An intrinsic safety wireless charging type bionic visual inspection system and method in a coal mine underground

Abstract

The application relates to a kind of safety wireless charging type bionic visual inspection systems and methods in underground coal mine, the system includes walking mechanism, photoelectric pod, charging module, electrical control system, perception module, charging cabin and walking track, walking mechanism adopts the motor drive of symmetrical arrangement, realizes the stable operation of inspection system on walking track by the cooperation of walking wheel, auxiliary wheel and clamping device, photoelectric pod can be controlled to pitch and rotate, to make visual detection module monitor all-around, accurate surrounding environment, visual detection module includes visible light camera, infrared camera and laser radar and other sensor equipment, perception module includes laser dust sensor, illumination, temperature and humidity sensor and gas sensor, charging cabin is fixed on inspection track, can ensure that inspection robot is charged in a closed environment, can adapt to complex environment such as underground coal mine, realize comprehensive, real-time, accurate monitoring of environment, thereby improve production safety performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inspection robots in complex scenes, and particularly relates to a downhole intrinsically safe wireless charging type inspection system based on bionic vision in a complex work scene. BACKGROUND

[0002] The coal mine work environment is complex, and there are many potential safety hazards, such as gas accumulation, roof collapse, equipment failure, etc. The use of visual monitoring technology has greatly prevented the occurrence of coal mine underground faults and accidents, and has improved the automation and intelligent level of coal mine safety management. However, for the complex scenes such as fully mechanized mining and tunneling in coal mines, the environmental characteristics of high dust, high humidity and low illumination are easy to cause errors in the image acquisition and processing process of traditional visual detection technology, thereby reducing the accuracy and efficiency of the monitoring system. Therefore, it is of great significance to design a visual detection device that can adapt to the environment in coal mines to realize comprehensive, real-time and accurate monitoring of the mine environment for the safety and stable production of coal mines. SUMMARY

[0003] In order to overcome the above-mentioned deficiencies of the prior art, the present application provides a coal mine downhole intrinsically safe wireless charging type bionic vision inspection system and method.

[0004] The technical scheme adopted by the present application to solve its technical problems is:

[0005] A coal mine downhole intrinsically safe wireless charging type bionic vision inspection system, comprising a charging module, a photoelectric pod, a perception module, a charging cabin, and a walking mechanism capable of walking on a walking track, the charging module is installed at the bottom of the walking mechanism for powering the photoelectric pod, the perception module, and the walking mechanism, the photoelectric pod is installed at the bottom of the charging module, a visual detection module is arranged in the photoelectric pod, the visual detection module comprises a bionic vision module arranged in a trapezoidal shape, the bionic vision module comprises a visible light camera and a laser radar arranged at the near corner point of the trapezoidal shape, and an infrared camera arranged at the far corner point of the trapezoidal shape, the perception module is installed at the front end of the walking mechanism, the perception module comprises a laser dust sensor for detecting particulate matter concentration, an illuminance and humidity sensor for detecting air temperature and humidity, and a gas sensor for detecting the content of dangerous gases in the air, the charging cabin is arranged on the walking path of the walking mechanism corresponding to the walking track, and the charging cabin is used for realizing wireless charging of the charging module, and the perception module and the visual detection module are communicatively connected to an external terminal processor through a controller of the charging module.

[0006] Preferably, the walking mechanism comprises a motor seat, an explosion-proof housing, a servo motor mounted on the motor seat, an output shaft of the servo motor connected with a reducer through a change direction device, an output shaft of the reducer sequentially provided with an output shaft sleeve and a walking wheel matched with a walking track from bottom to top, four groups of auxiliary walking devices matched with the walking track and a pre-tightening mechanism matched with the walking mechanism symmetrically arranged on the upper end face of the explosion-proof housing.

[0007] Preferably, the change direction device comprises a protective shell connected with the motor seat, a pair of vertical and intermeshing bevel gears arranged in the protective shell, the bevel gears respectively mounted on the input shaft of the reducer and the output shaft of the servo motor, and the walking wheel fixed on the output shaft of the reducer through an expansion coupling sleeve.

[0008] Preferably, the auxiliary walking device comprises a base fixed on the upper end face of the explosion-proof housing, a side plate vertically mounted on the base, a bearing seat mounted on the side plate, a support wheel shaft connected with the bearing seat through a bearing, a support wheel mounted on the support wheel shaft and connected with the lower part of the walking track, a support wheel shaft sleeve corresponding to the support wheel arranged on the support wheel shaft, a top auxiliary wheel connecting plate connected with the bearing seat on the upper part of the side plate, an auxiliary wheel support connected with the top auxiliary wheel connecting plate through a spring, a top auxiliary wheel mounted on the auxiliary wheel support and connected with the upper part of the walking track, and two side auxiliary wheels mounted on the lower part of the side plate and connected with the side of the walking track.

[0009] Preferably, the top auxiliary wheel connecting plate is arranged in an F-shaped structure, the top auxiliary wheel connecting plate is provided with a buffer hole corresponding to the opening of the F-shaped structure, the auxiliary wheel support is arranged in an L-shaped structure corresponding to the top auxiliary wheel connecting plate, a spring fixing support rod is connected between the auxiliary wheel support and the top auxiliary wheel connecting plate, and the spring is fixed on the spring fixing support rod and arranged between the auxiliary wheel support and the top auxiliary wheel connecting plate, forming a spring buffer structure.

[0010] Preferably, the charging module comprises a battery compartment shell fixed with the explosion-proof housing of the walking mechanism, a lithium battery and a controller arranged in the battery compartment shell, and a receiving plate arranged outside the battery compartment shell, the lithium battery, the receiving plate and the controller are electrically connected.

[0011] Preferably, the optoelectronic pod comprises an upper connecting plate, a shell, a bearing platform, the upper connecting plate is connected with the battery compartment shell of the charging module through the robot bottom plate, the shell is fixed with the connecting plate through the base, the base is installed with the rudder one for controlling the shell to rotate along the horizontal direction, the shock absorbing device for ensuring the stability of the optoelectronic pod, the rudder one is fixed with the shell through the vertical support, the shell is installed with the rudder two for controlling the vertical rotation of the bearing platform, the rudder two is fixed with the bearing platform through the horizontal support, the bearing platform is correspondingly arranged inside the shell through the horizontal support, the visible light camera and the laser radar are installed on the upper part of the bearing platform, two infrared cameras are symmetrically installed on the lower part of the bearing platform, a fixed seat hinged with the bearing platform is fixed at the bottom of each infrared camera, an electric push rod fixed with the bearing platform is arranged between the two infrared cameras, two connecting rods are symmetrically connected with the front end of the electric push rod, and each connecting rod is hinged with a fixed seat; The lower part of the bearing platform is provided with a limiting rod corresponding to the fixed seat, the shell is provided with explosion-proof lenses corresponding to the visible light camera, the laser radar and the infrared camera, a dust removal device corresponding to the explosion-proof lenses, the dust removal device comprises a dust removal motor installed inside the shell, the dust removal motor is connected with a dust removal brush mounting shaft through a shaft coupling, the dust removal brush mounting shaft is installed with a boneless windshield wiper corresponding to the explosion-proof lenses, the shell is provided with a back cover corresponding to the bearing platform, the back cover is connected with the shell through screws, the back cover is provided with explosion-proof interfaces corresponding to the visible light camera, the laser radar and the infrared camera, and the rudder one, the rudder two, the explosion-proof interfaces, the electric push rod and the dust removal motor are in communication connection with the controller.

[0012] Preferably, the charging cabin comprises a base, a charging cabin shell fixed with the base, a drying device installed in the charging cabin shell and a wireless charging emitting plate, the upper part of the charging cabin shell is fixed with the track through the charging cabin fixing seat, the wireless charging emitting plate is fixed on one inner side wall of the charging cabin shell through the support, the drying device is installed on the other inner side wall of the charging cabin shell corresponding to the wireless charging emitting plate, the charging cabin shell is installed with left and right telescopic doors which can be automatically opened and closed, the base is connected with a telescopic door motor for controlling the opening and closing of the left and right telescopic doors through the motor base two, the left and right telescopic doors and the telescopic door motor are connected through a gear and rack transmission mechanism, the drying device comprises a drying device bottom plate fixed with the inner side wall of the charging cabin shell, the drying device bottom plate is correspondingly provided with a screw rod support seat one and a screw rod support seat two, a trapezoidal screw rod is correspondingly installed on the screw rod support seat one and the screw rod support seat two, the trapezoidal screw rod is connected with the motor fixed on the drying device bottom plate through a shaft coupling two, the trapezoidal screw rod is connected with two sliding blocks through connecting rods, and a fan is installed on the sliding block.

[0013] Preferably, the walking track is a narrow flange H-shaped steel track, the pre-tightening mechanism comprises a supporting seat, a sliding rod is threadedly connected to the supporting seat, a clamping block is mounted on the sliding rod, and a pre-tightening knob is arranged on the supporting seat and used for pushing the clamping block to slide along the sliding rod so as to pre-tighten the walking mechanism.

[0014] The calculation formula of the pre-tightening force is as follows:

[0015] μ0(F N1 +F N2 )≥mgsinα

[0016] Wherein, μ0 is the maximum static friction coefficient, F N1 ,F N2 is the normal pressure of the driving wheel on the track, m is the total mass of the part of the inspection robot, and α is the maximum climbing angle of the inspection system.

[0017] The application also provides a use method of the system, specifically comprising: when working, the walking mechanism is controlled to advance by the servo motor, the angle of the photoelectric pod is adjusted by the steering gear I and the steering gear II, so that the shooting angle of the bionic vision module is adjusted to obtain multi-directional data information; the visible light camera, the infrared camera, the laser radar, the laser dust sensor, the light intensity and humidity sensor and the gas sensor respectively transmit the acquired real-time image data, real-time position information, air particulate matter concentration, real-time monitoring environment temperature and real-time gas content to the controller; the controller transmits the data to the external terminal processor for further processing and analysis; when the power of the inspection robot is insufficient, the walking mechanism walks to the charging cabin to charge, and a wireless connection is established with the charging cabin; the inspection robot walks to a specified position in the charging cabin; after the sensor monitors that the surrounding environment meets the charging condition, the door of the charging cabin is closed, the charging of the inspection robot is started, after the charging is completed, the door of the charging cabin is opened, and the door of the charging cabin is closed when the walking mechanism leaves; when the bionic vision module is used to collect information, the following steps are specifically included:

[0018] S1, the dust concentration, dangerous gas content, temperature and humidity and light conditions of the site environment are detected by the laser dust sensor, the gas sensor and the light intensity and humidity sensor;

[0019] S2, when the light condition is good and the environment is dust-free (the light intensity is greater than 15lx, and the dust concentration is less than 2mg / m 3 ), the visible light camera and the laser radar work, the visible light camera is responsible for providing high-resolution color vision information, and the laser radar is used for obstacle detection;

[0020] S3, in a low-illumination and low-dust environment (the light intensity is less than 15lx, and the dust concentration is less than 2mg / m 3), the infrared camera and lidar work, and the infrared camera rotates outward 45° to obtain a wider field of view, thereby improving the perception of the surrounding environment;

[0021] S4, when the dust concentration is >2mg / m 3 When the visible light camera, two infrared cameras and lidar work simultaneously, the two infrared cameras are adjusted to be arranged in parallel, and the image resolution and clarity are improved through image fusion technology;

[0022] Beneficial effects:

[0023] Compared with the existing technology, the present invention's intrinsically safe wireless rechargeable bionic visual inspection system and method for underground coal mines has the following beneficial effects:

[0024] 1. The present invention uses multimodal perception technology that integrates visible light cameras, infrared cameras, and lidar, overcoming the shortcomings of traditional visual detection technology in image acquisition and processing, and achieving comprehensive perception of the underground coal mine environment, including surface defects, temperature anomalies, fire sources, heat sources, and three-dimensional spatial information.

[0025] 2. The inspection system of the present invention has a photoelectric pod with a two-degree-of-freedom pan-tilt head that can rotate up and down and left and right to ensure comprehensive monitoring of the surrounding environment. At the same time, the photoelectric pod is designed with a shock-absorbing device that can effectively absorb the vibration generated by the movement of the inspection system, ensure the stability of the visual detection module, and thus ensure the clarity and accuracy of the image.

[0026] 3. The inspection system of the present invention has a charging compartment and can be charged autonomously. Autonomous charging can solve the problem of traditional battery life and realize continuous work and long-term operation of the inspection robot. When the inspection robot is low on power, it can autonomously move to the charging compartment for wireless charging, ensuring the safety of the charging process and reducing safety risks.

[0027] 4. The inspection robot body, bionic visual photoelectric pod, and charging cabin of the underground intrinsically safe wireless rechargeable inspection system of the present invention adopt a modular design concept, so that it can quickly adapt to future technological developments and respond to market changes by replacing or upgrading specific modules.

[0028] 5. The inspection system of this invention features an auxiliary travel mechanism, which enhances the robot's stability and reliability on the track, ensuring smooth inspection tasks. Furthermore, the side panels and base of the auxiliary travel mechanism are bolted together, enabling rapid installation and removal of the intrinsically safe wireless rechargeable inspection system underground, reducing maintenance costs.

[0029] 6、The inspection system of the present application has laser dust sensors, light intensity temperature and humidity sensors, gas sensors and other sensors, which can monitor the downhole environmental parameters in real time and timely detect potential safety hazards. At the same time, the multi-sensor data provides more abundant information for data analysis, improving the inspection efficiency and accuracy.

[0030] 7、The inspection system of the present application adopts a double explosion-proof strategy of explosion-proof and intrinsic safety. For the main warehouse body of the track inspection system, we adopt an explosion-proof design, which can effectively isolate and limit the spread of explosion and prevent the explosion from spreading to the surrounding explosive environment, thereby protecting the safety of mine workers and the integrity of equipment. For some low-power electrical components in the system, such as sensors, controllers, etc., we adopt an intrinsic safety explosion-proof design, which eliminates the possibility of causing an explosion from the source and avoids the additional weight brought by the overuse of explosion-proof explosion-proof for the inspection system, ensuring the lightweight of the inspection system.

[0031] 8、The visual detection module is based on the unique visual mechanism of the rattlesnake, and has significant similarities with it in terms of working waveband, spatial layout, data fusion method, working mode and fusion strategy, etc., which are specifically manifested in:

[0032] 9、In terms of working waveband: both the bionic visual module and the rattlesnake's visual system can perceive electromagnetic radiation of different wavebands. The bionic visual module uses high-resolution visible light cameras to capture the surface features of target objects, infrared cameras to capture the infrared radiation emitted by objects, and laser radars to send and receive laser pulses to accurately measure the distance between the inspection system and the objects. The rattlesnake's visual system has visible light eyes (eyes) and thermal eyes (cheek pits), which can detect visible light signals through visible light eyes and capture the thermal radiation emitted by prey through thermal eyes.

[0033] 10、In terms of spatial layout: both the bionic visual module and the rattlesnake adopt a distributed layout. The rattlesnake's visual system as a whole presents a trapezoidal shape, with its eyes located on both sides of the head and a long distance between the two eyes to obtain a larger field of view and depth perception range. The cheek pits are located between the eyes and the nostrils below the head, with a small distance to better perceive the heat signals of the heat sources and prey in the environment. The visual system of the bionic visual module also presents a trapezoidal shape, with visible light cameras and laser radars distributed at the near corner points of the trapezoid, which can be beneficial to obtaining high-definition visual data and accurate depth information, and the infrared camera is located at the far corner point of the trapezoid, which can cover a wider field of view.

[0034] 11. In terms of data fusion, both the bionic vision module and the Sidewinder vision system utilize multi-sensor information fusion technology. Although the thermal and light sensing organs in the Sidewinder vision system are located in different locations, they can rapidly exchange and fuse information through bimodal cells in the optic tectum. In the bionic vision system, visible light cameras, infrared cameras, and lidar can all be aligned with the same target area for simultaneous data collection. This data is then fused through algorithms to improve the accuracy of target detection and recognition.

[0035] 12. Both the bionic vision module and the rattlesnake vision system have multiple operating modes. The rattlesnake's vision system processes and integrates information from different modalities through different cell types, enabling a more comprehensive perception of the environment. The bionic vision module designed in this paper has a system design that allows switching between three different operating modes to adapt to different underground coal mine environmental conditions.

[0036] 13. In terms of fusion strategy, the Sidewinder vision system can enhance or suppress infrared signals and visible light signals during image fusion. Before fusing the visible light image with the infrared image, the present invention uses a low-light image enhancement algorithm to enhance the underexposed or overexposed visible light image. To a certain extent, it overcomes the interference of factors such as uneven lighting in coal mines on the image, and improves the visual quality and scene adaptability of the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and examples.

[0038] Figure 1 A schematic diagram of an intrinsically safe wireless rechargeable bionic visual inspection system operating in a coal mine tunnel provided by an embodiment of the present invention;

[0039] Figure 2 A schematic structural diagram of an intrinsically safe wireless rechargeable bionic visual inspection system for underground coal mines provided by an embodiment of the present invention;

[0040] Figure 3 A schematic front view of the structure of the robot portion of an intrinsically safe wireless rechargeable bionic visual inspection system for underground coal mines provided by an embodiment of the present invention;

[0041] Figure 4 An axonometric view of a robot portion of an intrinsically safe wireless rechargeable bionic visual inspection system for underground coal mines provided by an embodiment of the present invention with the outer shell 8 removed;

[0042] Figure 5 A schematic diagram of the structure of an optoelectronic pod provided in an embodiment of the present invention;

[0043] Figure 6A front view schematic diagram of the optoelectronic pod provided by the embodiment of the present application;

[0044] Figure 7 A planar arrangement drawing of the infrared camera and the electric push rod provided by the embodiment of the present application;

[0045] Figure 8 A front view schematic diagram of the walking mechanism provided by the embodiment of the present application;

[0046] Figure 9 A structure schematic diagram of the auxiliary walking mechanism provided by the embodiment of the present application;

[0047] Figure 10 A front view schematic diagram of the auxiliary walking mechanism provided by the embodiment of the present application;

[0048] Figure 11 A structure schematic diagram of the pre-tightening mechanism provided by the embodiment of the present application;

[0049] Figure 12 A structure schematic diagram of the charging cabin provided by the embodiment of the present application;

[0050] Figure 13 A sectional view of the charging cabin provided by the embodiment of the present application;

[0051] Figure 14 A structure schematic diagram of the air-drying device provided by the embodiment of the present application;

[0052] Figure 15 A work flow chart of the coal mine underground intrinsic safety wireless charging type bionic visual inspection system provided by the embodiment of the present application;

[0053] Figure 16 A visible light image enhancement principle flow chart of the coal mine underground intrinsic safety wireless charging type bionic visual inspection system provided by the embodiment of the present application;

[0054] Figure 17 An obstacle avoidance principle diagram of the coal mine underground intrinsic safety wireless charging type bionic visual inspection system provided by the embodiment of the present application.

[0055] Mark number explanation:

[0056] 1,Optical pod; 101,Steering engine two; 102,Horizontal support; 103,Boneless windshield wiper; 104,Upper connecting plate; 105,Damping device; 106,Optical pod shell; 107,Electric push rod; 108,Infrared camera; 109,Visible light camera; 110,Coupling; 111,Dust removal brush mounting shaft; 112,Visible light camera base; 113,Base; 114,Steering engine one; 115,Vertical support; 116,Laser radar; 117,Laser radar fixing seat; 118,Horizontal base; 119,Infrared camera base; 120,Explosion-proof interface; 121,Rear cover; 2,Traveling mechanism; 201,Protective shell; 202,Direction changing device; 203,Speed reducer; 204,Output shaft sleeve; 205,Expansion coupling sleeve; 206,Traveling wheel; 207,Drive motor; 208,Drive motor motor base; 3,Supplementary traveling mechanism; 301,Supporting seat; 302,Sidewall; 303,Top supplementary wheel connecting plate; 304,Spring; 305,Top supplementary wheel; 306,Supporting wheel; 307,Bearing seat; 308,Supporting wheel shaft; 309,Bearing; 310,Spring fixing support rod; 311,Supplementary wheel support; 312,Supporting wheel sleeve; 313,Sidewall supplementary wheel; 4,Pre-tightening mechanism; 401,Pre-tightening knob; 402,Supporting seat; 403,Clamping block; 404,Slide rod; 5,Charging module; 501,Controller; 502,Battery pack; 503,Wireless charging receiving plate; 6,Charging cabin; 601,Charging cabin shell; 602,Air drying device; 603,Charging cabin bottom plate; 604,Motor base two; 605,Extension door motor; 606,Left extension door; 607,Support; 608,Wireless charging transmitting plate; 609,Charging cabin fixing seat; 610,Right extension door; 602-1,Air drying device bottom plate; 602-2,Screw rod supporting seat two; 602-3,Slide rail; 602-4,Trapezoidal screw rod; 602-5,Connecting rod; 602-6,Slide block; 602-7,Fan; 602-8,Motor; 602-9,Coupling two; 602-10,Screw rod supporting seat one; 7,Sensing module; 701,Gas sensor; 702,Laser dust sensor; 703,Illuminance, temperature and humidity sensor; 8,Explosion-proof shell; 9,Supplementary wheel protective shell; 10,Rail; 11,Battery compartment shell; 12,Robot bottom plate. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present application.

[0058] As Figures 1-17 shown in the figure, the embodiment of the application provides a coal mine underground intrinsic safety wireless charging type bionic visual inspection system and method.

[0059] A coal mine underground intrinsic safety wireless charging type bionic visual inspection system, comprising a charging module 5, a photoelectric pod 1, a sensing module 7, a charging cabin 6, a walking mechanism 2 capable of walking on a walking track 10, the charging module 5 is installed at the bottom of the walking mechanism 2 for powering the photoelectric pod 1, the sensing module 7 and the walking mechanism 2, the photoelectric pod 1 is installed at the bottom of the charging module 5, a visual detection module is arranged in the photoelectric pod 1, the visual detection module comprises a bionic visual module arranged in a trapezoidal shape, the bionic visual module comprises a visible light camera 109 and a laser radar 116 arranged at the near corner point of the trapezoidal shape, an infrared camera 108 arranged at the far corner point of the trapezoidal shape, the visible light camera 109 is responsible for shooting high-definition images, the infrared camera 108 is responsible for capturing infrared radiation to generate a thermal image by measuring the infrared radiation of the surface of an object, and the laser radar 116 is used to generate three-dimensional space information around the inspection system, the sensing module 7 is installed at the front end of the walking mechanism 2, the sensing module 7 comprises a laser dust sensor 702 for detecting particulate matter concentration, an illuminance temperature and humidity sensor 703 for detecting air temperature and humidity, and a gas sensor 701 for detecting the content of hazardous gases in the air, the charging cabin 6 is arranged on the walking path of the walking mechanism 2 corresponding to the walking track 10, the charging cabin 6 is used to realize wireless charging of the charging module 5, and the sensing module 7 and the visual detection module are in communication connection with an external terminal processor through a controller 501 of the charging module 5.

[0060] The walking mechanism 2 of the embodiment is also called an inspection robot.

[0061] The walking mechanism 2 comprises a motor seat 208 and an explosion-proof housing 8, a servo motor 207 is installed on the motor seat 208, an output shaft of the servo motor 207 is connected with a speed reducer 203 through a direction changing device 202, an output shaft of the speed reducer 203 is sequentially provided with an output shaft sleeve 204 and a walking wheel 206 matched with the walking track 10 from bottom to top, the explosion-proof housing 8 is arranged outside the walking mechanism 2, and four groups of auxiliary walking devices 3 matched with the walking track 10 and pre-tightening mechanisms 4 matched with the walking mechanism 2 are symmetrically arranged on the upper end face of the explosion-proof housing 8.

[0062] The speed reducer 203 uses a 3Z(II) type micro-planet speed reducer, which has the characteristics of compact planet transmission structure, high transmission efficiency and the like of the traditional planet speed reducer, and also has the characteristics of small size, light weight and small installation space brought by miniaturization. The transmission ratio calculation formula is:

[0063]

[0064] wherein z a , z b , z c are the number of teeth of the central wheel a, the internal gear b, the internal gear e respectively.

[0065] The thickness of the explosion-proof shell 8 is calculated according to the following formula

[0066]

[0067] wherein b is the length of the short side, k is the safety factor, C is the stress factor, P is the explosion pressure, δ T is the yield limit of the material;

[0068] The calculation formula of the pre-tightening force of the pre-tightening mechanism is as follows:

[0069] μ0(F N1 +F N2 ) >= mgsin alpha

[0070] wherein μ0 is the maximum static friction coefficient.

[0071] The walking track 10 is a narrow flange H-shaped steel track, the pre-tightening mechanism 4 comprises a support seat 402, a sliding rod 404 is threadedly connected to the support seat 402, a clamping block 403 is installed on the sliding rod 404, a pre-tightening knob 401 for pushing the clamping block 403 to slide along the sliding rod 404 and thereby pre-tightening the walking mechanism 2 is arranged on the support seat 402, and the pre-tightening mechanism 4 provides sufficient pre-tightening force for the inspection robot and prevents the sliding of the inspection robot on the track.

[0072] The turning device 202 comprises a protective shell 201 connected with the motor seat 208, a pair of vertically placed and mutually meshed bevel gears are arranged in the protective shell 201, the bevel gears are respectively installed on the input shaft of the speed reducer 203 and the output shaft of the servo motor 207, the upper part of the walking wheel 206 is fixed on the output shaft of the speed reducer 203 through the expansion coupling sleeve 205, and the turning device 202 changes the output direction of the servo motor 207 and makes the system layout more compact, so that the robot can move flexibly in a narrow track environment, and the outer side of the walking wheel 206 is provided with a rubber wheel sleeve, which can buffer the vibration and impact between the inspection robot and the track during walking, and improve the reliability and stability of the movement of the inspection robot.

[0073] The auxiliary walking device 3 comprises a base 301 fixed on the end surface of the explosion-proof shell 8, a side plate 302 vertically installed on the base 301, a bearing seat 307 installed on the side plate 302, a support wheel shaft 308 connected with the bearing seat 307 through a bearing 309, a support wheel 306 connected with the lower part of the walking track 10 and installed on the support wheel shaft 308, a support wheel shaft sleeve 312 corresponding to the support wheel 306 and arranged on the support wheel shaft 308, a top auxiliary wheel connecting plate 302 connected with the part of the upper part of the side plate 302 close to the bearing seat 307, an auxiliary wheel support 311 connected with the top auxiliary wheel connecting plate 302 through a spring 304, a top auxiliary wheel 305 connected with the upper part of the walking track 10 and installed on the auxiliary wheel support 311, and two side auxiliary wheels 313 installed on the lower part of the side plate 302 close to the bearing seat 307 and connected with the side of the walking track 10.

[0074] The top auxiliary wheel connecting plate 302 is arranged in an F-shaped structure, the top auxiliary wheel connecting plate 302 is provided with a buffer hole 313 corresponding to the opening of the F-shaped structure, the auxiliary wheel support 311 is arranged in an L-shaped structure corresponding to the top auxiliary wheel connecting plate 302, a spring fixing support rod 310 is connected between the auxiliary wheel support 311 and the top auxiliary wheel connecting plate 302, and the spring 304 is fixed on the spring fixing support rod 310 and arranged between the auxiliary wheel support 311 and the top auxiliary wheel connecting plate 302, forming a spring buffer structure.

[0075] The charging module 5 comprises a battery compartment shell 11 fixed with the explosion-proof shell 8 of the walking mechanism 2, a lithium battery 502 and a controller 501 arranged in the battery compartment shell 11, and a receiving plate 503 arranged outside the battery compartment shell 11, the lithium battery 502, the receiving plate 503 and the controller 501 are electrically connected, the receiving plate 503 can receive electric energy, convert a high-frequency magnetic field into a high-frequency current and deliver the high-frequency current to the controller 501, the controller 501 can control charging, convert the received high-frequency alternating current into direct current, control the voltage and current of the charging and the opening and closing state of the charging, and finally deliver the current to the lithium battery 502 for charging, and the charging module 5 realizes wireless power supply by using the magnetic resonance principle.

[0076] The optoelectronic pod 1 comprises an upper connecting plate 104, a shell 106, a bearing platform 118, the upper connecting plate 104 is connected with the battery compartment shell 11 of the charging module 5 through the robot bottom plate 12, the shell 106 is fixed with the connecting plate 104 through the base 113, the base 113 is provided with a rudder 114 for controlling the shell 106 to rotate in the horizontal direction, a damping device 105 for stabilizing the optoelectronic pod, the base 113 is provided with four damping devices 105 for stabilizing the optoelectronic pod around, the damping device 105 adopts the existing product or structure known to those skilled in the art, and specifically comprises a copper column, a damping ball and a damping device bottom plate, the damping principle of the damping device 105 is based on the elasticity and vibration absorption capacity of the damping ball, the rudder 114 is fixed with the shell 106 through a vertical support 115, the shell 106 is provided with a rudder 101 for controlling the vertical rotation of the bearing platform 118, the rudder 101 is fixed with the bearing platform 118 through a horizontal support 102, the bearing platform 118 is correspondingly arranged inside the shell 106 through the horizontal support 102, the visible light camera 109 and the laser radar 116 are installed on the upper part of the bearing platform 118, two infrared cameras 108 are symmetrically installed on the lower part of the bearing platform 118, a fixed seat 119 is fixed at the bottom of each infrared camera 108 and is hinged with the bearing platform 118, an electric push rod 107 is arranged between the two infrared cameras 108 and is fixed with the bearing platform 118, the front end of the electric push rod 107 is symmetrically connected with two connecting rods, and each connecting rod is hinged with a fixed seat 119; a limiting rod corresponding to the fixed seat 119 is arranged on the lower part of the bearing platform 118, the shell 106 is provided with explosion-proof lenses corresponding to the visible light camera 109, the laser radar 116 and the infrared camera 108, a dust removal device corresponding to the explosion-proof lenses, the dust removal device comprises a dust removal motor installed inside the shell 106, the dust removal motor is connected with a dust removal brush mounting shaft 111 through a shaft coupling 110, the dust removal brush mounting shaft 111 is provided with a boneless windshield wiper 103 corresponding to the explosion-proof lenses, the shell 106 is provided with a rear cover 121 corresponding to the bearing platform 118, the rear cover 121 is connected with the shell 106 through screws, the rear cover 121 is provided with explosion-proof interfaces 120 corresponding to the visible light camera 109, the laser radar 116 and the infrared camera 108, the rudder 114, the rudder 101, the explosion-proof interface 120, the electric push rod 107 and the dust removal motor are in communication connection with the controller 501. The optoelectronic pod can control the visual detection module to pitch and rotate, so as to realize shooting in different directions and increase the situation awareness range.

[0077] The charging cabin 6 comprises a base 603, a charging cabin shell 601 fixed with the base 603, a air-drying device 602 installed in the charging cabin shell 601, a wireless charging transmitting plate 608, the upper part of the charging cabin shell 601 is fixed with the track 10 through a charging cabin fixing seat 609, the wireless charging transmitting plate 608 is fixed on an inner side wall of the charging cabin shell 601 through a support 607, the air-drying device 602 is installed on another inner side wall of the charging cabin shell 601 corresponding to the wireless charging transmitting plate 608, the charging cabin shell 601 is provided with a left telescopic door 606 and a right telescopic door 610 which can be automatically opened and closed, the base 603 is connected with a telescopic door motor 605 for controlling the opening and closing of the left telescopic door 606 and the right telescopic door 610 through a motor seat two 604, the left telescopic door 606 and the right telescopic door 610 are connected with the telescopic door motor 605 through a gear and rack transmission mechanism, the air-drying device 602 comprises an air-drying device bottom plate 602-1 fixed with the inner side wall of the charging cabin shell 601, the air-drying device bottom plate 602-1 is provided with a screw rod support seat one 602-10 and a screw rod support seat two 602-2 corresponding, the screw rod support seat one 602-10 and the screw rod support seat two 602-2 are respectively provided with a trapezoidal screw rod 602-4, the trapezoidal screw rod 602-4 is connected with a motor 602-8 fixed on the air-drying device bottom plate 602-1 through a coupling two 602-9, the trapezoidal screw rod 602-4 is connected with two sliding blocks 602-6 through a connecting rod 602-5, the sliding blocks 602-6 are provided with fans 602-7, and the air-drying device bottom plate 602-1 is provided with slide rails 602-3 corresponding to the sliding blocks 602-6.

[0078] The air-drying device 602 is used for air-drying the robot entering into the charging cabin 6, so as to reduce the influence of water vapor and the like on the charging of the robot.

[0079] The photoelectric pod 1, steering engine two 101, horizontal support 102, boneless windshield wiper 103, upper connecting plate 104, damping device 105, photoelectric pod shell 106, electric push rod 107, infrared camera 108, visible light camera 109, shaft coupling 110, dust removal brush mounting shaft 111, visible light camera base 112, base 113, steering engine one 114, vertical support 115, laser radar 116, laser radar fixing seat 117, horizontal base 118, infrared camera base 119, explosion-proof interface 120, rear cover 121, walking mechanism 2, protective shell 201, direction changing device 202, speed reducer 203, output shaft sleeve 204, expansion coupling sleeve 205, walking wheel 206, drive motor 207, drive motor motor seat 208, auxiliary walking mechanism 3, support seat 301, side plate 302, top auxiliary wheel connecting plate 303, spring 304, top auxiliary wheel 305, support wheel 306, bearing seat 307, support wheel shaft 308, bearing 309, support wheel shaft sleeve 312, side auxiliary wheel 313, pre-tightening mechanism 4, pre-tightening knob 401, support seat 402, clamping block 403, sliding rod 404, charging module 5, controller 501, battery pack 502, wireless charging receiving plate 503, charging cabin 6, charging cabin shell 601, air drying device 602, charging cabin bottom plate 603, motor seat two 604, telescopic door motor 605, left telescopic door 606, support 607, wireless charging transmitting plate 608, charging cabin fixing seat 609, right telescopic door 610, air drying device bottom plate 602-1, lead screw support seat two 602-2, sliding rail 602-3, trapezoidal lead screw 602-4, connecting rod 602-5, sliding block 602-6, fan 602-7, motor 602-8, shaft coupling two 602-9, lead screw support seat one 602-10, sensing module 7, gas sensor 701, laser dust sensor 702, light intensity and humidity sensor 703, explosion-proof shell 8, auxiliary wheel protection shell 9, track 10, battery compartment shell 11, robot bottom plate 12 in the present example are not disclosed The structure adopts the existing product or structure familiar to those skilled in the art, and the related connection mode and control mode adopt the existing connection mode and control mode familiar to those skilled in the art.

[0080] The embodiment also provides a use method of the system, and specifically includes the following steps:

[0081] 1. detecting the dust concentration, the dangerous gas content, the temperature and humidity, and the light conditions of the field environment by the laser dust sensor (702), the gas sensor (701), and the light intensity and humidity sensor (703);

[0082] 2. when the light condition is good and the environment is dust-free (the light intensity is greater than 15 lx, and the dust concentration is less than 2 mg / m 3 ), the visible light camera (109) and the laser radar (116) work, the visible light camera (109) is responsible for providing high-resolution color vision information, and the laser radar (116) is used for obstacle detection;

[0083] 3. when the light condition is low and the environment is low in dust (the light intensity is less than 15 lx, and the dust concentration is less than 2 mg / m 3 ), the infrared camera (108) and the laser radar (116) work, the infrared camera (108) rotates outward by 45° to obtain a wider field of view, thereby improving the perception ability to the surrounding environment;

[0084] The field of view angle of the visible light camera (109) and the infrared camera (108) is calculated by the formula:

[0085]

[0086] wherein H FOV and V FOV are the horizontal field of view angle and the vertical field of view angle of the camera respectively, w is the width of the CCD chip;

[0087] h is the height of the CCD chip; and f is the focal length of the camera lens.

[0088] 4、In the dust concentration > 2mg / m 3 When the dust concentration > 2mg / m

[0089] The visual detection module of the embodiment is based on the unique visual mechanism of the rattlesnake, and has significant similarities with it in the working waveband, spatial layout, data fusion method and working mode:

[0090] In the working waveband: the bionic visual module and the visual system of the rattlesnake can perceive electromagnetic radiation of different wavebands; the bionic visual module uses high-resolution visible light cameras to capture the surface features of the target object; through infrared cameras to capture the infrared radiation emitted by the object; and through laser radar to send and receive laser pulses to accurately measure the distance between the inspection system and the object; the rattlesnake visual system has a visible light eye (eye) and a thermal eye (cheek), which can detect visible light signals through the visible light eye and capture the heat radiation emitted by the prey through the thermal eye, and can better capture environmental information.

[0091] In the spatial layout: the bionic visual module and the rattlesnake both adopt distributed layout. The rattlesnake visual system as a whole presents a trapezoidal shape, with the eyes located on both sides of the head and the distance between the two eyes being far apart to obtain a larger field of view and depth perception range. The cheek is located between the eye and the nostril below the head, with a small distance to better perceive the heat signal of the heat source and prey in the environment. The visual system of the bionic visual module also presents a trapezoidal shape, with the visible light camera and the laser radar distributed at the near corner point of the trapezoid, which can be beneficial to obtain high-definition visual data and accurate depth information, and the infrared camera is located at the far corner point of the trapezoid, which can cover a wider field of view.

[0092] In the data fusion method, the bionic visual module and the rattlesnake visual system both adopt multi-sensor information fusion technology. Although the heat perception and light perception organs in the rattlesnake visual system are distributed in different positions, they can exchange and fuse information quickly through the optic tectum dual-mode cells; in the bionic visual system, the visible light camera, the infrared camera and the laser radar can be aimed at the same target area together to realize synchronous data acquisition, and these data can be fused through algorithm to improve the accuracy of target detection and recognition;

[0093] In terms of working mode, both the bionic vision module and the rattlesnake vision system have multiple working modes: the rattlesnake vision system can process and integrate information from different modalities through different types of cells to perceive the environment more comprehensively; the bionic vision module of the embodiment has a system design that allows switching between three different working modes, which can adapt to different underground coal mine environmental conditions.

[0094] The advantages of the present application are as follows: (1) The present application uses a multi-modal perception technology that fuses visible light cameras, infrared cameras and lidar, which can reduce errors in the image acquisition and processing process of traditional visual detection technology in high-dust, high-humidity and low-illumination environments, realize multi-dimensional perception of the underground coal mine environment, including surface defects, temperature anomalies, fire sources, heat sources and three-dimensional spatial information, and can improve the accuracy and efficiency of the monitoring system.

[0095] (2) The vision detection module in the optoelectronic pod has multiple degrees of freedom, which can rotate up and down and left and right, and can better realize comprehensive monitoring of the surrounding environment. At the same time, the optoelectronic pod is designed with a damping device that can effectively absorb the vibration generated by the movement of the inspection system, ensuring the stability of the vision detection module and thus the clarity and accuracy of the images.

[0096] (3) The present application is provided with a charging cabin and can autonomously charge the inspection equipment, which can effectively solve the problem of battery endurance and realize the continuous work and long-term operation of the inspection robot. When the inspection robot is low on power, it can autonomously move to the inside of the charging cabin for wireless charging, which can better ensure the safety of the charging process and reduce safety risks.

[0097] (4) The vision detection module of the present application adopts a bionic vision module arranged in a trapezoidal shape, which is based on the unique visual mechanism of the rattlesnake. It can capture infrared radiation emitted by objects through infrared cameras, and accurately measure the distance between the inspection system and objects by sending and receiving laser pulses through lidar. In the trapezoidal arrangement, the visible light cameras and lidar are distributed at the near-angle points of the trapezoid, which can facilitate the acquisition of high-definition visual data and accurate depth information. The infrared camera is located at the far-angle point of the trapezoid, which can cover a wider field of view. The visible light cameras, infrared cameras and lidar can be aligned to the same target area for synchronous data acquisition. These data can be fused through algorithms to improve the accuracy of target detection and recognition. The bionic vision module system can switch between different working modes in three different working environments, which can adapt to different underground coal mine environmental conditions.

[0098] The above content is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification and equivalent change made on the basis of the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. An intrinsically safe wireless charging type bionic visual inspection system for underground coal mine, comprising a charging module (5), a photoelectric pod (1), a sensing module (7), a charging cabin (6), a walking mechanism (2) capable of walking on a walking track (10), the charging module (5) is installed at the bottom of the walking mechanism (2) for supplying power to the photoelectric pod (1), the sensing module (7) and the walking mechanism (2), the photoelectric pod (1) is installed at the bottom of the charging module (5), a visual detection module is arranged in the photoelectric pod (1), the visual detection module comprises a bionic visual module arranged in a trapezoidal shape, the bionic visual module comprises a visible light camera (109) and a laser radar (116) arranged at the near corner point of the trapezoidal shape, an infrared camera (108) arranged at the far corner point of the trapezoidal shape, the sensing module (7) is installed at the front end of the walking mechanism (2), the sensing module (7) comprises a laser dust sensor (702) for detecting particulate matter concentration, an illuminance and humidity sensor (703) for detecting air temperature and humidity, and a gas sensor (701) for detecting the content of dangerous gases in the air, the charging cabin (6) is arranged on the walking path of the walking mechanism (2) corresponding to the walking track (10), the charging cabin (6) is used to realize wireless charging of the charging module (5), the sensing module (7) and the visual detection module are connected in communication with an external terminal processor through a controller (501) of the charging module (5); a second steering wheel (101) for controlling the vertical rotation of the bearing platform (118) is installed on the shell (106), the second steering wheel (101) is fixed with the bearing platform (118) through a horizontal support (102), the bearing platform (118) is arranged inside the shell (106) through the horizontal support (102), the visible light camera (109) and the laser radar (116) are installed on the upper part of the bearing platform (118), two infrared cameras (108) are symmetrically installed on the lower part of the bearing platform (118), a fixed seat (119) hinged with the bearing platform (118) is fixed at the bottom of each infrared camera (108), an electric push rod (107) fixed with the bearing platform (118) is arranged between the two infrared cameras (108), two connecting rods are symmetrically connected at the front end of the electric push rod (107), and each connecting rod is hinged with a fixed seat (119).The lower part of the bearing platform (118) is provided with a limiting rod corresponding to the fixing seat (119), the shell (106) is provided with an explosion-proof lens corresponding to the visible light camera (109), the laser radar (116) and the infrared camera (108), a dust removal device corresponding to the explosion-proof lens, the dust removal device comprises a dust removal motor mounted in the shell (106), the dust removal motor is connected with a dust removal brush mounting shaft (111) through a shaft coupling (110), the dust removal brush mounting shaft (111) is provided with a boneless windshield wiper (103) corresponding to the explosion-proof lens, the shell (106) is provided with a rear cover (121) corresponding to the bearing platform (118), the rear cover (121) is connected with the shell (106) through screws, the rear cover (121) is provided with an explosion-proof interface (120) connected with the visible light camera (109), the laser radar (116) and the infrared camera (108), the rudder one (114), the rudder two (101), the explosion-proof interface (120), the electric push rod (107) and the dust removal motor are in communication connection with the controller (501).

2. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 1, characterized in that: The walking mechanism (2) includes a motor seat (208), an explosion-proof housing (8), the servo motor (207) is installed on the motor seat (208), the output shaft of the servo motor (207) is connected with the speed reducer (203) through the change direction device (202), the output shaft of the speed reducer (203) is sequentially provided with an output shaft sleeve (204) from bottom to top, a walking wheel (206) matched with the walking track (10), the explosion-proof housing (8) is arranged outside the walking mechanism (2), four sets of auxiliary walking devices (3) matched with the walking track (10) and the pre-tightening mechanism (4) matched with the walking mechanism (2) are symmetrically arranged on the upper end face of the explosion-proof housing (8), the change direction device (202) includes a protective shell (201) connected with the motor seat (208), a pair of vertical and intermeshing bevel gears are arranged in the protective shell (201), the bevel gears are respectively installed on the input shaft of the speed reducer (203) and the output shaft of the servo motor (207), and the walking wheel (206) is fixed on the output shaft of the speed reducer (203) through the expansion coupling sleeve (205) on the upper portion.

3. The intrinsically safe wireless charging type bionic visual inspection system for underground coal mine according to claim 2, characterized in that The auxiliary walking device (3) includes a base (301) fixed on the upper end face of the explosion-proof housing (8), a side plate (302) is vertically installed on the base (301), a bearing seat (307) is installed on the side plate (302), the bearing seat (307) is connected with a support wheel shaft (308) through a bearing (309), a support wheel (306) connected with the lower portion of the walking track (10) is installed on the support wheel shaft (308), a support wheel shaft sleeve (312) corresponding to the support wheel (306) is arranged on the support wheel shaft (308), a top auxiliary wheel connecting plate (303) is connected to the part of the upper portion of the side plate (302) close to the bearing seat (307), an auxiliary wheel support (311) is connected to the top auxiliary wheel connecting plate (303) through a spring (304), a top auxiliary wheel (305) connected with the upper portion of the walking track (10) is installed on the auxiliary wheel support (311), two side auxiliary wheels (313) are installed on the part of the lower portion of the side plate (302) close to the bearing seat (307), and the side auxiliary wheels (313) are connected with the side of the walking track (10).

4. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 3, characterized in that: The top auxiliary wheel connecting plate (303) is arranged in an F-shaped structure, the top auxiliary wheel connecting plate (303) is provided with a buffer hole corresponding to the opening of the F-shaped structure, the auxiliary wheel support (311) is arranged in an L-shaped structure corresponding to the top auxiliary wheel connecting plate (303), a spring fixing support rod (310) is connected between the auxiliary wheel support (311) and the top auxiliary wheel connecting plate (303), and the spring (304) is fixed on the spring fixing support rod (310) and arranged between the auxiliary wheel support (311) and the top auxiliary wheel connecting plate (303), forming a spring buffer structure.

5. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 1, characterized in that: The charging module (5) comprises a battery compartment shell (11) fixed with the explosion-proof shell (8) of the walking mechanism (2), a lithium battery (502) and a controller (501) arranged in the battery compartment shell (11), and a receiving plate (503) arranged outside the battery compartment shell (11), wherein the lithium battery (502), the receiving plate (503) and the controller (501) are electrically connected.

6. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 4, characterized in that: The optoelectronic pod (1) comprises an upper connecting plate (104), a shell (106) and a bearing platform (118), the upper connecting plate (104) is connected with the battery compartment shell (11) of the charging module (5) through the robot bottom plate (12), the shell (106) is fixed with the upper connecting plate (104) through the base (113), the base (113) is provided with a rudder one (114) for controlling the rotation of the shell (106) in the horizontal direction and a damping device (105) for stabilizing the optoelectronic pod, and the rudder one (114) is fixed with the shell (106) through a vertical support (115).

7. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 1, characterized in that: The charging cabin (6) comprises a base (603), a charging cabin shell (601) fixed with the base (603), a air-drying device (602) installed in the charging cabin shell (601), and a wireless charging transmitting plate (608), the upper part of the charging cabin shell (601) is fixed with the walking track (10) through a charging cabin fixing seat (609), the wireless charging transmitting plate (608) is fixed on an inner side wall of the charging cabin shell (601) through a support (607), the air-drying device (602) is installed on another inner side wall of the charging cabin shell (601) corresponding to the wireless charging transmitting plate (608), the charging cabin shell (601) is provided with a left telescopic door (606) and a right telescopic door (610) capable of being automatically opened and closed, the base (603) is connected with a telescopic door motor (605) for controlling the opening and closing of the left telescopic door (606) and the right telescopic door (610) through a motor seat two (604), gear and rack transmission mechanisms are adopted to connect the left telescopic door (606) and the right telescopic door (610) and the telescopic door motor (605), the air-drying device (602) comprises an air-drying device bottom plate (602-1) fixed with the inner side wall of the charging cabin shell (601), a lead screw support seat one (602-10) and a lead screw support seat two (602-2) are correspondingly arranged on the air-drying device bottom plate (602-1), a trapezoidal lead screw (602-4) is correspondingly installed on the lead screw support seat one (602-10) and the lead screw support seat two (602-2), the trapezoidal lead screw (602-4) is connected with a motor (602-8) fixed on the air-drying device bottom plate (602-1) through a coupling two (602-9), the trapezoidal lead screw (602-4) is connected with two sliding blocks (602-6) through a connecting rod (602-5), a fan (602-7) is installed on the sliding block (602-6), and a sliding rail (602-3) corresponding to the sliding block (602-6) is installed on the air-drying device bottom plate (602-1).

8. The intrinsic safety wireless charging type bionic visual inspection system in a coal mine according to claim 2, characterized in that: The walking track (10) is a narrow flange H-shaped steel track, the pre-tightening mechanism (4) comprises a support seat (402), a sliding rod (404) is threadedly connected to the support seat (402), a clamping block (403) is installed on the sliding rod (404), and a pre-tightening knob (401) for pushing the clamping block (403) to slide along the sliding rod (404) and pre-tightening the walking mechanism (2) is arranged on the support seat (402).

9. The method of using an intrinsically safe wireless rechargeable bionic vision inspection system for underground coal mines of claim 1, wherein: Specifically comprising: In operation, the walking mechanism (2) is controlled to move forward by the servo motor (207), the angle of the photoelectric pod (1) is adjusted by the steering engine (114) and the steering engine (114) to adjust the shooting angle of the bionic vision module to obtain multi-directional data information; the visible light camera (109), the infrared camera (108), the laser radar (116), the laser dust sensor (702), the light intensity and humidity sensor (703), and the gas sensor (701) respectively transmit the acquired real-time image data, real-time position information, air particulate matter concentration, real-time monitoring environment temperature, and real-time gas content to the controller (501); the controller (501) transmits the data to an external terminal processor for further processing and analysis; when the power of the inspection robot is insufficient, the walking mechanism (2) walks to the charging cabin (6) to charge, and establishes a wireless connection with the charging cabin (6); the inspection robot walks to a designated position inside the charging cabin (6), the cabin door of the charging cabin (6) is closed after the sensor detects that the surrounding environment meets the charging condition, and the charging of the inspection robot is started; after the charging is completed, the cabin door of the charging cabin (6) is opened, and the cabin door of the charging cabin (6) is closed when the walking mechanism (2) leaves; when the bionic vision module is used to collect information, the following steps are included: S1, detecting the dust concentration, dangerous gas content, temperature and humidity, and light conditions of the site environment by the laser dust sensor (702), the gas sensor (701), and the light intensity and humidity sensor (703); S2, in the good light and no dust environment, i.e. light intensity > 15lx, dust concentration < 2mg / m 3 When the light intensity is greater than 15lx and the dust concentration is less than 2mg / m, the visible light camera (109) and the laser radar (116) work. The visible light camera (109) is responsible for providing high-resolution color vision information, and the laser radar (116) is used for obstacle detection. S3, in low illumination low dust environment, that is, the light intensity <15lx, the dust concentration <2mg / m 3 When, the infrared camera (108) and the laser radar (116) work, the infrared camera (108) rotates outward by 45° to obtain a wider field of view, thereby improving the perception ability to the surrounding environment; S4, when the dust concentration > 2mg / m 3 When the dust concentration > 2mg / m, the visible light camera (109), two infrared cameras (108), and the laser radar (116) work simultaneously, and the two infrared cameras (108) are adjusted to be arranged in parallel to improve the resolution and clarity of the image through image fusion technology.

Images