An intelligent carrying platform of a coal mine underground inspection robot dog and a control and transportation method
By using an intelligent transportation platform for adaptive navigation and automatic recall of robotic dogs in coal mines, the safety risks and inefficiencies of traditional underground inspection methods have been solved, achieving efficient and safe underground inspections.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANXI KEDA AUTOMATION CONTROL
- Filing Date
- 2026-04-22
- Publication Date
- 2026-07-10
AI Technical Summary
Traditional underground coal mine inspection methods suffer from high safety risks, low efficiency, inaccurate data, and transportation equipment that cannot adapt to complex terrain. Furthermore, the lack of fast-responding transportation carriers leads to low inspection efficiency.
The intelligent transport platform, which adopts a tracked mobile structure, integrates an intelligent navigation module, an environmental perception system, and a two-way communication system. It can adaptively navigate in complex tunnels and automatically recall the robot dog when its battery is low or the environment is abnormal, ensuring safe evacuation.
It has improved the safety and efficiency of underground coal mine inspections, enabled flexible transportation and efficient inspections in complex environments, and ensured safe production in coal mines.
Smart Images
Figure CN122363009A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of coal mine underground inspection, and particularly to an intelligent transportation platform, control and transportation method for an inspection robot dog in a coal mine underground. Background Art
[0002] In the coal mine safety production guarantee system, equipment inspection, roadway inspection and operation inspection are key links to prevent accidents and ensure production continuity. However, the traditional manual inspection method has significant limitations in these scenarios: inspection personnel need to work for a long time in a narrow, humid roadway environment full of cables and pipes, not only facing safety risks such as harmful gas leakage and roof collapse, but also prone to missed inspections due to fatigue; at the same time, the manual inspection efficiency is low, the data recording is inaccurate, and it is difficult to meet the intelligent management requirements of coal mines.
[0003] With the wide application of inspection robot dogs in coal mine inspections, the technical shortcomings in their transportation links have become increasingly prominent. Traditional transportation methods such as mine flat cars and manual handling are difficult to adapt to the complex underground terrain, often resulting in transportation blockages or equipment damage; when the robot dog is performing tasks such as equipment monitoring and roadway detection, in case of emergencies such as insufficient power and excessive gas, there is a lack of a fast-response transportation carrier, which is likely to delay the handling of potential hazards. In addition, there is no coordination mechanism between existing transportation equipment and robot dogs, and it is impossible to dynamically optimize the transportation and operation processes according to task requirements and environmental changes, resulting in low inspection efficiency.
[0004] Therefore, there is an urgent need to develop an inspection robot dog transportation platform and transportation method with intelligent coordination capabilities to ensure efficient and safe inspections in coal mines. Summary of the Invention
[0005] The purpose of the present invention is to provide an intelligent transportation platform, control and transportation method for an inspection robot dog in a coal mine underground, so as to solve the problems listed in the background art.
[0006] To solve the above technical problems, the present invention adopts the following technical solutions: An intelligent transportation platform for an inspection robot dog in a coal mine underground of the present invention includes an intelligent transportation platform, and the intelligent transportation platform includes a crawler-type mobile structure and a transportation cabin. The crawler-type mobile structure includes crawlers, drive motors and a suspension system. The drive motors drive the crawlers to rotate. One end of the suspension system is connected to the drive motors, and the other end of the suspension system is connected to the transportation cabin. A hydraulic lifting tail plate is hinged to the tail of the transportation cabin. The transportation cabin is internally provided with a robot dog fixing mechanism, and the hydraulic lifting tail plate provides a passage for the robot dog to automatically enter the transportation cabin. The intelligent navigation module includes an inertial navigation unit and a path planning algorithm unit, which are used to receive preset route information and plan the platform's operating path in combination with real-time environmental data; An environmental perception system, comprising a lidar, a panoramic camera, and a gas and temperature / humidity sensor array, wherein the lidar and the panoramic camera are mounted on the top of the carrier body, and the gas and temperature / humidity sensor array is disposed on the outer wall of the carrier body; The robot dog status monitoring module integrates a 5G / 4G / Wi-Fi multi-mode communication unit, which supports real-time acquisition and analysis of robot dog power, temperature, abnormal environmental signals, and attitude data, with a response latency of ≤50ms. A two-way communication system is provided to enable command transmission and location interaction between the intelligent transport platform and the robot dog.
[0007] Preferably, the suspension system includes spring shock absorbers and hydraulic dampers for cushioning vibrations and impacts during track movement; The robot dog fixing mechanism includes an electromagnetic locking assembly and an infrared positioning guide. The electromagnetic locking assembly is installed inside the carrier body, and the infrared positioning guide is photoelectrically connected to the robot dog.
[0008] Preferably, the path planning algorithm unit has an improved A algorithm built-in. The algorithm, or Dijkstra's algorithm, combines underground tunnel maps and real-time obstacle information to plan a path.
[0009] Preferably, the lidar has a 360° omnidirectional field of view and a ranging accuracy of ±5cm; The panoramic camera supports a wide dynamic range of 120dB and a night vision distance of ≥30m; the gas and temperature / humidity sensor group simultaneously detects the concentrations of CH4, CO, O2, and H2S, as well as temperature and humidity in the environment in real time.
[0010] Preferably, the robot dog status monitoring module uses LoRa / 4G dual-channel wireless communication as a backup link to obtain the robot dog's power data and environmental parameters in real time, performs graded early warnings based on a dynamic threshold algorithm, and triggers platform recall instructions or emergency response protocols.
[0011] Preferably, the bidirectional communication system adopts spread spectrum communication technology and has automatic frequency hopping anti-interference capability.
[0012] Preferably, it also includes an intelligent scheduling and decision-making system, which is based on a multi-objective optimization algorithm and dynamically plans the transportation route according to the robot dog's battery status and environmental risk level.
[0013] Preferably, the carrier body adopts a modular design, and the carrier body includes a quick-change charging interface module and a data exchange module.
[0014] A control method for an intelligent transport platform for underground inspection robots in coal mines includes the following steps: First, the downhole environmental parameters are collected in real time through the environmental perception system, and the optimal transportation path is generated based on the intelligent navigation module. Then, the robot dog's status data is received through a two-way communication system. When a robot dog's battery alarm or an abnormal environmental signal is received, an emergency response mechanism is triggered. Finally, the tracked mobile structure is controlled to perform evacuation or support missions.
[0015] A collaborative transportation method for an intelligent transport platform for underground inspection robots in coal mines includes the following steps: S1. The intelligent transport platform loads and locks the robot dog at the wellhead; S2, the intelligent transport platform autonomously navigates to the target area downhole along a pre-stored path; S3, the intelligent transport platform opens the hydraulic lifting tailgate to release the robot dog to perform inspection tasks; S4. The intelligent transportation platform continuously receives the robot dog's status signal. If the following conditions are met: Condition 1: The robot dog's battery level is less than or equal to the warning threshold; or Condition 2: The robot dog detects that environmental parameters exceed the limit, then a recall command is sent to the robot dog. S5. After the robot dog returns to the carrier and locks in place, the intelligent carrier platform initiates an emergency evacuation procedure to return to the ground.
[0016] Compared with the prior art, the beneficial technical effects of the present invention are as follows: This invention discloses an intelligent transport platform for a robotic dog used for underground coal mine inspections, along with its control and transportation method. The intelligent transport platform employs a tracked mobile structure and possesses terrain-adaptive capabilities, allowing it to traverse complex underground mine tunnels freely. Simultaneously, the intelligent transport platform integrates an intelligent navigation module and an environmental perception system. The intelligent navigation module plans the optimal path based on multi-source data; the environmental perception system monitors underground environmental parameters in real time. The transportation method includes loading the robotic dog onto the platform and transporting it to a designated inspection point. When the robotic dog's battery level alarms or an abnormal underground environment occurs, the intelligent transport platform receives the robotic dog's return and transports it away. This solves the adaptability problem of traditional transportation methods in complex underground environments, improves the flexibility and safety of robotic dog transportation, and ensures the efficient conduct of underground coal mine inspections. Attached Figure Description
[0017] The present invention will be further described below with reference to the accompanying drawings.
[0018] Figure 1This is a three-dimensional schematic diagram of an intelligent transport platform for underground inspection robot dogs in coal mines according to the present invention. Figure 2 This is a cross-sectional schematic diagram of an intelligent transport platform for underground inspection robots in coal mines, according to the present invention. Figure 3 This is a flowchart of a collaborative transportation method for an intelligent transport platform for underground inspection robots in coal mines, according to the present invention.
[0019] Explanation of reference numerals in the attached drawings: 1 is the intelligent transport platform; 11 is the tracked mobile mechanism; 12 is the transport cabin; 13 is the panoramic camera; 14 is the lidar; 15 is the hydraulic lifting tailgate; 16 is the gas and temperature and humidity sensor group; 17 is the electromagnetic locking assembly; 2 is the robot dog. Detailed Implementation
[0020] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
[0021] like Figure 1-2 As shown, a smart transport platform for a coal mine underground inspection robot dog includes a smart transport platform 1, which includes a tracked mobile structure 11 and a transport cabin 12. The tracked mobile structure 11 includes tracks, a drive motor, and a suspension system. The drive motor drives the tracks to rotate. One end of the suspension system is connected to the drive motor, and the other end is connected to the transport compartment 12. The tracks are made of high-strength, wear-resistant material with special anti-slip treads pressed onto the surface, enabling them to withstand the friction and impact of complex underground coal mine surfaces and adapt to varying underground terrain. The drive motor is a high-torque, high-efficiency explosion-proof permanent magnet synchronous motor for mining, paired with a planetary gearbox for transmission, and an advanced motor controller to achieve stepless speed regulation and precise control. The suspension unit integrates spring shock absorbers and hydraulic dampers to effectively buffer vibration and impact, reducing the impact on equipment and the robot dog on the transport compartment. The power of the tracked mobile mechanism 11 is not limited to electric motor drive; it can also use an explosion-proof diesel engine suitable for underground mining applications. The rear of the transport cabin 12 is hinged with a hydraulic lifting tail plate 15. The transport cabin 12 has a built-in robot dog fixing mechanism, and the hydraulic lifting tail plate 15 provides a channel for the robot dog 2 to automatically enter the transport cabin 12. When the hydraulic lifting tail plate 15 is opened, the hydraulic lifting tail plate 15 forms a ramp with the ground, which enables the robot dog 2 to automatically enter the transport cabin 12. The transport cabin is welded with 8mm thick Q345 explosion-proof steel plate, which has high strength and explosion-proof performance. The transport cabin has a simple and smooth shape, which is suitable for the compact space requirements of underground coal mines. The intelligent navigation module includes an inertial navigation unit and a path planning algorithm unit. It is used to receive preset route information, combine real-time environmental data to plan the platform's operating path, and dynamically plan the transportation path based on a multi-objective optimization algorithm, taking into account factors such as the robot dog's task priority, battery status, and environmental risk level. This allows for the rational arrangement of transportation tasks, improving transportation efficiency and the overall coordination of inspection work. The environmental perception system includes a lidar 13, a panoramic camera 14, and a gas and temperature / humidity sensor group 16. The Velodyne VLP-32C lidar 13 is selected and installed at the top, front, rear, and center of the transport cabin 12. The lidar accurately calculates the distance between surrounding objects and the platform by emitting laser beams and measuring the time of reflected light, generating a high-precision three-dimensional point cloud map. Its 360° full-view field of view and ±5cm ranging accuracy can clearly detect the position and shape of obstacles, walls, and other objects in the underground tunnel, providing real-time and accurate environmental information for the intelligent navigation module, enabling the platform to plan obstacle avoidance paths in advance. An explosion-proof panoramic camera 14 with a resolution of 1920×1080 is used. It is symmetrically distributed on the front, rear and sides of the top of the carrier 12. The panoramic camera supports a wide dynamic range of 120dB and can clearly image even in the underground environment with drastic light changes. It is equipped with 850nm infrared supplement light to achieve good night vision function with a night vision distance of ≥30m. The panoramic camera captures the underground environment in real time, which can be used by ground operators to remotely monitor the underground situation. On the other hand, the image data can be fused with LiDAR data to further improve the accuracy of environmental perception. The gas and temperature / humidity sensor group 16 is installed on the outer wall of the transport cabin 12. The gas sensor is installed on the side of the transport cabin 12 and close to the ground. The gas sensor adopts the principle of high-precision electrochemical or catalytic combustion and can simultaneously detect the concentration of multiple gases such as CH4, CO, O2, and H2S. It is sensitive to changes in gas concentration. When the concentration of harmful gas exceeds the safety threshold, it immediately issues an alarm signal and transmits the data to the platform control system, providing protection for the safety of underground workers and the platform. For example, it can provide timely warning when the gas concentration exceeds the standard to prevent explosion accidents. Furthermore, the temperature and humidity sensors are installed inside and outside the platform, respectively. The temperature and humidity sensors detect the ambient temperature and humidity in real time and transmit the data to the platform control system. A two-way communication system is provided to enable command transmission and location interaction between the intelligent transport platform 1 and the robot dog 2.
[0022] Specifically, the suspension system includes spring shock absorbers and hydraulic dampers to buffer vibrations and impacts during track movement; Furthermore, the design of the transport cabin 12 conforms to ergonomics and the structural characteristics of the robot dog 2. It has a built-in robot dog 2 fixing mechanism and an electromagnetic locking component 17 fixing device installed inside, which can generate an adsorption force of 850N. With the help of an infrared positioning guide with a positioning accuracy of ±2mm, the infrared positioning guide is photoelectrically connected to the robot dog 2 to realize the robot dog 2's rapid and accurate return docking and firm locking, ensuring the stability of the robot dog 2 during transportation.
[0023] Specifically, the path planning algorithm unit has an improved A built-in. The algorithm, or Dijkstra's algorithm, combines pre-stored underground tunnel maps with obstacle information fed back in real time by the environmental perception system to dynamically plan the optimal path. When the underground tunnel environment changes, such as the appearance of new obstacles or changes in the tunnel structure, the path can be quickly replanned to ensure that the platform can travel safely and efficiently to the target location.
[0024] Specifically, the lidar 13 has a 360° all-around field of view and a ranging accuracy of ±5cm; the panoramic camera 14 supports a 120dB wide dynamic range and a night vision distance of ≥30m; the gas and temperature and humidity sensor group 16 simultaneously detects the concentrations of CH4, CO, O2, and H2S in the environment as well as temperature and humidity in real time.
[0025] Specifically, the robot dog status monitoring module integrates a 5G / 4G / Wi-Fi multi-mode communication unit, which can automatically switch communication frequency bands and protocols, prioritizing 5G to achieve high-speed, low-latency transmission and meet the rapid transmission requirements of robot dog status information; in areas with weak 5G signals, it automatically switches to 4G or Wi-Fi to ensure communication. At the same time, a high-gain antenna enhances signal transmission and reception capabilities, ensuring stable communication underground. It supports real-time acquisition and analysis of robot dog power, temperature, abnormal environmental signals, and attitude data, with a response latency of ≤50ms. The robot dog status monitoring module uses LoRa / 4G dual-channel wireless communication as a backup link. With the advantages of low power consumption and long distance, LoRa is suitable for long-distance data transmission in underground mines, ensuring the transmission of key data (such as power and important environmental parameters) under weak signal conditions. 4G provides a high-speed channel. The combination of the two improves the reliability of transmission, and environmental parameters and other data are uploaded to the control center for analysis in real time. The robot dog's status monitoring module integrates a 5G / 4G / Wi-Fi multi-mode communication unit and a LoRa / 4G dual-channel wireless communication system. It can receive data such as battery level, temperature, environmental anomaly signals, and posture sent by the robot dog 2 in real time, with a sampling rate of 10Hz and a battery data accuracy of ±2%. Based on a dynamic threshold algorithm, the module analyzes and processes the data. When the robot dog's battery level is ≤20% or an abnormal situation such as a gas concentration ≥1.0% is detected, a graded warning is issued, and a platform recall command or emergency response protocol is triggered. The response delay is ≤50ms, ensuring timely response to various situations that may occur during the robot dog 2's inspection process.
[0026] Specifically, the two-way communication system adopts spread spectrum communication technology and has automatic frequency hopping anti-interference capability. Even when the signal is weak and the receiving sensitivity reaches -120dBm, it can still communicate stably, realize fast and reliable command transmission and position interaction between the platform and the robot dog 2, and ensure smooth information flow and collaborative operation between the two.
[0027] Specifically, it also includes an intelligent scheduling and decision-making system. This system is based on a multi-objective optimization algorithm and dynamically plans transportation routes according to the battery status and environmental risk level of the robot dog 2. Furthermore, the intelligent scheduling and decision-making system adopts an industrial-grade processor, is equipped with a real-time operating system, and integrates an edge computing module. It can quickly process data from various sensors, process 80% of the sensor data locally, and control the communication latency to within 10ms. At the same time, it interacts with the ground control center through the communication module, receives instructions from operators, and uploads the platform and robot dog's operating data.
[0028] Specifically, the carrier 12 adopts a modular design and includes a quick-change charging interface module and a data exchange module.
[0029] A control method for an intelligent transport platform for underground inspection robots in coal mines includes the following steps: First, the downhole environmental parameters are collected in real time through the environmental perception system, and the optimal transportation path is generated based on the intelligent navigation module. Then, the status data of the robot dog 2 is received through the two-way communication system. When the robot dog 2 battery alarm or environmental abnormal signal is received, the emergency response mechanism is triggered to send a recall command to the robot dog. Finally, the tracked mobile structure 11 is controlled to perform evacuation or support tasks, ensuring the safety of the robot dog 2 and the intelligent transport platform 1.
[0030] like Figure 3 As shown, a collaborative transportation method for an intelligent transport platform for underground inspection robots in coal mines includes the following steps: S1. The intelligent transport platform 1 loads and locks the robot dog 2 at the wellhead. In the wellhead operating area, the operator starts the loading program via a touchscreen. The hatch of the transport cabin 12 automatically opens, and the hydraulic lifting tailgate 15 is opened. The infrared positioning guide inside the cabin emits an infrared signal of a specific frequency. After receiving the signal, the infrared receiver on the robot dog moves autonomously into the transport cabin according to the guidance signal. When the robot dog enters the predetermined position, multiple sensors (such as proximity sensors and pressure sensors) installed on the bottom and sides of the transport cabin detect that the robot dog 2 has arrived. The robot dog 2 automatically lies down, and the protrusion under the robot dog's abdomen inserts into the groove on the cabin. The electromagnetic locking component 15 is immediately activated, and the robot dog 2 is firmly locked inside the transport cabin 12 by a strong electromagnetic attraction. The entire loading process can be monitored in real time by the panoramic camera and sensors on the platform to ensure the accuracy and safety of the loading process. If an abnormality occurs during the loading process (such as the robot dog not accurately entering the predetermined position), the system will issue an alarm and stop the loading program, waiting for the operator to handle it. S2. The intelligent transport platform 1 autonomously navigates to the target area underground along a pre-stored path. After the robot dog 2 is loaded, the intelligent navigation module of the intelligent transport platform 1 starts working. The platform enters the cage of the vertical shaft or enters the mine through the roadway of the inclined shaft. It reads the relevant map information of the target inspection area from the underground roadway map database pre-stored in the platform's storage unit. This map contains detailed information such as the layout, size, slope, and location of fixed obstacles in the roadway. At the same time, the environmental perception system collects environmental data around the platform in real time, such as the location and shape of surrounding obstacles scanned by the lidar 14, image information captured by the panoramic camera, and the concentration of harmful gases detected by the gas sensor 16. S3. The intelligent transport platform 1 opens the hydraulic lifting tailgate 15 to release the robot dog 2 to perform the inspection task. When the intelligent transport platform 1 reaches the target inspection area, the electromagnetic locking component of the transport cabin 12 is unlocked, and the cabin door of the transport cabin 12 opens automatically. After receiving the task start command sent by the platform through the two-way communication system, the robot dog 2 walks out of the transport cabin 12 and enters the inspection working state. At this time, the robot dog activates its various sensors, such as panoramic camera, gas sensor, infrared sensor, ultrasonic sensor, etc., and begins to conduct detailed detection of the surrounding equipment, tunnel environment, etc. The robot dog collects and analyzes parameters such as the operating status of the equipment (such as the temperature, vibration, current, voltage, etc. of the equipment), the structural integrity of the tunnel (such as whether there are cracks or deformations in the tunnel, and whether the support is stable) and the concentration of harmful gases in real time according to the preset inspection task and route. S4. The intelligent transport platform 1 continuously receives the status signal from the robot dog 2. If the following conditions are met: Condition 1: Robot Dog 2's battery level ≤ warning threshold or Condition 2: Robot Dog 2 detects environmental parameters exceeding limits, then a recall command is sent to Robot Dog 2. When abnormal conditions such as Robot Dog 2's battery level ≤ 20% or gas concentration ≥ 1.0% are detected, the warning mechanism is immediately triggered. The intelligent transportation platform quickly sends an emergency recall command to Robot Dog 2 through the two-way communication system. At the same time, the intelligent navigation module starts emergency path planning and plans a fast and safe evacuation route based on the current location and environmental conditions. S5. After robot dog 2 returns to the carrier 12 and locks, intelligent carrier platform 1 initiates an emergency evacuation procedure to return to the ground. After receiving the recall command, robot dog 2 immediately stops its current inspection task and returns to the carrier 12 according to the path planned by the platform. During the return process, robot dog 2 uses its own sensors (such as panoramic cameras and lidar) to perceive the surrounding environment in real time, autonomously avoid obstacles, and ensure a safe return. When robot dog 2 returns to the carrier and is locked again by electromagnetic locking component 17, intelligent carrier platform 1 executes the return to the ground operation.
[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0032] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims
1. A smart transport platform for a coal mine underground inspection robot dog, characterized in that: It includes an intelligent transport platform (1), which includes a tracked mobile structure (11) and a transport cabin (12). The tracked mobile structure (11) includes tracks, a drive motor and a suspension system. The drive motor drives the tracks to rotate. One end of the suspension system is connected to the drive motor, and the other end of the suspension system is connected to the transport cabin (12). The tail of the transport cabin (12) is hinged with a hydraulic lifting tail plate (15). The transport cabin (12) has a built-in robot dog fixing mechanism, and the hydraulic lifting tail plate (15) provides a channel for the robot dog (2) to automatically enter the transport cabin (12). The intelligent navigation module includes an inertial navigation unit and a path planning algorithm unit, which are used to receive preset route information and plan the platform's operating path in combination with real-time environmental data; An environmental perception system, comprising a lidar (13), a panoramic camera (14), and a gas and temperature and humidity sensor group (16), wherein the lidar (13) and the panoramic camera (14) are mounted on the top of the carrier body (12), and the gas and temperature and humidity sensor group (16) is disposed on the outer wall of the carrier body (12). The robot dog status monitoring module integrates a 5G / 4G / Wi-Fi multi-mode communication unit, which supports real-time acquisition and analysis of robot dog power, temperature, abnormal environmental signals, and attitude data, with a response latency of ≤50ms. A two-way communication system is provided to enable instruction transmission and location interaction between the intelligent transport platform (1) and the robot dog (2).
2. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The suspension system includes spring shock absorbers and hydraulic dampers to buffer vibrations and impacts during track movement; The robot dog fixing mechanism includes an electromagnetic locking assembly (17) and an infrared positioning guide. The electromagnetic locking assembly (17) is installed inside the carrier (12), and the infrared positioning guide is photoelectrically connected to the robot dog (2).
3. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The path planning algorithm unit has an improved A built-in. The algorithm, or Dijkstra's algorithm, combines underground tunnel maps and real-time obstacle information to plan a path.
4. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The lidar (13) has a 360° full-view field of view and a ranging accuracy of ±5cm; The panoramic camera (14) supports a wide dynamic range of 120dB and a night vision distance of ≥30m; the gas and temperature and humidity sensor group (16) simultaneously detects the concentration of CH4, CO, O2, H2S and temperature and humidity in the environment in real time.
5. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The robot dog status monitoring module uses LoRa / 4G dual-channel wireless communication as a backup link to obtain the robot dog's (2) power data and environmental parameters in real time, and performs graded early warning based on dynamic threshold algorithm to trigger platform recall instructions or emergency response protocols.
6. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The bidirectional communication system uses spread spectrum communication technology and has automatic frequency hopping anti-interference capability.
7. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: It also includes an intelligent scheduling and decision-making system, which is based on a multi-objective optimization algorithm and dynamically plans the transportation route according to the power status and environmental risk level of the robot dog (2).
8. The intelligent transport platform for a coal mine underground inspection robot dog according to claim 1, characterized in that: The carrier (12) adopts a modular design and includes a quick-change charging interface module and a data exchange module.
9. A control method for an intelligent transport platform for underground inspection robots in coal mines, used to control the intelligent transport platform for underground inspection robots in coal mines as described in claims 1-8, characterized in that: Includes the following steps: First, the downhole environmental parameters are collected in real time through the environmental perception system, and the optimal transportation path is generated based on the intelligent navigation module. Then, the status data of the robot dog (2) is received through the two-way communication system. When the robot dog (2) receives a power alarm or an abnormal environmental signal, the emergency response mechanism is triggered. Finally, the tracked mobile structure (11) is controlled to perform evacuation or support missions.
10. A collaborative transportation method for an intelligent transport platform for underground inspection robot dogs in coal mines, used to control the intelligent transport platform for underground inspection robot dogs in coal mines as described in claims 1-8, characterized in that: Includes the following steps: S1, The intelligent transport platform (1) loads the robot dog (2) at the wellhead and locks it; S2, Intelligent transport platform (1) autonomously navigates to the target area in the well along the pre-stored path; S3, Intelligent transport platform (1) Opens the hydraulic lifting tailgate (15) Releases the robot dog (2) Performs inspection tasks; S4. The intelligent transport platform (1) continuously receives the status signal of the robot dog (2). If the following conditions are met: Condition 1: The robot dog (2) has a power level ≤ the warning threshold or Condition 2: If the robot dog (2) detects that the environmental parameters exceed the limit, a recall command is sent to the robot dog (2); S5. After the robot dog (2) returns to the carrier (12) and locks, the intelligent carrier platform (1) initiates the emergency evacuation procedure to return to the ground.