Coal mine robot detection system and working method

Abstract

The invention belongs to the field of coal mine detection, and discloses a coal mine robot detection system and a working method.The system comprises a detection robot, a vehicle-mounted base station, a remote control terminal and a backpack base station; wireless modules are embedded in the detection robot, the vehicle-mounted base station, the remote control terminal and the backpack base station, and every two wireless modules can communicate with each other; the wireless module adopts the frequency of 1.4 GHz for communication, and adopts QAM + OFDM for digital modulation and channel multiplexing; the vehicle-mounted base station is of a tumbler structure; the vehicle-mounted base station is carried by the detection robot, and the detection robot is used for putting the vehicle-mounted base station in the advancing process; data collected by the detection robot can be directly transmitted to the remote control terminal or can be transmitted to the remote control terminal after being relayed and forwarded through the vehicle-mounted base station; and the backpack base station can transmit the data received by the remote control terminal to an external base station. According to the invention, the transmission performance is improved from the four aspects of frequency band, modulation, duplex and antenna, the anti-interference performance is realized, and the characteristics of long distance and high anti-interference performance are realized.

Description

Technical Field

[0001] The present invention relates to the field of coal mine detection, and particularly to a coal mine robot detection system and a working method thereof. Background Art

[0002] There are numerous coal mines in China, and more than two million people are engaged in mining-related dangerous positions. Due to reasons such as backward coal mine safety warning technology, weak coal mine production foundation, and insufficient safety awareness training, mine accidents occur frequently. After a coal mine fire occurs, affected by factors such as curved roadways, poisonous and harmful gas filling, and coal seam wave absorption, it is very difficult to accurately obtain information such as the location of trapped personnel underground and environmental parameters over a long distance in a short time. Therefore, a coal mine robot detection system is needed.

[0003] Chinese patent document with the publication number CN114924516A discloses a control system for a mine reconnaissance robot, which uses the wireless WiFi mode for transmission, has explosion-proof performance underground, and can realize wireless transmission among the robot, the base station, and the remote control terminal. However, there are problems such as inability to throw, susceptibility to interference, and insufficient obstacle avoidance ability.

[0004] Chinese patent document with the publication number CN114179127A discloses a throwable intrinsically safe self-releasing networking base station, which can realize wireless transmission after throwing, but there are problems such as large volume and possible inability to open during the throwing process. Summary of the Invention

[0005] The purpose of the present invention is to disclose a coal mine robot detection system and a working method thereof to solve the technical problems raised in the background art.

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

[0007] The present invention provides a coal mine robot detection system, including a detection robot, a vehicle-mounted base station, a remote control terminal, and a backpack base station;

[0008] The detection robot, the vehicle-mounted base station, the remote control terminal, and the backpack base station are all embedded with wireless modules, and the wireless modules can communicate with each other pairwise;

[0009] The wireless module communicates at a frequency of 1.4 GHz and uses QAM+OFDM for digital modulation and channel multiplexing;

[0010] The vehicle-mounted base station has an egg-shaped structure;

[0011] The vehicle-mounted base station is carried by the detection robot, and the detection robot is used to drop the vehicle-mounted base station during the forward movement;

[0012] The data collected by the detection robot can be directly transmitted to the remote control terminal or can be relayed through the vehicle-mounted base station and then transmitted to the remote control terminal;

[0013] The backpack base station can transmit the data received by the remote control terminal to the external base station.

[0014] Preferably, the detection robot includes a crawler-type mobile body, a navigation unit, an audio-video unit, a gas detection unit, and a base station pushing unit.

[0015] The crawler-type mobile body includes a traveling drive mechanism and a lithium battery;

[0016] The navigation unit includes a two-dimensional lidar, a three-dimensional lidar, an IMU, an odometer, and an industrial computer;

[0017] The audio-video unit includes a thermal imaging camera and a visible light camera;

[0018] The gas detection unit includes a methane detection device, an oxygen detection device, a carbon dioxide detection device, a nitrogen dioxide detection device, and a carbon monoxide detection device;

[0019] The base station pushing unit includes a pushing motor and a base station placing mechanism, and the pushing motor is used to drive the base station placing mechanism.

[0020] Preferably, the vehicle-mounted base station includes a wireless module, an intrinsically safe power supply, and an antenna.

[0021] Preferably, the backpack base station is carried by the staff or placed at a position where it can be connected to the external base station.

[0022] Preferably, the remote control terminal includes an intrinsically safe remote control box and an intrinsically safe tablet computer;

[0023] The intrinsically safe tablet computer is used to display the data collected by the detection robot, and the intrinsically safe remote control box is used to control the detection robot.

[0024] Preferably, the wireless module includes a radio frequency unit, a baseband processing unit, a power amplifier unit, a power supply unit, and an interface unit;

[0025] The radio frequency unit is responsible for signal transceiver, working frequency point setting, transmit power adjustment, receive AGC control, and fast frequency point switching;

[0026] The baseband processing unit is responsible for baseband signal processing and networking protocol control;

[0027] The power amplifier unit is responsible for power amplification in the transmit direction and low-noise amplification in the receive direction;

[0028] The power supply unit is responsible for providing intrinsically safe power for the remaining units;

[0029] The interface unit is used to implement parameter debugging of the base station and data interaction.

[0030] Preferably, the duplex mode of the wireless module is time-division duplex.

[0031] Preferably, the antenna of the wireless module is a fiberglass spring omnidirectional antenna.

[0032] The present invention also provides a working method for the above-mentioned coal mine robot detection system, including:

[0033] The first step is that the detection robot starts and self-checks;

[0034] The second step is that the wireless modules in the robot, vehicle-mounted base station, remote control terminal, and backpack base station are networked;

[0035] The third step is that the staff selects the working mode, and the working mode includes the daily inspection mode and the emergency rescue mode. If the daily inspection mode is selected, go to the fourth step; if the emergency rescue mode is selected, go to the fifth step;

[0036] The fourth step is that the staff manually remotely controls the robot to build a map of the inspection area using a 3D lidar. After the mapping is completed, the inspection point is selected through the remote control terminal, and then the detection robot inspects the inspection point;

[0037] The fifth step is that the staff checks the signal strength between the remote control terminal and the detection robot. When the signal strength value is lower than the set threshold, the staff sends a remote control command to the detection robot through the remote control terminal, and the detection robot pushes the first vehicle-mounted base station to the ground. After the base station lands, remotely control the detection robot to continue moving forward;

[0038] Represent the number of the vehicle-mounted base stations that have been thrown as n. The operator checks the signal strength between the nth base station that has been thrown and the detection robot through the remote control terminal. When the signal strength value is lower than the set threshold, the operator sends a remote control command to the detection robot, and the detection robot pushes the (n + 1)th vehicle-mounted base station to the ground. After the vehicle-mounted base station lands, remotely control the detection robot to continue moving forward. When all the vehicle-mounted base stations have been thrown and the signal strength between the detection robot and the last thrown vehicle-mounted base station is lower than the set threshold, remotely control the detection robot to return;

[0039] During the execution of the emergency rescue mode, the remote control terminal transmits the data collected by the detection robot to the backpack base station, and the backpack base station synchronously interacts information with the external base station of the external communication network.

[0040] Beneficial effects:

[0041] The present invention improves the transmission performance from four aspects: frequency band, modulation, duplex, and antenna, and adopts frequency hopping to prevent interference. Secondly, with the wireless module as the core, vehicle-mounted base stations, backpack base stations, and remote control terminals are designed respectively according to explosion-proof requirements. Among them, the vehicle-mounted base station has the shape of a "tumbler" and can keep the antenna upright after being thrown; the backpack base station has the characteristics of light weight and easy to carry; the remote control terminal integrates data, images, and voices, and has intrinsically safe design and is portable. Finally, a coal mine robot detection system is composed of coal mine robots, vehicle-mounted base stations, vehicle-mounted base stations, and remote control terminals. This system has the characteristics of being centerless and multi-hop.

[0042] In terms of frequency, 1.4G is selected because the lower the frequency of the wireless electromagnetic signal, the better the obstacle-passing ability. Therefore, the obstacle-passing performance of 1.4G is significantly better than that of 2.4G; in terms of modulation, key technologies such as OFDM and QAM are used to improve the ability to resist multipath effects and enhance the quality of wireless connections; in terms of duplex, time-division duplex TDD is selected to save spectrum resources; in terms of antenna, a high-quality fiberglass spring omnidirectional antenna is selected, which is not easy to break.

[0043] Intrinsically safe design, lightweight, high integration, and high real-time performance. Adopting key technologies such as OFDM (Orthogonal Frequency Division Multiplexing), it has the characteristics of long single-hop transmission distance, flexible networking, large data throughput, and strong anti-interference ability; the built-in commercial protocol LTE_TDD is stable and reliable, and by improving the integration and sensitivity, the system power consumption is reduced, the module size is reduced, and the requirements of the safety standard are met.

[0044] Based on the navigation scheme of high-precision lidar + IMU + odometer, it overcomes the defects that it is difficult to extract lane feature points of lidar, it is easy to distort during dynamic walking, and IMU drifts easily over time. The best navigation effect can be achieved through the combination of the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a schematic diagram of a coal mine robot detection system of the present invention.

[0047] Figure 2 It is a schematic diagram of the architecture of the baseband processing unit of the present invention.

[0048] Figure 3 It is a circuit diagram of a partial structure of the voltage step-down chip of the present invention.

[0049] Figure 4 This is the circuit diagram of the thyristor protection circuit of the present invention.

[0050] Figure 5 This is the schematic diagram of the explosion-proof structure of the wireless module of the present invention inside the flameproof chamber.

[0051] Figure 6 This is the schematic diagram of the intrinsically safe circuit of the intrinsically safe base station of the present invention.

[0052] Figure 7 This is the component distribution diagram of the vehicle-mounted base station battery protection board of the present invention.

[0053] Figure 8 This is the circuit schematic diagram of the vehicle-mounted base station battery protection board of the present invention.

[0054] Figure 9 This is the schematic diagram of the process of the working method of the coal mine robot detection system when the number of vehicle-mounted base stations is 2.

[0055] Figure 10 This is a schematic diagram of a grid-type network of the present invention.

[0056] Figure 11 This is a schematic diagram of the composition structure of the wireless module of the present invention. Detailed implementation manners

[0057] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0058] As Figure 1 , the present invention provides a coal mine robot detection system, including a detection robot, a vehicle-mounted base station, a remote control terminal, and a backpack base station;

[0059] The detection robot, the vehicle-mounted base station, the remote control terminal, and the backpack base station are all embedded with wireless modules, and the wireless modules can communicate with each other pairwise;

[0060] The wireless modules can form a grid-type network or a chain-type network pairwise.

[0061] The grid-type network is a network topology structure, in which each node (device) establishes a connection with other nodes in the network through direct or indirect connections. It can be a complete grid (each node is connected to all other nodes) or a partial grid (some nodes are connected to other nodes, forming a partially connected structure).

[0062] Figure 10 It is a schematic diagram of a mesh network. The numbers in the boxes are the device numbers, and the arrows indicate the data transmission directions. Each arrow has three parameters: signal strength, bandwidth, and channel. Figure 10 Only the parameters of one arrow are marked in it. In addition, the signal strength can also be distinguished by the color of the arrow. For example, when the signal is good, average, and poor, green arrows, yellow arrows, and red arrows can be used respectively;

[0063] A chain network, also called a bus network, is a network structure that connects all nodes through a single shared transmission medium (such as a cable or a wireless channel). The chain network structure is relatively simple and has only one transmission medium. Figure 1 What is shown in it is a kind of chain network.

[0064] The wireless module communicates at a frequency of 1.4 GHz and uses QAM+OFDM for digital modulation and channel multiplexing;

[0065] The vehicle-mounted base station presents an egg-shaped structure;

[0066] In one embodiment, the vehicle-mounted base station adopts the same egg-shaped structure as the patent 202111458239.X. In another embodiment, the egg-shaped structure of the present invention is composed of the housing, the upper cover, and the antenna in 202111458239.X. The antenna is fixed above the upper cover.

[0067] The vehicle-mounted base station is carried by a detection robot, and the detection robot is used to place the vehicle-mounted base station during the forward movement;

[0068] Specifically, the staff can control the placement of the vehicle-mounted base station according to the signal strength between the wireless modules on the remote control terminal display screen. For example, when it is found that the signal strength between the current base station and the previously placed base station is less than the set signal strength threshold, a new base station is placed.

[0069] The data collected by the detection robot can be directly transmitted to the remote control terminal or can be relayed and forwarded through the vehicle-mounted base station and then transmitted to the remote control terminal;

[0070] The backpack base station can transmit the data received by the remote control terminal to an external base station.

[0071] Both the mesh network and the chain network have the ability of two-way data transmission. Therefore, the remote control instructions issued by the staff can be transmitted to the detection robot through the established network.

[0072] It should be noted that the Figure 1Only two vehicle-mounted base stations are drawn in the figure, but it does not mean that the detection robot of the present invention can only carry two vehicle-mounted base stations. The detection robot of the present invention can carry a greater number of vehicle-mounted base stations according to the task requirements.

[0073] In terms of frequency, 1.4G is selected because the lower the frequency of the wireless electromagnetic signal, the better the obstacle bypassing performance. Therefore, the obstacle bypassing performance of 1.4G is significantly better than that of 2.4G.

[0074] In terms of modulation, key technologies such as OFDM and QAM are adopted to improve the ability to resist multipath effects and enhance the quality of wireless connection.

[0075] Preferably, the detection robot includes a crawler-type mobile body, a navigation unit, an audio-video unit, a gas detection unit, and a base station pushing unit.

[0076] The crawler-type mobile body includes a walking drive mechanism and a lithium battery.

[0077] The navigation unit includes a two-dimensional lidar, a three-dimensional lidar, an IMU, an odometer, and an industrial computer.

[0078] Two-dimensional lidar: Because the three-dimensional lidar is installed relatively high, it works with the two-dimensional lidar to complete obstacle avoidance and solve the problem of obstacle avoidance blind spots of the robot.

[0079] Three-dimensional lidar: Used for navigation mapping and obstacle avoidance.

[0080] IMU: Inertial navigation module, used for inertial navigation.

[0081] Odometer: Used to calculate the mileage of the robot's walking.

[0082] Industrial computer: Used to run navigation and positioning algorithms.

[0083] The audio-video unit includes a thermal imaging camera and a visible light camera.

[0084] The gas detection unit includes a methane detection device, an oxygen detection device, a carbon dioxide detection device, a nitrogen dioxide detection device, and a carbon monoxide detection device.

[0085] The base station pushing unit includes a pushing motor and a base station placing mechanism, and the pushing motor is used to drive the base station placing mechanism.

[0086] Based on the above structure, the data collected by the detection robot includes radar data, image data, and concentration data of gases such as methane, oxygen, and carbon monoxide.

[0087] External base stations include 3G base stations, 4G base stations, 5G base stations, etc.

[0088] Preferably, the vehicle-mounted base station includes a wireless module, an intrinsically safe power supply, and an antenna.

[0089] Preferably, the backpack base station is carried by a staff member or placed at a location where it can be connected to an external base station.

[0090] Preferably, the remote control terminal includes an intrinsically safe remote control box and an intrinsically safe tablet computer;

[0091] The intrinsically safe tablet computer is used to display the data collected by the detection robot, and the intrinsically safe remote control box is used to control the detection robot.

[0092] The operator can use the remote control terminal to control and dispatch the robot, and can also push the base station according to the signal strength value displayed on the display screen of the remote control terminal; the backpack base station can be inserted into the waistband of the rescue personnel or fixed at a certain place at the rescue site, and is interconnected with the external rescue network through an Ethernet cable. The present invention improves the transmission performance from four aspects of frequency band, modulation, duplex, and antenna, and has the characteristics of long distance, anti-interference, and high stability. It can be used for fixed-point autonomous inspection in daily life and for rescue detection in emergency situations.

[0093] Preferably, as Figure 11 shown, the wireless module includes a radio frequency unit, a baseband processing unit, a power amplifier unit, a power supply unit, and an interface unit;

[0094] The radio frequency unit is responsible for signal transmission and reception, working frequency point setting, transmit power adjustment, receive AGC control, and fast frequency point switching;

[0095] The baseband processing unit is responsible for baseband signal processing and networking protocol control;

[0096] The power amplifier unit is responsible for power amplification in the transmission direction and low-noise amplification in the reception direction;

[0097] The power supply unit is responsible for providing intrinsically safe power for the remaining units;

[0098] The interface unit is used to implement parameter debugging of the base station and data interaction.

[0099] Furthermore, the baseband processing unit of the wireless module is implemented by adopting a DSP+FPGA architecture, as Figure 2 .

[0100] The DSP realizes high-quality audio and video compression and decompression, provides rich interfaces, and real-time and stable data processing,

[0101] The FPGA realizes single-carrier frequency domain equalization technology for realizing wireless bidirectional data transmission.

[0102] The wireless bi-directional transmission module sends the data completed by DSP multiplexing to the single-carrier frequency-domain equalization physical layer implemented by FPGA through AEMIF, and then converts it into I and Q signals through DA and inputs them into the RF module. At the same time, the digital signals converted by the AD chip pass through the single-carrier frequency-domain equalization physical layer, and the received data is sent to the DSP through the AEMIF interface. In addition, it generates AGC control signals and transmit / receive switching control signals in coordination with the transceiver of the physical frame and works together with the RF module.

[0103] Underground wireless transmission is not only restricted by multiple factors such as rain fade, multipath effect, and interference from electromechanical products, but also requires light weight and low energy consumption to meet the requirements of lightweight explosion protection for the system.

[0104] Furthermore, the voltage step-down chip of the wireless module uses the ETA2893 chip, with an input voltage of 3.6V to 40V and an output of 5V. The remaining power supply circuits are all powered by converting 5V to a lower voltage, such as Figure 3 . The designed thyristor protection circuit is as Figure 4 .

[0105] The thyristor protection circuit consists of: FB self-resetting fuse (model FSMD100-1206R), rated current 1A, operating current 1.8A;

[0106] D37 and D38 (model LMSZ5233BT1G), both Zener diodes: These diodes determine the overvoltage value. When the power supply voltage exceeds the regulated value of 6V of the Zener diode (D37), the diode conducts (6V is to prevent mis-triggering of the thyristor). The thyristor conducts, the current increases, and the fuse blows to protect the backend circuit.

[0107] R292 and R294: These are pull-down resistors to ensure that the gate of the thyristor is grounded and is in the off state before the Zener diode conducts.

[0108] U34 and U35: Unidirectional thyristors, model BTB06-600CW.

[0109] This circuit has no mechanical moving parts and contacts of electrical components, has a longer service life than traditional relays, is not easily damaged, and has high reliability; it is small in size and suitable for lightweight circuit design.

[0110] Preferably, the duplex mode of the wireless module is time-division duplex.

[0111] Preferably, the antenna of the wireless module is a fiberglass spring omnidirectional antenna.

[0112] In terms of duplex, selecting time-division duplex TDD saves spectrum resources;

[0113] In terms of the antenna, a high-quality fiberglass spring omnidirectional antenna is selected, which is not easily broken.

[0114] The explosion-proof treatment of the present invention is as follows:

[0115] 1. Inside the robot:

[0116] The wireless module inside the robot vehicle body requires process treatments such as power isolation, signal isolation, and antenna extension cable to meet the explosion-proof requirements, such as Figure 5 .

[0117] (1) Power isolation treatment: According to the intrinsic safety parameters U i ≥U 0 , I i ≥I 0 , L i ≤L 0 , C i ≤C 0 Complete the selection of the power isolation module and the matching of the intrinsic safety circuit.

[0118] U i , I i , L i and C i respectively represent the maximum input voltage, current, capacitance, and inductance of the wireless module, and U 0 , I 0 , L 0 and C 0 respectively represent the maximum output voltage, current, capacitance, and inductance of the intrinsic safety power supply.

[0119] (2) Signal isolation: Ethernet port isolation

[0120] (3) Antenna isolation: Treat the antenna core and outer skin through a potted terminal sleeve so that an external explosion will not affect the inside of the cavity.

[0121] 2. Design of the intrinsic safety wireless base station:

[0122] The intrinsic safety wireless base station consists of a power supply, a power management system, a wireless transmission module, an antenna, etc.

[0123] From this, vehicle-mounted base stations, backpack base stations, and remote control terminals are derived and manufactured, such as Figure 6 .

[0124] The design of the power supply is as follows:

[0125] (1) 3 cells with a rated voltage of 3.7V, and the battery cells are recorded in the safety standard.

[0126] (2) Battery management system design:

[0127] The component distribution diagram of the battery protection board of the vehicle-mounted base station is as Figure 7as shown

[0128] The circuit of the in-vehicle base station battery protection board is as Figure 8 shown below:

[0129] The protection module uses JP1, a 3-cell lithium battery protection chip, and U2 dual NMOS transistors to form the first-stage protection. The second-stage protection uses JP2, a 3-cell lithium battery protection chip, and U3 dual NMOS transistors. The sampling resistors R10 and R20 are used for the first-stage and second-stage current sampling respectively. By changing their resistance values, the over-current protection value can be changed. The lithium battery protection chip has built-in reference voltage signals of 4.25V and 0.15V.

[0130] U1, U5, and U14 are single-cell lithium battery protection chips, which control three MOS transistors M1, M2, and M14 respectively to achieve the purpose of battery balancing.

[0131] The maximum current I 0 output from the battery protection board 0 = 1.0A, and the voltage U

[0132] The present invention also provides a working method for the above-mentioned coal mine robot detection system, including:

[0133] First step, the detection robot starts and self-checks;

[0134] Second step, the wireless modules in the robot, in-vehicle base station, remote control terminal, and backpack base station are networked;

[0135] Third step, the staff selects the working mode, which includes the daily inspection mode and the emergency rescue mode. If the daily inspection mode is selected, go to the fourth step; if the emergency rescue mode is selected, go to the fifth step;

[0136] Fourth step, the staff manually remotely controls the robot to map the inspection area using a 3D lidar. After the mapping is completed, the inspection points are selected through the remote control terminal, and then the detection robot inspects the inspection points;

[0137] The detection robot can automatically visit the inspection points one by one, and then collect relevant data according to the set inspection strategy at the inspection points, such as collecting the concentrations of various gases;

[0138] Fifth step, the staff checks the signal strength between the remote control terminal and the detection robot. When the signal strength value is lower than the set threshold, the staff sends a remote control command to the detection robot through the remote control terminal. The detection robot pushes the first in-vehicle base station to the ground. After the base station lands, the remote control detection robot continues to move forward;

[0139] Express the number of the thrown vehicle-mounted base stations as n. The operator checks the signal strength between the nth thrown base station and the detection robot through the remote control terminal. When the signal strength value is lower than the set threshold, the operator sends a remote control instruction to the detection robot, and the detection robot pushes the (n + 1)th vehicle-mounted base station to the ground. After the vehicle-mounted base station lands, the remote control detection robot continues to move forward. When all the vehicle-mounted base stations have been thrown and the signal strength between the detection robot and the last thrown vehicle-mounted base station is lower than the set threshold, the remote control detection robot returns;

[0140] During the execution of the emergency rescue mode, the remote control terminal transmits the data collected by the detection robot to the back-mounted base station, and the back-mounted base station synchronously exchanges information with the external base station of the external communication network.

[0141] Further, due to the limitation of communication bandwidth, the maximum value of n can be set to 5. When the number of vehicle-mounted base stations is 2, the working method of the coal mine robot detection system is as Figure 9 shown. In Figure 9 , whether the signal strength is sufficient refers to whether the signal strength is greater than the set signal strength threshold.

[0142] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A coal mine robot detection system, characterized in that: Including detection robots, vehicle-mounted base stations, remote control terminals and backpack base stations; The detection robot, vehicle-mounted base station, remote control terminal and backpack base station are all embedded with wireless modules, and the wireless modules can communicate with each other; The wireless module uses a 1.4GHz frequency for communication and QAM+OFDM for digital modulation and channel multiplexing; The vehicle-mounted base station has the structure of a tumbler; The vehicle-mounted base station is carried by a detection robot, which is used to deploy the vehicle-mounted base station while moving forward; The data collected by the detection robot can be directly transmitted to the remote control terminal or can be transmitted to the remote control terminal after being relayed by the vehicle-mounted base station; The piggyback base station can transmit the data received by the remote control terminal to the external base station.

2. A coal mine robot detection system according to claim 1, characterized in that: The detection robot includes a tracked mobile body, a navigation unit, an audio and video unit, a gas detection unit and a base station push unit. The crawler-type mobile body includes a travel drive mechanism and a lithium battery; The navigation unit includes 2D LiDAR, 3D LiDAR, IMU, odometer and industrial computer; The audio and video unit includes a thermal imaging camera and a visible light camera; The gas detection unit includes a methane detection device, an oxygen detection device, a carbon dioxide detection device, a nitrogen dioxide detection device, and a carbon monoxide detection device; The base station pushing unit comprises a pushing motor and a base station delivery mechanism, and the pushing motor is used to drive the base station delivery mechanism.

3. A coal mine robot detection system according to claim 1, characterized in that: The vehicle-mounted base station includes a wireless module, an intrinsically safe power supply and an antenna.

4. A coal mine robot detection system according to claim 1, characterized in that: The backpack base station is carried by staff or placed in a location where it can be connected to an external base station.

5. A coal mine robot detection system according to claim 1, characterized in that: The remote control terminal includes an intrinsically safe remote control box and an intrinsically safe tablet computer; The intrinsically safe tablet computer is used to display the data collected by the detection robot, and the intrinsically safe remote control box is used to control the detection robot.

6. A coal mine robot detection system according to claim 1, characterized in that: The wireless module includes a radio frequency unit, a baseband processing unit, a power amplifier unit, a power supply unit and an interface unit; The radio frequency unit is responsible for signal transmission and reception, operating frequency setting, transmission power adjustment, receiving AGC control and fast frequency switching; The baseband processing unit is responsible for baseband signal processing and networking protocol control; The power amplifier unit is responsible for power amplification in the transmitting direction and low noise amplification in the receiving direction; The power supply unit is responsible for providing intrinsically safe power to other units; The interface unit is used to realize parameter debugging of the base station and data interaction.

7. A coal mine robot detection system according to claim 1, characterized in that: The duplex mode of the wireless module is time division duplex.

8. A coal mine robot detection system according to claim 1, characterized in that: The antenna of the wireless module is a fiberglass spring omnidirectional antenna.

9. A working method of a coal mine robot detection system according to any one of claims 1 to 8, characterized in that: include: The first step is to start the detection robot and conduct self-check; The second step is to network the robot, vehicle-mounted base station, remote control terminal, and the wireless module in the backpack base station; The third step is for the staff to select a working mode, which includes a daily inspection mode and an emergency rescue mode. If the daily inspection mode is selected, the fourth step will be entered, and if the emergency rescue mode is selected, the fifth step will be entered; In the fourth step, the staff manually controls the robot to build a map of the patrol area using a 3D laser radar. After the map is built, patrol points are selected through the remote control terminal, and then the detection robot patrols the patrol points. Step 5: The staff checks the signal strength between the remote control terminal and the detection robot. When the signal strength value is lower than the set threshold, the staff sends a remote control command to the detection robot through the remote control terminal. The detection robot pushes the first vehicle-mounted base station to the ground. After the base station lands, the remote control detection robot continues to move forward. The number of vehicle-mounted base stations that have been thrown is represented as n. The operator checks the signal strength between the nth base station that has been thrown and the detection robot through the remote control terminal. When the signal strength value is lower than the set threshold, the operator sends a remote control command to the detection robot, and the detection robot pushes the n+1th vehicle-mounted base station to the ground. After the vehicle-mounted base station lands, the remote control detection robot continues to move forward. When all the vehicle-mounted base stations have been thrown and the signal strength between the detection robot and the last thrown vehicle-mounted base station is lower than the set threshold, the remote control detection robot returns; During the emergency rescue mode, the remote control terminal transmits the data collected by the detection robot to the backpack base station, and the backpack base station synchronously exchanges information with the external base station of the external communication network.

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