Underground inspection system and method based on quadruped robot
By combining a quadruped robot system with underground environment perception and dynamic gait adjustment, the problems of low inspection efficiency and safety caused by the complex underground environment of coal mines have been solved, and efficient and safe underground inspections have been achieved.
Patent Information
- Application Number
- CN202511673974.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-14
- Publication Date
- 2026-02-17
AI Technical Summary
The underground environment in coal mines is complex, and existing robot inspection technologies suffer from insufficient environmental perception and imperfect task execution, leading to frequent abnormal movements and affecting inspection efficiency and safety.
An underground inspection system based on a quadruped robot is adopted, which includes a remote command center, a quadruped robot, a dust detection module, a multimodal gas detection module, an environmental perception module, a path planning module, and an early warning module. It communicates through a mining communication network, collects environmental data and plans paths by combining dust concentration and gas state information, and dynamically adjusts its gait to adapt to the underground terrain.
This improved the accuracy of environmental data collection and the effectiveness of path planning, ensuring the robot's safe operation underground, avoiding blind spots in inspections, and enhancing inspection efficiency and safety.
Smart Images
Figure CN121540209A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent inspection of coal mines, in particular to an underground inspection system and method based on a quadruped robot. BACKGROUND
[0002] The production environment of coal mines is complex and highly risky, and the inspection work, as an important link of safety production of coal mines, has long been completed by manual work. This traditional method has problems such as low efficiency, great safety hazards, limited data collection accuracy, etc. In order to improve the efficiency and safety of coal mine inspection, robot inspection technology has been gradually applied to the underground environment of coal mines. However, due to the particularity of the underground environment of coal mines, it is difficult to collect environmental data, resulting in a high frequency of abnormalities in the robot driving in the underground environment, which affects the normal operation of the underground inspection. SUMMARY
[0003] The present application aims to provide an underground inspection system and method based on a quadruped robot to solve the problems of insufficient environmental perception and imperfect task execution in related technologies.
[0004] In a first aspect, the present application provides an underground inspection system based on a quadruped robot, comprising a remote command center and a quadruped robot, wherein the remote command center communicates with the quadruped robot through a mine communication network; and the quadruped robot comprises: a quadruped bionic mobile platform comprising an explosion-proof enclosure meeting mine explosion-proof standards and a gait execution mechanism of four sets of hydraulic drive joints; a dust detection module for collecting dust concentration in the underground environment; a multi-modal gas detection module arranged in the head region of the quadruped robot, comprising a gas detection sensor, a temperature sensor, a humidity sensor and a micro air flow guide fan, for collecting gas state information in the underground environment; an environmental perception module for starting a device matched with the dust concentration to collect environmental data in the underground environment; a path planning module for constructing an environmental map based on the environmental data and planning a path based on the environmental map; a warning module for analyzing the gas state information and generating hierarchical warning information.
[0005] In some embodiments, the path planning module is specifically configured to: if the dust concentration is less than or equal to a dust concentration threshold, start a laser radar and a depth camera to collect environmental data; if the dust concentration is greater than the dust concentration threshold, start a laser radar and an infrared camera to collect environmental data.
[0006] In some embodiments, the quadruped robot further includes: The leg sensing module is used to collect terrain data within a preset range below the legs during driving; The gait planning module is used to dynamically adjust the gait of the gait actuator based on the terrain data.
[0007] As one possible implementation, the gait planning module is specifically used for: If the terrain data determines that the current location is flat, adjust the gait actuator's step frequency to 1~1.5Hz and stride length to 300~400mm; If the terrain data indicates that the current location is a steep slope, adjust the gait actuator to lean forward by 10-20 degrees, with a step frequency of 0.5-0.8Hz and a stride length of 200-250mm. If it is determined based on the terrain data that the current location is a collapse zone, the leg length of the gait actuator is controlled to shrink by 60%, the stride frequency is 0.5~0.8Hz, and the stride length is 200~250mm.
[0008] In some embodiments, the leg sensing module is further configured to collect contact force data at the end of the leg during movement; the quadruped robot also includes: The leg balance control module is used to control the balance of each leg of the gait actuator based on the contact force.
[0009] As an example, the leg balance control module is specifically used for: If the fluctuation amplitude of the contact force is greater than or equal to the amplitude threshold, the ankle joint of the gait actuator is controlled to rotate downward by a preset angle, and the step frequency and stride length are reduced.
[0010] As an example, the leg balance control module is also used for: If the contact force at the end of the current leg is less than the contact force threshold, the gait actuator is controlled to lock all joints of the current leg and increase the support force of the diagonal leg.
[0011] In some embodiments, the quadruped robot further includes: The discharge management module is used to reduce the battery's discharge power when the downhole temperature is greater than or equal to a temperature threshold.
[0012] As one possible implementation, the discharge management module is also used for: If the humidity in the well is greater than or equal to the first humidity threshold, the dehumidification function will be activated. If the humidity in the well is less than or equal to the second humidity threshold, the humidification function is activated; wherein the first humidity threshold is greater than the second humidity threshold.
[0013] A second aspect of the present invention provides a downhole inspection method based on a quadruped robot, applied to the downhole inspection system based on a quadruped robot described in the first aspect above, the method comprising: Inspection tasks are sent to the quadruped robot from a remote command center; After receiving the inspection task, the quadruped robot uses the dust detection module to collect the dust concentration of the underground environment in real time. The environmental sensing module activates equipment matched to the dust concentration to collect environmental data from the well. The path planning module constructs an environmental map based on the environmental data and performs path planning based on the environmental map. Based on the multimodal gas detection module, gas state information in the well is collected; The gas state information is analyzed by the early warning module to generate graded early warning information; After the inspection is completed, the quadruped robot sends an inspection report to the remote command center.
[0014] The downhole inspection system and method based on a quadruped robot provided by this invention have the following beneficial effects: The system comprises a remote command center and a quadruped robot. The remote command center and the quadruped robot communicate via a mining communication network. The quadruped robot includes: a quadrupedal biomimetic mobile platform, comprising an explosion-proof shell conforming to mining explosion-proof standards and a gait actuator with four hydraulically driven joints; a dust detection module for collecting dust concentration data of the underground environment; a multimodal gas detection module, located in the head region of the quadruped robot, including gas detection sensors, temperature sensors, humidity sensors, and a miniature airflow guiding fan, for collecting gas state information underground; an environmental perception module for activating equipment matched to the dust concentration to collect environmental data underground; a path planning module for constructing an environmental map based on the environmental data and planning paths based on the environmental map; and an early warning module for analyzing gas state information and generating tiered early warning information. This invention adds a miniature airflow guiding fan to the multimodal gas detection module, which improves the accuracy of gas state information collection. Furthermore, the multimodal gas detection module's location in the head region of the quadruped robot avoids ground interference, further enhancing the accuracy of the collected data. In addition, considering the special nature of the underground environment, the environmental perception module activates the matching equipment to collect environmental data based on the dust concentration. This avoids the impact of dust when collecting environmental data using only fixed equipment, thereby improving the accuracy of environmental data collection and the effectiveness of path planning, and ensuring the safe operation of the robot underground. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0016] Figure 1 A schematic diagram of a downhole inspection system based on a quadruped robot provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a downhole inspection method based on a quadruped robot, provided as an embodiment of the present invention. Detailed Implementation
[0017] The technical solution of the present invention will now be clearly and completely described 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 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.
[0018] Figure 1 This is a schematic diagram of a downhole inspection system based on a quadruped robot, provided as an embodiment of the present invention. Figure 1 As shown, the system includes a remote command center 110 and a quadruped robot 120. The remote command center 110 and the quadruped robot 120 communicate through a mining communication network, such as a mesh network, LoRa, or leaky cable.
[0019] In some embodiments, the remote command center 110 can issue inspection tasks to the quadruped robot 120. After receiving the inspection task, the quadruped robot 120 begins to perform self-inspection and then begins to perform underground inspection tasks.
[0020] like Figure 1 As shown, the quadruped robot 120 includes a quadruped bionic mobile platform 121, a dust detection module 122, a multimodal gas detection module 123, an environmental perception module 124, a path planning module 125, and an early warning module 126.
[0021] In some embodiments, the foot-bionic mobile platform 121 includes an explosion-proof housing conforming to the mining explosion-proof standard (GB3836 standard) and a gait actuator with four sets of hydraulically driven joints; a dust detection module 122 for collecting dust concentration in the underground environment; a multimodal gas detection module 123, arranged in the head area of the quadruped robot, including a gas detection sensor, a temperature sensor, a humidity sensor, and a miniature airflow guiding fan, for collecting gas state information in the underground environment; an environmental perception module 124 for activating equipment matched to the dust concentration to collect environmental data in the underground environment; a path planning module 125 for constructing an environmental map based on the environmental data and performing path planning based on the environmental map; and an early warning module 126 for analyzing gas state information and generating graded early warning information.
[0022] In some embodiments, the dust detection module 122 can detect the dust concentration in the downhole environment based on a dust sensor. Since dust in the downhole environment can affect the collection of environmental data, resulting in low accuracy of the collected data, in some embodiments of the present invention, the environmental sensing module includes multiple environmental acquisition devices, such as lidar, infrared cameras, depth cameras, etc., and selects devices matching the current environment based on the dust concentration to collect environmental data, thereby avoiding the problem of data failure due to dust.
[0023] As one possible implementation, the multimodal gas detection module 123 may include an integrated catalytic combustion gas sensor, an infrared gas sensor, an oxygen sensor, a carbon monoxide sensor, a temperature sensor, a humidity sensor, and a miniature airflow guiding fan. Due to insufficient airflow downhole, slow gas diffusion can lead to detection delays. The miniature airflow guiding fan can actively draw gas near the sensor, thereby accelerating the sensor's response time, avoiding data delays, and improving the accuracy of gas state data acquisition. Furthermore, because the miniature airflow guiding fan can create a stable airflow, it can reduce the impact of environmental turbulence, making sensor detection more stable, avoiding large data fluctuations, and further improving data acquisition accuracy. Due to the high dust levels downhole, sensors are prone to dust accumulation, affecting sensitivity. The miniature airflow guiding fan can maintain a slight positive pressure within the sensor's gas chamber, preventing external dust and contaminants from entering with the natural airflow and avoiding contamination of the sensitive sensing elements.
[0024] In some embodiments, the multimodal gas detection module 123 may employ a dustproof and waterproof sealed design. The gas state information may include information such as methane concentration, carbon monoxide concentration, oxygen concentration, temperature, and humidity.
[0025] In some embodiments, the environmental perception module 124 is specifically used to: if the dust concentration is less than or equal to a dust concentration threshold, activate the LiDAR and depth camera to collect environmental data; if the dust concentration is greater than the dust concentration threshold, activate the LiDAR and infrared camera to collect environmental data. Since the data collected by the depth camera is very sparse when the dust concentration is high, essentially rendering it ineffective, in this case, it is not necessary to activate the depth camera; only the LiDAR and infrared camera need to be activated to collect environmental data. When the dust concentration is low, the depth camera can provide localized refinement. In close-range areas such as near equipment or tunnel walls, the depth camera can provide a higher density point cloud, supplementing the blind spots or lack of detail that may exist with the LiDAR at close range.
[0026] In some embodiments, taking the environmental perception module 124 activating the lidar and depth camera to collect environmental data as an example, the process of the path planning module 125 constructing an environmental map based on the environmental data includes: preprocessing the lidar point cloud data and the image data from the depth camera, for example, filtering out scattered points reflected by dust through outlier filtering, compressing redundant point clouds through voxel filtering, and retaining clear outline data of fixed structures such as well walls, supports, and pipes; improving image brightness in dim environments through image enhancement algorithms, strengthening obstacle outlines through edge detection, and aligning with lidar point cloud data by combining time synchronization calibration; and integrating the processed image data into the lidar point cloud data to construct an environmental map.
[0027] In some embodiments, the early warning module 126 can analyze gas state information in real time, generate graded early warnings by judging the gas state by threshold and analyzing the trend of gas state changes, and raise relevant personnel through voice, alarm sound and other means.
[0028] According to an embodiment of the present invention, an underground inspection system based on a quadruped robot includes a remote command center and a quadruped robot. The remote command center and the quadruped robot communicate through a mining communication network. The quadruped robot includes: a quadrupedal bionic mobile platform, comprising an explosion-proof shell conforming to mining explosion-proof standards and a gait actuator with four sets of hydraulically driven joints; a dust detection module for collecting dust concentration data of the underground environment; a multimodal gas detection module, located in the head region of the quadruped robot, including a gas detection sensor, a temperature sensor, a humidity sensor, and a miniature airflow guiding fan, for collecting underground gas state information; an environmental perception module for activating equipment matched to the dust concentration to collect underground environmental data; a path planning module for constructing an environmental map based on the environmental data and performing path planning based on the environmental map; and an early warning module for analyzing gas state information and generating graded early warning information. The addition of a miniature airflow guiding fan to the multimodal gas detection module of the present invention improves the accuracy of gas state information collection, and the placement of the multimodal gas detection module in the head region of the quadruped robot avoids ground interference, further improving the accuracy of the collected data. In addition, considering the special nature of the underground environment, the environmental perception module activates the matching equipment to collect environmental data based on the dust concentration. This avoids the impact of dust when collecting environmental data using only fixed equipment, thereby improving the accuracy of environmental data collection and the effectiveness of path planning, and ensuring the safe operation of the robot underground.
[0029] Given the complex terrain of underground coal mines, quadruped robots adaptively inspect unstructured terrain (such as subsidence areas, stepped areas, and mixed gravel slopes) to avoid blind spots. To address these issues, such as... Figure 1 As shown, the quadruped robot 120 in this embodiment of the invention may further include a leg sensing module 127 and a gait planning module 128. The leg sensing module 127 is used to collect terrain data within a preset range below the legs during movement; the gait planning module 128 is used to dynamically adjust the gait of the gait actuator based on the terrain data.
[0030] In some embodiments, each leg of the quadruped robot can protect three drive joints (hip, knee and ankle joints), and each joint integrates an intrinsically safe servo motor for mining, a high-precision encoder and a torque sensor.
[0031] As an example, the leg sensing module 127 can be a miniature LiDAR mounted on the leg to detect terrain data beneath the leg. The gait planning module 128 can pre-set multiple gait modes and switch to the appropriate gait mode based on terrain data. For example, it can pre-set flat gait, climbing gait, crawling gait, etc. If the terrain data determines that the current location is flat, the gait actuator is adjusted to a flat gait; if the terrain data determines that the current location is a steep slope, the gait actuator is adjusted to a climbing gait; if the terrain data determines that the current location is a collapse, the gait actuator is adjusted to a crawling gait.
[0032] In some embodiments, the gait planning module 128 is specifically used to: if it is determined based on terrain data that the current location is flat, adjust the gait actuator's stride frequency to 1~1.5Hz and stride length to 300~400mm; if it is determined based on terrain data that the current location is steep, adjust the gait actuator's forward tilt to 10~20 degrees, stride frequency to 0.5~0.8Hz, and stride length to 200~250mm; if it is determined based on terrain data that the current location is a collapse zone, control the gait actuator's leg length to contract by 60%, stride frequency to 0.5~0.8Hz, and stride length to 200~250mm.
[0033] The process of determining the current terrain based on terrain data can be achieved through terrain data matching or through terrain recognition based on terrain data using relevant neural network models. As an example, if the lidar detects a terrain height difference of ≤5cm within a continuous 50cm range, it determines that the current location is flat ground; if the lidar detects steps or protrusions with a height difference of 5-30cm, it determines that the current location is a steep slope; and if the lidar detects depressions with a height difference >30cm, it determines that the current location is a subsidence area.
[0034] According to the embodiments of the present invention, the underground inspection system based on a quadruped robot can dynamically adjust the gait of the quadruped robot based on the terrain by introducing a leg sensing module and a gait planning module. This not only ensures the stable movement of the quadruped robot underground, but also avoids blind spots in the inspection and improves the inspection efficiency.
[0035] In some embodiments, the leg sensing module 127 of the quadruped robot is also used to collect contact forces at the end of the legs during movement. As an example, the leg sensing module 127 also includes a pressure sensor for collecting the contact force between the end of the leg and the ground. Figure 1 As shown, the quadruped robot 120 also includes a leg balance control module 129, which is used to control the balance of each leg of the gait actuator based on contact force.
[0036] Due to the complex underground environment, with its damp ground and gravel cover, the quadruped robot may experience leg slippage or missteps during operation, potentially leading to falls or damage. The leg balance control module 129 controls the balance of each leg, preventing falls and instability.
[0037] In some embodiments, the leg balance control module 129 is specifically used to: if the fluctuation amplitude of the contact force is greater than or equal to an amplitude threshold, control the ankle joint of the gait actuator to rotate downward by a preset angle, and reduce the stride frequency and stride length. As an example, if the fluctuation amplitude of the contact force of a certain leg is greater than 50N within 0.1s, it can be determined that the robot's leg is at risk of slipping. To prevent the robot from slipping, the ankle joint can be controlled to rotate downward by 10° to increase the contact area between the end of the leg and the ground, increase friction, and reduce the stride frequency and stride length, thereby reducing the horizontal force when the leg pushes off the ground and avoiding further slippage.
[0038] In other embodiments, the leg balance control module 129 is further configured to: if the contact force at the end of the current leg is less than a contact force threshold, control the gait actuator to lock all joints of the current leg and increase the support force of the diagonally opposite leg. The contact force threshold can be determined based on the actual scenario, for example, it can be 20N. When the contact force at the end of a leg is less than the contact force threshold, it indicates that the leg is at risk of slipping. To prevent the leg from falling further, all joints of that leg can be locked, and the support force of the leg opposite to that leg can be increased to maintain trunk balance. For example, if the left foreleg slips, the support force of the right rear leg is increased from 100N to 150N. In this case, all leg drive motors can be paused, and the terrain can be re-scanned using LiDAR data to plan a new safe foothold.
[0039] According to an embodiment of the present invention, the well inspection system based on a quadruped robot can promptly identify the risk of leg slippage and misstepping based on a leg balance control module and a leg sensing module. Through anti-slip control and emergency protection control, it can achieve anti-slip and misstep protection, avoiding robot falls and instability.
[0040] Due to the intensified chemical side reactions inside the battery at high temperatures, a large amount of heat is generated, which may lead to electrolyte decomposition and separator melting, thereby triggering a chain of exothermic reactions and ultimately causing fire and explosion. To ensure the safety of underground inspections, such as... Figure 1 As shown, the quadruped robot 120 of this embodiment may further include a discharge management module 1210. The discharge management module 1210 is used to reduce the discharge power of the battery when the downhole temperature is greater than or equal to a temperature threshold.
[0041] As an example, when the downhole temperature is greater than or equal to 50°C, the discharge management system 1210 directly adjusts the upper limit of the discharge current to an extremely low value to avoid thermal runaway. It also switches the quadruped robot to crawling or standby mode and can send high-temperature alarms to the remote command center.
[0042] The humidity underground can also affect the quadruped robot's battery. When the quadruped robot is in a high-humidity environment, condensation or direct moisture intrusion may cause short circuits in electrical circuits and circuit boards. Long-term exposure to high humidity can corrode battery contacts and connectors, and also increase the risk of leakage. To avoid the above problems, the discharge management module 1210 in this embodiment of the invention can also be used to: control the activation of dehumidification function if the humidity underground is greater than or equal to a first humidity threshold; control the activation of humidification function if the humidity underground is less than or equal to a second humidity threshold; wherein, the first humidity threshold is greater than the second humidity threshold.
[0043] As an example, dehumidification can be achieved through a built-in dehumidification device (such as a heating element) on the quadruped robot. For instance, the dehumidification function can be activated when the humidity in the well is greater than or equal to 80%. Since there is a risk of static electricity when the humidity in the well is low, humidification can be achieved through a spray system equipped on the quadruped robot when the humidity is less than or equal to 30%.
[0044] Figure 2 This is a flowchart illustrating a quadruped robot-based downhole inspection method provided in an embodiment of the present invention. It should be noted that the quadruped robot-based downhole inspection method of this embodiment is applied to the quadruped robot-based downhole inspection system described above. Figure 2 As shown, the downhole inspection method based on a quadruped robot according to an embodiment of the present invention includes the following steps: Step 201: Send inspection tasks to the quadruped robot from the remote command center.
[0045] Step 202: After receiving the inspection task, the quadruped robot collects the dust concentration of the underground environment in real time based on the dust detection module.
[0046] Step 203: Through the environmental sensing module, start the equipment matched with the dust concentration to collect environmental data downhole.
[0047] In some embodiments, if the dust concentration is less than or equal to a dust concentration threshold, the lidar and depth camera are activated to collect environmental data; if the dust concentration is greater than the dust concentration threshold, the lidar and infrared camera are activated to collect environmental data.
[0048] Step 204: Using the path planning module, construct an environmental map based on the environmental data, and perform path planning based on the environmental map.
[0049] Step 205: Based on the multimodal gas detection module, collect gas state information downhole.
[0050] Step 206: Analyze the gas state information through the early warning module to generate graded early warning information.
[0051] Step 207: After the inspection is completed, the quadruped robot sends an inspection report to the remote command center.
[0052] In some embodiments, the method further includes: during the quadruped robot's walking process, collecting terrain data within a preset range below the legs based on the leg sensing module; and dynamically adjusting the gait of the gait actuator based on the terrain data through the gait planning module.
[0053] As one possible implementation, the gait of the gait actuator can be dynamically adjusted based on terrain data through the gait planning module, including: if the terrain data determines that the current location is flat, the gait actuator's stride frequency is adjusted to 1~1.5Hz and stride length to 300~400mm; if the terrain data determines that the current location is steep, the gait actuator's forward lean is adjusted to 10~20 degrees, the stride frequency to 0.5~0.8Hz, and stride length to 200~250mm; if the terrain data determines that the current location is a collapse zone, the gait actuator's leg length is controlled to contract by 60%, the stride frequency to 0.5~0.8Hz, and stride length to 200~250mm.
[0054] In some embodiments, the method further includes: during the quadruped robot's walking process, collecting the contact force at the end of the leg during the walking process based on the leg sensing module; and using the leg balance control module to perform balance control on each leg of the gait actuator based on the contact force.
[0055] As one possible implementation, the leg balance control module controls the balance of each leg of the gait actuator based on contact force, including: if the fluctuation amplitude of the contact force is greater than or equal to the amplitude threshold, controlling the ankle joint of the gait actuator to rotate downward by a preset angle and reducing the stride frequency and stride length; if the contact force at the end of the current leg is less than the contact force threshold, controlling the gait actuator to lock the joints of the current leg and increase the support force of the diagonal leg.
[0056] In some embodiments, the method may further include: reducing the battery discharge power based on the discharge management module when the downhole temperature is greater than or equal to a temperature threshold; controlling the activation of dehumidification function if the downhole humidity is greater than or equal to a first humidity threshold; and controlling the activation of humidification function if the downhole humidity is less than or equal to a second humidity threshold; wherein the first humidity threshold is greater than the second humidity threshold.
[0057] The underground inspection method based on a quadruped robot according to embodiments of the present invention can not only perform underground gas inspection using a quadruped robot, but also dynamically activate matching equipment based on the underground environment to collect environmental data, thereby improving the accuracy of environmental data collection, enhancing the effectiveness of path planning, and ensuring the safe operation of the robot underground.
[0058] It should be noted that the explanations and descriptions in the above embodiments of the downhole inspection system based on quadruped robots are also applicable to the downhole inspection method based on quadruped robots in the embodiments of the present invention, and will not be repeated here.
[0059] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A well inspection system based on a quadruped robot, characterized in that, The system includes a remote command center and a quadruped robot. The remote command center and the quadruped robot communicate via a mining communication network. The quadruped robot includes: The quadrupedal bionic mobile platform includes an explosion-proof shell that meets mining explosion-proof standards and a gait actuator with four sets of hydraulically driven joints. The dust detection module is used to collect the dust concentration in the underground environment; A multimodal gas detection module, located in the head region of the quadruped robot, includes a gas detection sensor, a temperature sensor, a humidity sensor, and a miniature airflow guiding fan, used to collect gas state information downhole; An environmental sensing module is used to activate equipment matched to the dust concentration to collect environmental data downhole. The path planning module is used to construct an environmental map based on the environmental data and to perform path planning based on the environmental map. The early warning module is used to analyze the gas state information and generate graded early warning information.
2. The system according to claim 1, characterized in that, The environmental perception module is specifically used for: If the dust concentration is less than or equal to the dust concentration threshold, the lidar and depth camera are activated to collect environmental data. If the dust concentration is greater than the dust concentration threshold, the lidar and infrared camera are activated to collect environmental data.
3. The system according to claim 1, characterized in that, The quadruped robot also includes: The leg sensing module is used to collect terrain data within a preset range below the legs during driving; The gait planning module is used to dynamically adjust the gait of the gait actuator based on the terrain data.
4. The system according to claim 3, characterized in that, The gait planning module is specifically used for: If the terrain data determines that the current location is flat, adjust the gait actuator's step frequency to 1~1.5Hz and stride length to 300~400mm; If the terrain data indicates that the current location is a steep slope, adjust the gait actuator to lean forward by 10-20 degrees, with a step frequency of 0.5-0.8Hz and a stride length of 200-250mm. If it is determined based on the terrain data that the current location is a collapse zone, the leg length of the gait actuator is controlled to shrink by 60%, the stride frequency is 0.5~0.8Hz, and the stride length is 200~250mm.
5. The system according to claim 3, characterized in that, The leg sensing module is also used to collect the contact force at the end of the leg during movement; the quadruped robot also includes: The leg balance control module is used to control the balance of each leg of the gait actuator based on the contact force.
6. The system according to claim 5, characterized in that, The leg balance control module is specifically used for: If the fluctuation amplitude of the contact force is greater than or equal to the amplitude threshold, the ankle joint of the gait actuator is controlled to rotate downward by a preset angle, and the step frequency and stride length are reduced.
7. The system according to claim 5, characterized in that, The leg balance control module is also used for: If the contact force at the end of the current leg is less than the contact force threshold, the gait actuator is controlled to lock all joints of the current leg and increase the support force of the diagonal leg.
8. The system according to claim 1, characterized in that, The quadruped robot also includes: The discharge management module is used to reduce the battery's discharge power when the downhole temperature is greater than or equal to a temperature threshold.
9. The system according to claim 8, characterized in that, The discharge management module is also used for: If the humidity in the well is greater than or equal to the first humidity threshold, the dehumidification function will be activated. If the humidity in the well is less than or equal to the second humidity threshold, the humidification function is activated; wherein the first humidity threshold is greater than the second humidity threshold.
10. A method for downhole inspection based on a quadruped robot, characterized in that, The method applied to the downhole inspection system based on a quadruped robot according to any one of claims 1 to 9, the method comprising: Inspection tasks are sent to the quadruped robot from a remote command center; After receiving the inspection task, the quadruped robot uses the dust detection module to collect the dust concentration of the underground environment in real time. The environmental sensing module activates equipment matched to the dust concentration to collect environmental data from the well. The path planning module constructs an environmental map based on the environmental data and performs path planning based on the environmental map. Based on the multimodal gas detection module, gas state information in the well is collected; The gas state information is analyzed by the early warning module to generate graded early warning information; After the inspection is completed, the quadruped robot sends an inspection report to the remote command center.