Robot for underground cultural relic detection

Abstract

The invention relates to a robot for underground cultural relic exploration, and belongs to the technical field of geological cultural relic exploration. The robot comprises a pair of moving single joints, a deformation driving single joint arranged between the moving single joints, a rotary connecting mechanism for connecting the moving single joints and the deformation driving single joint, and a detection module. The robot is driven by the rotary connecting mechanism, the robot can be flexibly switched between a linear chain type configuration and a U-shaped configuration, the first configuration facilitates entering a coffin chamber through a small-diameter detection hole, and the second configuration optimizes the moving stability and the detection range in the coffin chamber. The mobile single section adopts a Mecanum wheel to realize omnidirectional movement, and the detection module integrates a camera and a gas sensor and is used for multi-angle image acquisition and gas component analysis. The problems that traditional detection equipment is large in size and insufficient in flexibility are solved, efficient and accurate detection of the internal environment of the coffin chamber can be achieved on the premise of minimizing environment interference, and a reliable technical means is provided for cultural relic protection and archaeological research.

Description

Technical Field

[0001] This invention relates to the field of geological and cultural relic exploration technology, specifically to a robot for detecting underground cultural relics. Background Technology

[0002] Geological artifacts are relics and remains left behind by humankind throughout history. Various artifacts reflect different aspects of human social activities, social relations, ideologies, and the utilization and transformation of nature and the ecological environment at different historical periods. They are invaluable historical and cultural heritage. The protection, management, and scientific research of artifacts are of great significance for understanding our own history and creative power, revealing the objective laws of human social development, and understanding and promoting the development of contemporary and future societies. The exploration of underground ancient tombs mostly relies on large-scale excavation. However, the internal environment of ancient tombs is sealed, with relatively stable temperature, humidity, and gas content, and may contain toxic gases. Large-scale excavation can rapidly change the internal environment, causing oxidation or corrosion of precious artifacts. Therefore, it is essential to conduct preliminary exploration of the tomb's interior before excavation.

[0003] Existing detection methods include detection robots and instruments or equipment similar to industrial endoscopes. Existing detection robots are large in size, requiring large diameter detection channels, and are prone to bumping into surrounding relics during the detection process, which has a negative impact on detection and cultural relic protection. Instruments or equipment similar to industrial endoscopes penetrate into the tomb chamber through drilling to detect the relevant environment. Although their detection channel diameter is small, such devices do not have mobility, and the small detection range leads to inaccurate detection results. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems in the prior art and provide a robot for detecting underground cultural relics.

[0005] This invention provides a robot for underground cultural relic detection, comprising: a pair of mobile sections for controlling the robot's movement; a deformable drive section disposed between the pair of mobile sections for controlling the movement of the mobile sections; and a pair of rotary connecting mechanisms for connecting the mobile sections and the deformable drive section. The rotary connecting mechanism includes a first rotary connecting shaft, a rotary connecting block, and a first connecting shaft. The pair of first connecting shafts are disposed on the same side at both ends of the deformable drive section. One end of the first connecting shaft is connected to the drive end of the deformable drive section, and the other end is fixedly connected to the rotary connecting block. The first rotary connecting shaft is rotatably connected to the rotary connecting block via a bearing. The first connecting shaft is perpendicular to the axis of the first rotating connecting shaft, and one end of the first rotating connecting shaft is fixedly connected to the drive output end of the moving single section; the detection module, disposed in the deformable driving single section, includes a camera and a gas sensor box, the camera is used to collect image information of the environment inside the tomb, and the gas sensor box is used to collect gas information inside the tomb; the robot has a first configuration and a second configuration; in the first configuration, the moving single section, the deformable driving single section and the rotating connecting mechanism are arranged in a straight chain; in the second configuration, the first connecting shaft drives the rotating connecting block to rotate, so that the pair of moving single sections and the deformable driving single section present a U-shaped structure.

[0006] Preferably, the movable single section includes a Mecanum wheel, a Mecanum wheel coupling, and a first housing. Both ends of the first housing are connected to the Mecanum wheel via the Mecanum wheel coupling. The first housing contains a first controller, a first motor bracket, and a pair of first drive motors. The first controller and the pair of first drive motors are electrically connected. The pair of first drive motors are fixedly connected to the first motor bracket. The output ends of the pair of first drive motors are connected to a second connecting shaft via a motor coupling. The second connecting shaft passes through the first housing and is connected to the corresponding Mecanum wheel coupling. The first rotating connecting shaft is connected to the Mecanum wheel.

[0007] Preferably, the deformable drive unit includes a second housing consisting of an upper housing and a lower housing; a second motor bracket fixedly disposed inside the second housing; and a pair of second drive motors, both fixedly mounted on the second motor bracket by screws. The output end of the second drive motor is connected to the first connecting shaft for driving its rotation. The second housing has a built-in power supply.

[0008] Preferably, a second controller is provided inside the second housing, and a third drive motor is mounted on the motor bracket. The third drive motor is connected to the camera and is used to drive the camera to rotate. The gas sensor box is installed on the top of the upper housing.

[0009] Preferably, it also includes a rotary connector; the rotary connector includes a second rotary connecting shaft and a connecting joint; one end of the second rotary connecting shaft is fixedly connected to the wheel coupling; the other end is rotatably connected to the connecting joint via a bearing; the connecting joint is used to connect to an external rope.

[0010] Preferably, the rotary connection mechanism further includes an end cap, which is fixed to the rotary connection block by screws for axial positioning of the bearing; and a retaining ring, which is disposed in the retaining groove of the first rotary connection shaft for axial positioning of the bearing.

[0011] Preferably, the following steps are included: Control the movement of the robot in the first configuration so that the head of the robot, which is arranged in a straight chain, passes through a narrow detection hole and enters the underground tomb chamber; The deformation-driven single section drives the rotary connection mechanism to rotate, causing the first connection shaft to rotate, thereby driving the set movable single section to rotate and transform the robot from the first configuration to the second configuration. The robot in the second configuration is controlled to move within the tomb chamber via the Mecanum wheel of the moving segment; During the movement, the detection module and the environmental sensing module of the deformation-driven single section collect image and gas information of the tomb environment; After the data collection is completed, the robot reverts to its first configuration, and the operator pulls the robot out from the probe hole by pulling the rope.

[0012] Compared with the prior art, the beneficial effects of the present invention are: Through the coordinated design of a mobile segment, a deformable driving segment, and a rotary connection mechanism, the robot can flexibly switch between a first configuration and a second configuration. This allows it to enter underground burial chambers through narrow detection holes, greatly reducing the risk of damage to the structure of the remains and solving the problem that traditional detection equipment is too bulky to enter small-aperture environments.

[0013] The U-shaped structure provides greater stability and mobility within the tomb chamber, enabling the robot to move stably on uneven terrain and avoiding equipment damage or data acquisition errors caused by bumps. The detection module integrated into the deformable drive section enables multi-dimensional data acquisition of the tomb environment, simultaneously acquiring image information and gas composition data, providing comprehensive and accurate environmental assessment data for archaeological research. Overall, this not only improves the adaptability and accuracy of detection operations but also minimizes interference with the cultural relic environment, meeting the technical requirements for invasive detection in modern cultural relic protection. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall second configuration structure of the present invention.

[0015] Figure 2 This is a schematic diagram of the overall first configuration structure of the present invention.

[0016] Figure 3 This is a schematic diagram of the movable single-section structure of the present invention.

[0017] Figure 4 This is a schematic diagram of the deformation-driven single-section structure of the present invention.

[0018] Figure 5 This is a schematic diagram of the rotary connection mechanism of the present invention.

[0019] Figure 6 This is a schematic diagram of the detection module structure of the present invention.

[0020] Figure 7 This is a schematic diagram of the rotary connector structure of the present invention.

[0021] Explanation of reference numerals in the attached drawings: 1. Moving section; 101. Mecanum wheel; 102. Mecanum wheel coupling; 103. First housing; 104. First drive motor; 105. First motor bracket; 106. Second connecting shaft; 107. First controller; 2. Deformation drive section; 201. Second housing; 202. Second motor bracket; 203. Second drive motor; 3. Rotary connecting mechanism; 301. First rotary connecting shaft; 302. Rotary connecting block; 303. End cap; 304. Snap ring; 306. First connecting shaft; 4. Detection module; 401. Camera; 402. Gas sensor box; 5. Third drive motor; 6. Rotary connecting joint; 601. Second rotary connecting shaft; 602. Connecting joint. Detailed Implementation

[0022] The following is in conjunction with the appendix Figures 1-7 To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art.

[0023] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "inner," "outer," "upper," "lower," "far," "near," "front," and "rear" are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The drawings in this invention are not strictly drawn to scale; the specific dimensions and quantity of each structure can be determined according to actual needs. The drawings described in this invention are merely structural schematic diagrams.

[0024] This invention provides a robot for underground cultural relic detection, comprising a mobile segment 1, a pair of which are configured to control the robot's movement; a deformable drive segment 2, disposed between the pair of mobile segments 1, for controlling the movement of the mobile segments 1; and a rotary connecting mechanism 3, a pair of which are configured to connect the mobile segments 1 and the deformable drive segment 2. The rotary connecting mechanism 3 includes a first rotary connecting shaft 301, a rotary connecting block 302, and a first connecting shaft 306. The pair of first connecting shafts 306 are disposed on the same side and respectively located at both ends of the deformable drive segment 2. One end of the first connecting shaft 306 is connected to the drive end of the deformable drive segment 2, and the other end is fixedly connected to the rotary connecting block 302. The first rotary connecting shaft 301 is connected to the rotary connecting block 302 via a bearing. The first connecting shaft 306 is perpendicular to the axis of the first rotating connecting shaft 301, and one end of the first rotating connecting shaft 301 is fixedly connected to the drive output end of the moving single section 1; the detection module 4 is set in the deformable driving single section 2, including a camera 401 and a gas sensor box 402. The camera 401 is used to collect image information of the environment in the tomb chamber, and the gas sensor box 402 is used to collect gas information in the tomb chamber; the robot has a first configuration and a second configuration; in the first configuration, the moving single section 1, the deformable driving single section 2 and the rotating connecting mechanism 3 are arranged in a straight chain; in the second configuration, the first connecting shaft 306 drives the rotating connecting block 302 to rotate, so that the pair of moving single sections 1 and deformable driving single sections 2 present a U-shaped structure.

[0025] In this embodiment, through the coordinated design of the moving single section 1, the deformable driving single section 2 and the rotating connecting mechanism 3, the robot can flexibly switch between the first configuration and the second configuration, enabling it to enter the underground tomb chamber through the narrow detection hole, greatly reducing the risk of damage to the structure of the remains, and solving the problem that traditional detection equipment cannot enter the small aperture environment due to its large size. The U-shaped structure provides greater stability and mobility within the tomb chamber, enabling the robot to move stably on uneven terrain and avoiding equipment damage or data acquisition errors caused by bumps. The detection module 4, integrated into the deformable drive section 2, enables multi-dimensional data acquisition of the tomb environment, simultaneously acquiring image information and gas composition data, providing comprehensive and accurate environmental assessment data for archaeological research. Overall, this not only improves the adaptability and accuracy of the detection operation but also minimizes interference with the cultural relic environment, meeting the technical requirements for invasive detection in modern cultural relic protection. The first connecting shaft 306 drives the rotating connecting block 302 to rotate, causing the pair of moving sections 1 and deformable drive sections 2 to form a U-shaped structure.

[0026] Preferably, the movable single section 1 includes a Mecanum wheel 101, a Mecanum wheel coupling 102, and a first housing 103. Both ends of the first housing 103 are connected to the Mecanum wheel 101 via the Mecanum wheel coupling 102. The first housing 103 contains a first controller 107, a first motor bracket 105, and a pair of first drive motors 104. The first controller 107 and the pair of first drive motors 104 are electrically connected. The pair of first drive motors 104 are fixedly connected to the first motor bracket 105. The output ends of the pair of first drive motors 104 are connected to a second connecting shaft 106 via a motor coupling. The second connecting shaft 106 passes through the first housing 103 and is connected to the corresponding Mecanum wheel coupling 102. A first rotating connecting shaft 301 is connected to the Mecanum wheel 101.

[0027] In this embodiment, the combination of Mecanum wheels 101, Mecanum wheel couplings 102, and a pair of first drive motors 104 achieves omnidirectional movement and high-precision control of the robot. The use of Mecanum wheels 101 enables the robot to perform lateral, diagonal, and rotational movements within the limited space of the tomb chamber, significantly improving obstacle avoidance capabilities and terrain adaptability. The coordinated control of the two motors by the first controller 107 ensures balanced power output and response speed, avoiding movement deviations caused by single-wheel slippage or insufficient power. Through the transmission design of the motor coupling and the second connecting shaft 106, power transmission efficiency is high, the mechanical structure is compact, and energy loss and structural volume are reduced. Overall, this design enhances the robot's mobility and reliability in complex environments, providing a fundamental guarantee for high-quality exploration operations.

[0028] Preferably, the deformable drive unit 2 includes a second housing 201 which is composed of an upper housing and a lower housing; a second motor bracket 202, which is fixedly disposed inside the second housing 201; and a pair of second drive motors 203, which are both fixedly mounted on the second motor bracket 202 by screws. The output end of the second drive motor 203 is connected to the first connecting shaft 306 for driving its rotation. The second housing 201 has a built-in power supply.

[0029] In this embodiment, the modular layout of the second housing 201, the second motor bracket 202, and a pair of second drive motors 203 ensures the dynamic stability and structural strength during configuration changes. The second drive motors 203 are directly connected to the rotary connecting shaft 106, providing sufficient torque output so that the robot can quickly and smoothly complete configuration switching. The combined design of the upper and lower housings not only facilitates the installation and maintenance of internal components but also enhances the housing's sealing performance, preventing dust and moisture from entering the motor and controller system. The integrated power supply further enhances the robot's operational independence and reduces its dependence on external energy. This design optimizes the device's durability and environmental adaptability while ensuring functionality.

[0030] Preferably, a second controller is provided inside the second housing 201, and a third drive motor 5 is installed on the motor bracket. The third drive motor 5 is connected to the camera 401 and is used to drive the camera 401 to rotate; the gas sensor box 402 is installed on the top of the upper housing.

[0031] In this embodiment, by adding a third drive motor 5 and a second controller, the active control and multi-functional integration of the detection module 4 are realized. The third drive motor 5 drives the camera 401 to rotate, so that the image acquisition range covers a wider angle, avoiding blind spots and improving the comprehensiveness of data. The gas sensor box 402 is fixed on the top of the upper shell. Its position is reasonably designed and can effectively collect gas samples in the tomb chamber, reducing interference with gas distribution during movement. The second controller manages the detection module 4 and the drive unit in a coordinated manner, ensuring the synchronization of data acquisition and movement operation, and improving work efficiency.

[0032] Preferably, it also includes a rotary connector 6; the rotary connector 6 includes a second rotary connecting shaft 601 and a connecting joint 602; one end of the second rotary connecting shaft 601 is fixedly connected to the wheel coupling 102; the other end is rotatably connected to the connecting joint 602 through a bearing; the connecting joint 602 is used to connect to an external rope.

[0033] In this embodiment, the introduction of the rotary connector 6 expands the robot's external connection and deployment flexibility. Through the bearing connection design between the second rotary connecting shaft 601 and the connector 602, the robot can quickly dock with the rope, adapting to various operating scenarios. After the data collection is completed, the robot is transformed back into the first configuration, and the operator pulls the robot out from the probe hole by pulling the rope.

[0034] Preferably, the rotary connection mechanism 3 further includes an end cap 303, which is fixed to the rotary connection block 302 by screws and is used for axial positioning of the bearing; and a retaining ring 304, which is disposed in the retaining groove of the first rotary connection shaft 301 and is used for axial positioning of the bearing.

[0035] In this embodiment, the axial positioning combination of the end cap 303 and the retaining ring 304 further optimizes the mechanical precision and long-term reliability of the rotary connection mechanism 3. The end cap 303 is fixed to the rotary connection block 302 with screws, effectively limiting the axial displacement of the bearing and preventing loosening under high load operation. The retaining ring 304 is set in the groove of the first rotary connection shaft 301, enhancing the fixing effect of the bearing and reducing wear caused by vibration. This detailed design improves the rigidity and durability of the overall structure, ensuring that the robot maintains high-precision transmission during repeated configuration changes and extending the service life of the equipment.

[0036] The method of using the underground cultural relic detection robot of the present invention is as follows: Phase 1: Control the movement of the robot in the first configuration so that it passes through the detection hole in a straight-line chain arrangement. During this process, the robot achieves precise propulsion by moving the Mecanum wheel 101 of the single segment 1, ensuring a smooth entry into the tomb chamber within the limited space and avoiding damage to the surrounding structure of the passage.

[0037] Second stage: The rotating connecting mechanism 3 is driven by the deformation driving section 2, which causes the first connecting shaft 306 to rotate, thereby driving the set moving section 1 to rotate and transform the robot from the first configuration to the second configuration; at this time, the robot's moving section 1 and driving section are arranged in a U-shape, which significantly improves the support stability in the tomb chamber and lays the foundation for subsequent movement and exploration operations.

[0038] Phase Three: Mobile Detection and Data Acquisition Control. In its second configuration, the robot moves omnidirectionally within the tomb chamber, acquiring multi-angle images via camera 401 and simultaneously monitoring gas composition in real-time using gas sensor box 402. The detection data is transmitted to an external terminal via a built-in controller, enabling a comprehensive assessment of the tomb environment and providing reliable data for cultural relic protection and archaeological decisions. After data acquisition, the robot reverts to its first configuration, and the operator pulls it out of the detection hole by pulling a rope.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for detecting underground cultural relics, characterized in that, include: A single mobile section is provided, with a pair configured to control the robot's movement. A deformation drive section is disposed between a pair of the movable sections and is used to control the movement of the movable sections; A rotary connection mechanism is provided to connect the movable single section and the deformable driving single section. The rotary connection mechanism includes a first rotary connection shaft, a rotary connection block, and a first connection shaft. The pair of first connection shafts are respectively located on the same side at both ends of the deformable driving single section. One end of the first connection shaft is connected to the driving end of the deformable driving single section, and the other end is fixedly connected to the rotary connection block. The first rotary connection shaft is rotatably connected to the rotary connection block through a bearing. The first connection shaft is perpendicular to the axis of the first rotary connection shaft. One end of the first rotary connection shaft is fixedly connected to the driving output end of the movable single section. The detection module, located on the deformation drive section, includes a camera and a gas sensor box. The camera is used to collect image information of the environment inside the tomb, and the gas sensor box is used to collect gas information inside the tomb. The robot has a first configuration and a second configuration; in the first configuration, the moving section, the deformable drive section, and the rotating connection mechanism are arranged in a straight chain; in the second configuration, the first connecting shaft drives the rotating connection block to rotate, causing a pair of moving sections and deformable drive sections to present a U-shaped structure.

2. The robot for detecting underground cultural relics as described in claim 1, characterized in that, The movable section includes a Mecanum wheel, a Mecanum wheel coupling, and a first housing. Both ends of the first housing are connected to the Mecanum wheel via the Mecanum wheel coupling. The first housing contains a first controller, a first motor bracket, and a pair of first drive motors. The first controller and the pair of first drive motors are electrically connected. The pair of first drive motors are fixedly connected to the first motor bracket. The output ends of the pair of first drive motors are connected to a second connecting shaft via a motor coupling. The second connecting shaft passes through the first housing and is connected to the corresponding Mecanum wheel coupling. The first rotating connecting shaft is connected to the Mecanum wheel.

3. The robot for detecting underground cultural relics as described in claim 1, characterized in that, The deformable drive section includes a second housing consisting of an upper housing and a lower housing; a second motor bracket fixedly disposed inside the second housing; and a pair of second drive motors, both fixedly mounted on the second motor bracket by screws. The output end of the second drive motor is connected to the first connecting shaft to drive its rotation. The second housing has a built-in power supply.

4. The robot for detecting underground cultural relics as described in claim 3, characterized in that, The second housing contains a second controller, and the motor bracket is equipped with a third drive motor, which is connected to the camera and is used to drive the camera to rotate; the gas sensor box is installed on the top of the upper housing.

5. The robot for underground cultural relic detection as described in claim 2, characterized in that, It also includes a rotary connector; the rotary connector includes a second rotary connecting shaft and a connecting joint; one end of the second rotary connecting shaft is fixedly connected to the wheel coupling; the other end is rotatably connected to the connecting joint via a bearing; the connecting joint is used to connect to an external rope.

6. The robot for underground cultural relic detection as described in claim 1, characterized in that, The rotary connection mechanism also includes an end cap, which is fixed to the rotary connection block by screws for axial positioning of the bearing; and a retaining ring, which is disposed in the retaining groove of the first rotary connection shaft for axial positioning of the bearing.

7. A method of using a robot for underground cultural relic detection as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Control the movement of the robot in the first configuration so that the head end of the robot, which is arranged in a straight chain, passes through the detection hole and the rope is tied to the connecting joint to enter the underground tomb chamber; The deformation-driven single section drives the rotary connection mechanism to rotate, causing the first connection shaft to rotate, thereby driving the set movable single section to rotate and transform the robot from the first configuration to the second configuration. The robot in the second configuration is controlled to move within the burial chamber via the Mecanum wheels of the moving segment; during the movement, the detection module and the environmental sensing module of the deformable drive segment collect image and gas information of the burial chamber environment. After the data collection is completed, the robot reverts to its first configuration, and the operator pulls the robot out from the probe hole by pulling the rope.

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