working platform according to claim 1 is characterized in that: The inspection mechanism (10) comprises a movable seat (101), the upper side of the movable seat (101) is fixedly connected to a storage bin (102), the high-level surface detection robot (103) is installed on the top of the storage bin (102), the upper side of the storage bin (102) is sequentially installed with a gas detector (105) and a path positioning sensor (106) from left to right, the outer side of the movable seat (101) is fixedly connected to multiple groups of ultrasonic sensors (108), the front side of the movable seat (101) is installed with a support plate (111), the side of the support plate (111) away from the movable seat (101) is fixedly connected to a laser rangefinder (107), and the front side of the storage bin (102) is rotatably connected to a flap (109).

3. The coal mine underground inspection robot working platform according to claim 1, characterized in that: The driving mechanism (20) comprises two groups of mounting blocks (201), wherein the mounting blocks (201) are fixedly connected to the bottom of the moving seat (101), and the middle part of the mounting blocks (201) is rotatably connected to two connecting shafts (203), and the outer periphery of the connecting shafts (203) is fixedly connected to wheels (204), wherein the middle part of one group of the mounting blocks (201) is fixedly connected to a double-headed motor (202), and the two connecting shafts (203) are respectively fixedly connected to two output ends of the double-headed motor (202).

4. The coal mine underground inspection robot working platform according to claim 1, characterized in that: The adjusting mechanism (30) comprises a connecting plate (301), wherein the connecting plate (301) is fixedly connected to the top of the storage bin (102), a motor (302) is fixedly connected to the middle of the connecting plate (301), an arc plate (303) is fixedly connected to the output end of the motor (302), a rolling ball (304) is rotatably connected to the inner side of the arc plate (303) via a rotating rod, and a connecting rod (304) is fixedly connected to the outer side of the rolling ball (304). 05), the front-end observation camera (104) is installed at one end of the connecting rod (305) away from the rolling ball (304), the top of the connecting plate (301) is fixedly connected to a support plate (306), the middle of the support plate (306) is fixedly connected to a motor 2 (307), the output end of the motor 2 (307) is fixedly connected to an arc plate 2 (308), and the connecting rod (305) is rotatably connected to the middle of the arc plate 2 (308).

5. The coal mine underground inspection robot working platform according to claim 1, characterized in that: The obstacle removal mechanism (40) comprises a fixing plate (401), wherein the fixing plate (401) is fixedly connected to the middle part of the mounting block (201), a sleeve (402) is fixedly connected to the other side of the fixing plate (401), and the sleeve (402) is mounted on the front side of the movable seat (101), a sprocket wheel one (403) is fixedly connected to the outer periphery of the connecting shaft (203), and two groups of sprocket wheels two (404) are rotatably connected to the middle part of the sleeve (402), and chains (405) are sleeved on the outer peripheries of the sprocket wheels one (403) and the sprocket wheels two (404), and the two groups of sprocket wheels two (404) are fixedly connected to the opposite sides thereof with bevel gears one (406), and the interior of the mounting block (201) is rotatably connected to two groups of bevel gears two (407), and the bevel gears one ( 406) and the bevel gear 2 (407) are meshed with each other, a rotating disk (408) is fixedly connected to the outer side of the bevel gear 2 (407), an eccentric rod (409) is fixedly connected to the other side of the rotating disk (408), a connecting rod belt (410) is sleeved on the outer periphery of the eccentric rod (409), a slider (411) is fixedly connected to the bottom of the connecting rod belt (410), the slider (411) is slidably connected to the middle part of the sleeve (402), the bottom of the slider (411) is fixedly connected to the shell (412), a return spring (413) is fixedly connected to the inside of the shell (412), the other end of the return spring (413) is fixedly connected to a limiting plate (414), and the other side of the limiting plate (414) is fixedly connected to a shift plate (415).

6. The coal mine underground inspection robot working platform according to claim 1, characterized in that: A sliding groove (416) is provided at the bottom of the casing (402), and the sliding block (411) is slidably connected to the middle of the sliding groove (416).

7. The control system of the coal mine underground inspection robot working platform is characterized by: The coal mine underground inspection robot working platform using any one of claims 1 to 6 comprises: The task planning module is used to generate inspection tasks according to the inspection targets and assign them to robots for execution; The sensor data processing module is used to receive and process camera data, gas concentration data, path positioning information, and distance information from objects on the robot, and provide real-time feedback to the control system; The optimal path planning module is used to calculate and plan the optimal path for the robot to move according to the inspection task and feedback data to ensure the efficient execution of the inspection task; The control module is used to adjust the shooting angle according to the demand to obtain the pictures at different angles of the coal mine; The control feedback module is used to collect feedback data during the robot's execution process in real time, and optimize and adjust the path planning and control instructions according to the actual situation of task execution.

8. The coal mine underground inspection robot working platform and control system thereof according to claim 7, characterized in that: The mission planning module includes: A task receiving unit, used to receive inspection target information and generate a task list; The task scheduling unit is used to automatically assign tasks to robots based on task priority, inspection area, and the current status of the robot; The task priority adjustment unit is used to dynamically adjust the priority of tasks during task execution to ensure that the most important tasks are completed first.

9. The coal mine underground inspection robot working platform and control system thereof according to claim 7, characterized in that: The sensor data processing module comprises: Data preprocessing unit, used to process various types of data, including denoising and filtering; A data fusion unit, used to fuse all data to generate unified environmental perception data; The real-time data processing unit is used to update the robot's current environment model based on real-time sensor feedback and provide dynamic data support for the path planning and control modules.

10. The coal mine underground inspection robot working platform and control system thereof according to claim 7, characterized in that: The optimal path planning module includes: The path calculation unit is used to calculate the shortest path according to the task requirements and the current position of the robot, and take into account the real-time environmental factors; The path optimization unit is used to optimize the path calculation results, consider the constraints of energy consumption, speed limit and obstacle avoidance requirements, and generate the optimal path; The real-time path adjustment unit is used to adjust the current travel path according to the real-time feedback data of the robot to ensure the efficient execution of the inspection task.

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