Multifunctional intelligent mining device and mining method

Abstract

The invention relates to a multifunctional intelligent mining device and a mining method, and belongs to the technical field of mining. Comprising a mobile vehicle, a console, a multi-axis mechanical arm, a jumbolter, an ore storage box, a front flame sensor, a laser radar, a binocular camera, a thermal imaging camera, a rear flame sensor, a voice alarm, a gas detector, a dry powder extinguisher, a lifting telescopic rod, a right-angle motor, a spray head and a controller. According to the system, the functions of automatic driving, accurate positioning, path planning, obstacle avoidance, information transmission, mining operation, gas detection, personnel positioning, alarm and fire extinguishing can be realized, and compared with the prior art, the system integrates three subsystems of environment exploration, mining operation and emergency rescue; a three-in-one solution integrating situation awareness, intelligent operation and emergency response is formed, and diversified tasks such as dangerous case early warning, high-strength mining and fire emergency disposal can be effectively executed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining, in particular to a multifunctional intelligent mining device. BACKGROUND

[0002] According to statistics, in recent years, there have been 1026 mine accidents in China, causing 1990 deaths. Among them, the number of roof accidents is the most, accounting for 32.1% of the total; the number of deaths caused by gas accidents is the most, accounting for 31.1% of the total number of deaths; and the average number of deaths caused by fire accidents is the most, reaching 11. Therefore, the demand for intelligent mining in the field of mining is increasing.

[0003] Mining robots are mainly used in the field of mining, which greatly reduces the consumption of manpower and materials and improves the efficiency of mining. The development of mining robots not only meets the needs of the times, but also meets the needs of people's demand for efficient and intelligent technology, and provides technical support. The application of mining robots is to do a good job in mining, and to provide technical support for realizing less people and unmanned mining.

[0004] Some mining robots are provided in the prior art, which have single function, mainly concentrated in basic mining and obstacle avoidance with limited ability, and generally have the following deficiencies: lack of comprehensive perception and classification warning mechanism for complex mine environment (such as roof state, gas anomaly, open fire, etc.); do not support information sharing and collaborative work between multiple robots; in emergency handling, especially lack of autonomous detection and fire extinguishing ability for sudden fire. These limitations make it difficult for existing robots to adapt to the comprehensive operation requirements in high-risk mine environment, and the application range is limited.

[0005] Therefore, how to design a multifunctional intelligent mining device and mining method with automatic driving, accurate positioning, path planning, obstacle avoidance, information transmission, mining operation, gas detection, personnel positioning, alarm and fire extinguishing function is a problem to be solved by those skilled in the art. SUMMARY

[0006] The present application provides a multifunctional intelligent mining device, which solves the technical problems of insufficient perception ability of existing mining robots, synchronous cooperation of multiple machines and single function.

[0007] The technical scheme for solving the above technical problems is as follows: a multifunctional intelligent mining device, comprising: a mobile vehicle, a control console, a multi-axis mechanical arm, an anchor rod drilling machine, a mine storage box, a front flame sensor, a laser radar, a binocular camera, a thermal imaging camera, a rear flame sensor, a voice alarm, a gas detector, a dry powder fire extinguisher, a lifting telescopic rod, a right-angle motor, a spray head and a controller, the bottom end of the control console is rotationally connected to the top end of the mobile vehicle through a rotating shaft, the inside of the control console is hollow, and the front end and the rear end of the travel direction of the control console are respectively provided with a plurality of sensing holes, and a rotating motor for driving the rotating shaft to rotate is fixed in the inside of the control console; the multi-axis mechanical arm, the anchor rod drilling machine and the mine storage box are fixed at the top end of the control console at intervals; the front flame sensor, the laser radar, the binocular camera and the thermal imaging camera are fixed in the control console at intervals and are respectively arranged opposite to the plurality of sensing holes at the front end of the control console; the rear flame sensor, the voice alarm and the gas detector are fixed in the control console at intervals and are respectively arranged opposite to the plurality of sensing holes at the rear end of the control console; the top end of the control console is provided with a fire extinguishing hole; the lifting telescopic rod is fixed in the control console below the fire extinguishing hole; the right-angle motor is fixed on the lifting telescopic rod; the spray head is fixed on the output shaft of the right-angle motor and extends out of the fire extinguishing hole; the dry powder fire extinguisher is fixed in the control console and is communicated with the spray head through a conveying pipe; and the controller is fixed in the control console and is electrically connected with the mobile vehicle, the rotating motor, the multi-axis mechanical arm, the anchor rod drilling machine, the front flame sensor, the laser radar, the binocular camera, the thermal imaging camera, the rear flame sensor, the voice alarm, the gas detector, the lifting telescopic rod, the right-angle motor and the spray head.

[0008] The beneficial effects of the present application are:

[0009] 1. The controller is electrically connected with a plurality of front flame sensors, a laser radar, a binocular camera, a thermal imaging camera, a rear flame sensor, a voice alarm and a gas detector, which can realize automatic driving, accurate positioning, path planning, obstacle avoidance, information transmission, mining operation, gas detection, personnel positioning, alarm and fire extinguishing functions. Compared with the prior art, the present application integrates three subsystems of environment surveying, mining operation and emergency rescue, forms a trinity solution integrating "situation awareness-intelligent operation-emergency response", and can effectively perform diversified tasks such as danger early warning, high-intensity mining and fire emergency disposal.

[0010] 2. High real-time three-dimensional map construction: multi-source sensor data fusion is performed by laser radar and binocular camera, the system realizes real-time construction and dynamic update of mine three-dimensional map based on SLAM algorithm, through continuous tracking of state evolution of the environment, the system can realize high-precision environmental risk perception, and support real-time path planning of the robot in complex working conditions;

[0011] 3. Emergency response system: fusion sensing is performed by flame sensor and thermal imaging camera, the system detects fire features by the flame sensor, and drives the fire extinguishing device to accurately aim at the fire source; at the same time, the thermal imaging camera is used to locate the position of the trapped personnel in real time, to provide information support for realizing preferential rescue;

[0012] 4. Risk warning system: the system implements a classified danger warning mechanism, and performs real-time analysis and evaluation on sensor data according to a preset risk model; for roof risk, the system divides it into three levels according to its crack and deformation degree and issues corresponding warning; when the environmental risk (such as gas and oxygen concentration) exceeds the safety threshold, a high-risk evacuation instruction is automatically triggered; after confirming the fire, the system will broadcast the highest level of fire evacuation alarm.

[0013] 5. Remote control operation: support

[0014] On the basis of the above technical solutions, the application can also be improved as follows.

[0015] Further, the mobile vehicle comprises a vehicle frame, a plurality of guide wheels, a plurality of supporting wheels, a plurality of driving wheels and two tracks, the plurality of guide wheels, the plurality of supporting wheels and the plurality of driving wheels are respectively rotatably connected to the two sides of the vehicle frame; the two tracks are respectively drivingly connected to the plurality of guide wheels, the plurality of supporting wheels and the plurality of driving wheels on the two sides of the vehicle frame.

[0016] Further, it further comprises an information transmitter, an automatic driving controller and a remote control receiver, the information transmitter, the automatic driving controller and the remote control receiver are fixedly spaced in the control console; the controller is respectively electrically connected with the information transmitter, the automatic driving controller and the remote control receiver.

[0017] The above further beneficial effects are:

[0018] 1. Through the information transmitter, the management personnel is provided with information of fire, personnel position, oxygen concentration and gas concentration without interruption, realizing real-time monitoring and information reporting;

[0019] 2. Through the remote control receiver, man-machine interaction and remote control are realized;

[0020] 3. Through the automatic driving controller, the mobile vehicle moves position autonomously.

[0021] Further, a positioner and an inertial sensor are further included, which are fixedly spaced in the console; the controller is electrically connected with the positioner.

[0022] The above further beneficial effects are: the positioner marks the dangerous area.

[0023] In addition, a multifunctional intelligent mining method is provided, characterized in that the multifunctional intelligent mining device is included, and the specific steps are as follows:

[0024] S1, start the front flame sensor, the rear flame sensor and the gas detection device to monitor the environment around the mobile vehicle;

[0025] S2, the front flame sensor and the rear flame sensor judge whether there is a flame feature in the monitoring area, if yes, execute S3, otherwise, execute S8;

[0026] S3, the controller analyzes the information returned by the front flame sensor and the rear flame sensor, if it is confirmed that there is a fire point, execute S4;

[0027] S4, the controller controls the lifting of the lifting telescopic rod according to the fire point position, adjusts the output shaft of the right-angle motor, makes the spray head aim at the fire point for fire extinguishing, starts the voice alarm at the same time, marks the fire area by the positioner, transmits the fire information to the managers and the remaining robots through the information transmitter, controls the voice alarm of the remaining robots to remind the surrounding staff to evacuate, and rushes to support;

[0028] S5, start the thermal imaging camera to scan the fire area, judge whether there is a trapped person, and upload the personnel position information; if there is a trapped person, execute S6, otherwise, execute S7;

[0029] S6, receive the instruction of the manager, and preferentially extinguish the fire in the area where the personnel are trapped;

[0030] S7, continue the fire extinguishing operation until the fire is extinguished, and transmit the fire information to the manager through the information transmitter, and wait for the subsequent instruction;

[0031] S8, the controller judges whether the oxygen concentration and the gas concentration exceed the preset safety threshold according to the data returned by the gas detector, if yes, execute S9, otherwise, execute S10;

[0032] S9, start the voice alarm to alarm, and transmit the information to the managers and the remaining robots through the information transmitter;

[0033] S10, start the laser radar and binocular camera to build a real-time three-dimensional environment map, and evaluate the roof safety based on the preset risk standard, if there is a risk, if yes, execute S11, otherwise execute S12;

[0034] S11, according to the roof risk level, start the corresponding voice alarm, mark the dangerous area through the locator, and transmit the risk level to the management personnel and the remaining robots through the information transmitter, if it is judged as high risk, execute S12, otherwise, execute S13;

[0035] S12, wait for the subsequent return instruction;

[0036] S13, the controller plans the optimal route according to the three-dimensional mine map built by the laser radar and binocular camera, controls the robot to travel according to the route, the controller controls the robot to travel to the target point, the controller controls the rotating motor to drive the rotating shaft, adjusts the position of the console, so that the binocular camera collects images, views the ore, controls the multi-axis mechanical arm and the anchor rod drilling machine to carry out the mining operation through the remote control receiver, during which, if any sensor detects an abnormality, the current operation is interrupted and returns to S2.

[0037] Further, the voice alarm has different broadcast contents for different risk types, wherein the roof risk is divided into low, medium and high levels according to the crack and deformation degree, and different early warning prompts are correspondingly provided; when the gas concentration is greater than or equal to 1.0% or the oxygen concentration is less than 17.0%, a high-risk evacuation warning is broadcasted; when a fire is confirmed, a fire evacuation warning is broadcasted. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a three-dimensional structure schematic diagram of the multifunctional intelligent mining device of the application;

[0039] Figure 2 It is a rear view structure schematic diagram of the multifunctional intelligent mining device of the application;

[0040] Figure 3 It is a schematic diagram of the internal structure of the console in the multifunctional intelligent mining device of the application;

[0041] Figure 4 It is a bottom view structure schematic diagram of the mobile vehicle in the multifunctional intelligent mining device of the application;

[0042] Figure 5 It is a control diagram of the multifunctional intelligent mining method of the application.

[0043] In the drawings, the component list represented by each number is as follows:

[0044] 1, mobile car, 11, car frame, 12, guide wheel, 13, supporting wheel, 14, driving wheel, 15, track, 2, control console, 21, sensing hole, 3, multi-axis mechanical arm, 4, anchor rod drilling machine, 5, ore storage box, 6, front flame sensor, 7, laser radar, 8, binocular camera, 9, thermal imaging camera, 10, rear flame sensor, 16, voice alarm, 17, gas detector, 18, dry powder fire extinguisher, 19, lifting telescopic rod, 20, right-angle motor, 22, spray head, 23, rotary motor, 24, conveying pipe, 25, rotary shaft, 26, information transmitter, 27, automatic driving controller, 28, remote control receiver, 29, positioner, 30, inertial sensor. DETAILED DESCRIPTION

[0045] The principles and features of the present application are described below in conjunction with the accompanying drawings, and the examples are only used to explain the present application, not to limit the scope of the present application.

[0046] As shown in Figure 1 and Figure 3 , a multifunctional intelligent mining device comprises a mobile car 1, a control console 2, a multi-axis mechanical arm 3, an anchor rod drilling machine 4, an ore storage box 5, a front flame sensor 6, a laser radar 7, a binocular camera 8, a thermal imaging camera 9, a rear flame sensor 10, a voice alarm 16, a gas detector 17, a dry powder fire extinguisher 18, a lifting telescopic rod 19, a right-angle motor 20, a spray head 22, and a controller 17.

[0047] The bottom end of the control console 2 is rotationally connected to the top end of the mobile car 1 through the rotary shaft 25, the inside of the control console 2 is hollow, and the front end and the rear end of the travel direction are respectively provided with a plurality of sensing holes 21, and the inside of the control console 2 is fixed with a rotary motor 23 that can drive the rotary shaft 25 to rotate; the multi-axis mechanical arm 3, the anchor rod drilling machine 4, and the ore storage box 5 are fixed at the top end of the control console 2 at intervals; the front flame sensor 6, the laser radar 7, the binocular camera 8, and the thermal imaging camera 9 are fixed in the control console 2 at intervals and are respectively arranged opposite to the plurality of sensing holes 21 at the front end of the control console 2; the rear flame sensor 10, the voice alarm 16, and the gas detector 17 are fixed in the control console 2 at intervals and are respectively arranged opposite to the plurality of sensing holes at the rear end of the control console 2; the top end of the control console 2 is provided with a fire extinguishing hole; the lifting telescopic rod 19 is fixed in the control console 2 below the fire extinguishing hole; the right-angle motor 20 is fixed on the lifting telescopic rod 19; the spray head 22 is fixed on the output shaft of the right-angle motor 20 and extends out of the fire extinguishing hole; the dry powder fire extinguisher 18 is fixed in the control console 2 and is communicated with the spray head 22 through the conveying pipe 24; the controller 17 is fixed in the control console 2 and is respectively electrically connected with the mobile car 1, the rotary motor 23, the multi-axis mechanical arm 3, the anchor rod drilling machine 4, the front flame sensor 6, the laser radar 7, the binocular camera 8, the thermal imaging camera 9, the rear flame sensor 10, the voice alarm 16, the gas detector 17, the lifting telescopic rod 19, the right-angle motor 20, and the spray head 22.

[0048] As Figure 1 shown, in some embodiments, the mobile vehicle 1 can include a vehicle frame 11, a plurality of guide wheels 12, a plurality of supporting wheels 13, a plurality of drive wheels 14 and two tracks 15, the plurality of guide wheels 12, the plurality of supporting wheels 13 and the plurality of drive wheels 14 are respectively rotatably connected to the two sides of the vehicle frame 11; the two tracks 15 are respectively drivingly connected to the plurality of guide wheels 12, the plurality of supporting wheels 13 and the plurality of drive wheels 14 on the two sides of the vehicle frame 11.

[0049] As Figure 3 shown, in some embodiments, it can also include an information transmitter 26, an automatic driving controller 27 and a remote control receiver 28, the information transmitter 26, the automatic driving controller 27 and the remote control receiver 28 are fixedly spaced in the control console 2; the controller 17 is respectively electrically connected with the information transmitter 26, the automatic driving controller 27 and the remote control receiver 28.

[0050] As Figure 3 shown, in some embodiments, it can also include a positioner 29 and an inertial sensor 30, the positioner 29 and the inertial sensor 30 are fixedly spaced in the control console 2; the controller 17 is electrically connected with the positioner 29.

[0051] In addition, a multifunctional intelligent mining method is provided, which includes a multifunctional intelligent mining device, and the specific steps are as follows:

[0052] S1, start the front flame sensor 6, the rear flame sensor 10 and the gas detection device to monitor the environment around the mobile vehicle 1;

[0053] S2, the front flame sensor 6 and the rear flame sensor 10 judge whether there is a flame feature in the monitoring area, if yes, execute S3, otherwise, execute S8;

[0054] S3, the controller 17 analyzes the information returned by the front flame sensor 6 and the rear flame sensor 10, if it is confirmed that there is a fire point, execute S4;

[0055] S4, the controller 17 controls the lifting telescopic rod 19 to lift according to the position of the fire point, adjusts the output shaft of the right-angle motor 20, so that the spray head 22 aims at the fire point to extinguish the fire, at the same time, the voice alarm 16 is started to alarm, the positioner 29 marks the fire area, the information transmitter 26 transmits the fire situation to the management personnel and the remaining robots, the voice alarm 16 of the remaining robots reminds the surrounding staff to evacuate, and rushes to support;

[0056] S5, start the thermal imaging camera 9 to scan the fire area, judge whether there is a trapped person, and upload the position information of the person; if there is a trapped person, execute S6, otherwise, execute S7;

[0057] S6, receiving the management personnel instruction, and preferentially extinguishing the fire in the personnel trapped area;

[0058] S7, continuing the fire extinguishing operation until the fire is extinguished, transmitting the fire information to the management personnel through the information transmitter 26, and waiting for subsequent instructions;

[0059] S8, the controller 17 determines whether the oxygen concentration and the gas concentration exceed the preset safety threshold according to the data returned by the gas detector 17, if yes, S9 is executed, otherwise, S10 is executed;

[0060] S9, starting the voice alarm 16 to alarm, and transmitting information to the management personnel and the remaining robots through the information transmitter 26;

[0061] S10, starting the laser radar 7 and the binocular camera 8 to construct a real-time three-dimensional environment map, and evaluating the roof safety based on a preset risk standard, if there is a risk, if yes, S11 is executed, otherwise, S12 is executed;

[0062] S11, starting the corresponding voice alarm according to the roof risk level, marking the dangerous area through the locator 29, and transmitting the risk level to the management personnel and the remaining robots through the information transmitter 26, if it is judged as high risk, S12 is executed, otherwise, S13 is executed;

[0063] S12, waiting for subsequent return instructions;

[0064] S13, the controller 17 plans an optimal route according to the three-dimensional mine map constructed by the laser radar 7 and the binocular camera 8, controls the robot to travel according to the route, the controller 17 controls the robot to travel to the target point, the controller 17 controls the rotary motor 23 to drive the rotating shaft 25 to adjust the position of the console 2, so that the binocular camera 8 collects images and views the ore, and the multi-axis mechanical arm 3 and the anchor rod drilling machine 4 are controlled through the remote control receiver 28 to perform the mining operation, during which, if any sensor detects an abnormality, the current operation is interrupted and returned to S2.

[0065] In some specific embodiments, the voice alarm 16 is preset with different broadcast contents for different risk types, wherein the roof risk is divided into three levels of low, medium and high according to the crack and deformation degree, and different early warning prompts are correspondingly provided; when the gas concentration is ≥1.0% or the oxygen concentration is <17.0%, a high-risk evacuation warning is broadcasted; when a fire is confirmed, a fire evacuation warning is broadcasted.

[0066] The above is only a preferred embodiment of the present application, and is not intended to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multifunctional intelligent mining device, characterized in that, include: The mobile vehicle (1) and the control panel (2) are connected to the top of the mobile vehicle (1) by a rotating shaft (25). The control panel (2) is hollow inside and has multiple sensor holes (21) at the front and rear ends in the direction of travel. A rotary motor (23) that can drive the rotating shaft (25) to rotate is fixed inside the control panel (2). A multi-axis robotic arm (3), an anchor drill (4), and a ore storage box (5) are fixed at intervals on the top of the control panel (2). The front flame sensor (6), lidar (7), binocular camera (8), thermal imaging camera (9), rear flame sensor (10), voice alarm (16), and gas detector (17) are fixed at intervals within the control panel (2) and are respectively arranged opposite to multiple sensing holes (21) at the front end of the control panel (2); the rear flame sensor (10), voice alarm (16), and gas detector (17) are fixed at intervals within the control panel (2) and are respectively arranged opposite to multiple sensing holes at the rear end of the control panel (2). The control panel (2) includes a dry powder fire extinguisher (18), a telescopic lifting rod (19), a right-angle motor (20), and a nozzle (22). A fire extinguishing hole is located at the top of the control panel (2). The telescopic lifting rod (19) is fixed inside the control panel (2) below the fire extinguishing hole. The right-angle motor (20) is fixed to the telescopic lifting rod (19). The nozzle (22) is fixed to the output shaft of the right-angle motor (20) and extends out of the fire extinguishing hole. The dry powder fire extinguisher (18) is fixed inside the control panel (2) and connected to the nozzle (22) via a delivery pipe (24). The controller (17) is fixed inside the control panel (2) and is electrically connected to the mobile vehicle (1), the rotary motor (23), the multi-axis robotic arm (3), the anchor drilling rig (4), the front flame sensor (6), the lidar (7), the binocular camera (8), the thermal imaging camera (9), the rear flame sensor (10), the voice alarm (16), the gas detector (17), the lifting telescopic rod (19), the right angle motor (20), and the nozzle (22).

2. The multifunctional intelligent mining device according to claim 1, characterized in that, The mobile vehicle (1) includes a frame (11), multiple guide wheels (12), multiple support wheels (13), multiple drive wheels (14), and two tracks (15). The multiple guide wheels (12), multiple support wheels (13), and multiple drive wheels (14) are rotatably connected to both sides of the frame (11). The two tracks (15) are respectively driven to the multiple guide wheels (12), multiple support wheels (13), and multiple drive wheels (14) on both sides of the frame (11).

3. The multifunctional intelligent mining device according to claim 1, characterized in that, It also includes an information transmitter (26), an automatic driving controller (27), and a remote control receiver (28), wherein the information transmitter (26), the automatic driving controller (27), and the remote control receiver (28) are fixedly spaced within the control panel (2); the controller (17) is electrically connected to the information transmitter (26), the automatic driving controller (27), and the remote control receiver (28), respectively.

4. The multifunctional intelligent mining device according to claim 1, characterized in that, It also includes a locator (29) and an inertial sensor (30), which are fixed at intervals within the control panel (2); the controller (17) is electrically connected to the locator (29).

5. A multifunctional intelligent mining method, characterized in that, The multifunctional intelligent mining device according to any one of claims 1-4 includes the following specific steps: S1. Activate the front flame sensor (6), rear flame sensor (10) and gas detection device to monitor the surrounding environment of the mobile vehicle (1); S2. The front flame sensor (6) and the rear flame sensor (10) determine whether there are flame features in the monitoring area. If yes, then execute S3; otherwise, execute S8. S3. The controller (17) analyzes the information returned by the pre-fire flame sensor (6) and the post-fire flame sensor (10). If it is confirmed that there is a fire point, then execute S4. S4. The controller (17) controls the lifting telescopic rod (19) to rise and fall according to the location of the fire point, and adjusts the output shaft of the right angle motor (20) so that the nozzle (22) is aimed at the fire point to extinguish the fire. At the same time, the voice alarm (16) is activated to sound an alarm, the locator (29) marks the fire area, and the fire situation is transmitted to the management personnel and other robots through the information transmitter (26). The voice alarm (16) of the other robots is controlled to remind the surrounding staff to evacuate and rush to support. S5. Start the thermal imaging camera (9) to scan the fire area, determine whether there are trapped personnel, and upload the personnel location information; if there are trapped personnel, execute S6, otherwise execute S7. S6. Receive instructions from management personnel and prioritize firefighting in areas where personnel are trapped; S7. Continue firefighting operations until the fire is extinguished, and transmit the fire information to the management personnel through the information transmitter (26) and wait for subsequent instructions; S8. The controller (17) determines whether the oxygen concentration and gas concentration exceed the preset safety threshold based on the data returned by the gas detector (17). If they exceed the threshold, S9 is executed; otherwise, S10 is executed. S9. Activate the voice alarm (16) to sound an alarm, and at the same time transmit the information to the management personnel and the other robots through the information transmitter (26); S10. Start the lidar (7) and binocular camera (8) to build a real-time three-dimensional environment map and assess the safety of the top plate based on the preset risk standard. If there is a risk, execute S11 if yes, otherwise execute S12. S11. Activate the corresponding voice alarm according to the risk level of the top plate, mark the dangerous area through the locator (29), and transmit the risk level to the management personnel and other robots through the information transmitter (26). If it is judged to be high risk, execute S12; otherwise, execute S13. S12, Waiting for subsequent return instructions; S13, the controller (17) plans the optimal route based on the three-dimensional mine map constructed by the lidar (7) and the binocular camera (8), controls the robot to move according to the route, the controller (17) controls the robot to move to the target point, the controller (17) controls the rotary motor (23) to drive the rotary axis (25), adjusts the position of the control panel (2), so that the binocular camera (8) can collect images and view the ore, and controls the multi-axis robotic arm (3) and the anchor drill (4) to carry out mining operations through the remote receiver (28). During this period, if any sensor detects an abnormality, the current operation is interrupted and returns to S2.

6. A multifunctional intelligent mining method according to claim 5, characterized in that, The voice alarm (16) has different broadcast content preset for different risk types. Among them, the risk of the roof is divided into three levels: low, medium and high according to the degree of cracks and deformation, and there are different warning prompts. When the gas concentration is ≥1.0% or the oxygen concentration is <17.0%, a high-risk evacuation warning will be broadcast; when a fire is confirmed, a fire evacuation warning will be broadcast.

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