Mine post-disaster environment advanced detection robot

Abstract

The invention discloses a mine post-disaster environment advanced detection robot. The robot comprises an environment advanced detection module, a communication module, an information fusion module, a carrying module, a walking obstacle crossing module, a power supply module, a control module and other key composition modules. Through various sensors, radars and life detectors of the robot and a carried metamorphic robot, a flying robot and the like, the air environment, the geological form and personnel information after the mine disaster are collected in a multi-source cooperation mode, and advanced detection of the environment after the mine disaster and map construction are achieved. More scientific and comprehensive detection information is provided for a rescue command center, rescue personnel are helped to make rescue decisions more quickly, and the safety and efficiency of post-disaster actions are improved.

Description

Technical Field

[0001] The present invention relates to the field of emergency rescue after a mine disaster, and in particular to a robot for advanced detection of a mine disaster environment. Background Art

[0002] Mine disasters are sudden, secondary and destructive. Emergency rescue faces bottlenecks such as complex disaster environments and unclear disaster scenes, which lead to low rescue efficiency or even failure. Rescue team members rashly entering the underground disaster area can easily cause unnecessary casualties. Using robots to detect dangerous environments after mine disasters is an effective way to solve the above problems. Therefore, mine detection robots came into being.

[0003] However, the existing mine detection robots are not specific and in-depth enough in detecting the underground environmental information, and are unable to obtain the location information of trapped people in a timely and accurate manner. At the same time, the existing mine detection robots are unable to adapt to the underground post-disaster environment. When multiple robots work underground at the same time, they cannot coordinate control to improve detection efficiency.

[0004] Based on this, the present invention proposes a robot for advanced detection of post-disaster mine environments to solve the problem that the detection information of mine detection robots is not specific and in-depth enough and cannot obtain information of trapped persons in a timely and accurate manner. At the same time, it realizes multi-robot collaborative control and improves the adaptability to the underground post-disaster environment. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to solve the problems of terrain adaptation, autonomous control, intelligent perception and collaborative control of mine disaster detection robots, and to provide a robot for advanced detection of post-disaster mine environments.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a mine post-disaster environment advance detection robot, comprising:

[0008] A robot body capable of moving over obstacles in a post-disaster mine environment;

[0009] An environment advance detection module is mounted on the robot body, a detection device is exposed through an opening at the front end of the robot body, and a sealing treatment is performed between the detection device and the shell. A 1m long pole is installed on the left side of the shell, the bottom of the pole is connected to the rotator, and a full-angle rotating camera is installed on the top;

[0010] A communication module, which is mounted on the robot body, and includes four deployable communication base stations, for communication between the robot body and the main control console. The communication module is used to timely transmit post-disaster environmental information of the mine to the main control console, and make corresponding countermeasures for rescue and emergency disposal;

[0011] An information fusion module, which is mounted on the robot body, and pre-processes the post-disaster environmental information detected by the environmental advance detection module;

[0012] A carrier module, which is mounted on the robot body, and includes a carrier metamorphic robot and a flying robot. The metamorphic robot and the flying robot cooperate with the robot body to detect information, and the collected information is centrally processed in the robot body;

[0013] A walking obstacle-crossing module, which is connected to the robot body through a base, and includes a crawler walking device and a chassis. The walking obstacle-crossing module is used to adapt to changes in the post-disaster environment of the mine, and can carry the robot body for long-distance transportation;

[0014] A power supply module, which is mounted on the robot body and can supply power to at least one of the robot body, the environment advance detection module, the communication module, the control module, the transport module, the information fusion module, and the walking obstacle crossing module;

[0015] A control module, which is mounted on the robot body, is communicatively connected with the environment advance detection module, the communication module, the carrier module, the walking obstacle crossing module, the information fusion module and the power supply module, and can control the start and stop of each module;

[0016] In the present invention, preferably, the sealed shell of the robot body includes a high-strength outer shell and a thermal barrier insulation and fireproof honeycomb sandwich structure material. The high-strength outer shell can resist the explosion impact in the post-disaster environment of a mine, and the thermal barrier insulation and fireproof honeycomb sandwich structure material can also enable the robot to pass through the post-disaster fire zone environment of a mine; the sealing property of the sealed shell prevents flammable gases such as gas from entering the robot and causing an explosion, and can also enable the robot to pass through the post-disaster wading area of ​​a mine; the sealed shell is also used to separate the power supply module and the control module of the robot to prevent flammable and explosive gases from entering the module cavity, and preventing the internal explosion of the robot body due to the high temperature of the power supply module battery or the electric spark of the control module.

[0017] In the present invention, preferably, the lightweight design of the robot body and the walking obstacle crossing module includes:

[0018] The environment advance detection module and the communication module are separated from other modules by hollow materials, which reduces the weight of the robot, realizes lightweight design, and prolongs the cruising range of the robot;

[0019] The structural design and walking obstacle-crossing module of the robot body are optimized through finite element topology, which avoids the material waste that may occur in traditional design, reduces the material usage, and improves the material utilization rate while meeting the structural performance requirements;

[0020] The finite element topology optimization enables each structure to reasonably disperse stress when bearing load, avoid stress concentration, and improve the overall strength and rigidity of each structure;

[0021] The finite element topology optimization makes the center of gravity distribution of the robot body more reasonable by reasonably distributing different materials, thereby achieving stability and safety of the robot during obstacle avoidance and obstacle crossing.

[0022] In the present invention, preferably, there is a crawler walking device at the front and rear of both sides of the chassis of the walking obstacle crossing module, with a total of four crawler walking devices. The crawler walking device includes multiple shock-absorbing connecting frames, and the bottom end of the shock-absorbing connecting frame is provided with rollers, and the rollers control the crawler walking; there is a connecting rod and two explosion-proof motors at the front and rear of the chassis, with a total of two connecting rods and four explosion-proof motors. One of the explosion-proof motors is used to control the up and down angles of the crawler walking mechanism through the connecting rod to achieve obstacle crossing, and the other explosion-proof motor provides power to the roller through a clutch and a rotating shaft. The crawler of the crawler walking device is a modular unit that can be quickly disassembled. The crawler is connected to the walking device through an articulated buckle, which is convenient for partial replacement when the crawler is damaged, and at the same time meets the requirements of adapting to the friction of different ground and road conditions. Two retractable hydraulic legs are designed at the front and rear of the chassis, and the legs are linked to the explosion-proof motor through a connecting rod, and the legs are controlled to be retracted and extended through a control module. When the robot body detects an ultra-high obstacle, the control module extends the legs to lift the robot body, thereby raising the center of gravity of the robot body, reducing the track load pressure, and improving the obstacle crossing stability.

[0023] In the present invention, preferably, the environmental advance detection module includes a gas detection device, a temperature detection device, a life detection device and a spatial structure detection device, the gas detection device includes a gas concentration sensor, a dust concentration sensor, a smoke sensor, a wind speed sensor and a pressure sensor, the gas detection device is used to detect the gas composition in the post-disaster environment of the mine, the temperature detection device includes a temperature sensor, the temperature detection device is used to detect the temperature in the post-disaster environment of the mine, the life detection device includes a thermal infrared camera, an electronic nose and a radar life detection, the life detection device is used to detect life signals in the post-disaster environment of the mine, the spatial structure detection device includes a visible light illumination sensor, a laser radar, an infrared audio and video life detection, a geological radar and a microwave radar, the spatial structure detection device is used to detect spatial structure information, prevent secondary disasters, and help the evolution and deduction of the disaster situation, and at the same time, the information of the spatial structure detection can be transmitted to the main control console through the communication module, and the main control console realizes the map construction of the post-disaster environment of the mine through data processing and optimization.

[0024] In the present invention, preferably, there are two grooves on the left and right sides of the robot body, each groove can store a communication base station, and a total of four communication base stations can be stored. There are two left and right push rods in the grooves to connect the control module. When the robot walks a certain distance, the control module controls the push rods to release the communication base station to achieve long-distance communication of the robot. The grooves can stably hold the communication base station to ensure that the communication base station does not overturn when the robot is walking, avoiding obstacles and crossing obstacles.

[0025] In the present invention, preferably, the robot body has two cavities for carrying flying robots, the cavities are surrounded by lightweight materials, and a door opening outward is left at the top of the cavity, and the door is connected to both sides of the cavity through pneumatic doors from both sides; the cavity for carrying the metamorphic robot is at the bottom of the power supply module, and the bottom and side of the front of the cavity adopt pneumatic doors, which open outward. After the front of the cavity is opened, it can just contact the ground for the smooth release of the metamorphic robot; the pneumatic doors are connected to the controller, and the control module can directly control the controller to realize the opening and closing of the carrying cavity and smoothly release the carried robot. The pneumatic door is provided with a buffer pad in the opening and closing gap to reduce the impact of opening and closing, and at the same time prevent the pneumatic door from being blocked by obstacles in a narrow space.

[0026] In the present invention, preferably, the post-disaster environment of the mine can identify the characteristics of gas disasters, mine dust disasters, roof disasters, water disasters and fires through the environmental advance detection module, and the information is sorted out in the information fusion module and transmitted to the control module to realize the control of the robot body; when the robot passes through the post-water disaster environment, the environmental advance detection module detects the water depth of the water-related area, the post-disaster situation underwater, and the post-disaster situation above water can be monitored by connecting the long pole to a full-angle rotating camera.

[0027] In the present invention, preferably, the information fusion module adopts lidar-vision-inertial fusion technology to synchronize timestamps and preprocess data of lidar, camera and IMU to ensure the accuracy of information fusion; compensate for sensor deviation and noise to improve the robustness of the system; fuse data from different sensors at an appropriate level, optimize algorithms and computing structures to improve computing efficiency; the information fusion module extracts feature points from the data and deduces the motion path of the robot; optimizes the position and map of the robot body through optimization algorithms to improve the accuracy of positioning and map construction; based on the real-time data provided by the environment advance detection module, the information fusion module autonomously plans the optimal path to the target position, and transmits data to the control module to control the movement of the walking obstacle crossing module and effectively avoid or overcome obstacles.

[0028] In the present invention, preferably, the robot body (mother) forms a mother-and-child robot collaborative detection with the metamorphic robot and the flying robot. Through the metamorphic robot and the flying robot, multi-source detection of post-disaster environmental information in the mine is performed and the information fusion module is transmitted. The metamorphic robot and the flying robot can integrate, optimize and process the information according to the information fusion module to achieve autonomous positioning, navigation and collaborative assisted detection by the robot group, so as to obtain more detailed and wider-coverage environmental, geological and life detection information and improve detection efficiency and accuracy. In combination with the obstacles and environmental information detected by the mother-and-child robots, potential dangers and obstacles can be identified to enhance the perception of the environment and disasters.

[0029] Compared with the prior art, the present invention has achieved the following technical effects:

[0030] The post-disaster environment advance detection robot for mines of the present invention realizes lightweight of the robot through optimized design of materials and structures; collects information on the environment, geology, space structure, trapped persons, and real-time positioning and path information of the robot through multi-source detection such as the environment advance detection module, metamorphic robot and flying robot on the robot, and feeds back the information to the ground end, so as to more accurately construct a post-disaster map of the mine, provide timely assistance for emergency rescue, and reduce the risk of post-disaster rescue; the robot autonomously plans the optimal path to the target location according to the detected information, and controls the robot to move along the path; the walking obstacle crossing module proposed by the present invention can actively tilt and rotate to adapt to special terrain and detection task requirements.

[0031] The present invention will be described in more detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The following is a brief description of the contents and symbols in the drawings of this specification:

[0033] Figure 1 It is a schematic diagram of the structure of the present invention in a side view direction;

[0034] Figure 2 It is a schematic diagram of the structure of the present invention in a top view;

[0035] Figure 3 It is a structural schematic diagram of a sealed housing;

[0036] The following are marked in the figure: 1. Robot body; 2. Environment advance detection module; 3. Communication module; 4. Information fusion module; 5. Carrying module; 6. Walking obstacle crossing module; 7. Power supply module; 8. Control module; 9. Long pole; 10. Rotator; 11. Full-angle rotating camera; 12. Communication base station; 13. Flying robot; 14. Metamorphic robot; 15. Sealed shell; 16. Hollow material; 17. Shock-absorbing connecting frame; 18. Roller; 19. Track; 20. Connecting rod; 21. Explosion-proof motor; 22. Visible light sensor; 23. Geological radar; 24. Pressure sensor; 25. Dust concentration sensor; 26. Thermal infrared camera; 27. Groove; 28. Push rod; 29. ​​Pneumatic door; DETAILED DESCRIPTION

[0037] The following, with reference to the accompanying drawings, provides a further detailed description of the specific implementation methods of the present invention, such as the shapes and structures of the components involved, the relative positions and connection relationships between the components, the functions and working principles of the components, the manufacturing process and the operating methods, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0038] Embodiment 1

[0039] like Figure 1-2 As shown, the present invention provides a technical solution: a robot for advanced detection of post-disaster environment in a mine, comprising a robot body 1, an advanced environment detection module 2, a communication module 3, an information fusion module 4, a carrier module 5, a walking obstacle crossing module 6, a power supply module 7 and a control module 8. The robot body can move across obstacles in the post-disaster environment in a mine, and the advanced environment detection module, the communication module, the information fusion module, the carrier module, the power supply module and the control module are all mounted on the robot body.

[0040] In this embodiment, the robot body shell adopts a sealed shell, the outer layer of the shell is a high-strength, low-density titanium alloy, and the inner layer is a thermal barrier insulation fireproof honeycomb sandwich structure material. Titanium alloy can resist explosion shock or other shocks in the post-disaster environment, and the thermal barrier insulation fireproof honeycomb sandwich structure can reduce the impact of the external temperature on the internal components and modules of the robot when the robot passes through the fire zone, thereby ensuring the normal operation of the robot. The sealing of the shell, the outer titanium alloy shell adopts sealing welding technology, and the inner insulation structure adopts fireproof and heat-insulating sodium silicate inorganic fireproof insulation adhesive to seal the shell. The power supply module and control module inside the robot are arranged up and down to form a sealed space, the lower part is the power supply module, and the upper part is the control module. The sealed space is also separated from other modules by a sealed shell material, and the power supply module and the control module are separated by a lightweight hollow material of polyethersulfone resin.

[0041] In this embodiment, the environment advance detection module includes a gas detection device, a temperature detection device, a life detection device and a space structure detection device. The gas detection device includes a gas concentration sensor and a dust concentration sensor. The gas concentration sensor is used to detect gas components such as gas, carbon dioxide, carbon monoxide, oxygen, and methane in the post-disaster environment, and can detect the oxygen concentration, gas concentration, carbon dioxide concentration, carbon monoxide concentration, and methane concentration in real time. The dust concentration sensor is used to detect the concentration distribution of floating dust in the post-disaster environment of the mine. The temperature detection device includes a temperature sensor, which is mainly used to detect the real-time temperature of the post-disaster environment. The life detection device includes a thermal infrared camera and a radar life detection. The thermal infrared camera is mainly used to detect the body exposed to the post-disaster environment and find the trapped persons through thermal infrared imaging technology. The radar life detection is mainly used to detect that the body is completely covered by the disaster environment. The trapped persons are detected by radar life detection. The collaborative detection of the thermal infrared camera and the radar life detection can fully cover the detection of trapped persons after the disaster. The space structure detection device includes a visible light illumination sensor, a geological radar, and a microwave radar. The visible light sensor can automatically adjust the brightness and switch of the light according to the changes in the surrounding light intensity. The geological radar is used to detect the geology and tunnel conditions of the post-disaster environment. The microwave radar provides the robot with accurate environmental conditions nearby to achieve the most appropriate path planning and avoid or overcome obstacles in advance. Each sensor and detector is installed in the opening of the robot's front shell and sealed with sodium silicate inorganic fireproof and heat-insulating adhesive. The post-disaster environment of the mine can identify the characteristics of gas disasters, mine dust disasters, roof disasters, water disasters and fires through the environmental advance detection module, and the information is sorted in the information fusion module and transmitted to the control module to realize the control of the robot body; when the robot passes through the post-disaster environment of water damage, the environmental advance detection module detects the depth of water in the wading area and the post-disaster situation under water. The post-disaster situation above water can be monitored by connecting the long pole to a full-angle rotating camera.

[0042] In this example, the robot adopts a lightweight design. The environment advance detection module and the communication module are separated by polyethersulfone resin lightweight hollow material. The structural design of the robot body and the walking obstacle crossing module adopt finite element topology optimization to reduce the amount of materials and improve material utilization. Finite element topology optimization is also used to reasonably distribute the center of gravity of the robot to maintain the stability of the robot during movement.

[0043] In this example, the bottom base is in the middle of the robot's walking mechanism, and there are two explosion-proof motors at the front and rear of the base. Take the two explosion-proof motors at the front end of the base as an example: one motor is connected to the clutch, and the clutch is connected to the left and right rear drive rollers through a connecting rod. The rear drive roller is in direct contact with the track, and the rear drive roller and the front drive roller are connected by a connecting rod. The upper and lower parts of the connecting rod between the two front and rear drive wheels have shock-absorbing connectors to support the track. When the track is on different ground, the track can be replaced by an articulated buckle; the other explosion-proof motor is connected to a rotating shaft, and the rotating shaft is connected to the connecting rod between the two drive wheels through a connecting rod to realize the upper and lower arm lifting of the walking mechanism to cross obstacles. The walking mechanism at the rear end of the robot base is arranged in the same way. Two retractable hydraulic legs are designed at the front and rear of the robot chassis, and the legs are linked to the explosion-proof motor through a connecting rod. When the robot body detects an ultra-high obstacle, the legs are extended through the control module to lift the robot body and pass the obstacle.

[0044] In this example, two grooves are designed on the left and right sides of the top of the robot shell. Each groove can store a communication base station. The outer side of the groove is blocked with lightweight plastic to prevent the communication base station from falling during the operation of the robot. A hidden push rod is designed at the bottom of the inner side of the groove. Taking one of the grooves as an example, when the robot walks a certain distance, it autonomously controls the hidden push rod to push the communication base station outward. The lightweight plastic falls due to the thrust, and the push rod continues to push outward, and the communication base station is released due to weightlessness.

[0045] In this example, the robot carrier module includes a carrier metamorphic robot and a flying robot. The carrier cavity of the metamorphic robot is designed at the bottom of the power supply module of the robot body, and the carrier cavity of the flying robot is set at the top of the robot shell. The bottom edge and side of the front of the carrier cavity of the metamorphic robot adopt pneumatic doors, which open outwards. After the front of the cavity is opened, it can just touch the ground. The pneumatic door is connected to the robot control module through a controller to control the opening and closing. When the metamorphic robot needs to be released, the robot control module controls the pneumatic door controller to open the carrier cavity. Under the action of gravity, the cavity door falls to the ground, providing a walking platform for the metamorphic robot, and smoothly releasing the metamorphic robot; the top of the flying robot carrier cavity is left with a cavity door that expands outward from the middle. The cavity door is hinged to both sides of the cavity through pneumatic doors from both sides. The pneumatic door is connected to the robot control module through a controller to control the opening and closing. When the flying robot needs to be released, the robot control module controls the pneumatic door controller to open the carrier cavity, and the cavity door faces outward, and the flying robot is smoothly released.

[0046] In this example, the information fusion module uses lidar-vision-inertial fusion technology to synchronize timestamps and preprocess data from lidar, camera, and IMU; compensate for sensor deviations and noise; fuse data from different sensors, and optimize algorithms and computing structures to improve computing efficiency; the information fusion module extracts feature points from the data and deduces the robot's motion path; optimizes the robot's body posture and map through optimization algorithms to improve the accuracy of positioning and map construction; based on the real-time data provided by the environment advance detection module, the information fusion module autonomously plans the optimal path to the target location, and transmits data to the control module to control the movement of the walking obstacle crossing module and effectively avoid or overcome obstacles. The robot body (mother) forms a mother-and-child robot collaborative detection with the metamorphic robot (child) and the flying robot (child). Through the metamorphic robot and the flying robot, multi-source detection of post-disaster environmental information in the mine is carried out and the information fusion module is transmitted. The metamorphic robot and the flying robot can integrate, optimize and process the information according to the information fusion module to achieve autonomous positioning, navigation and collaborative assisted detection by the robot group, so as to obtain more detailed and wider-coverage environmental, geological and life detection information; combined with the obstacles and environmental information detected by the mother-and-child robots, potential dangers and obstacles can be identified to enhance the perception of the environment and disasters.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mine post-disaster environment advance detection robot, characterized in that: The robot comprises a robot body (1), an environment advance detection module (2), a communication module (3), an information fusion module (4), a transport module (5), a walking obstacle crossing module (6), a power supply module (7), and a control module (8): The robot body (1) is capable of moving over obstacles in a post-disaster mine environment; The environment advance detection module (2) is mounted on the robot body, a detection device is exposed through an opening at the front end of the robot body, and a sealing process is performed between the detection device and the shell. A 1m long pole (9) is installed on the left side of the shell, the bottom of the pole is connected to the rotator (10), and a full-angle rotating camera (11) is installed on the top; The communication module (3) is mounted on the robot body, and includes four deployable communication base stations (12). The robot body communicates with the main control console, and the communication module is used to timely transmit post-disaster environmental information of the mine to the main control console to make corresponding countermeasures for rescue and emergency disposal; The information fusion module (4) is mounted on the robot body, and the information fusion module pre-processes the post-disaster environmental information detected by the environmental advance detection module; The carrier module (5) is mounted on the robot body, and the carrier module includes a carrier metamorphic robot (14) and a flying robot (13). The metamorphic robot and the flying robot cooperate with the robot body to detect information, and the collected information is centrally processed in the robot body; The walking obstacle-crossing module (6) is connected to the robot body via a base, the walking obstacle-crossing module comprises a crawler walking device and a chassis, and the walking obstacle-crossing module is used to adapt to changes in the post-disaster environment of the mine, and can carry the robot body for long-distance transportation; The power supply module (7) is mounted on the robot body and can supply power to at least one of the robot body, the environment advance detection module, the communication module, the control module, the transport module, the information fusion module, and the walking obstacle crossing module; The control module (8) is mounted on the robot body, and is communicatively connected with the environment advance detection module, the communication module, the carrier module, the walking obstacle crossing module, the information fusion module and the power supply module. The control module can control the start and end of each module.

2. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The sealed shell (15) of the robot body comprises a high-strength outer shell and a thermal barrier, heat-insulating and fire-proof honeycomb sandwich structure material. The high-strength outer shell can resist the explosion impact in the post-disaster environment of a mine, and the thermal barrier, heat-insulating and fire-proof honeycomb sandwich structure material can also enable the robot to pass through the post-disaster fire zone environment of a mine; the sealing property of the sealed shell prevents flammable gases such as gas from entering the robot and causing an explosion, and can also enable the robot to pass through the post-disaster wading area of ​​a mine; the sealed shell is also used to separate the power supply module and the control module of the robot, to prevent flammable and explosive gases from entering the module cavity, and to prevent the internal explosion of the robot body due to the high temperature of the battery of the power supply module or the electric spark of the control module.

3. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The lightweight design of the robot body and the walking obstacle crossing module includes: 1) The environment advance detection module and the communication module are separated from other modules by hollow materials (16), thereby reducing the weight of the robot, achieving a lightweight design, and extending the cruising range of the robot; 2) The structural design of the robot body and the walking obstacle-crossing module are optimized through finite element topology, which avoids the material waste that may occur in the traditional design, reduces the material usage, and improves the material utilization rate while meeting the structural performance requirements; 3) The finite element topology optimization enables each structure to reasonably disperse stress when bearing load, avoid stress concentration, and improve the overall strength and stiffness of each structure; 4) The finite element topology optimization makes the center of gravity distribution of the robot body more reasonable by reasonably distributing different materials, thereby achieving stability and safety of the robot during obstacle avoidance and obstacle crossing.

4. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The chassis of the walking obstacle-crossing module has a crawler walking device at the front and rear of each side, with a total of four crawler walking devices. The crawler walking device includes a plurality of shock-absorbing connecting frames (17), and the bottom end of the shock-absorbing connecting frame is provided with a roller (18), and the roller controls the crawler (19) to walk; the chassis has a connecting rod (20) and two explosion-proof motors (21) at the front and rear, with a total of two connecting rods and four explosion-proof motors, one of the explosion-proof motors is used to control the up and down angles of the crawler walking mechanism through the connecting rod to achieve obstacle crossing, and the other explosion-proof motor provides power to the roller through a clutch and a rotating shaft. The crawler of the crawler walking device is a modular unit that can be quickly disassembled. The crawler is connected to the walking device through an articulated buckle, which is convenient for partial replacement when the crawler is damaged, and at the same time meets the requirements of adapting to different ground and road friction. Two retractable hydraulic legs are designed at the front and rear of the chassis, and the legs are linked to the explosion-proof motor through a connecting rod, and the legs are controlled to be retracted through a control module. When the robot body detects an ultra-high obstacle, the control module extends the legs to lift the robot body, thereby raising the center of gravity of the robot body, reducing the track load pressure, and improving the obstacle crossing stability.

5. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The environment advance detection module comprises a gas detection device, a temperature detection device, a life monitoring device and a space structure detection device. The gas detection device comprises a gas concentration sensor, a dust concentration sensor (25), a smoke sensor, a wind speed sensor and a pressure sensor (24). The gas detection device is used to detect the gas composition in the post-disaster environment of the mine. The temperature detection device comprises a temperature sensor. The temperature detection device is used to detect the temperature in the post-disaster environment of the mine. The life monitoring device comprises a thermal infrared camera (26), an electronic nose and a radar life detection. The life monitoring device is used to monitor life signals in the post-disaster environment of the mine. The space structure detection device comprises a visible light illumination sensor (22), a laser radar, an infrared audio and video life detection, a geological radar (23) and a microwave radar. The space structure detection device is used to detect space structure information, prevent secondary disasters, and help the evolution of disasters. At the same time, the space structure detection information can be transmitted to the main control console through the communication module. The main control console realizes the map construction of the post-disaster environment of the mine through data processing and optimization.

6. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: There are two grooves (27) on the left and right sides of the robot body, each groove can store a communication base station, and a total of four communication base stations (12) can be stored. There are two left and right push rods (28) in the grooves to connect the control module. When the robot walks a certain distance, the control module controls the push rods to release the communication base station to achieve long-distance communication of the robot. The grooves can stably clamp the communication base station to prevent the communication base station from overturning when the robot is walking, avoiding obstacles and crossing obstacles.

7. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The robot body has two cavities for carrying flying robots, the cavities are surrounded by lightweight materials, and a door opening outward is left at the top of the cavity, and the door is connected to both sides of the cavity through pneumatic doors (29) from both sides; the cavity for carrying the metamorphic robot is at the bottom of the power supply module, and the bottom and side of the front of the cavity are equipped with pneumatic doors, which are open outward. After the front of the cavity is opened, it can just contact the ground for the smooth release of the metamorphic robot; the pneumatic doors are connected to the controller, and the control module can directly control the controller to realize the opening and closing of the carrying cavity and smoothly release the carried robot. The pneumatic door is provided with a buffer pad in the opening and closing gap to reduce the impact of opening and closing, and at the same time prevent the pneumatic door from being blocked by obstacles in a narrow space.

8. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The post-disaster environment of a mine can be identified by the environmental advance detection module (2) with the characteristics of gas disasters, mine dust disasters, roof disasters, water disasters and fires. The information is collated (4) in the information fusion module and transmitted to the control module (8) to realize the control of the robot body (1). When the robot passes through the post-disaster environment of water disasters, the environmental advance detection module (2) detects the depth of water in the water-related area, the post-disaster situation under water, and the post-disaster situation above water can be monitored by connecting the long pole (9) to a full-angle rotating camera (11).

9. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The information fusion module (4) adopts the laser radar-vision-inertial fusion technology to synchronize the timestamps and preprocess the data of the laser radar, camera and IMU to ensure the accuracy of information fusion; compensates for the deviation and noise of the sensor to improve the robustness of the system; fuses the data of different sensors at an appropriate level, optimizes the algorithm and calculation structure to improve the calculation efficiency; the information fusion module extracts feature points from the data and deduces the movement path of the robot; optimizes the position and map of the robot body through the optimization algorithm to improve the accuracy of positioning and map construction; according to the real-time data provided by the environmental advance detection module, the information fusion module autonomously plans the optimal path to the target position, and transmits the data to the control module to control the movement of the walking obstacle crossing module and effectively avoid or overcome obstacles.

10. The mine post-disaster environment advance detection robot according to claim 1, characterized in that: The robot body (mother) and the metamorphic robot and the flying robot (child) form a mother-and-child robot collaborative detection. Through the metamorphic robot and the flying robot, multi-source detection of post-disaster environmental information in the mine is carried out and the information fusion module is transmitted. The metamorphic robot and the flying robot can integrate, optimize and process the information according to the information fusion module to achieve autonomous positioning, navigation, and robot group collaborative assisted detection, obtain more detailed and wider coverage of environmental, geological and life detection information, and improve detection efficiency and accuracy; combined with the obstacles and environmental information detected by the mother-and-child robots, potential dangers and obstacles are identified, and the perception of the environment and disasters is enhanced.

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