A Multi-Sensor Geological Sensing Device for Tunnels Based on a Quadruped Robot and Its Application Method

Abstract

This invention discloses a multi-sensor geological sensing device for tunnels based on a quadruped robot and its usage method, belonging to the technical fields of tunnel construction safety sensing, geophysical exploration, and mobile robot equipment. It includes a quadruped robot; a seismic isolation support assembly is connected to the top of the quadruped robot; the seismic isolation support assembly includes an environmental sensing component; the seismic isolation support assembly includes a power supply battery pack, a time synchronization module, an edge computing device, a WiFi communication module, an inertial measurement unit, a silent detection control structure for reducing interference, and a cloud processing platform for the WiFi communication module; the seismic isolation support assembly also includes a combined seismic and electromagnetic detection device. This invention solves the problems of traditional tunnel geological exploration equipment being scattered, having high risks of human exposure, difficulty in synchronously fusing seismic and electromagnetic data, and the vibration and electromagnetic interference caused by the quadruped robot to high-sensitivity detection equipment.

Description

Technical Field

[0001] This invention relates to the fields of tunnel construction safety sensing, geophysical exploration, and mobile robot equipment technology, specifically to a multi-sensor geological sensing device for tunnels based on a quadruped robot and its usage method. Background Technology

[0002] In tunnel and underground engineering construction, risk sources such as fault fracture zones, karst, water-rich structures, gas, and harmful gases directly affect construction safety and project progress. Traditional advanced geological forecasting usually relies on manual operation near the working face using seismic wave detection equipment, transient electromagnetic equipment, gas detectors, and surveying equipment. This involves heavy equipment, a long deployment process, and high personnel exposure risks.

[0003] Seismic wave methods are more sensitive to structural anomalies such as faults, fracture zones, and cavities, while transient electromagnetic methods are more sensitive to electrical anomalies such as water-bearing structures, water-rich faults, and karst caves. In current operations, these two types of equipment are usually deployed and acquire data independently, resulting in inconsistent acquisition time, spatial coordinates, and attitude information. This makes subsequent joint interpretation difficult and hinders the formation of stable and reliable risk assessment results.

[0004] Quadruped robots possess multi-degree-of-freedom joint actuation capabilities, exhibiting good terrain adaptability in unpaved roads, puddles, uneven arches, and narrow construction passages, making them suitable for replacing personnel in hazardous areas. However, the quadruped robot body comprises metal structural components, servo motors, drive power supplies, and cooling fans, and the mechanical vibrations and electromagnetic noise they generate can easily interfere with seismic wave detectors and transient electromagnetic receiving coils.

[0005] For transient electromagnetic detection, the coil attitude and the spatial relationship between the coil and the carrier metal structure directly affect the secondary field response curve. If the coil is fixed near the robot body, the eddy currents formed by the robot's metal structure under the action of the primary magnetic field will mask the response of the target geological body; if the coil attitude is not adjustable, it is difficult to adapt to different detection directions such as in front of the tunnel face, top plate, bottom plate and side wall.

[0006] Based on this, the present invention designs a multi-sensor geological sensing device for tunnels based on a quadruped robot and a method for using it to solve the above problems. Summary of the Invention

[0007] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a tunnel multi-sensor geological sensing device based on a quadruped robot and a method of using it.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A multi-sensor geological sensing device for tunnels based on quadruped robots, including quadruped robots; The top of the quadruped robot is connected to a vibration damping support assembly.

[0009] An environmental sensing component is fixedly connected to one end of the top of the seismic isolation support component; The top center of the seismic isolation support assembly is fixedly connected to a power supply battery pack, a time synchronization module, an edge computing device, a WiFi communication module, and an inertial measurement unit to form a silent detection and control structure for reducing interference. The WiFi communication module connects to a cloud processing platform via a wireless communication network. The other end of the top of the seismic isolation support assembly is connected to a combined seismoelectric detection device for seismic wave and transient electromagnetic detection, and the combined seismoelectric detection device is connected to the abdomen of the quadruped robot. The time synchronization module communicates with the environmental sensing components and the combined seismic and electrical detection equipment. The edge computing device communicates with the silent detection control structure, environmental sensing components, seismic and electrical joint detection equipment, time synchronization module, and inertial measurement unit; The power supply battery pack is electrically connected to the quadruped robot, environmental sensing components, edge computing devices, WiFi communication module, inertial measurement unit, and silent detection and control structure; The silent detection control structure is connected to the quadruped robot and the environmental perception components.

[0010] Furthermore, the vibration isolation support assembly includes a mounting base plate and vibration isolation components. Multiple sets of vibration isolation components are fixedly installed in a rectangular array on the back of the quadruped robot. The tops of the multiple sets of vibration isolation components are fixedly connected to the bottom of the mounting base plate. The environmental sensing components, power supply battery pack, vibration and electro-optical joint detection equipment, edge computing equipment, time synchronization module, WiFi communication module and inertial measurement unit are all fixedly installed on the top of the mounting base plate.

[0011] Furthermore, the environmental perception components include a 3D LiDAR for acquiring tunnel spatial point cloud and obstacle information, a PTZ camera for acquiring visible light and infrared thermal images of the tunnel face, surrounding rock, and equipment perimeter, and a four-in-one gas detector for real-time detection of methane, carbon monoxide, hydrogen sulfide, and oxygen concentrations. The four-in-one gas detector, PTZ camera, and 3D LiDAR are all fixedly installed on one end of the top of the mounting base.

[0012] Furthermore, the silent detection and control structure includes an electromagnetic brake, a silent control unit, and a cooling fan electronic switch group. The electromagnetic brake is installed at the leg joint motors of the quadruped robot. The cooling fan electronic switch group is connected in series in the power circuits of the 3D LiDAR, gimbal camera, four-in-one gas detector, and edge computing device cooling fan. The silent control unit is electrically connected to the electromagnetic brake and the cooling fan electronic switch group, and the silent control unit is electrically connected to the edge computing device.

[0013] Furthermore, the combined seismic and electromagnetic detection equipment includes a seismic wave detection submodule for seismic wave monitoring and a transient electromagnetic detection submodule for transient electromagnetic signal monitoring. Both the seismic wave detection submodule and the transient electromagnetic detection submodule are connected to the mounting base plate. The seismic wave detection submodule is connected to the abdomen of the quadruped robot. The seismic wave detection submodule and the transient electromagnetic detection submodule are electrically connected to the time synchronization module and communicatively connected to the edge computing device.

[0014] Furthermore, the seismic wave detection submodule includes a seismic wave data acquisition host, a position adjustment component, detectors, conical coupling pins, a flexible mounting component, and a distance sensor. The seismic wave data acquisition host is fixedly mounted on the mounting base plate, the position adjustment component is fixedly mounted on the abdomen of the quadruped robot, the flexible mounting component and the distance sensor are fixedly mounted on the position adjustment component, multiple sets of detectors are fixedly mounted on the flexible mounting component, and multiple sets of conical coupling pins are fixedly mounted one-to-one on the sensing ends of multiple sets of detectors. The sensing ends of the distance sensors are set facing the flexible mounting component. The seismic wave data acquisition host and detectors are both communicatively connected to the time synchronization module. The seismic wave data acquisition host, detectors, position adjustment component, and distance sensor are communicatively connected to the edge computing device. The seismic wave data acquisition host, detectors, position adjustment component, and distance sensor are electrically connected to the power supply battery pack.

[0015] Furthermore, the position adjustment assembly includes a push assembly, a guide assembly, and a T-shaped plate. Both the push assembly and the guide assembly are fixedly connected to the abdomen of the quadruped robot. The drive end of the push assembly is rotatably connected to the guide assembly, and the guide assembly is fixedly connected to the T-shaped plate.

[0016] Furthermore, the propulsion component includes an electric cylinder, a connecting seat, and a connecting block. The connecting seat is fixedly installed on the abdomen of the quadruped robot, the electric cylinder is rotatably connected to the connecting seat, the drive end of the electric cylinder is fixedly connected to the connecting block, and the connecting block is rotatably connected to the guide component.

[0017] Furthermore, the guiding component includes a first connecting shaft, a second connecting shaft, a fixing plate, and a fixing block. The fixing plate is fixedly installed on the abdomen of the quadruped robot. The fixing plate has an L-shaped groove, and the horizontal and vertical parts of the L-shaped groove form an arc-shaped guiding groove. The two ends of the fixing block are fixedly connected to the first connecting shaft and the second connecting shaft, respectively. The first connecting shaft and the second connecting shaft are both slidably connected to the L-shaped groove. The end of the first connecting shaft away from the fixing plate is fixedly connected to a T-shaped plate. The first connecting shaft is rotatably connected to the connecting block.

[0018] A method of using a quadruped robot-based multi-sensor geological sensing device for tunnels includes the following steps: Step 1: The quadruped robot moves towards the detection position, and the vibration isolation support component attenuates the vibration generated by the movement of the quadruped robot; Step 2: After the quadruped robot moves to the detection position, it stops moving. The edge computing device synchronously starts the environmental perception component, the silent detection control structure and the seismic and electric joint detection device through the time synchronization module. The silent detection control structure locks the quadruped robot. Step 3: The combined seismic and electromagnetic detection equipment performs seismic wave and transient electromagnetic detection, and transmits the collected seismic wave, transient electromagnetic and environmental data to the edge computing device. The edge computing device preprocesses the seismic wave, transient electromagnetic and environmental data and uploads it to the cloud processing platform through the WiFi communication module. The cloud processing platform then performs precise analysis on the data transmitted by the WiFi communication module.

[0019] Compared to existing technologies, the advantages of this invention are as follows: The quadruped robot moves to the detection position, and the seismic isolation support component attenuates the vibrations generated by the robot's movement, thus helping to protect the equipment on the seismic isolation support component. After the quadruped robot reaches the detection position, it stops moving. The edge computing device synchronously starts the environmental sensing component, the silent detection control structure, and the seismic-electric joint detection device through the time synchronization module. The silent detection control structure locks the quadruped robot, ensuring the stability of subsequent monitoring. The environmental sensing component monitors environmental data in real time, and the seismic-electric joint detection device performs seismic wave and transient electromagnetic detection, transmitting the collected seismic wave, transient electromagnetic, and environmental data to the edge computing device. The computing device preprocesses seismic wave, transient electromagnetic, and environmental data and uploads it to a cloud processing platform via a WiFi communication module. The cloud processing platform then performs precise analysis on the data transmitted via the WiFi communication module. The seismo-electromagnetic joint detection equipment, environmental sensing components, and edge computing devices are integrated onto a single quadruped robot, reducing the number of times and the time spent by personnel entering dangerous areas at the tunnel face. Simultaneous activation of the time synchronization module ensures unified time synchronization and pose binding, improving the reliability of multi-source data joint interpretation. This addresses the problems of traditional tunnel geological exploration equipment being dispersed, high risk of human exposure, difficulty in synchronously fusing seismo-electromagnetic data, and vibration and electromagnetic interference from the quadruped robot to highly sensitive detection equipment. The seismo-electromagnetic joint detection equipment reduces eddy current interference and is adaptable to multi-directional detection. Furthermore, through silent control and seismic isolation, the quality of seismic wave and transient electromagnetic signals is significantly improved. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0021] Figure 1 This is a structural diagram of the tunnel multi-sensor geological sensing device based on a quadruped robot according to the present invention; Figure 2 The present invention relates to a quadruped robot and its connecting structure in three dimensions. Figure 1 ; Figure 3 This is a front view of the quadruped robot and its connecting structure according to the present invention; Figure 4 The present invention relates to a three-dimensional quadruped robot and its connecting structure. Figure 2 ; Figure 5 This is a structural diagram of the transient electromagnetic detection submodule of the present invention; Figure 6 The present invention relates to a three-dimensional quadruped robot and its connecting structure. Figure 3 ; Figure 7 The present invention relates to a three-dimensional quadruped robot and its connecting structure. Figure 4 ; Figure 8 The present invention relates to a three-dimensional quadruped robot and its connecting structure. Figure 5 ; Figure 9 The present invention relates to a three-dimensional quadruped robot and its connecting structure. Figure 6 .

[0022] The labels in the diagram represent: 1. Quadruped robot; 2. Four-in-one gas detector; 3. Power supply battery pack; 4. Cloud processing platform; 5. Seismic and electrical combined detection equipment; 51. Seismic wave detection submodule; 511. Seismic wave data acquisition host; 512. Electric cylinder; 513. T-shaped plate; 514. Connecting seat; 515. Detector; 516. Detector mounting plate; 517. Conical coupling pin; 518. First connecting shaft; 519. Second connecting shaft; 5110. Fixing plate; 5111. L-shaped groove; 5112. Connecting block; 5113. Fixing block; 5114. Distance sensor; 5115. Spring sleeve 52. Cylinder; 521. Transient electromagnetic detection submodule; 522. Transient electromagnetic host; 523. Support frame; 524. Variable transient electromagnetic coil; 525. Variable transient electromagnetic coil mounting base; 526. U-shaped plate; 527. Motor; 528. Guide rod; 529. Electric push rod; 6. Mounting base plate; 7. Vibration isolation assembly; 8. Gimbal camera; 9. 3D LiDAR; 10. Electromagnetic brake; 11. Edge computing device; 12. Time synchronization module; 13. WiFi communication module; 14. Inertial measurement unit; 15. Silent control unit; 16. Cooling fan electronic switch group. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0025] In some embodiments, please refer to the accompanying drawings. Figures 1-9 A multi-sensor geological sensing device for tunnels based on a quadruped robot, including a quadruped robot 1; The top of the quadruped robot 1 is connected to a vibration damping support assembly.

[0026] An environmental sensing component is fixedly connected to one end of the top of the seismic isolation support component; The top middle of the vibration isolation support assembly is fixedly connected to a power supply battery pack 3, a time synchronization module 12, an edge computing device 11, a WiFi communication module 13, and an inertial measurement unit 14, forming a silent detection and control structure to reduce interference. WiFi communication module 13 is connected to cloud processing platform 4 via wireless communication network; The other end of the top of the seismic isolation support assembly is connected to a combined seismic and electromagnetic detection device 5 for seismic wave and transient electromagnetic detection, and the combined seismic and electromagnetic detection device 5 is connected to the abdomen of the quadruped robot 1. Time synchronization module 12 is communicatively connected to environmental sensing components and seismic-electric joint detection equipment 5; The edge computing device 11 is communicatively connected to the silent detection control structure, the environmental sensing component, the seismic and electrical joint detection device 5, the time synchronization module 12, and the inertial measurement unit 14. The power supply battery pack 3 is electrically connected to the quadruped robot 1, the environmental perception component, the edge computing device 11, the WiFi communication module 13, the inertial measurement unit 14, and the silent detection and control structure. The silent detection control structure is connected to the quadruped robot 1 and the environmental perception component.

[0027] The quadruped robot 1 moves towards the detection position. The seismic isolation support component attenuates the vibrations generated by the movement of the quadruped robot 1, which helps protect the equipment on the seismic isolation support component. After the quadruped robot 1 reaches the detection position, it stops moving. The edge computing device 11 synchronously starts the environmental sensing component, the silent detection control structure, and the seismoelectric joint detection device 5 through the time synchronization module 12. The silent detection control structure locks the quadruped robot 1 to ensure the stability of subsequent monitoring. The environmental sensing component monitors environmental data in real time, and the seismoelectric joint detection device 5 performs seismic wave and transient electromagnetic detection. The collected seismic wave, transient electromagnetic, and environmental data are transmitted to the edge computing device 11. The edge computing device 11 processes the seismic wave and transient electromagnetic data... Electromagnetic and environmental data are preprocessed and uploaded to the cloud processing platform 4 via WiFi communication module 13. The cloud processing platform 4 then performs precise analysis on the data transmitted by WiFi communication module 13. The seismic and electrical joint detection equipment 5, environmental sensing components, and edge computing devices 11 are integrated on the same quadruped robot 1, reducing the number of times and time that humans enter dangerous areas at the tunnel face. The time synchronization module 12 is activated simultaneously to unify time synchronization and pose binding, improving the reliability of multi-source data joint interpretation. This solves the problems of traditional tunnel geological detection equipment being scattered, high risk of human exposure, difficulty in synchronously fusing seismic and electrical data, and vibration and electromagnetic interference generated by the quadruped robot 1 on high-sensitivity detection equipment.

[0028] The cloud processing platform 4 is used for remote monitoring, task scheduling, data storage, seismic and electrical joint inversion, risk level assessment, and historical task management; WiFi communication module 13 adopts WiFi Mesh architecture, which can be networked with relay nodes along the tunnel to solve the problem of long-distance communication attenuation; The time synchronization module 12 uses the PTP precise time protocol or hardware pulse synchronization method to provide a unified time reference to the seismic and electrical joint detection equipment 5, the environmental sensing component and the edge computing device 11.

[0029] The inertial measurement unit 14 provides robot posture and motion state information, which is used to bind various types of perception data to the same spatial pose frame.

[0030] Edge computing device 11 caches, preprocesses, performs quality inspection and timestamp binding on multi-source data, and can perform tunnel SLAM positioning, face image stitching, crack or seepage identification and gas over-limit early warning. The power supply battery pack 3 supplies power to the quadruped robot 1, the environmental perception component, the edge computing device 11, and the WiFi communication module 13, respectively. Considering that the transient electromagnetic emission module requires a large instantaneous current, the power supply battery pack 3 can be equipped with a low internal resistance emission power supply branch and an energy storage capacitor to provide stable power during the emission pulse.

[0031] The vibration isolation support assembly includes a mounting base plate 6 and vibration isolation components 7. Multiple sets of vibration isolation components 7 are fixedly installed on the back of the quadruped robot 1 in a rectangular array. The tops of the multiple sets of vibration isolation components 7 are fixedly connected to the bottom of the mounting base plate 6. The environmental sensing component, power supply battery pack 3, vibration and electro-optical joint detection device 5, edge computing device 11, time synchronization module 12, WiFi communication module 13 and inertial measurement unit 14 are all fixedly installed on the top of the mounting base plate 6. Vibration isolation component 7 uses an elastic damping vibration isolator; The vibration isolation component 7 of the vibration isolation support assembly supports the mounting base plate 6. Multiple sets of vibration isolation components 7 attenuate the high-frequency vibrations generated by leg joint movement, body posture fine adjustment and heat dissipation component operation before they are transmitted to the power supply battery pack 3, vibration and electric shock detection device 5, edge computing device 11, time synchronization module 12, WiFi communication module 13, inertial measurement unit 14, silent control unit 15 and cooling fan electronic switch group 16. The environmental perception components include a 3D LiDAR 9 for acquiring tunnel spatial point cloud and obstacle information, a PTZ camera 8 for acquiring visible light images and infrared thermal images of the tunnel face, surrounding rock and equipment perimeter, and a four-in-one gas detector 2 for real-time detection of methane, carbon monoxide, hydrogen sulfide and oxygen concentrations. The four-in-one gas detector 2, the PTZ camera 8 and the 3D LiDAR 9 are all fixedly installed on one end of the top of the mounting base plate 6. The four-in-one gas detector 2, the pan-tilt camera 8, and the 3D LiDAR 9 are all connected to the edge computing device 11. The power supply battery pack 3 is electrically connected to the four-in-one gas detector 2, the gimbal camera 8, and the 3D LiDAR 9; The four-in-one gas detector 2 includes detection channels for methane, carbon monoxide, hydrogen sulfide, and oxygen; When the quadruped robot 1 moves or stops, the 3D LiDAR 9 acquires point cloud and obstacle information in the tunnel space, the gimbal camera 8 acquires visible light and infrared thermal images of the tunnel face, surrounding rock and equipment perimeter, and the four-in-one gas detector 2 detects the concentrations of methane, carbon monoxide, hydrogen sulfide and oxygen in real time. The four-in-one gas detector 2, the gimbal camera 8 and the 3D LiDAR 9 transmit the data to the edge computing device 11. The edge computing device 11 performs preprocessing and uploads the data to the cloud processing platform 4 through the WiFi communication module 13. The cloud processing platform 4 then performs data analysis. The silent detection control structure includes an electromagnetic brake 10, a silent control unit 15, and a cooling fan electronic switch group 16. The electromagnetic brake 10 is respectively installed at the leg joint motors of the quadruped robot 1. The cooling fan electronic switch group 16 is connected in series in the power circuit of the cooling fan of the 3D LiDAR 9, the gimbal camera 8, the four-in-one gas detector 2, and the edge computing device 11. The silent control unit 15 is electrically connected to the electromagnetic brake 10 and the cooling fan electronic switch group 16, and the silent control unit 15 is electrically connected to the edge computing device 11. The quadruped robot 1 moves to the predetermined detection point; then the combined seismic and electromagnetic detection equipment 5 is adjusted to the detection state; next, the silent control unit 15 puts the electromagnetic brake 10 into the braking state, so that the quadruped robot 1 is in a stable support state. The silent control unit 15 then disconnects the power supply of the unnecessary cooling fans in the 3D LiDAR 9, gimbal camera 8, four-in-one gas detector 2 and edge computing device 11 through the cooling fan electronic switch group 16, so as to reduce energy consumption, extend the service life, and improve the quality of seismic wave and transient electromagnetic signal acquisition.

[0032] The combined seismic and electromagnetic detection equipment 5 includes a seismic wave detection submodule 51 for seismic wave monitoring and a transient electromagnetic detection submodule 52 for transient electromagnetic signal monitoring. Both the seismic wave detection submodule 51 and the transient electromagnetic detection submodule 52 are connected to the mounting base plate 6. The seismic wave detection submodule 51 is connected to the abdomen of the quadruped robot 1. The seismic wave detection submodule 51 and the transient electromagnetic detection submodule 52 are electrically connected to the time synchronization module 12. The seismic wave detection submodule 51 and the transient electromagnetic detection submodule 52 are communicatively connected to the edge computing device 11. The seismic wave detection submodule 51 includes a seismic wave data acquisition host 511, a position adjustment component, a detector 515, a conical coupling pin 517, a flexible mounting component, and a distance sensor 5114. The seismic wave data acquisition host 511 is fixedly mounted on the mounting base plate 6. The position adjustment component is fixedly mounted on the abdomen of the quadruped robot 1. The flexible mounting component and the distance sensor 5114 are fixedly mounted on the position adjustment component. Multiple sets of detectors 515 are fixedly mounted on the flexible mounting component, and multiple sets of conical coupling pins 517 correspond one-to-one. The sensing end of the distance sensor 5114 is fixedly installed on the sensing end of multiple sets of detectors 515. The sensing end of the distance sensor 5114 is set towards the flexible mounting component. The seismic wave data acquisition host 511 and the detectors 515 are both connected to the time synchronization module 12. The seismic wave data acquisition host 511, detectors 515, position adjustment component and distance sensor 5114 are connected to the edge computing device 11. The seismic wave data acquisition host 511, detectors 515, position adjustment component and distance sensor 5114 are electrically connected to the power supply battery pack 3. The position adjustment assembly includes a push assembly, a guide assembly, and a T-shaped plate 513. Both the push assembly and the guide assembly are fixedly connected to the abdomen of the quadruped robot 1. The drive end of the push assembly is rotatably connected to the guide assembly, and the guide assembly is fixedly connected to the T-shaped plate 513. The pushing component includes an electric cylinder 512, a connecting seat 514, and a connecting block 5112. The connecting seat 514 is fixedly installed on the abdomen of the quadruped robot 1. The electric cylinder 512 is rotatably connected to the connecting seat 514. The driving end of the electric cylinder 512 is fixedly connected to the connecting block 5112. The connecting block 5112 is rotatably connected to the guiding component. The guiding assembly includes a first connecting shaft 518, a second connecting shaft 519, a fixing plate 5110, and a fixing block 5113. The fixing plate 5110 is fixedly installed on the abdomen of the quadruped robot 1. The fixing plate 5110 has an L-shaped groove 5111. The horizontal and vertical parts of the L-shaped groove 5111 form an arc-shaped guiding groove. The two ends of the fixing block 5113 are fixedly connected to the first connecting shaft 518 and the second connecting shaft 519, respectively. The first connecting shaft 518 and the second connecting shaft 519 are both slidably connected to the L-shaped groove 5111. The end of the first connecting shaft 518 away from the fixing plate 5110 is fixedly connected to the T-shaped plate 513. The first connecting shaft 518 is rotatably connected to the connecting block 5112. The seismic wave data acquisition host 511, detector 515, electric cylinder 512 and distance sensor 5114 are communicatively connected to the edge computing device 11, and the seismic wave data acquisition host 511, detector 515, electric cylinder 512 and distance sensor 5114 are electrically connected to the power supply battery pack 3. The flexible mounting assembly includes a detector mounting plate 516 and spring sleeves 5115. Two sets of spring sleeves 5115 are symmetrically fixedly mounted on the end of the T-shaped plate 513 away from the electric cylinder 512. The ends of the two sets of spring sleeves 5115 away from the electric cylinder 512 are fixedly connected to the detector mounting plate 516. Multiple sets of detectors 515 are fixedly mounted on the detector mounting plate 516. The sensing end of the distance sensor 5114 is set towards the detector mounting plate 516. When the quadruped robot 1 moves, the telescopic end of the electric cylinder 512 of the position adjustment component of the seismic wave detection submodule 51 retracts. The electric cylinder 512 drives the connecting block 5112 to move towards the connecting seat 514. The connecting block 5112 drives the first connecting shaft 518 to move laterally along the vertical part of the L-shaped groove 5111. The first connecting shaft 518 drives the fixing block 5113 to move. The fixing block 5113 drives the second connecting shaft 519 to move laterally along the vertical part of the L-shaped groove 5111. After the second connecting shaft 519 moves past the bottom of the arc-shaped guide groove of the L-shaped groove 5111, the second connecting shaft 519 drives the fixing block 5113 to move along the arc-shaped guide groove of the L-shaped groove 5111. The center of the groove rotates, and the fixed block 5113 drives the first connecting shaft 518 to move along the L-shaped groove 5111. The first connecting shaft 518 drives the T-shaped plate 513 to adjust from a vertical state to a horizontal state, and retracts the position adjustment component, detector 515, conical coupling pin 517, elastic mounting component and distance sensor 5114 to a position closer to the abdomen of the quadruped robot 1. When the quadruped robot 1 moves, it can avoid the position adjustment component, detector 515, conical coupling pin 517, elastic mounting component and distance sensor 5114 from contacting objects on the ground and causing damage. At the same time, it reduces the space occupied on the abdomen of the quadruped robot 1 and improves the passability of the quadruped robot 1.

[0033] The distance sensor 5114 is an ultrasonic distance sensor; After the quadruped robot 1 moves to the detection position, the electric cylinder 512 of the position adjustment component of the seismic wave detection submodule 51 retracts. The electric cylinder 512 drives the connecting block 5112 to move towards the connecting seat 514. The connecting block 5112 drives the first connecting shaft 518 to move from the horizontal part of the L-shaped groove 5111 to the vertical part. The first connecting shaft 518 drives the fixing block 5113 to move. The fixing block 5113 drives the second connecting shaft 519 to move from the horizontal part of the L-shaped groove 5111 to the vertical part. With the movement of the part, and in cooperation with the second connecting shaft 519 and the fixing block 5113, the first connecting shaft 518 drives the T-shaped plate 513 to adjust from a horizontal state to a vertical state. Then, the electric cylinder 512 continues to drive the T-shaped plate 513 to move vertically downward. The T-shaped plate 513 drives the spring sleeve 5115 of the elastic mounting assembly to move downward. The spring sleeve 5115 drives the detector mounting plate 516 to move downward. The detector mounting plate 516 drives the detector 515 to move downward. The detector 515 drives the conical coupling... As the coupling pin 517 moves downward, the conical coupling pin 517 presses against or embeds itself into the ground or rock wall surface. The spring sleeve 5115 is compressed. The spring sleeve 5115 can prevent the rigid contact force generated when the conical coupling pin 517 contacts the ground or rock wall surface from being transmitted to the position adjustment component, which helps to protect the position adjustment component. The compression and restoring force of the spring sleeve 5115 can ensure that the conical coupling pin 517 is always pressed against or embedded in the ground or rock wall surface. In addition, when the distance sensor 5114 detects that the distance from the end of the detector mounting plate 516 to the T-shaped plate 513 away from the fixed block 5113 meets the set value, the edge computing device 11 controls the electric cylinder 512 to stop extending, which helps to accurately control the electric cylinder 512. Finally, the edge computing device 11 starts the seismic wave detection submodule 51 and the detector 515 through the time synchronization module 12. The detector 515 collects seismic waves through the conical coupling pin 517 and transmits them to the seismic wave detection submodule 51, which then transmits them to the edge computing device 11. The transient electromagnetic detection submodule 52 includes a transient electromagnetic host 521, a vertical adjustment component, a rotation adjustment component, and a variable transient electromagnetic coil 523. The transient electromagnetic host 521 and the vertical adjustment component are fixedly connected to the top of the mounting base plate 6. The rotation adjustment component is fixedly connected to the drive end of the vertical adjustment component. The vertical adjustment component is fixedly connected to the variable transient electromagnetic coil 523. The transient electromagnetic host 521 is communicatively connected to the time synchronization module 12. The transient electromagnetic host 521, the vertical adjustment component, and the rotation adjustment component are all communicatively connected to the edge computing device 11. The vertical adjustment component and the rotation adjustment component are electrically connected to the power supply battery pack 3. The vertical adjustment assembly includes a support frame 522, a U-shaped plate 525, a guide rod 527, and an electric push rod 528. The support frame 522 is fixedly connected to the top of the mounting base plate 6, the electric push rod 528 is fixedly connected to the support frame 522, the drive end of the electric push rod 528 is fixedly connected to the bottom of the U-shaped plate 525, the U-shaped plate 525 is connected to the rotation adjustment assembly, the bottom of the U-shaped plate 525 is fixedly connected to the top of the guide rod 527, and the support frame 522 is slidably connected to the guide rod 527 via a linear bearing. The rotation adjustment assembly includes a variable transient electromagnetic coil mounting base 524 and a motor 526. Two sets of motors 526 are symmetrically fixedly mounted on the upper end of the inner wall of the U-shaped plate 525. The variable transient electromagnetic coil mounting base 524 is fixedly connected to the drive end of the motor 526, and the variable transient electromagnetic coil mounting base 524 is fixedly connected to the variable transient electromagnetic coil 523.

[0034] Both the electric actuator 528 and the motor 526 are communicatively connected to the edge computing device 11, and the motor 526 and the electric actuator 528 are electrically connected to the power supply battery pack 3.

[0035] After the quadruped robot 1 moves to the detection position, the edge computing device 11 controls the electric push rod 528 of the vertical adjustment component to move the U-shaped plate 525. Under the action of the guide rod 527 and the support frame 522, the U-shaped plate 525 is adjusted along the vertical position. The edge computing device 11 controls the motor 526 to drive the variable transient electromagnetic coil mounting base 524 to rotate. The variable transient electromagnetic coil mounting base 524 drives the variable transient electromagnetic coil 523 to rotate along the motor 526, adjusting the variable transient electromagnetic coil 523 to the set position. The edge computing device 11 starts the transient electromagnetic host 521 through the time synchronization module 12. The transmitting module of 21 is supplied with a pulsed current to establish a magnetic field. After the transmission is turned off, the time-division switching circuit switches the variable transient electromagnetic coil 523 to the receiving circuit to collect transient electromagnetic signals. The vertical adjustment component can raise the variable transient electromagnetic coil 523 to a position higher than the main metal structure of the quadruped robot 1 to reduce the influence of the body eddy current on the transient electromagnetic response curve. The rotation adjustment component can adjust the plane where the variable transient electromagnetic coil 523 is located from a horizontal state to a vertical state or a middle tilt state through pitch freedom adjustment, which can adapt to different scenarios such as front detection, top plate detection, bottom plate water-rich structure detection and side wall detection.

[0036] A method of using a quadruped robot-based multi-sensor geological sensing device for tunnels includes the following steps: Step 1: Quadruped robot 1 moves towards the detection position, and the vibration isolation support component attenuates the vibration generated by the movement of quadruped robot 1; Step 2: After the quadruped robot 1 moves to the detection position, it stops moving. The edge computing device 11 synchronously starts the environmental perception component, the silent detection control structure and the seismic and electric joint detection device 5 through the time synchronization module 12. The silent detection control structure locks the quadruped robot 1. Step 3: The combined seismic and electromagnetic detection equipment 5 performs seismic wave and transient electromagnetic detection, and transmits the collected seismic wave, transient electromagnetic and environmental data to the edge computing device 11. The edge computing device 11 preprocesses the seismic wave, transient electromagnetic and environmental data and uploads it to the cloud processing platform 4 through the WiFi communication module 13. The cloud processing platform 4 then performs precise analysis on the data transmitted by the WiFi communication module 13.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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 of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-sensor geological sensing device for tunnels based on a quadruped robot, comprising a quadruped robot (1), characterized in that: The top of the quadruped robot (1) is connected to a vibration damping support assembly; An environmental sensing component is fixedly connected to one end of the top of the seismic isolation support component; The top middle of the vibration isolation support assembly is fixedly connected to a power supply battery pack (3), a time synchronization module (12), an edge computing device (11), a WiFi communication module (13), and an inertial measurement unit (14) for a silent detection control structure to reduce interference; The WiFi communication module (13) is connected to the cloud processing platform (4) via a wireless communication network. The other end of the top of the seismic isolation support assembly is connected to a seismoelectric joint detection device (5) for seismic wave and transient electromagnetic detection, and the seismoelectric joint detection device (5) is connected to the abdomen of the quadruped robot (1). The time synchronization module (12) is connected to the environmental sensing component and the seismic and electrical joint detection equipment (5) for communication. The edge computing device (11) is communicatively connected to the silent detection control structure, the environmental sensing component, the seismoelectric joint detection device (5), the time synchronization module (12), and the inertial measurement unit (14); The power supply battery pack (3) is electrically connected to the quadruped robot (1), the environmental perception component, the edge computing device (11), the WiFi communication module (13), the inertial measurement unit (14), and the silent detection control structure; The silent detection control structure is connected to the quadruped robot (1) and the environmental perception component.

2. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 1, characterized in that, The vibration isolation support assembly includes a mounting base plate (6) and vibration isolation components (7). Multiple sets of vibration isolation components (7) are fixedly installed in a rectangular array on the back of the quadruped robot (1). The top of each set of vibration isolation components (7) is fixedly connected to the bottom of the mounting base plate (6). The environmental sensing component, power supply battery pack (3), seismic and electrical joint detection device (5), edge computing device (11), time synchronization module (12), WiFi communication module (13) and inertial measurement unit (14) are all fixedly installed on the top of the mounting base plate (6).

3. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 2, characterized in that, The environmental perception components include a 3D lidar (9) for acquiring tunnel spatial point cloud and obstacle information, a pan-tilt camera (8) for acquiring visible light images and infrared thermal images of the tunnel face, surrounding rock and equipment perimeter, and a four-in-one gas detector (2) for real-time detection of methane, carbon monoxide, hydrogen sulfide and oxygen concentrations. The four-in-one gas detector (2), pan-tilt camera (8) and 3D lidar (9) are all fixedly installed on one end of the top of the mounting base plate (6).

4. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 3, characterized in that, The silent detection control structure includes an electromagnetic brake (10), a silent control unit (15), and a cooling fan electronic switch group (16). The electromagnetic brake (10) is respectively installed at the leg joint motor of the quadruped robot (1). The cooling fan electronic switch group (16) is connected in series in the cooling fan power circuit of the 3D laser radar (9), the gimbal camera (8), the four-in-one gas detector (2), and the edge computing device (11). The silent control unit (15) is electrically connected to the electromagnetic brake (10) and the cooling fan electronic switch group (16). The silent control unit (15) is electrically connected to the edge computing device (11).

5. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 4, characterized in that, The combined seismic and electromagnetic detection equipment (5) includes a seismic wave detection submodule (51) for seismic wave monitoring and a transient electromagnetic detection submodule (52) for transient electromagnetic signal monitoring. Both the seismic wave detection submodule (51) and the transient electromagnetic detection submodule (52) are connected to the mounting base plate (6). The seismic wave detection submodule (51) is connected to the abdomen of the quadruped robot (1). The seismic wave detection submodule (51) and the transient electromagnetic detection submodule (52) are electrically connected to the time synchronization module (12). The seismic wave detection submodule (51) and the transient electromagnetic detection submodule (52) are communicatively connected to the edge computing device (11).

6. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 5, characterized in that, The seismic wave detection submodule (51) includes a seismic wave data acquisition host (511), a position adjustment component, a detector (515), a conical coupling pin (517), an elastic mounting component, and a distance sensor (5114). The seismic wave data acquisition host (511) is fixedly mounted on the mounting base plate (6), the position adjustment component is fixedly mounted on the abdomen of the quadruped robot (1), the elastic mounting component and the distance sensor (5114) are fixedly mounted on the position adjustment component, multiple sets of detectors (515) are fixedly mounted on the elastic mounting component, and multiple sets of conical coupling pins (517) are fixed one-to-one. Installed on the sensing end of multiple detectors (515), the sensing end of the distance sensor (5114) is set towards the flexible mounting component. The seismic wave data acquisition host (511) and the detectors (515) are both connected to the time synchronization module (12). The seismic wave data acquisition host (511), the detectors (515), the position adjustment component and the distance sensor (5114) are connected to the edge computing device (11). The seismic wave data acquisition host (511), the detectors (515), the position adjustment component and the distance sensor (5114) are electrically connected to the power supply battery pack (3).

7. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 6, characterized in that, The position adjustment assembly includes a push assembly, a guide assembly and a T-shaped plate (513). The push assembly and the guide assembly are both fixedly connected to the abdomen of the quadruped robot (1). The drive end of the push assembly is rotatably connected to the guide assembly, and the guide assembly is fixedly connected to the T-shaped plate (513).

8. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 7, characterized in that, The pushing component includes an electric cylinder (512), a connecting seat (514), and a connecting block (5112). The connecting seat (514) is fixedly installed on the abdomen of the quadruped robot (1). The electric cylinder (512) is rotatably connected to the connecting seat (514). The driving end of the electric cylinder (512) is fixedly connected to the connecting block (5112). The connecting block (5112) is rotatably connected to the guiding component.

9. The multi-sensor geological sensing device for tunnels based on a quadruped robot according to claim 8, characterized in that, The guiding assembly includes a first connecting shaft (518), a second connecting shaft (519), a fixing plate (5110), and a fixing block (5113). The fixing plate (5110) is fixedly installed on the abdomen of the quadruped robot (1). The fixing plate (5110) has an L-shaped groove (5111). The horizontal and vertical parts of the L-shaped groove (5111) are arc-shaped guide grooves. The two ends of the fixing block (5113) are fixedly connected to the first connecting shaft (518) and the second connecting shaft (519) respectively. The first connecting shaft (518) and the second connecting shaft (519) are both slidably connected to the L-shaped groove (5111). The end of the first connecting shaft (518) away from the fixing plate (5110) is fixedly connected to the T-shaped plate (513). The first connecting shaft (518) is rotatably connected to the connecting block (5112).

10. A method of use, utilizing the quadruped robot-based multi-sensor geological sensing device for tunnels as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: The quadruped robot (1) moves to the detection position, and the vibration isolation support component attenuates the vibration generated by the movement of the quadruped robot (1); Step 2: After the quadruped robot (1) moves to the detection position, it stops moving. The edge computing device (11) synchronously starts the environmental perception component, the silent detection control structure and the seismic and electric joint detection device (5) through the time synchronization module (12). The silent detection control structure locks the quadruped robot (1). Step 3: The combined seismic and electromagnetic detection equipment (5) performs seismic wave and transient electromagnetic detection, and transmits the collected seismic wave, transient electromagnetic and environmental data to the edge computing device (11). The edge computing device (11) preprocesses the seismic wave, transient electromagnetic and environmental data and uploads it to the cloud processing platform (4) through the WiFi communication module (13). The cloud processing platform (4) then performs precise analysis on the data transmitted by the WiFi communication module (13).

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