A type of advanced detection robot for post-disaster environments in mines

Abstract

This invention discloses a mine post-disaster environmental advanced detection robot. The robot comprises key modules including an environmental advanced detection module, a communication module, an information fusion module, a transport module, a walking and obstacle-crossing module, a power supply module, and a control module. Through its own sensors, radar, life detectors, and transported by a modular robot and a flying robot, it collaboratively collects information on the mine's post-disaster air environment, geological features, and personnel, enabling advanced detection and mapping of the mine's post-disaster environment. This provides the rescue command center with more scientific and comprehensive detection information, helping rescue personnel make more decisive and rapid rescue decisions, and improving the safety and efficiency of post-disaster operations.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue after mine disasters, and in particular to a robot for advanced detection of the mine post-disaster environment. Background Technology

[0002] Mine disasters are characterized by their suddenness, secondary impact, and destructiveness. Emergency rescue efforts face bottlenecks such as complex disaster environments and unclear disaster scenarios, leading to low rescue efficiency or even failure. Rescue team members recklessly entering disaster-stricken areas underground can easily cause unnecessary casualties. Utilizing robots to penetrate deep into the hazardous post-disaster environment of mines for reconnaissance is an effective way to solve these problems. Therefore, mine exploration robots have emerged.

[0003] However, existing mine exploration robots are not specific or in-depth enough in detecting environmental information underground, and cannot obtain the location information of trapped personnel in a timely and accurate manner. At the same time, existing mine exploration robots cannot adapt to the post-disaster environment underground, and 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 mine post-disaster environment advanced detection robot to solve the problem that the detection information of mine detection robots is not specific and in-depth enough, and cannot obtain information on trapped personnel 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 this 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 mine post-disaster environment advanced detection robot.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] This invention provides a mine post-disaster environment advanced detection robot, comprising:

[0008] The robot itself is capable of navigating obstacles and moving in a post-disaster mining environment.

[0009] An environmental advanced detection module is mounted on the robot body. The detection device is exposed through an opening at the front end of the robot body, and the detection device is sealed to the shell. A 1m long rod is installed on the left side of the shell. The bottom of the long rod is connected to a rotator, and a full-angle rotating camera is installed on the top.

[0010] A communication module, mounted on the robot body, includes four deployable communication base stations. The robot body communicates with the main control console. The communication module is used to transmit mine disaster environmental information to the main control console in a timely manner and to make corresponding countermeasures for rescue and emergency response.

[0011] An information fusion module, mounted on the robot body, preprocesses the post-disaster environmental information detected by the environmental advance detection module.

[0012] A transport module is mounted on the robot body. The transport module includes a transport morphic robot and a flying robot. The morphic robot and the flying robot work together with the robot body to detect information. The collected information is centrally processed in the robot body.

[0013] The walking and obstacle-crossing module is connected to the robot body via a base. The walking and obstacle-crossing module includes a tracked walking device and a chassis. The walking and 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] The power supply module, which is mounted on the robot body, can supply power to at least one of the robot body, the environmental advanced detection module, the communication module, the control module, the transportation module, the information fusion module, and the walking and obstacle crossing module.

[0015] The control module is mounted on the robot body. The control module is communicatively connected to the environmental advance detection module, the communication module, the transportation module, the walking and obstacle crossing module, the information fusion module, and the power supply module. The control module can control the start and stop of each module.

[0016] In this invention, preferably, the sealed shell of the robot body comprises a high-strength outer shell and a thermal barrier, fireproof, honeycomb sandwich structure. The high-strength outer shell can withstand the explosive impact in the post-disaster environment of a mine, and the thermal barrier, fireproof, honeycomb sandwich structure can also enable the robot to traverse the post-disaster fire zone environment of a mine. The sealing performance of the sealed shell prevents flammable gases such as methane from entering the robot and causing an explosion, and also enables the robot to pass through water-crossing areas after a mine disaster. The sealed shell is also used to separate the robot's power supply module and control module, preventing flammable and explosive gases from entering the module cavity, and preventing an explosion inside the robot body caused by the high temperature of the power supply module battery or electrical sparks from the control module.

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

[0018] The environmental advanced detection module and communication module are separated from other modules by hollow materials, which reduces the weight of the robot, achieves lightweight design, and extends the robot's range.

[0019] The structural design of the robot body and the walking and obstacle-crossing module are optimized through finite element topology. Under the premise of meeting the structural performance requirements, the material waste that may occur in traditional design is avoided, the amount of material used is reduced, and the material utilization rate is improved.

[0020] The finite element topology optimization enables each structure to reasonably distribute stress when subjected to load, avoid stress concentration, and improve the overall strength and stiffness of each structure.

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

[0022] In this invention, preferably, the chassis of the obstacle-crossing module has four tracked walking devices, one at the front and one at the rear on each side. Each tracked walking device includes multiple shock-absorbing connecting frames, with rollers at the bottom of each frame controlling the track movement. The chassis also has one connecting rod and two explosion-proof motors at the front and rear, for a total of two connecting rods and four explosion-proof motors. One explosion-proof motor controls the vertical angle of the tracked walking mechanism via the connecting rod to achieve obstacle crossing, while the other motor provides power to the rollers via a clutch and a rotating shaft. The tracks of the tracked walking devices are quick-detachable modular units, connected to the walking devices via hinged snap-fit ​​connections, facilitating partial replacement when the tracks are damaged and adapting to different ground and road conditions. The chassis also features two retractable hydraulic outriggers at the front and rear, linked to the explosion-proof motors via connecting rods and controlled by a control module for extension and retraction. When the robot detects an extremely high obstacle, the control module extends outriggers to lift the robot, raising its center of gravity, reducing track load pressure, and improving obstacle-crossing stability.

[0023] In this invention, preferably, the environmental advanced 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 flue gas sensor, a wind speed sensor, and a pressure sensor, and is used to detect the gas composition in the post-disaster environment of a mine. The temperature detection device includes a temperature sensor and is used to detect the temperature in the post-disaster environment of a mine. The life detection device includes a thermal infrared camera, an electronic nose, and a radar life detector, and is used to detect life signals in the post-disaster environment of a mine. The spatial structure detection device includes a visible light illuminance sensor, a lidar, an infrared audio-visual life detector, a ground-penetrating radar, and a microwave radar, and is used to detect spatial structure information, prevent secondary disasters, and help predict the evolution of the disaster. Simultaneously, the spatial structure detection information can be transmitted to the central control console via the communication module. The central control console then processes and optimizes the data to construct a map of the post-disaster environment of the mine.

[0024] In this invention, preferably, there are two grooves on each of the left and right sides of the robot body, each groove can hold one communication base station, and a total of four communication base stations are stored. There are two push rods in the grooves that are connected to the control module. When the robot walks a certain distance, the control module controls the push rods to release the communication base stations, so as to realize long-distance communication of the robot. The grooves can stably hold the communication base stations, so that the communication base stations do not tip over when the robot walks, avoids obstacles and crosses obstacles.

[0025] In this invention, preferably, the robot body has two cavities for carrying the flying robot. Each cavity is surrounded by a lightweight material, and the top of the cavity has an outward-facing door. These doors are connected to the sides of the cavity via pneumatic doors. The cavity carrying the morphological robot is located below the power supply module. The bottom and sides of the front of the cavity feature pneumatic doors with outward openings, allowing the front of the cavity to contact the ground for easy release of the morphological robot. Each pneumatic door is connected to a controller, and the control module can directly control the controller to open and close the carrying cavity, facilitating the release of the carried robot. The pneumatic doors have buffer pads in the opening and closing gaps to reduce impact and prevent them from being blocked by obstacles in narrow spaces.

[0026] In this invention, preferably, the characteristics of gas disasters, mine dust disasters, roof collapse disasters, water hazards, and fires in the post-disaster environment can be identified by the environmental advanced detection module. The information is then processed by the information fusion module and transmitted to the control module to control the robot body. When the robot passes through a post-water disaster environment, the environmental advanced detection module detects the water depth in the water-affected area and the post-disaster situation underwater. The post-disaster situation above water can be monitored by a full-angle rotating camera connected to the long pole.

[0027] In this invention, preferably, the information fusion module employs LiDAR-Vision-Inertial Fusion Technology to timestamp and preprocess data from LiDAR, cameras, and IMU, ensuring the accuracy of information fusion; compensating for sensor biases and noise to improve system robustness; fusing data from different sensors at appropriate levels, optimizing algorithms and computational structures to improve computational efficiency; the information fusion module extracts feature points from the data to deduce the robot's motion path; through optimization algorithms, it optimizes the robot's pose and map, improving the accuracy of localization and map construction; based on real-time data provided by the environmental advance detection module, the information fusion module autonomously plans the optimal path to the target location and transmits the data to the control module to control the walking and obstacle-crossing module to move and effectively avoid or cross obstacles.

[0028] In this invention, preferably, the robot body (mother) forms a mother-child robot collaborative detection system with the variable robot and the flying robot (child). Through the variable robot and the flying robot, multi-source detection of post-disaster environmental information in the mine is conducted and transmitted to the information fusion module. The variable 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 swarm collaborative assisted detection, thereby obtaining more detailed and broader-coverage environmental, geological, and life detection information, improving detection efficiency and accuracy. Combined with the obstacle and environmental information detected by the mother-child robots, potential dangers and obstacles can be identified, enhancing the perception of the environment and disaster situation.

[0029] The present invention achieves the following technical effects compared to the prior art:

[0030] The mine post-disaster environmental advanced detection robot of this invention achieves lightweight design through optimized material and structural design. It collects environmental, geological, spatial structure, trapped personnel information, and real-time robot positioning and path information from multiple sources, including an environmental advanced detection module, a modular robot, and a flying robot, and feeds this information back to the ground, enabling more accurate construction of a mine post-disaster map. This provides timely assistance for rescue operations and reduces the risks of post-disaster rescue. Based on the detected information, the robot autonomously plans the optimal path to the target location and controls its movement along that path. The obstacle-crossing module proposed in this invention can actively tilt and rotate to adapt to special terrain and the needs of the detection mission.

[0031] The present invention will now be described in more detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0032] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings:

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

[0034] Figure 2 This is a top-view structural diagram of the present invention;

[0035] Figure 3 This is a schematic diagram of the sealed housing structure;

[0036] The components in the diagram are labeled as follows: 1. Robot body; 2. Environmental advanced detection module; 3. Communication module; 4. Information fusion module; 5. Transport module; 6. Walking and obstacle-crossing module; 7. Power supply module; 8. Control module; 9. Long rod; 10. Rotator; 11. Omni-angle rotating camera; 12. Communication base station; 13. Flying robot; 14. Modular robot; 15. Sealed shell; 16. Hollow material; 17. Shock-absorbing connecting frame; 18. Roller; 19. Track; 20. Linkage; 21. Explosion-proof motor; 22. Visible light sensor; 23. Ground penetrating radar; 24. Pressure sensor; 25. Dust concentration sensor; 26. Thermal infrared camera; 27. Groove; 28. Push rod; 29. ​​Pneumatic door; Detailed Implementation

[0037] The following description, with reference to the accompanying drawings, further details the specific implementation of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use 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] Example 1

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

[0040] In this embodiment, the robot's outer shell is a sealed shell. The outer layer of the shell is made of high-strength, low-density titanium alloy, and the inner layer is a thermal barrier, fireproof, honeycomb sandwich structure. The titanium alloy can withstand explosive impacts or other impacts in a post-disaster environment, while the thermal barrier, fireproof, honeycomb sandwich structure can reduce the impact of external temperatures on the robot's internal components and modules when the robot traverses a fire zone, ensuring the robot's normal operation. For the shell's sealing, the outer titanium alloy shell uses sealed welding technology, and the inner insulation structure uses fireproof and heat-insulating sodium silicate inorganic fireproof and heat-insulating adhesive for sealing. The robot's internal power supply module and control module are arranged vertically to form a sealed space, with the power supply module at the bottom and the control module at the top. This sealed space is also separated from other modules by a sealed shell material, and the power supply module and control module are separated by a lightweight, perforated polyethersulfone resin material.

[0041] In this embodiment, the environmental advanced 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 detects gaseous components such as methane, carbon dioxide, carbon monoxide, oxygen, and methane in the post-disaster environment, and can detect the concentrations of oxygen, methane, carbon dioxide, carbon monoxide, and methane in real time. The dust concentration sensor detects the concentration distribution of floating dust in the post-disaster mine environment. The temperature detection device includes a temperature sensor, 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 detector. The thermal infrared camera is mainly used to detect bodies exposed to the post-disaster environment, using thermal infrared imaging technology to locate trapped personnel. The radar life detector is mainly used to detect bodies completely covered by the disaster environment, using radar life detection to locate trapped personnel. The thermal infrared camera and radar life detector work together to detect trapped personnel with full coverage. The space structure detection device includes a visible light illuminance sensor, ground-penetrating radar, and microwave radar. Visible light sensors automatically adjust the brightness and on / off status of lights based on changes in ambient light intensity. Ground-penetrating radar is used to detect the geology and tunnel conditions of the post-disaster environment. Microwave radar provides the robot with precise information about the surrounding environment to enable optimal path planning and obstacle avoidance or crossing in advance. All sensors and detectors are installed through openings in the robot's front housing and sealed with sodium silicate inorganic fire-retardant and heat-insulating adhesive. The environmental advanced detection module can identify the characteristics of gas disasters, mine dust disasters, roof collapses, water hazards, and fires in the post-disaster environment of the mine. The information fusion module processes this information and transmits it to the control module to control the robot. When the robot traverses a post-water disaster environment, the environmental advanced detection module detects the water depth and underwater conditions in the wading area. The surface conditions can be monitored via a 360-degree rotating camera connected to the long pole.

[0042] In this example, the robot adopts a lightweight design. The environmental detection module and the communication module are separated by a lightweight, perforated polyethersulfone resin material. The structural design of the robot body and the obstacle-crossing module are optimized using finite element topology optimization to reduce material usage and improve material utilization. Finite element topology optimization also helps to rationally distribute the robot's center of gravity, maintaining stability during movement.

[0043] In this example, the robot's walking mechanism has a base in the middle, with two explosion-proof motors at the front and rear. Taking the two explosion-proof motors at the front of the base as an example: one motor is connected to a clutch, which connects to the left and right rear drive rollers via a connecting rod. The rear drive rollers are in direct contact with the track, and are connected to the front drive rollers via 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. The track can be replaced using a hinged buckle when the ground is different. The other explosion-proof motor is connected to a rotating shaft, which is connected to the connecting rod between the two drive wheels via a connecting rod, enabling the walking mechanism to raise and lower the arm to overcome obstacles. The walking mechanism at the rear of the robot base has the same arrangement. The robot chassis has two retractable hydraulic outriggers at the front and rear. These outriggers are linked to the explosion-proof motors via connecting rods. When the robot detects an excessively high obstacle, the control module extends the outriggers to raise the robot body and pass over the obstacle.

[0044] In this example, the robot's shell has two recesses on each of its top left and right sides. Each recess can hold a communication base station. The outside of the recesses is protected by lightweight plastic barriers to prevent the communication base stations from falling off during robot operation. A hidden push rod is designed at the bottom inside the recess. Taking one of the recesses as an example, when the robot has traveled a certain distance, it autonomously controls the hidden push rod to push the communication base station outward. The lightweight plastic material falls off due to the pushing force, and the push rod continues to push outward, releasing the communication base station due to weightlessness.

[0045] In this example, the robot transport module includes a transport chamber for a morphing robot and a flying robot. The morphing robot's transport chamber is located below the power supply module of the robot body, while the flying robot's transport chamber is located at the top of the robot shell. The bottom edge and sides of the morphing robot's transport chamber feature pneumatic doors that open outwards, allowing the front of the chamber to contact the ground. The pneumatic doors are controlled by a controller connected to the robot control module. When the morphing robot needs to be released, the robot control module controls the pneumatic door controller to open the transport chamber. Under gravity, the door falls to the ground, providing a platform for the morphing robot to walk and allowing for its successful release. The flying robot's transport chamber has a door at the top that opens outwards from the center. The door is hinged to the sides of the chamber via pneumatic doors, which are also controlled by a controller connected to the robot control module. When the flying robot needs to be released, the robot control module controls the pneumatic door controller to open the transport chamber, allowing the door to open outwards and the flying robot to be released.

[0046] In this example, the information fusion module employs LiDAR-Vision-Inertial Fusion technology to timestamp and preprocess data from LiDAR, cameras, and IMU; compensate for sensor biases and noise; fuse data from different sensors; and optimize algorithms and computational structures to improve computational efficiency. The information fusion module extracts feature points from the data to predict the robot's motion path. Through algorithm optimization, it improves the robot's pose and map, enhancing the accuracy of localization and map building. Based on real-time data provided by the environmental advance detection module, the information fusion module autonomously plans the optimal path to the target location and transmits the data to the control module, controlling the walking and obstacle-crossing module to move and effectively avoid or overcome obstacles. The main robot (mother) forms a collaborative detection system with a modular robot (child) and a flying robot (child). Through the modular and flying robots, multi-source detection of post-disaster environmental information in the mine is conducted and transmitted to the information fusion module. The modular and flying robots can integrate, optimize, and process the information based on the information fusion module to achieve autonomous positioning, navigation, and collaborative assisted detection by the robot swarm. This allows for the acquisition of more detailed and broader-coverage environmental, geological, and life detection information. Combined with obstacle and environmental information detected by the mother and child robots, potential hazards and obstacles can be identified, enhancing the perception of the environment and disaster situation.

[0047] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mine post-disaster environmental advanced detection robot, characterized in that, It includes the robot body (1), environmental advanced detection module (2), communication module (3), information fusion module (4), transportation module (5), walking and obstacle crossing module (6), power supply module (7), and control module (8): The robot body (1) is capable of moving across obstacles in the post-disaster environment of a mine; The environmental advanced detection module (2) is mounted on the robot body. The detection device is exposed through an opening at the front end of the robot body, and the detection device is sealed with the shell. A 1m long rod (9) is installed on the left side of the shell. The bottom of the long rod is connected to the rotator (10), and the top is equipped with a full-angle rotating camera (11). The communication module (3) is mounted on the robot body. The communication module includes four deployable communication base stations (12). The robot body communicates with the main control console. The communication module is used to transmit mine disaster environmental information to the main control console in a timely manner and make corresponding countermeasures for rescue and emergency response. The information fusion module (4) is mounted on the robot body. The information fusion module preprocesses the post-disaster environmental information detected by the environmental advance detection module. The transport module (5) is mounted on the robot body. The transport module includes a transport variable robot (14) and a flying robot (13). The variable robot and the flying robot work together with the robot body to detect information. The collected information is centrally processed in the robot body. The walking obstacle crossing module (6) is connected to the robot body through a base. The walking obstacle crossing module includes a track walking device and a chassis. The walking obstacle crossing module is used to adapt to the changes in the mine post-disaster environment 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 environmental advanced detection module, the communication module, the control module, the transportation module, the information fusion module, and the walking and obstacle crossing module. The control module (8) is mounted on the robot body. The control module is communicatively connected to the environmental advance detection module, the communication module, the transportation module, the walking and obstacle crossing module, the information fusion module and the power supply module. The control module can control the start and stop of each module.

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

3. The mine post-disaster environmental advanced detection robot according to claim 1, characterized in that, The lightweight design of the robot body and the walking and obstacle-crossing module includes: 1) The environmental advanced detection module and communication module are separated from other modules by hollow material (16), which reduces the weight of the robot, realizes lightweight design, and extends the robot's range; 2) The structural design of the robot body and the walking and obstacle-crossing module are optimized by finite element topology. Under the premise of meeting the structural performance requirements, the material waste that may occur in traditional design is avoided, the amount of material used is reduced, and the material utilization rate is improved. 3) The finite element topology optimization enables each structure to reasonably distribute stress when subjected to 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 rationally distributing different materials, thereby achieving stability and safety of the robot during obstacle avoidance and obstacle crossing.

4. The mine post-disaster environmental advanced detection robot according to claim 1, characterized in that, The obstacle-crossing module has four tracked walking devices, one at the front and one at the rear of each side of its chassis. Each tracked walking device includes multiple shock-absorbing connecting frames (17), and rollers (18) are provided at the bottom of each shock-absorbing connecting frame. The rollers control the movement of the tracks (19). The chassis has one connecting rod (20) at the front and one at the rear, and two explosion-proof motors (21), for 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 angle of the tracked walking mechanism through the connecting rod to achieve obstacle crossing. The other explosion-proof motor provides power to the rollers through a clutch and a rotating shaft. The system provides power; the tracks of the tracked walking device are modular units that can be quickly detached. The tracks are connected to the walking device via hinged buckles, which facilitates partial replacement when the tracks are damaged, and also meets the needs of different ground and road conditions. The chassis is designed with two retractable hydraulic outriggers at the front and rear. The outriggers are linked to an explosion-proof motor via a linkage, and the extension and retraction of the outriggers are controlled by a control module. When the robot body detects an obstacle that is too high, the control module extends the outriggers to lift the robot body, raise the robot's center of gravity, reduce the load pressure on the tracks, and improve obstacle crossing stability.

5. The mine post-disaster environmental advanced detection robot according to claim 1, characterized in that, The environmental advanced detection module includes a gas detection device, a temperature detection device, a life monitoring device, and a spatial structure detection device. The gas detection device includes a gas concentration sensor, a dust concentration sensor (25), a flue gas 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 includes 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 includes a thermal infrared camera (26), an electronic nose, and a radar life detector. The life monitoring device is used to monitor life signals in the post-disaster environment of the mine. The spatial structure detection device includes a visible light illuminance sensor (22), a lidar, an infrared audio-visual life detector, a ground-penetrating radar (23), and a microwave radar. The spatial structure detection device is used to detect spatial structure information, prevent secondary disasters, and help predict the evolution of the disaster. At the same time, the spatial 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 environmental advanced detection robot according to claim 1, characterized in that, The robot body has two grooves (27) on each of its left and right sides. Each groove can hold a communication base station, and a total of four communication base stations (12) are stored. There are two push rods (28) in the grooves that are connected to the control module. When the robot walks a certain distance, the control module controls the push rods to release the communication base station, so as to realize the long-distance communication of the robot. The grooves can stably hold the communication base station, so that the communication base station does not overturn when the robot walks, avoids obstacles and crosses obstacles.

7. The mine post-disaster environmental advanced 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 the top of the cavities has outward-facing doors. The doors are connected to the sides of the cavities via pneumatic doors (29). The cavity carrying the morphological robot is located below the power supply module. The bottom edge and sides of the front of the cavity are equipped with pneumatic doors with outward openings. When the front of the cavity is opened, it can contact the ground for the smooth release of the morphological robot. The pneumatic doors are all connected to the controller. 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 doors are equipped with buffer pads in the opening and closing gaps to reduce the impact of opening and closing, and at the same time prevent the pneumatic doors from being blocked by obstacles in narrow spaces.

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

9. The mine post-disaster environmental advanced detection robot according to claim 1, characterized in that, The information fusion module (4) employs lidar-vision-inertial fusion technology to perform time-stamp synchronization and data preprocessing on lidar, camera, and IMU data to ensure the accuracy of information fusion; compensates for sensor bias and noise to improve system robustness; fuses data from different sensors at appropriate levels, optimizes algorithms and computational structures to improve computational efficiency; the information fusion module extracts feature points from the data to deduce the robot's motion path; optimizes the robot's pose and map through optimization algorithms to improve the accuracy of localization and map construction; based on the real-time data provided by the environmental advance detection module, the information fusion module autonomously plans the optimal path to the target location and transmits the data to the control module to control the walking and obstacle-crossing module to move and effectively avoid or cross obstacles.

10. The mine post-disaster environmental advanced detection robot according to claim 1, characterized in that, The robot body, together with the variable robot and the flying robot, forms a mother-daughter robot collaborative detection system. Through the variable robot and the flying robot, multi-source detection of post-disaster environmental information in the mine is conducted and transmitted to the information fusion module. The variable robot and the flying robot can integrate, optimize, and process the information based on the information fusion module to achieve autonomous positioning, navigation, and robot swarm collaborative assisted detection, thereby obtaining more detailed and broader-coverage environmental, geological, and life detection information, improving detection efficiency and accuracy. Combined with the obstacle and environmental information detected by the mother-daughter robot, potential dangers and obstacles can be identified, enhancing the perception of the environment and disaster situation.

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