Mine tunnel or tunnel intelligent emergency rescue robot and rescue method

Abstract

The embodiment of the application discloses a mine roadway or tunnel intelligent emergency rescue robot and a rescue method, relates to the technical field of mine roadway or tunnel emergency rescue, and the mine roadway or tunnel intelligent emergency rescue robot comprises a main body structure system, a perception and detection system and a control and data processing system; the main body structure system comprises a breaking module for breaking rock-soil or obstacles and a moving chassis for moving; the perception and detection system comprises a multi-modal geological detection module for acquiring geological structure information, an environment perception unit for acquiring environment parameters and a vision module for acquiring visual information; the control and data processing system comprises a central processing unit, a transparent geological database for storing and constructing a dynamic three-dimensional geological model and a wireless communication module for data interaction with the outside; the control and data processing system is connected with the main body structure system and the perception and detection system, and is used for executing breaking operation, and / or moving operation and / or rescue operation.

Description

Technical Field

[0001] This application relates to the technical field of emergency rescue in mine roadways or tunnels, and in particular to intelligent emergency rescue robots and rescue methods for mine roadways or tunnels. Background Technology

[0002] In tunnel collapse rescue operations, using large-diameter horizontal drilling rigs is currently the most efficient and safest method. However, the presence of steel structures such as I-beams, anchor bolts, and steel mesh that have fallen during tunnel support work within the collapsed area can hinder drilling progress and severely impact rescue efforts.

[0003] Existing large-diameter horizontal drilling rigs suffer from insufficient drive force, limited drilling depth, and large size, making them prone to jamming over long distances. They also place high demands on road transport and operational space. Meanwhile, tunnel collapse rescue faces two major challenges: traditional detour or pilot tunnel rescue methods are labor-intensive, time-consuming, and highly dangerous; existing rescue equipment has low levels of intelligence, failing to acquire real-time geological data of the collapse area, resulting in low rescue efficiency. Traditional rescue methods typically involve detours or pilot tunnel excavation, which are time-consuming, dangerous, and inefficient in complex geological conditions. Rescue equipment is mostly mechanized, lacking high-precision, multi-modal sensing systems, making it difficult to obtain real-time geological information within the collapse area, leading to insufficient decision-making basis and impacting the overall rescue process. Current rescue devices can only perform unidirectional demolition, lacking environmental awareness and unable to cope with complex geological changes.

[0004] Therefore, there is an urgent need for a solution that can address the problems of information blind spots, low efficiency, and high risks in traditional rescue efforts. Summary of the Invention

[0005] This application proposes an intelligent emergency rescue robot and rescue method for mine roadways or tunnels to address the deficiencies of the prior art.

[0006] According to a first aspect of the embodiments of this application, an intelligent emergency rescue robot for mine roadways or tunnels is provided, comprising: The main structural system includes a demolition module for breaking through rock, soil, or obstacles and a mobile chassis for movement; The sensing and detection system includes a multimodal geological detection module for acquiring geological structure information, an environmental sensing unit for acquiring environmental parameters, and a visual module for acquiring visual information. The control and data processing system includes a central processing unit for processing multi-source data and making intelligent decisions, a transparent geological database for storing and building dynamic three-dimensional geological models, and a wireless communication module for interacting with the outside world. The central processing unit is configured to execute the following data processing flow: receive the detection data collected by the multimodal geological exploration module; perform spatiotemporal synchronization and fusion of multi-source data using a preset filtering algorithm; and execute the call of a preset rock breaking mechanism model library based on the fused multi-source data to calculate and output the mechanical parameters of the rock mass in front of the current tunnel face. The transparent geological database is used to store the fused multi-source data and the output results of the rock breaking mechanism model library, and dynamically constructs and updates the three-dimensional geological grid model according to a preset cycle. The control and data processing system is connected to the main structure system and the sensing and detection system, and is used to drive the main structure system to perform demolition operations, movement operations and / or rescue operations according to the output control commands of the three-dimensional geological grid model.

[0007] In some embodiments, the main structural system further includes a power module, which includes a hybrid power unit consisting of a hydrogen fuel cell and a lithium battery, and an intelligent power distribution management module for managing energy consumption distribution.

[0008] In some embodiments, the multimodal geological exploration module includes at least two of a sonar detector, an electromagnetic radar, and a geophysical probe; the vision module includes at least an infrared camera and a three-dimensional lidar.

[0009] In some embodiments, the breaking module includes a detachable rock-breaking roller cutter, which integrates a sensor for monitoring force, and is connected to a high-frequency vibration-assisted rock-breaking module and a high-pressure water jet-assisted module.

[0010] In some embodiments, the breaking module is configured to automatically adjust the cutter spacing of the detachable rock-breaking roller cutter and / or selectively activate the high-frequency vibration-assisted rock-breaking module and / or activate the high-pressure water jet-assisted rock-breaking module based on the rock hardness fed back by the multimodal geological exploration module. The rock layer hardness is obtained by combining acoustic velocity inversion and cutter force estimation. The automatic adjustment of the cutter spacing is executed by a lead screw mechanism driven by a servo motor. The adjustment amount of the cutter spacing is inversely linearly related to the hardness value of the rock layer.

[0011] In some embodiments, multiple intelligent emergency rescue robots for mine roadways or tunnels are provided, and the multiple intelligent emergency rescue robots for mine roadways or tunnels are connected through a wireless communication network for task coordination and dynamic task allocation. The dynamic task allocation is executed by the ground command center. When communication is interrupted, each mine roadway or tunnel intelligent emergency rescue robot switches to a preset distributed consensus protocol, elects a temporary master node based on the local communication topology, and executes the task using the most recent effective allocation scheme.

[0012] In some embodiments, the transparent geological database is used to integrate historical data from tunnel pre-embedded sensors with real-time data from robot detection, and combined with a pre-set rock breaking mechanism model to generate a dynamic three-dimensional geological model containing warnings of high-risk areas, and to optimize the robot's planned path based on the dynamic three-dimensional geological model in conjunction with inertial navigation.

[0013] In some embodiments, the main structure system further includes a robotic arm integrated on the mobile chassis for performing positioning operations that meet target accuracy, rock anchor bolt, anchor cable, and anchor mesh support operations, or quick-setting concrete spraying operations.

[0014] In some embodiments, the wireless communication module supports the fifth-generation mobile communication protocol.

[0015] According to a second aspect of this application, a rescue method is provided, implemented based on the intelligent emergency rescue robot for mine roadways or tunnels as described above, comprising: The intelligent emergency rescue robot in the mine roadway or tunnel is controlled to enter the collapsed area, scan the geological and environmental information through the sensing and detection system, and generate a three-dimensional geological model by combining the pre-stored data; Based on the three-dimensional geological model and inertial navigation, a rescue route is planned. The demolition module is controlled to adaptively adjust the demolition parameters according to real-time geological feedback and advance the demolition. Temporary support is provided for the tunnel when preset conditions are met to form a demolition passage. After or during the formation of the breaching passage, the intelligent emergency rescue robot for the mine roadway or tunnel is controlled to switch to life detection mode to search for and locate trapped personnel, and to perform at least one of the following operations: opening a life passage, delivering supplies, or monitoring vital signs.

[0016] The beneficial effects of the intelligent emergency rescue robot and rescue method for mine roadways or tunnels according to the embodiments of this application include at least the following: This application's embodiments can acquire digital data of complex geological environments in real time and dynamically adjust rescue paths and operational strategies based on sensor feedback. Through intelligent operation planning and real-time monitoring, it reduces the time wasted in traditional manual rescue, making the rescue process more efficient and precise. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments can safely replace manual labor in dangerous accident sites, avoiding high-risk operations by personnel in hazardous environments. By monitoring the site environment in real time, the intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments can proactively avoid dangers and provide precise operation execution, significantly reducing the risk of personnel casualties. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments integrates multiple detection sensors (such as sonar, electromagnetic waves, geophysical detectors, etc.) and rescue tools (such as demolition devices, robotic arms, etc.), enabling it to flexibly adjust its working mode according to different rescue tasks, adapt to various emergencies, and achieve multi-purpose functionality, greatly improving operational flexibility and adaptability. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments is equipped with a digital control system and intelligent decision-making module, which can automatically optimize operation plans based on real-time data in complex environments. Its autonomous control capability reduces reliance on human intervention and allows for flexible adjustment of operational actions based on environmental changes, enhancing the autonomy and intelligence of rescue efforts. The intelligent emergency rescue robot for mine roadways or tunnels in this embodiment continuously collects and transmits various environmental and operational data during operation, allowing the command center to monitor rescue progress in real time. This data can be used for post-event analysis and optimization of rescue plans, providing important references for developing emergency plans for similar future events, and offering detailed digital records for post-accident investigation and assessment. Considering the complexity and duration of rescue missions, the intelligent emergency rescue robot for mine roadways or tunnels in this embodiment employs a high-efficiency energy system and a highly durable mechanical structure, enabling stable operation for extended periods in harsh environments, ensuring the continuity and efficiency of rescue missions. The intelligent emergency rescue robot for mine roadways or tunnels in this embodiment possesses excellent all-terrain adaptability, allowing it to move freely in complex environments such as collapses, mud, and narrow passages, adapting to various rescue needs and ensuring the feasibility of rescue work. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of an intelligent emergency rescue robot for mine roadways or tunnels according to an embodiment of this application; Figure 2 This is a flowchart illustrating a rescue method according to an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the various embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and with various variations and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of this disclosure. The various embodiments can be combined with and referenced by each other without contradiction.

[0019] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed embodiments of the present application, but merely to illustrate selected embodiments of the present application. Other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are all within the scope of protection of the embodiments of the present application.

[0020] This application discloses an intelligent emergency rescue robot and method for mine roadways or tunnels. The aim is to overcome existing technical problems by using a sorting machine (Handler) and a testing machine (Tester) to collaboratively bind a chip (UNITID) to a substrate 2D. The sorting machine is equipped with a high-resolution camera to read the QR code information on the substrate surface; the testing machine obtains the QR code decoding data through a custom protocol (e.g., RS232); and the upgraded AOS automated testing control software intelligently determines whether to read the substrate 2D, reducing misjudgments caused by manual control and solving the problem of inconsistent operation. The substrate 2DID information is linked and bound in real time with the test results of the dynamically generated UNIT ID (unique identifier), generating a test report containing the 2D code. This ultimately achieves a complete technical chain for associating chip UNIT ID test data with substrate QR code information, improving the accuracy of defect root cause location.

[0021] See attached document Figure 1 The diagram shown illustrates the structure of an intelligent emergency rescue robot for mine roadways or tunnels according to an embodiment of this application. This intelligent emergency rescue robot for mine roadways or tunnels includes: a main structure system sensing and detection system, and a control and data processing system.

[0022] In some embodiments, the main structural system includes a demolition module for breaking up rock or obstacles and a mobile chassis for movement.

[0023] In some embodiments, the main structural system further includes a power module comprising a hybrid power unit consisting of a hydrogen fuel cell (for use as the main power source) and a lithium battery (e.g., a high-density lithium battery for use as a backup power source), and an intelligent power distribution management module for managing energy consumption distribution.

[0024] For example, a hydrogen fuel cell is used as the main power source; a lithium battery, such as a high-density lithium battery, is used as a backup power source. This application embodiment also includes an intelligent power distribution management system to optimize energy consumption allocation among the units. Based on this, this application embodiment significantly improves the driving range, achieving an energy utilization rate of 85% or higher.

[0025] In some embodiments, the demolition module includes a detachable rock-breaking roller cutter, which integrates a sensor for monitoring force. The detachable rock-breaking roller cutter is connected to a high-frequency vibration-assisted rock-breaking module and a high-pressure water jet-assisted module to improve demolition efficiency.

[0026] In some embodiments, the breaking module is configured to automatically adjust the cutter spacing of the detachable rock-breaking roller cutter and / or selectively activate the high-frequency vibration-assisted rock-breaking module and / or activate the high-pressure water jet-assisted rock-breaking module based on the rock hardness fed back by the multimodal geological exploration module.

[0027] The rock layer hardness is obtained by combining acoustic velocity inversion and cutter force estimation. The automatic adjustment of the cutter spacing is executed by a lead screw mechanism driven by a servo motor. The adjustment amount of the cutter spacing is inversely linearly related to the hardness value of the rock layer.

[0028] For example, the cutter spacing of this detachable rock-breaking roller cutter can be automatically adjusted within the range of 0.5cm to 2cm. Specifically, the adaptive adjustment of the roller cutter monitors the force on the roller cutter in real time through a fiber optic strain sensor and automatically adjusts the cutter spacing according to the rock hardness. The automatic adjustment mechanism is a servo motor-driven screw-nut pair. The connection is as follows: the servo motor is fixed to the cutter head base, its output shaft is connected to the screw through a coupling, and the screw nut is fixed to the roller cutter slide. The drive execution is as follows: the central processing unit outputs a PWM signal to the servo motor driver based on the rock hardness value converted from the fiber optic strain sensor (calculated using the formula: hardness MPa = 0.02 × force N + 10). The driver controls the motor rotation angle, and the screw drives the roller cutter to move radially to the target spacing. The rock hardness is obtained by converting the force value measured by the fiber optic strain sensor, without involving online learning. The thresholds for high, low, and medium hardness are preset values ​​(low hardness ≤ 80MPa, medium hardness 80~150MPa, high hardness > 150MPa), pre-calibrated based on laboratory rock-breaking experimental data.

[0029] For example, the high-frequency vibration-assisted rock breaking module is used to automatically activate the high-frequency vibration-assisted rock breaking mechanism. In this embodiment, the high-frequency vibration-assisted rock breaking module can be automatically activated under hard rock conditions (hardness > 150 MPa), improving breaking efficiency by more than 30%.

[0030] For example, the high-pressure water jet auxiliary module is used to automatically spray high-pressure water when breaking through high-strength rock layers (such as granite), reducing tool wear and increasing the rock-breaking rate.

[0031] For example, the detachable rock-breaking cutter also integrates a camera.

[0032] For example, the mobile chassis is equipped with six all-terrain tracks, which have a strong obstacle-crossing capability.

[0033] In some embodiments, the main structure system further includes a robotic arm integrated on the mobile chassis for performing positioning operations, rock anchor bolt, anchor cable, and anchor mesh support operations, or quick-setting concrete spraying operations to achieve target accuracy, thereby enabling flexible movement and precise positioning.

[0034] In some embodiments, the sensing and detection system includes a multimodal geological detection module for acquiring geological structure information, an environmental sensing unit for acquiring environmental parameters, and a visual module for acquiring visual information.

[0035] In some embodiments, the multimodal geological exploration module includes at least two of a sonar detector, an electromagnetic radar, and a geophysical probe; the vision module includes at least an infrared camera and a three-dimensional lidar.

[0036] The sonar detector is used to scan underground structures and the distribution of obstacles; the electromagnetic radar is used to detect metal components, such as reinforcing bars and supports; and the geophysical probe is used to analyze soil density and rock stability. Based on the above multimodal detection data and the extended Kalman filter fusion algorithm, this embodiment can construct a three-dimensional geological model with a resolution of 0.2m, realizing the visualization of geological parameters such as surrounding rock hardness, joints and fissures, and water-bearing areas, providing a quantitative basis for rescue route planning.

[0037] For example, the environmental parameters obtained based on this environmental sensing unit include, but are not limited to, the following key parameters: monitoring temperature, humidity, oxygen concentration and dust content. Based on these parameters, the safety of the rescue environment can be ensured.

[0038] For example, the vision module is configured with a 360° infrared camera and / or a 3D lidar, the 360° infrared camera being used for vital sign detection and the 3D lidar being used for generating a high-precision tunnel environment model.

[0039] In some embodiments, the control and data processing system includes a central processing unit (CPU) for processing multi-source data and making intelligent decisions, a transparent geological database for storing and constructing dynamic three-dimensional geological models, and a wireless communication module for interacting with the outside world.

[0040] In some embodiments, the central processing unit is configured to perform the following data processing flow: receiving the detection data collected by the multimodal geological exploration module; performing spatiotemporal synchronization and fusion of multi-source data using a preset filtering algorithm; and based on the fused multi-source data, calling a preset rock breaking mechanism model library to calculate and output the mechanical parameters of the rock mass in front of the current tunnel face.

[0041] For example, the central processing unit is equipped with a multimodal data fusion algorithm and integrates data including geological parameters, environmental parameters, and visual information for intelligent decision-making.

[0042] In some embodiments, the transparent geological database is used to store the fused multi-source data and the output results of the rock breaking mechanism model library, and dynamically constructs and updates a three-dimensional geological grid model according to a preset cycle to optimize the robot's path planning.

[0043] In some embodiments, the control and data processing system is connected to the main structure system and the sensing and detection system, and is used to drive the main structure system to perform demolition operations, movement operations and / or rescue operations according to the output control commands of the three-dimensional geological grid model.

[0044] In some embodiments, the transparent geological database is used to integrate historical data from tunnel pre-embedded sensors with real-time data from robot detection, and combined with a pre-set rock breaking mechanism model to generate a dynamic three-dimensional geological model containing warnings of high-risk areas, and to optimize the robot's planned path based on the dynamic three-dimensional geological model in conjunction with inertial navigation.

[0045] For example, this dynamic three-dimensional geological model is generated by integrating geological information obtained from target sensors pre-embedded in the tunnel with real-time detection data from intelligent emergency rescue robots in the mine roadway or tunnel. This dynamic three-dimensional geological model is a high-precision and dynamically updatable three-dimensional geological model. Based on combining this dynamic three-dimensional geological model with existing rock breaking mechanisms, a rock breaking mechanism model library is formed, further determining reasonable rock breaking technologies and rescue methods.

[0046] For example, the dynamic three-dimensional geological model generates high-risk area warnings based on intelligent analysis, thereby enabling the optimized robot's path planning.

[0047] For example, this intelligent analysis includes: combining a Building Information Modeling (BIM) system to predict potential collapse risk areas and optimize rescue routes; utilizing the real-time data transmission from sensors such as the geological radar of the intelligent emergency rescue robot in the mine roadway or tunnel, as well as the robot's own operating data, to achieve real-time dynamic adjustment of parameters such as propulsion speed and power, and further realize multi-data fusion to adapt to the geological environment of the rescue.

[0048] In some embodiments, multiple intelligent emergency rescue robots for mine roadways or tunnels are provided, and the multiple intelligent emergency rescue robots for mine roadways or tunnels are connected through a wireless communication network for task coordination and dynamic task allocation.

[0049] For example, the dynamic task allocation is executed by the ground command center. When communication is interrupted, each mine roadway or tunnel intelligent emergency rescue robot switches to a preset distributed consensus protocol, elects a temporary master node based on the local communication topology, and executes the task using the most recent effective allocation scheme.

[0050] Specifically, dynamic task allocation is handled by the ground command center. The command center runs an allocation module based on an improved particle swarm optimization algorithm, which calculates an allocation scheme every 10 seconds based on each robot's remaining battery power, location, demolition capability, and environmental risk index. The scheme is then forwarded to the slave robots via the master robot (designated by the command center). When communication is interrupted, each robot elects a temporary master node using a distributed consensus protocol and continues execution using the last valid allocation scheme. Simultaneously, sound and light beacons are activated to assist in manual intervention.

[0051] For example, the number of multiple intelligent emergency rescue robots for mine roadways or tunnels is [number], and the task coordination and dynamic task allocation includes: configuring one intelligent emergency rescue robot for mine roadways or tunnels to perform demolition tasks, and configuring another intelligent emergency rescue robot for mine roadways or tunnels to simultaneously perform tasks such as support, life detection, and material delivery, in order to improve rescue efficiency.

[0052] In some embodiments, the wireless communication module supports the fifth-generation mobile communication protocol for bidirectional data transmission with the ground command center, enabling remote monitoring and control.

[0053] This application's embodiments can acquire digital data of complex geological environments in real time and dynamically adjust rescue paths and operational strategies based on sensor feedback. Through intelligent operation planning and real-time monitoring, it reduces the time wasted in traditional manual rescue, making the rescue process more efficient and precise. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments can safely replace manual labor in dangerous accident sites, avoiding high-risk operations by personnel in hazardous environments. By monitoring the site environment in real time, the intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments can proactively avoid dangers and provide precise operation execution, significantly reducing the risk of personnel casualties. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments integrates multiple detection sensors (such as sonar, electromagnetic waves, geophysical detectors, etc.) and rescue tools (such as demolition devices, robotic arms, etc.), enabling it to flexibly adjust its working mode according to different rescue tasks, adapt to various emergencies, and achieve multi-purpose functionality, greatly improving operational flexibility and adaptability. The intelligent emergency rescue robot for mine roadways or tunnels in this application's embodiments is equipped with a digital control system and intelligent decision-making module, which can automatically optimize operation plans based on real-time data in complex environments. Its autonomous control capability reduces reliance on human intervention and allows for flexible adjustment of operational actions based on environmental changes, enhancing the autonomy and intelligence of rescue efforts. The intelligent emergency rescue robot for mine roadways or tunnels in this embodiment continuously collects and transmits various environmental and operational data during operation, allowing the command center to monitor rescue progress in real time. This data can be used for post-event analysis and optimization of rescue plans, providing important references for developing emergency plans for similar future events, and offering detailed digital records for post-accident investigation and assessment. Considering the complexity and duration of rescue missions, the intelligent emergency rescue robot for mine roadways or tunnels in this embodiment employs a high-efficiency energy system and a highly durable mechanical structure, enabling stable operation for extended periods in harsh environments, ensuring the continuity and efficiency of rescue missions. The intelligent emergency rescue robot for mine roadways or tunnels in this embodiment possesses excellent all-terrain adaptability, allowing it to move freely in complex environments such as collapses, mud, and narrow passages, adapting to various rescue needs and ensuring the feasibility of rescue work.

[0054] See attached document Figure 2 The illustration shows a rescue method according to an embodiment of this application, which is implemented based on the intelligent emergency rescue robot for mine roadways or tunnels as described above, and includes the following steps S1 to S3.

[0055] Step S1: Control the intelligent emergency rescue robot in the mine roadway or tunnel to enter the collapsed area, scan the geological and environmental information through the sensing and detection system, and generate a three-dimensional geological model by combining the pre-stored data.

[0056] For example, step S1 includes: after the robot enters the collapsed area, it activates the function of scanning geological and environmental information through the sensing and detection system and completes a full-range scan within 15 seconds; based on the combination of real-time scanning data and the transparent geological database in the pre-stored data, a three-dimensional geological model with an accuracy of no more than 1 cm is generated, and potential high-risk areas are marked.

[0057] Step S2: Based on the three-dimensional geological model, plan the rescue route, control the demolition module to adaptively adjust the demolition parameters according to real-time geological feedback and advance the demolition, and provide temporary support for the tunnel when the preset conditions are met to form a demolition passage.

[0058] In some implementations, the control module adaptively adjusts the demolition parameters based on real-time geological feedback, including: automatically adjusting the cutter spacing of the demolition module based on the rock hardness fed back by the multimodal geological exploration module, and / or selectively activating a high-frequency vibration demolition mode, and / or activating a high-pressure water jet assisted demolition mode.

[0059] For example, the rescue path planning based on the three-dimensional geological model and inertial navigation includes: calculating the optimal rescue path using the Dijkstra algorithm or A* algorithm configured based on the three-dimensional geological model to avoid high-risk areas (such as areas with unstable structures or excessive gas concentrations) and ensure the safe advancement of the intelligent emergency rescue robot in the mine roadway or tunnel.

[0060] For example, the control module adaptively adjusts the demolition parameters and advances the demolition based on real-time geological feedback, including: adjusting the demolition parameters to roller demolition when the rock layer hardness is low (rock layer hardness range <80MPa); adjusting the demolition parameters to start high-frequency vibration demolition mode when the rock layer hardness is medium (rock layer hardness range 80MPa to 150MPa); and adjusting the demolition parameters to start high-pressure water jet assisted demolition when the rock layer hardness is high (rock layer hardness range >150MPa), thereby increasing the rock breaking rate.

[0061] For example, the method further includes: real-time monitoring of debris accumulation based on lidar and processing of debris, and adjusting the propulsion speed to avoid equipment blockage.

[0062] For example, when preset conditions are met, temporary support is provided for the tunnel, including: when encountering geologically unstable areas, the mine roadway or tunnel intelligent emergency rescue robot automatically switches to support mode, uses quick-setting concrete spraying to temporarily reinforce the tunnel wall, and unfolds foldable support plates through a robotic arm to prevent secondary collapse.

[0063] Step S3: After or during the formation of the breaching passage, control the intelligent emergency rescue robot of the mine roadway or tunnel to switch to life detection mode, search for and locate trapped personnel, and perform at least one of the following operations: opening a life passage, dropping supplies, or monitoring vital signs.

[0064] For example, the life detection mode is based on an infrared thermal imager and an acoustic detector. The process of controlling the intelligent emergency rescue robot in the mine roadway or tunnel to switch to the life detection mode includes: controlling the intelligent emergency rescue robot in the mine roadway or tunnel to switch to the life detection mode, activating the infrared thermal imager and the acoustic detector, and accurately searching for the location of trapped personnel.

[0065] In some implementations, the method further includes: after the intelligent emergency rescue robot in the mine roadway or tunnel completes its task, controlling the intelligent emergency rescue robot in the mine roadway or tunnel to evacuate the collapse area in a low-power mode along the original path, and synchronously uploading all detection data to the command center for use as a basis for subsequent emergency command and rescue decisions.

[0066] To further demonstrate the effects of the embodiments of this application, the application will be described below with reference to a specific embodiment.

[0067] In this specific embodiment, a sudden geological anomaly during the construction of a subway tunnel (such as groundwater seepage, loose surrounding rock, and support failure) caused a partial collapse of the tunnel, forming a blockage area approximately 20 meters long. Preliminary assessment indicated that five construction workers were trapped inside the collapsed area, and the tunnel environment was complex, posing multiple risks including high methane concentration, unstable rock strata, and lack of structural support. Traditional rescue methods (such as manual demolition and detour excavation) were difficult to implement quickly, and rescue personnel entering the collapsed area faced extremely high safety risks. Therefore, the rescue team decided to utilize the intelligent perception, transparent geological fusion, adaptive demolition, and multi-robot collaboration technologies of the intelligent emergency rescue robot and rescue method for mine roadways or tunnels described in this application embodiment to rapidly conduct a rescue operation. This rescue operation was based on the following rescue process: data acquisition and 3D modeling, intelligent demolition and safety support, life rescue and material delivery, and evacuation and data recording.

[0068] The data acquisition and 3D modeling process in this rescue operation included: robot deployment, transparent geological data fusion, and life detection. Robot deployment involved using three intelligent emergency rescue robots in mine roadways or tunnels to enter from the tunnel entrance, advance along the remaining passage to the vicinity of the collapsed area, and deploy multimodal detection modules; using UWB ultra-wideband positioning and laser ranging technology, the robots' relative positions within the tunnel were determined in real time. Transparent geological data fusion involved controlling the intelligent emergency rescue robots in mine roadways or tunnels to use sonar detectors, electromagnetic radar, and geophysical exploration instruments to scan the geological structure of the collapsed tunnel area; matching the collected data with a transparent geological database to generate a high-precision 3D geological model, and marking high-risk areas (such as unstable rock strata and potential gas accumulation points). Among them, life detection includes: the intelligent emergency rescue robot in the mine roadway or tunnel enters the life detection mode and uses an infrared thermal imager and a sound wave detector to confirm the approximate location of 5 trapped people within 15 seconds; among them, 3 people are located behind a relatively stable collapse area, and 2 people are trapped behind a pile of rubble with weak vital signs.

[0069] The intelligent demolition and safety support process in this rescue operation includes: demolition path planning, dynamic demolition process, environmental monitoring and early warning, and support reinforcement. Demolition path planning involves the central control system of the intelligent emergency rescue robot in mine roadways or tunnels generating the optimal demolition path based on the Dijkstra algorithm, avoiding high-risk areas. Due to the high rock hardness in some areas (>180MPa), the system automatically adjusts the demolition mode, employing a combination of high-frequency vibration and high-pressure water jets to improve demolition efficiency by approximately 50%. The dynamic demolition process includes: adaptive adjustment of the cutter head, high-frequency vibration demolition, and high-pressure water jet assistance. Adaptive adjustment of the cutter head involves the intelligent emergency rescue robot in mine roadways or tunnels activating a variable-pitch cutter head, monitoring rock-breaking resistance in real time, and automatically adjusting the cutter spacing to prevent equipment jamming. High-frequency vibration demolition involves the intelligent emergency rescue robot in mine roadways or tunnels automatically activating a high-frequency vibration device when demolishing hard rock areas, increasing demolition efficiency by 30%. The system includes several key features: High-pressure water jet assistance: When encountering hard rock formations (such as granite), the intelligent emergency rescue robot in the mine roadway or tunnel simultaneously sprays high-pressure water jets to increase the rock-breaking rate and reduce cutter wear. Environmental monitoring and early warning: When the intelligent emergency rescue robot detects high methane concentration in the tunnel, it automatically activates the ventilation system and sends a high methane warning to the command center. The control system of the intelligent emergency rescue robot continuously monitors changes in surrounding rock stress; if a secondary collapse risk is detected, it immediately adjusts the demolition direction or evacuates to a safe area. Support reinforcement: During demolition, if the intelligent emergency rescue robot detects support failure in certain areas, the central system automatically switches to support mode. The robotic arm deploys foldable support plates to temporarily reinforce the tunnel wall, performing rock anchor bolt, anchor cable, and anchor mesh support, and the robot sprays quick-setting concrete to reinforce the surrounding rock and prevent secondary collapse.

[0070] The life-saving and supply delivery process in this rescue operation included: precise location and passage opening, medical supply delivery, and vital sign assessment and emergency treatment. Precise location and passage opening included: after demolition, the intelligent emergency rescue robot in the mine roadway or tunnel used infrared cameras and acoustic positioning devices to reconfirm the specific location of the trapped personnel; the robotic arm carefully cleared away debris to open a life-saving passage, ensuring no secondary injury was caused. Medical supply delivery included: the robot used its rescue supply compartment to deliver food, oxygen cylinders, and medical supplies to the trapped personnel; through two-way audio and video communication, the trapped personnel established contact with the command center to understand the injured person's condition. Vital sign assessment and emergency treatment included: the robot activated a non-contact vital sign monitoring system to measure key indicators such as the trapped personnel's heart rate and blood oxygen concentration, and transmitted the data to the rescue command center in real time; for trapped personnel with more serious injuries, the robot used its robotic arm for fixation and support to ensure that secondary injury was avoided during subsequent rescue operations.

[0071] The evacuation and data recording process in this rescue operation included: evacuation planning for intelligent emergency rescue robots in mine roadways or tunnels, as well as multi-robot collaboration and task handover. The evacuation planning for intelligent emergency rescue robots in mine roadways or tunnels included: after completing the rescue mission, the intelligent emergency rescue robots evacuated in an optimized path and low-power mode; all data, including the demolition path, geological data, and the location information of trapped personnel, were archived for subsequent rescue decision-making. The multi-robot collaboration and task handover included: after the intelligent emergency rescue robots evacuated, the command center deployed a human rescue team into the tunnel to carry out subsequent transfer tasks based on the data.

[0072] The above statements are merely specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any simple modifications, changes, and equivalent changes made by those skilled in the art to the above embodiments based on the technical essence of the embodiments of this application within the scope of the technology disclosed in the embodiments of this application shall still fall within the protection scope of the technical solution of the embodiments of this application.

Claims

1. An intelligent emergency rescue robot for mine roadways or tunnels, characterized in that, include: The main structural system includes a demolition module for breaking through rock, soil, or obstacles and a mobile chassis for movement; The sensing and detection system includes a multimodal geological detection module for acquiring geological structure information, an environmental sensing unit for acquiring environmental parameters, and a visual module for acquiring visual information. The control and data processing system includes a central processing unit for processing multi-source data and making intelligent decisions, a transparent geological database for storing and building dynamic three-dimensional geological models, and a wireless communication module for interacting with the outside world. The central processing unit is configured to execute the following data processing flow: receive the detection data collected by the multimodal geological exploration module; perform spatiotemporal synchronization and fusion of multi-source data using a preset filtering algorithm; and execute the call of a preset rock breaking mechanism model library based on the fused multi-source data to calculate and output the mechanical parameters of the rock mass in front of the current tunnel face. The transparent geological database is used to store the fused multi-source data and the output results of the rock breaking mechanism model library, and dynamically constructs and updates the three-dimensional geological grid model according to a preset cycle. The control and data processing system is connected to the main structure system and the sensing and detection system, and is used to drive the main structure system to perform demolition operations, movement operations and / or rescue operations according to the output control commands of the three-dimensional geological grid model.

2. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The main structural system also includes a power module, which includes a hybrid power unit consisting of a hydrogen fuel cell and a lithium battery, as well as an intelligent power distribution management module for managing energy consumption distribution.

3. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The multimodal geological exploration module includes at least two of the following: a sonar detector, an electromagnetic radar, and a geophysical probe; the vision module includes at least an infrared camera and a three-dimensional lidar.

4. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The breaking module includes a detachable rock-breaking roller cutter, which integrates a sensor for monitoring the force applied. The detachable rock-breaking roller cutter is connected to a high-frequency vibration-assisted rock-breaking module and a high-pressure water jet-assisted module.

5. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 4, characterized in that, The breaking module is configured to automatically adjust the blade spacing of the detachable rock-breaking roller cutter and / or selectively activate the high-frequency vibration-assisted rock-breaking module and / or activate the high-pressure water jet-assisted rock-breaking module based on the rock hardness fed back by the multimodal geological exploration module. The rock layer hardness is obtained by combining acoustic velocity inversion and cutter force estimation. The automatic adjustment of the cutter spacing is executed by a lead screw mechanism driven by a servo motor. The adjustment amount of the cutter spacing is inversely linearly related to the hardness value of the rock layer.

6. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, Multiple intelligent emergency rescue robots for mine roadways or tunnels are provided, and these robots are connected to each other through a wireless communication network for task coordination and dynamic task allocation. The dynamic task allocation is executed by the ground command center. When communication is interrupted, each mine roadway or tunnel intelligent emergency rescue robot switches to a preset distributed consensus protocol, elects a temporary master node based on the local communication topology, and executes the task using the most recent effective allocation scheme.

7. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The transparent geological database is used to integrate historical data from tunnel pre-embedded sensors with real-time data from robot detection, and combined with a pre-set rock breaking mechanism model to generate a dynamic three-dimensional geological model that includes warnings of high-risk areas. Based on the dynamic three-dimensional geological model, the robot's planned path is optimized in conjunction with inertial navigation.

8. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The main structural system also includes a robotic arm, which is integrated on the mobile chassis and is used to perform positioning operations that meet the target accuracy, rock anchor bolt, anchor cable, and anchor mesh support operations, or quick-setting concrete spraying operations.

9. The intelligent emergency rescue robot for mine roadways or tunnels according to claim 1, characterized in that, The wireless communication module supports the fifth-generation mobile communication protocol.

10. A rescue method, implemented based on the intelligent emergency rescue robot for mine roadways or tunnels as described in any one of claims 1 to 9, characterized in that, include: The intelligent emergency rescue robot in the mine roadway or tunnel is controlled to enter the collapsed area, scan the geological and environmental information through the sensing and detection system, and generate a three-dimensional geological model by combining the pre-stored data; Based on the three-dimensional geological model and inertial navigation, the rescue path is planned, and the demolition module is controlled to adaptively adjust the demolition parameters according to real-time geological feedback and advance the demolition. When the preset conditions are met, the tunnel is temporarily supported to form a demolition passage. After or during the formation of the breaching passage, the intelligent emergency rescue robot for the mine roadway or tunnel is controlled to switch to life detection mode to search for and locate trapped personnel, and to perform at least one of the following operations: opening a life passage, delivering supplies, or monitoring vital signs.

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