A scanning measurement robot for mine tunnels

Abstract

The present invention discloses a scanning and measuring robot for use in mine tunnels, comprising a frame; a track travel mechanism fixedly mounted on the left and right sides of the frame, the track travel mechanism having a track movably connected to the bottom of the frame; a crawler travel mechanism fixedly mounted on the bottom of the frame; a rotating mechanism fixedly mounted on the front side of the frame; and a scanning and measuring mechanism fixedly mounted on the top of the rotating mechanism. The technical problem to be solved by the present invention is that existing scanning and measuring robots for use in mine tunnels are not convenient for performing multi-angle scanning of mine tunnels during use, which reduces the flexibility and comprehensiveness of the scanning and measuring process, easily leads to information omissions, and reduces measurement accuracy and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of surveying and mapping equipment, in particular to a scanning and measuring robot for mine tunnels. Background Art

[0002] Scanning and measurement robots used in mine tunnels are automated devices specifically designed to perform precise mapping and monitoring tasks in underground mine environments. These robots are typically equipped with advanced sensors, laser scanners, cameras, and other detection equipment, enabling three-dimensional modeling of the mine's internal structure and real-time monitoring of environmental parameters. Laser scanning and other technologies, combined with modeling software, can create detailed three-dimensional maps of the mine's interior. Due to the complex and ever-changing environment of mine tunnels, potential collapse risks exist. Regular scanning and measurement can promptly detect changes in the tunnel structure or unstable areas, such as crack expansion and damage to support structures, allowing measures to be taken to prevent accidents.

[0003] Chinese patent application number 202211099349.6 discloses a tunnel scanning robot comprising a 3D laser scanner, a walking mechanism, an IMU sensor, and a control mechanism. The 3D laser scanner is used to scan and acquire point cloud data of tunnels and objects within them. The IMU sensor is electrically connected to the control mechanism and is used to detect the robot's posture and position and transmit this information to the control mechanism. The walking mechanism is used to carry the 3D laser scanner, IMU sensor, and control mechanism along a track within the tunnel. The control mechanism is used to control the walking mechanism's movement and process point cloud data of the tunnel and objects within it, as well as information transmitted by the IMU sensor. This tunnel scanning robot provides a basis for drawing three-dimensional maps by measuring tunnel length, cross-sectional dimensions, tracks, and information about facilities and equipment within the tunnel. However, this tunnel scanning robot suffers from limited flexibility during the scanning process.

[0004] Existing scanning and measuring robots for mine tunnels are not convenient for multi-angle scanning of mine tunnels during use, which reduces the flexibility and comprehensiveness of the scanning and measurement process, easily leads to information omissions, and reduces measurement accuracy and reliability. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing scanning and measuring robots for mine tunnels are not convenient for multi-angle scanning of mine tunnels during use, which reduces the flexibility and comprehensiveness of the scanning and measuring process, easily leads to information omissions, and reduces the measurement accuracy and reliability.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a scanning measurement robot for mine tunnels, comprising:

[0007] frame;

[0008] A track running mechanism, the track running mechanism is fixedly mounted on the left and right sides of the frame, and the bottom of the track running mechanism is movably connected to a track;

[0009] A crawler walking mechanism, wherein the crawler walking mechanism is fixedly installed at the bottom of the frame;

[0010] A rotating mechanism, wherein the rotating mechanism is fixedly mounted on the top of the frame;

[0011] The scanning and measuring mechanism is fixedly mounted on the surface of the rotating mechanism.

[0012] As a preferred solution of the scanning and measuring robot for mine tunnels of the present invention, it further includes a calibration mechanism, which is fixedly installed on the front side of the track traveling mechanism.

[0013] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, it further includes a control mechanism, which is fixedly installed on the top of the track traveling mechanism.

[0014] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the frame includes a frame body, a mounting hole is opened on the frame body, mounting feet are provided on the left and right sides of the bottom of the frame body, and a fixing seat is fixedly connected to the mounting feet.

[0015] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the track walking mechanism includes a drive assembly, the drive assembly is installed at the bottom of the frame, one side of the drive assembly is rotatably connected to a moving wheel, and the moving wheel is movably connected to the top of the track.

[0016] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the crawler walking mechanism includes a crawler-type mobile chassis, and the crawler-type mobile chassis is located on the rear side of the frame and on the side opposite to the drive assembly.

[0017] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the rotating mechanism includes a fixed sleeve, which is fixedly installed on the front side of the frame, and the fixed sleeve and the inner wall of the mounting hole are rotatably connected with a rotating rod, the front end of the rotating rod is fixedly installed with a first angle sensor, and the rear end of the rotating rod is fixedly connected with a second motor, and the second motor is fixedly installed on the rear side of the frame.

[0018] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the front end of the rotating rod is also fixedly connected to a rotating plate, the top of the rotating plate is fixedly connected to a slide, the top of the slide is fixedly connected to a mounting platform, the surface of the fixed sleeve is fixedly connected to a connecting piece, one end of the connecting piece is fixedly connected to an annular frame, and the slide is movably sleeved on the surface of the annular frame.

[0019] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, the scanning and measuring mechanism includes a support base, the support base is fixedly mounted on a mounting table, a rotating frame is rotatably connected inside the support base, a laser scanner is fixedly mounted on the top of the rotating frame, and an optical camera is fixedly mounted on one side of the laser scanner.

[0020] As a preferred solution of the scanning and measuring robot for mine tunnels described in the present invention, a second angle sensor is fixedly installed at one end of the rotating frame, a large gear is fixedly sleeved on the surface of the rotating frame, a motor seat is fixedly connected to the top of the support seat, a motor is fixedly installed inside the motor seat, and a small gear is fixedly connected to the output shaft of the motor, and the small gear is meshed with the surface of the large gear.

[0021] Beneficial effects of the present invention:

[0022] 1. The present invention provides a track travel mechanism, which can facilitate the scanning and measuring robot to move back and forth on the track to scan and measure the interior of the mine tunnel. The track travel mechanism drives the active pulley through the first motor, and drives the driven pulley and the moving wheel to rotate through the transmission belt. The moving wheel moves on the top of the track, and the tensioning wheel tensions the transmission belt to prevent it from loosening.

[0023] 2. The present invention uses a crawler walking mechanism to enable the scanning and measuring robot to move without a track. When the crawler walking mechanism is controlled to descend, the hydraulic cylinder drives the connecting plate and the lifting rod to move downward, and the lifting rod slides inside the limit sleeve, thereby driving the connecting column and the crawler mobile chassis to move downward synchronously, so that the crawler contacts the ground. The crawler walking mechanism enables the scanning and measuring robot to move flexibly in complex terrain.

[0024] 3. The present invention can drive the scanning and measuring mechanism to rotate laterally by setting a rotating mechanism. During the operation of the rotating mechanism, the second motor drives the rotating rod to rotate, driving the slide and the mounting platform installed thereon to move. The slide slides on the surface of the annular frame, and the annular frame limits and supports the slide. The first angle sensor detects the rotation angle of the rotating rod, and the controller is responsible for controlling the second motor.

[0025] 4. The present invention can scan and measure the interior of a mine tunnel by providing a scanning and measuring mechanism. During the horizontal rotation process, the laser scanner maps the inner wall of the mine tunnel, and the optical camera provides visual feedback, photographs deformations and cracks, and assists in environmental identification and obstacle detection. Through the cooperation of the laser scanner and the optical camera, a fine scan of details such as deformation, cracks, and obstacles on the tunnel surface is completed. When it is necessary to measure the inclined surface of the inner wall of the mine tunnel or to move the measuring robot back and forth, the motor drives the small gear to rotate, and the rotating frame rotates through engagement with the large gear, thereby driving the laser scanner and the optical camera to swing back and forth. At the same time, the first angle sensor and the second angle sensor monitor the rotation angle in real time to enable the laser scanner and the optical camera to rotate to the set angle, thereby ensuring the integrity and accuracy of data collection, as well as the forward and backward movement strategy and obstacle identification.

[0026] 5. The present invention can calibrate the laser scanner through the arc-shaped calibration plate and calibration protrusion in the calibration mechanism, which is crucial to maintaining long-term stable measurement accuracy. The actual data is obtained by scanning the calibration protrusion target, and then compared with the pre-stored data of the calibration protrusion to calculate the error value. Based on the calculated error value, the relevant parameters of the laser scanner are automatically adjusted to eliminate the error. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0028] Figure 2 The structure of the present invention is schematically shown Figure 2 ;

[0029] Figure 3 A schematic diagram of a rack of the present invention;

[0030] Figure 4 It is a diagram showing the use of the track travel mechanism of the present invention;

[0031] Figure 5 It is a schematic diagram of the crawler walking mechanism of the present invention;

[0032] Figure 6 It is an exploded view of the rotating mechanism of the present invention;

[0033] Figure 7 Schematic diagram of the scanning measurement mechanism of the present invention Figure 1 ;

[0034] Figure 8 Schematic diagram of the scanning measurement mechanism of the present invention Figure 2 ;

[0035] Figure 9 It is a schematic diagram of the calibration mechanism of the present invention;

[0036] Figure 10 Schematic diagram of the control mechanism of the present invention.

[0037] In the figure: 100, frame; 101, frame; 102, mounting hole; 103, fixing plate; 104, mounting foot; 105, reinforcement plate; 106, traction seat; 107, fixing seat; 200, track walking mechanism; 201, driving assembly; 202, moving wheel; 203, threaded pipe; 204, driven pulley; 205, closing plate; 206, transmission belt; 207, first motor; 208, tensioning pulley; 209, driving pulley; 300, crawler walking mechanism; 301, crawler mobile chassis; 302, crawler; 303, hydraulic cylinder; 304, limiting sleeve; 305, lifting rod; 306, connecting plate; 307, connecting column; 400, rotating mechanism; 401, fixing sleeve; 402, connecting piece ;403, annular frame; 404, rotating plate; 405, slide; 406, mounting table; 407, second motor; 408, rotating rod; 409, first angle sensor; 500, scanning measurement mechanism; 501, support base; 502, rotating frame; 503, large gear; 504, optical camera; 505, laser scanner; 506, second angle sensor; 507, motor; 508, motor seat; 509, small gear; 600, calibration mechanism; 601, arc calibration plate; 602, calibration protrusion; 603, fixing part; 604, threaded rod; 700, control mechanism; 701, mounting plate; 702, mounting column; 703, controller; 704, power box; 705, charging interface; 800, track. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] like Figures 1-10 As shown, this embodiment provides a scanning and measuring robot for mine tunnels, including a frame 100, the frame 100 includes a frame body 101, the frame body 101 is provided with mounting holes 102, the frame body 101 is provided with mounting feet 104 on both sides of the bottom of the frame body 101, and the mounting feet 104 are fixedly connected to a fixing seat 107.

[0040] Furthermore, it also includes a track running mechanism 200, which is fixedly installed on the left and right sides of the frame 100, and the bottom of the track running mechanism 200 is movably connected to the track 800.

[0041] Furthermore, the track travel mechanism 200 includes a drive assembly 201 , which is installed at the bottom of the frame 100 . One side of the drive assembly 201 is rotatably connected to a moving wheel 202 , and the moving wheel 202 is movably connected to the top of the track 800 .

[0042] Furthermore, a closing plate 205 is fixedly connected to one side of the driving component 201, and a first motor 207 is fixedly installed on one side of the closing plate 205. The inner cavity of the driving component 201 is rotatably connected to a driven pulley 204, a driving pulley 209 and a tensioning pulley 208. The driven pulley 204 is fixedly connected to one end of the movable wheel 202, the driving pulley 209 is fixedly connected to the output shaft of the first motor 207, the driving pulley 209 and the driven pulley 204 are connected to the surface of the transmission belt 206, and the tensioning pulley 208 is movably connected to the surface of the transmission belt 206.

[0043] By setting up the track walking mechanism 200, the scanning and measuring robot can move back and forth on the track 800 to scan and measure the inside of the mine tunnel. The track walking mechanism 200 drives the active pulley 209 through the first motor 207, and drives the driven pulley 204 and the moving wheel 202 to rotate through the transmission belt 206. The moving wheel 202 moves on the top of the track 800, and the tensioning wheel 208 tensions the transmission belt 206 to prevent it from loosening.

[0044] Furthermore, a fixing plate 103 is fixedly connected to one side of the fixing seat 107 , and the fixing plate 103 is fixedly installed on the surface of the driving assembly 201 . A reinforcing plate 105 and a traction seat 106 are fixedly connected to the front side of the fixing seat 107 .

[0045] Furthermore, it also includes a crawler walking mechanism 300, which is fixedly installed at the bottom of the frame 100.

[0046] Furthermore, the crawler walking mechanism 300 includes a crawler mobile chassis 301 , which is located at the rear side of the frame 101 and on the side opposite to the drive assembly 201 .

[0047] Furthermore, a connecting column 307 is fixedly connected to the top of the crawler mobile chassis 301, and a lifting rod 305 is fixedly connected to the top of the connecting column 307. A limit sleeve 304 is movably provided on the surface of the lifting rod 305, and the limit sleeve 304 is fixedly connected to the rear side of the frame 101. A connecting plate 306 is fixedly connected to the top of the lifting rod 305, and the left and right sides of the bottom of the connecting plate 306 are fixedly connected to the hydraulic cylinder 303. The bottom of the hydraulic cylinder 303 is fixedly installed on the rear side of the frame 101, and crawlers 302 are installed on the left and right sides of the crawler mobile chassis 301. The oil inlet and oil outlet ends of the hydraulic cylinder 303 are connected to a three-position four-way solenoid valve, and the three-position four-way solenoid valve is connected to an oil supply station.

[0048] Furthermore, the tracked mobile chassis 301 includes a driving wheel group, a tensioning device, a suspension system, a power system, a steering system and a control system. The driving wheel group is installed on the crawler 302. The power system uses the driving wheel group to drive the crawler 302 to rotate to walk on the ground. The tensioning device adjusts the tightness of the crawler 302. The suspension system is installed on the crawler mobile chassis 301 to reduce the impact of uneven ground. The steering system continues to control the steering of the crawler mobile chassis 301, and the control system controls the crawler mobile chassis 301.

[0049] By setting up a crawler walking mechanism 300, the scanning and measuring robot can move when there is no track 800. When the crawler walking mechanism 300 is controlled to descend, the hydraulic cylinder 303 drives the connecting plate 306 and the lifting rod 305 to move downward, and the lifting rod 305 slides inside the limit sleeve 304, thereby driving the connecting column 307 and the crawler mobile chassis 301 to move downward synchronously, so that the crawler 302 contacts the ground. The crawler walking mechanism 300 enables the scanning and measuring robot to move flexibly in complex terrain.

[0050] Furthermore, it also includes a rotating mechanism 400 , which is fixedly installed on the top of the frame 100 .

[0051] Furthermore, the rotating mechanism 400 includes a fixed sleeve 401, which is fixedly installed on the front side of the frame 101. The fixed sleeve 401 and the inner wall of the mounting hole 102 are rotatably connected with a rotating rod 408. The front end of the rotating rod 408 is fixedly installed with a first angle sensor 409, and the rear end of the rotating rod 408 is fixedly connected with a second motor 407. The second motor 407 is fixedly installed on the rear side of the frame 101.

[0052] Furthermore, the front end of the rotating rod 408 is fixedly connected to the rotating plate 404, the top of the rotating plate 404 is fixedly connected to the slide 405, the top of the slide 405 is fixedly connected to the mounting platform 406, the surface of the fixed sleeve 401 is fixedly connected to the connecting piece 402, one end of the connecting piece 402 is fixedly connected to the annular frame 403, and the slide 405 is movably sleeved on the surface of the annular frame 403.

[0053] Furthermore, the slide 405 and the mounting platform 406 on the rotating mechanism 400 can drive the scanning and measuring mechanism 500 to rotate 360 ​​degrees horizontally to measure the mine tunnel at multiple angles.

[0054] By setting up the rotating mechanism 400, the scanning and measuring mechanism 500 can be driven to rotate 360 ​​degrees horizontally. During the operation of the rotating mechanism 400, the second motor 407 drives the rotating rod 408 to rotate, driving the slide 405 and the mounting platform 406 installed thereon to move. The slide 405 slides on the surface of the annular frame 403, and the annular frame 403 limits and supports the slide 405. The first angle sensor 409 detects the rotation angle of the rotating rod 408, which is responsible for the controller 703 to control the second motor 407.

[0055] Furthermore, it also includes a scanning measurement mechanism 500 , which is fixedly installed on the surface of the rotating mechanism 400 .

[0056] Furthermore, the scanning measurement mechanism 500 includes a support base 501, which is fixedly mounted on the mounting platform 406. The support base 501 is internally rotatably connected to a rotating frame 502, and a laser scanner 505 is fixedly mounted on the top of the rotating frame 502. An optical camera 504 is fixedly mounted on one side of the laser scanner 505.

[0057] Furthermore, a second angle sensor 506 is fixedly installed at one end of the rotating frame 502, a large gear 503 is fixedly sleeved on the surface of the rotating frame 502, a motor seat 508 is fixedly connected to the top of the support seat 501, a motor 507 is fixedly installed inside the motor seat 508, and the output shaft of the motor 507 is fixedly connected to a small gear 509, which engages with the surface of the large gear 503.

[0058] Furthermore, the laser scanner 505 and the optical camera 504 on the scanning and measuring mechanism 500 can rotate back and forth, thereby detecting cracks in the tunnel wall and detecting obstacles on the road when the scanning and measuring robot moves back and forth.

[0059] By providing a scanning and measuring mechanism 500, the interior of a mine tunnel can be scanned and measured. During horizontal rotation, the laser scanner 505 maps the inner wall of the mine tunnel, and the optical camera 504 provides visual feedback, captures deformations and cracks, and assists in environmental identification and obstacle detection. The laser scanner 505 and optical camera 504 work together to achieve precise scanning of details such as deformation, cracks, and obstacles on the tunnel surface. When it is necessary to measure the inclined surface of the inner wall of the mine tunnel or to move the measurement robot back and forth, the motor 507 drives the small gear 509 to rotate, which, through engagement with the large gear 503, rotates the rotating frame 502, driving the laser scanner 505 and optical camera 504 to swing back and forth. At the same time, the first angle sensor 409 and the second angle sensor 506 monitor the rotation angle in real time to enable the laser scanner 505 and optical camera 504 to rotate to the set angle, thereby ensuring the integrity and accuracy of data collection, as well as the forward and backward movement strategy and obstacle identification.

[0060] Furthermore, it also includes a calibration mechanism 600 , which is fixedly installed on the front side of the track traveling mechanism 200 .

[0061] Furthermore, the calibration mechanism 600 includes an arc-shaped calibration plate 601, which is arc-shaped. A calibration protrusion 602 is fixedly connected to the top of the arc-shaped calibration plate 601. The number of the calibration protrusions 602 is several, and the calibration protrusions 602 are one or more of cylindrical, triangular, octagonal and quadrilateral shapes. The left and right sides of the front of the arc-shaped calibration plate 601 are fixedly connected with fixing parts 603, and a threaded rod 604 is installed inside the fixing part 603. The bottom of the front side of the drive component 201 is fixedly connected with a threaded tube 203, and the threaded rod 604 is threadedly connected to the threaded tube 203. The front end of the threaded rod 604 is fixedly connected with a handwheel. The detection accuracy of the laser scanner 505 is calibrated by the coordinated use of the arc-shaped calibration plate 601 and the calibration protrusion 602.

[0062] The laser scanner 505 can be calibrated through the arc calibration plate 601 and the calibration protrusion 602 in the calibration mechanism 600, which is crucial to maintaining long-term stable measurement accuracy. The actual data is obtained by scanning the calibration protrusion 602 target, and then compared with the pre-stored data of the calibration protrusion 602 to calculate the error value. Based on the calculated error value, the relevant parameters of the laser scanner 505 are automatically adjusted to eliminate the error.

[0063] Furthermore, it also includes a control mechanism 700, which is fixedly installed on the top of the track traveling mechanism 200.

[0064] Furthermore, the control mechanism 700 includes a mounting plate 701, and the four corners of the bottom of the mounting plate 701 are fixedly connected to mounting columns 702, and the mounting columns 702 are fixedly connected to the top of the driving component 201. A power box 704 is fixedly installed on the top of the mounting plate 701, and a charging interface 705 for charging is provided on the power box 704. A controller 703 is fixedly installed on the top of the power box 704, and the controller 703 is electrically connected to the first motor 207, the crawler mobile chassis 301, the second motor 407, the first angle sensor 409, the second angle sensor 506, the motor 507, the laser scanner 505, the optical camera 504 and the three-position four-way solenoid valve on the hydraulic cylinder 303.

[0065] A scanning measurement robot for a mine tunnel comprises the following steps when performing measurement:

[0066] S1. First, the scanning measurement robot moves on a track 800 preset in a mine tunnel via a track traveler 200. The track traveler 200 drives a driving pulley 209 via a first motor 207, which in turn drives a driven pulley 204 and a moving wheel 202 via a transmission belt 206, causing the measurement robot to move along the track 800 to a designated position.

[0067] S2. When there is no track 800, the scanning and measuring robot controls the crawler walking mechanism 300 to descend, and the crawler walking mechanism 300 moves to the bottom of the track walking mechanism 200, and moves on the ground through the crawler mobile chassis 301 and the crawler 302. The crawler walking mechanism 300 enables the scanning and measuring robot to move flexibly in complex terrain. When moving, the synchronous positioning and map construction algorithm is used to improve the autonomous navigation accuracy of the scanning and measuring robot in the absence of GPS signals, and the deep learning and other methods are used to improve the scanning and measuring robot's ability to recognize obstacles, thereby realizing a more intelligent walking strategy.

[0068] S3. After the scanning and measuring robot reaches the predetermined position, the rotating mechanism 400 starts to work, and the second motor 407 drives the rotating rod 408 to rotate, driving the slide 405 and the mounting platform 406 installed thereon to achieve 360-degree horizontal rotation, so that the scanning and measuring mechanism 500 fixed thereon can cover all directions of the mine tunnel.

[0069] S4. The scanning and measuring mechanism 500 scans and measures the interior of the mine tunnel. The scanning and measuring mechanism 500 includes a laser scanner 505 and an optical camera 504. During the horizontal rotation process, the laser scanner 505 maps the inner wall of the mine tunnel, and the optical camera 504 provides visual feedback, captures deformations and cracks, and assists in environmental recognition and obstacle detection. Through the cooperation of the laser scanner 505 and the optical camera 504, a fine scan of details such as deformation, cracks, and obstacles on the tunnel surface is completed. When it is necessary to measure the inclined surface, the motor 507 drives the small gear 509 to rotate, and the rotating frame 502 rotates by engaging with the large gear 503, thereby driving the laser scanner 505 and the optical camera 504 to swing back and forth. At the same time, the first angle sensor 409 and the second angle sensor 506 monitor the rotation angle in real time to enable the laser scanner 505 and the optical camera 504 to rotate to the set angle, thereby ensuring the integrity and accuracy of data collection.

[0070] S5. After measuring for a period of time, the rotating mechanism 400 drives the scanning and measuring mechanism 500 to rotate to the bottom, and calibrates the laser scanner 505 through the arc calibration plate 601 and the calibration protrusion 602 in the calibration mechanism 600. It is crucial to maintain long-term stable measurement accuracy. The actual data is obtained by scanning the calibration protrusion 602 target, and then compared with the pre-stored data of the calibration protrusion 602 to calculate the error value. Based on the calculated error value, the relevant parameters of the laser scanner 505 are automatically adjusted to eliminate the error.

[0071] The actions in S6 and S1-S5 are all uniformly scheduled by the controller 703 within the control mechanism 700, and the corresponding operations are performed according to the preset program or remote instructions. The controller 703 is also responsible for receiving and processing data from various sensors, and ultimately generating a detailed mine tunnel structure diagram and other relevant reports. The power box 704 is responsible for powering the electrical equipment of the scanning and measuring robot. The power box 704 is equipped with a battery and a power distribution structure, and the power box 704 is charged through the charging interface 705.

Claims

1. A scanning and measuring robot for mine tunnels, characterized by: include, rack(100); A track running mechanism (200), the track running mechanism (200) is fixedly mounted on the left and right sides of the frame (100), and the bottom of the track running mechanism (200) is movably connected to a track (800); A crawler walking mechanism (300), wherein the crawler walking mechanism (300) is fixedly mounted on the bottom of the frame (100); A rotating mechanism (400), wherein the rotating mechanism (400) is fixedly mounted on the top of the frame (100); a scanning and measuring mechanism (500), wherein the scanning and measuring mechanism (500) is fixedly mounted on the surface of the rotating mechanism (400); It also includes a calibration mechanism (600), wherein the calibration mechanism (600) is fixedly mounted on the front side of the track running mechanism (200); The frame (100) includes a frame body (101), a mounting hole (102) is provided on the frame body (101), mounting feet (104) are provided on both left and right sides of the bottom of the frame body (101), and a fixing seat (107) is fixedly connected to the mounting foot (104); The track travel mechanism (200) includes a drive assembly (201), the drive assembly (201) is mounted on the bottom of the frame (100), one side of the drive assembly (201) is rotatably connected to a moving wheel (202), and the moving wheel (202) is movably connected to the top of the track (800); The crawler walking mechanism (300) comprises a crawler-type mobile chassis (301), and the crawler-type mobile chassis (301) is located on the rear side of the frame (101) and on the side opposite to the drive assembly (201); The rotating mechanism (400) comprises a fixing sleeve (401), the fixing sleeve (401) is fixedly mounted on the front side of the frame (101), the fixing sleeve (401) and the inner wall of the mounting hole (102) are rotatably connected to a rotating rod (408), a first angle sensor (409) is fixedly mounted on the front end of the rotating rod (408), and a second motor (407) is fixedly mounted on the rear end of the rotating rod (408), and the second motor (407) is fixedly mounted on the rear side of the frame (101); The front end of the rotating rod (408) is also fixedly connected to a rotating plate (404), the top of the rotating plate (404) is fixedly connected to a slide (405), the top of the slide (405) is fixedly connected to a mounting platform (406), the surface of the fixed sleeve (401) is fixedly connected to a connecting piece (402), one end of the connecting piece (402) is fixedly connected to an annular frame (403), and the slide (405) is movably sleeved on the surface of the annular frame (403); The scanning measurement mechanism (500) comprises a support base (501), the support base (501) being fixedly mounted on a mounting platform (406), a rotating frame (502) being rotatably connected inside the support base (501), a laser scanner (505) being fixedly mounted on the top of the rotating frame (502), and an optical camera (504) being fixedly mounted on one side of the laser scanner (505); A second angle sensor (506) is fixedly mounted on one end of the rotating frame (502); a large gear (503) is fixedly sleeved on the surface of the rotating frame (502); a motor seat (508) is fixedly connected to the top of the support seat (501); a motor (507) is fixedly mounted inside the motor seat (508); an output shaft of the motor (507) is fixedly connected to a small gear (509); and the small gear (509) is meshed with the surface of the large gear (503).

2. The scanning and measuring robot for mine tunnels according to claim 1, characterized in that: It also includes a control mechanism (700), which is fixedly installed on the top of the track traveling mechanism (200).

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