Multi-sensor wheel type inspection robot for underground environment of coal mine

Abstract

The utility model relates to a multi-sensor wheel type inspection robot for an underground coal mine environment, which comprises a walking main body, a control unit explosion-proof cabin arranged at the top of the walking main body, a wireless charging unit arranged on the front side wall of the walking main body, and a left ultrasonic sensor and a right ultrasonic sensor respectively arranged at two ends of the bottom of the rear side wall of the walking main body, a hydrogen sulfide sensor, a smoke concentration sensor, a temperature and humidity sensor and a GD4 sensor are arranged on the front side wall of the control unit anti-explosion bin, a sound wave detector is arranged on one side wall of the control unit anti-explosion bin, a supporting plate is arranged on the top of the control unit anti-explosion bin, a fixed bin is arranged on the top of the supporting plate, a telescopic cover is arranged on the top of the fixed bin, and a holder is arranged on the top of the telescopic cover. And a macro camera is arranged on one side. According to the utility model, the underground environment can be monitored in an omnibearing and multi-level manner, the accuracy and response speed of hidden danger investigation are improved, the safety risk of the underground coal mine is greatly reduced, and a powerful guarantee is provided for the safety production of the coal mine.

Description

Technical Field

[0001] The utility model relates to the technical field of coal mine safety inspection, in particular to a multi-sensor wheeled inspection robot used in an underground coal mine environment. Background Art

[0002] The underground environment of coal mines is characterized by high temperature, humidity, high dust content, and high content of toxic and harmful gases. Due to the complex underground environment of coal mines, strict requirements are placed on safety monitoring. At present, most of the inspection and maintenance work of coal mines is done manually, but manual inspection is difficult to achieve comprehensive, real-time, and continuous monitoring. The specific problems are as follows:

[0003] 1. Autonomous navigation and obstacle avoidance issues: The underground tunnels in coal mines are narrow and the terrain is complex. Manual driving or ordinary equipment can easily get trapped or collide.

[0004] 2. Challenges in data collection and intelligent analysis: The collection, recording and analysis of manual inspection data are inefficient and may result in omissions or misjudgments.

[0005] 3. Difficulties in remote monitoring and decision-making: Traditional underground coal mine inspections have slow information feedback and delayed decision-making responses.

[0006] 4. Energy management and long-term operation issues: Due to the special working environment of coal mines, equipment needs to have sufficient endurance to complete long-term inspection tasks. It is difficult to replenish equipment energy, and manual work for long periods of time can easily lead to fatigue, posing safety hazards.

[0007] Due to the low efficiency and high risks of manual inspections, there is an urgent need to develop a wheeled inspection robot that can integrate multiple sensors and detection instruments to achieve autonomous navigation and all-weather monitoring. Summary of the invention

[0008] The utility model aims to solve the deficiencies of the prior art and provides a multi-sensor wheeled inspection robot for underground coal mine environments.

[0009] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a multi-sensor wheeled inspection robot for underground coal mine environment, comprising a walking body, a control unit explosion-proof warehouse is arranged on the top of the walking body, and a VCU unit, an MCU unit, a remote management module, an energy management system, a power conversion unit, a wheel driver, a Y-axis push rod motor driver, a relay control module, a debugging network port, a routing module, a button operating mechanism driver, and an IMU unit are arranged inside the control unit explosion-proof warehouse;

[0010] A wireless charging unit is provided on the front side wall of the walking body, and an ultrasonic left sensor and an ultrasonic right sensor are provided at both ends of the bottom of the rear side wall;

[0011] The front side wall of the explosion-proof compartment of the control unit is equipped with a hydrogen sulfide sensor, a smoke concentration sensor, a temperature and humidity sensor, and a GD4 sensor. One side wall is equipped with an acoustic wave detector, and the top is equipped with a support plate.

[0012] A fixed warehouse is provided on the top of the support plate, a telescopic cover is provided on the top of the fixed warehouse, a Wifi6 communication module and a Y-axis push rod motor are provided inside the fixed warehouse, and the top of the push rod of the Y-axis push rod motor is fixedly connected to the top of the telescopic cover, and an audible and visual alarm and an emergency stop button are provided at the bottom of the rear side of the fixed warehouse; a pan-tilt is provided on the top of the telescopic cover, and a visible light sensor and an infrared sensor are provided on the pan-tilt;

[0013] A laser radar is arranged at the front end of the top of the support plate, a macro camera and a displacement actuator for driving the macro camera to adjust along the X-axis and Y-axis directions are arranged on one side, and a button operating mechanism is arranged on the displacement actuator;

[0014] The VCU unit is connected to the MCU unit through the CAN-1 bus; it is connected to the relay control module, ultrasonic left sensor, ultrasonic right sensor, and acoustic wave detector through the RS485 bus; it is connected to the wheel drive and energy management system through the CAN-2 bus;

[0015] The MCU unit communicates with the routing module, gimbal, debugging network port, laser radar, and macro camera through the network port; connects with the IMU unit through the USB port; communicates with the wireless charging unit and GD4 sensor through the RS485-1 bus; communicates with the hydrogen sulfide sensor, smoke concentration detection sensor, and temperature and humidity sensor through the RS485-2 bus; communicates with the sound and light alarm, Y-axis push rod motor driver, displacement actuator, and button operating mechanism driver through another CAN-2 bus; the routing module communicates with the remote management module through the network port or WiFi6 communication module;

[0016] The power conversion unit is connected to each module and supplies power to each module; the energy management system is connected to the power conversion unit;

[0017] The remote management module communicates with the VCU unit and the MCU unit respectively through the remote control CAN bus; the power conversion unit and the energy management system are remotely controlled through the remote power-on switch IO module.

[0018] In particular, the displacement actuator includes an X-axis slide module and a Y-axis slide module. The base of the X-axis slide module is fixedly installed on one side edge of the top of the support plate, the base of the Y-axis slide module is fixedly installed on the moving platform of the X-axis slide module, the moving platform of the Y-axis slide module is fixedly installed with a sliding plate, the macro camera is fixedly installed on one end of the outer wall of the sliding plate, and the button operating mechanism is installed on the other end of the outer wall of the sliding plate.

[0019] Particularly, the button operating mechanism is a Z-direction push rod motor, and a pressing rod is provided at the end of the push rod of the Z-direction push rod motor.

[0020] Particularly, the telescopic cover is an accordion-type telescopic cover.

[0021] In particular, the GD4 sensor monitors the concentration of CH4, CO, CO2, and O2 gases in the underground environment of coal mines.

[0022] In particular, the remote management module is a network-to-CAN and network-to-IO module.

[0023] The beneficial effects of the utility model are:

[0024] 1. The utility model integrates multiple sensors, which can monitor the temperature, gas concentration, dust distribution, abnormal sound and equipment operation status in the well in real time and can replace personnel to operate the equipment, effectively overcoming the limitations of manual inspection.

[0025] 2. The utility model adopts SLAM (Simultaneous Localization and Mapping) technology, combined with ultrasonic, laser radar and other ranging sensors, the robot can achieve autonomous navigation and dynamic obstacle avoidance, ensuring safe and efficient inspection work in complex environments.

[0026] 3. The utility model is equipped with an advanced data acquisition and processing system, combined with an artificial intelligence algorithm, which can receive and analyze the data of each sensor in real time, quickly and accurately discover potential problems and issue early warnings, greatly improving the accuracy and response speed of hidden danger detection.

[0027] 4. The utility model uses wireless network technology to upload on-site detection data to the monitoring center in real time and interact with the cloud database to achieve remote monitoring and decision-making, allowing the management team to take corresponding measures more quickly.

[0028] 5. The utility model adopts an efficient and energy-saving power system and an intelligent energy management strategy to ensure that the robot can operate continuously and stably during inspection operations.

[0029] 6. The wheeled inspection robot of the utility model has been successfully field-tested in multiple coal mines. Its multi-modal sensor combination not only realizes all-round and multi-level monitoring of the underground environment, but also improves the accuracy and response speed of hidden danger detection through the intelligent analysis system, greatly reducing the safety risks in coal mines and providing strong guarantees for safe production in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is the front view of the utility model;

[0031] Figure 2 It is a left view of the utility model;

[0032] Figure 3 It is a rear view of the utility model;

[0033] Figure 4 It is a top view of the utility model;

[0034] Figure 5 It is a right view of the utility model;

[0035] Figure 6 It is a bottom view of the utility model;

[0036] Figure 7 It is a system block diagram of each module of the utility model;

[0037] In the figure: 1- walking body; 2- explosion-proof warehouse of control unit; 201- VCU unit; 202- MCU unit; 203- remote management module; 204- energy management system; 205- power conversion unit; 206- wheel driver; 207- Y-axis push rod motor driver; 208- relay control module; 209- debugging network port; 210- routing module; 211- button operation mechanism driver; 212- IMU unit; 3- wireless charging unit; 4- ultrasonic left sensor; 5- ultrasonic right sensor; 6-Hydrogen sulfide sensor; 7-Smoke concentration sensor; 8-Temperature and humidity sensor; 9-GD4 sensor; 10-Acoustic wave detector; 11-Support plate; 12-Fixed bin; 13-Telescopic cover; 14-Sound and light alarm; 15-Emergency stop button; 16-Pan platform; 17-LiDAR; 18-Macro camera; 19-Displacement actuator; 1901-X-axis slide module; 1902-Y-axis slide module; 1903-Sliding plate; 20-Button operating mechanism; 2001-Press rod; 21-Wifi6 communication module

[0038] The following is a detailed description of the embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0040] like Figure 1-Figure 6As shown, a multi-sensor wheeled inspection robot for underground coal mine environment includes a walking body 1, a control unit explosion-proof compartment 2 is arranged on the top of the walking body 1, and a VCU unit 201, an MCU unit 202, a remote management module 203, an energy management system 204, a power conversion unit 205, a wheel driver 206, a Y-axis push rod motor driver 207, a relay control module 208, a debugging network port 209, a routing module 210, a button operating mechanism driver 211, and an IMU unit 212 are arranged inside the control unit explosion-proof compartment 2;

[0041] A wireless charging unit 3 is provided on the front side wall of the walking body 1, and an ultrasonic left sensor 4 and an ultrasonic right sensor 5 are provided at both ends of the bottom of the rear side wall respectively; the ultrasonic left sensor 4 and the ultrasonic right sensor 5 are used to detect the distance;

[0042] The front side wall of the explosion-proof warehouse 2 of the control unit is respectively provided with a hydrogen sulfide sensor 6, a smoke concentration sensor 7, a temperature and humidity sensor 8, and a GD4 sensor 9, a side wall is provided with an acoustic wave detector 10, and a support plate 11 is provided on the top; the GD4 sensor 9 monitors the CH4, CO, CO2, and O2 gas concentrations in the underground environment of the coal mine; the acoustic wave detector 10 is used to detect voiceprints;

[0043] A fixed warehouse 12 is provided on the top of the support plate 11, and a telescopic cover 13 is provided on the top of the fixed warehouse 12. The telescopic cover 13 is an accordion-type telescopic cover. A Wifi6 communication module 21 and a Y-axis push rod motor are provided inside the fixed warehouse 12, and the top of the push rod of the Y-axis push rod motor is fixedly connected to the top of the telescopic cover 13. An audible and visual alarm 14 and an emergency stop button 15 are respectively provided at the bottom of the rear side of the fixed warehouse 12; a pan-tilt head 16 is provided on the top of the telescopic cover 13, and a visible light sensor and an infrared sensor are provided on the pan-tilt head 16;

[0044] A laser radar 17 is arranged at the front end of the top of the support plate 11, and a macro camera 18 and a displacement actuator 19 for driving the macro camera 18 to adjust along the X-axis and Y-axis directions are arranged on one side, and a button operating mechanism 20 is arranged on the displacement actuator 19;

[0045] The displacement actuator 19 includes an X-axis slide module 1901 and a Y-axis slide module 1902. The base of the X-axis slide module 1901 is fixedly mounted on one side edge of the top of the support plate 11. The base of the Y-axis slide module 1902 is fixedly mounted on the moving platform of the X-axis slide module 1901. A sliding plate 1903 is fixedly mounted on the moving platform of the Y-axis slide module 1902. The macro camera 18 is fixedly mounted on one end of the outer wall of the sliding plate 1903. The button operating mechanism 20 is mounted on the other end of the outer wall of the sliding plate 1903.

[0046] The button operating mechanism 20 is a Z-direction push rod motor, and a pressing rod 2001 is provided at the end of the push rod of the Z-direction push rod motor;

[0047] like Figure 7 As shown, the VCU unit 201 is connected to the MCU unit 202 through the CAN-1 bus; it is connected to the relay control module 208, the ultrasonic left sensor 4, the ultrasonic right sensor 5, and the sound wave detector 10 through the RS485 bus; it is connected to the wheel driver 205 and the energy management system 204 through the CAN-2 bus;

[0048] Specifically, the VCU unit 201 (Vehicle Control Unit) controls the DO on-off output of the relay control module through the RS485 bus, thereby realizing power supply control of each functional module of the whole machine, and at the same time communicates with the ultrasonic left and right sensors through the same set of RS485 buses to collect the distance of surrounding obstacles detected by the sensors in real time; controls the four sets of wheel drivers 206 through the CAN-2 bus, thereby realizing the movement control of the underground inspection robot for coal mines; collects and monitors the collected power-related information (battery voltage, power current, charging voltage, charging current, battery temperature, and power protection limit parameter triggering alarm information) of the energy management system 204 through the CAN-2 bus, thereby realizing the monitoring and management of the energy management of the whole machine.

[0049] The MCU unit 202 (Main Control Unit, control identification host, navigation control unit) communicates with the routing module 210, the pan / tilt 16, the debugging network port 209, the laser radar 17, and the macro camera 18 through the network port; is connected to the IMU unit 206 through the USB port; is connected to the wireless charging unit 3 and the GD4 sensor 9 through the RS485-1 bus; is connected to the hydrogen sulfide sensor 6, the smoke concentration detection sensor 7, and the temperature and humidity sensor 8 through the RS485-2 bus; is connected to the sound and light alarm 14 and the Y-axis push rod motor driver 2 through another CAN-2 bus 07, displacement actuator 19, button operating mechanism driver 211 are connected in communication; routing module 210 is connected in communication with remote management module 203 through network port or WiFi6 communication module 21; power conversion unit 205 is connected with each module and supplies power to each module; energy management system 204 is connected with power conversion unit 205; remote management module 203 is connected in communication with VCU unit 201 and MCU unit 202 respectively through remote control CAN bus; power conversion unit 205 and energy management system 204 are remotely controlled through remote power-on switch IO module;

[0050] Specifically, the PTZ 16 (including visible light and infrared sensors) mainly realizes the monitoring of the multi-angle and all-round real-time status and equipment temperature of the scene;

[0051] The laser radar 17 is mainly used to identify the surrounding environment and obstacles in the scene, and assist the robot in avoiding obstacles and moving;

[0052] The macro camera 18 is mainly integrated in the displacement actuator 19 to realize the positioning of the device button and the monitoring of the window content;

[0053] The Wifi6 communication module 21 mainly realizes the communication between the information collected by the robot and the ring network and then realizes remote communication with the monitoring center;

[0054] The remote management module 203 is mainly used to enable remote restart and remote problem diagnosis of the underground inspection robot for coal mines after the MCU unit 202 fails;

[0055] The IMU unit 212 (Inertial Measurement Unit) is mainly used to monitor the angles of the vehicle in the X / Y / Z axis direction, and to adjust the orientation of the vehicle body, thereby integrating the parameters of the laser radar 17 and the IMU unit 212 to realize navigation control of the vehicle body;

[0056] The wireless charging unit 3 is mainly used to charge the battery in the vehicle body, and realizes contactless charging through wireless charging to ensure the safety of the underground mine environment;

[0057] GD4 sensor 9 (multi-parameter detection sensor, including CH4, CO, CO2, O2) mainly monitors the CH4, CO, CO2, O2 gas concentration in the monitoring environment in real time and uploads it; hydrogen sulfide sensor 6, smoke concentration detection sensor 7, temperature and humidity sensor 8 mainly realize real-time monitoring and data upload of hydrogen sulfide, smoke, temperature and humidity in the environment;

[0058] The sound and light alarm 14 mainly generates sound and light alarms for abnormal phenomena such as gas concentration, smoke concentration, temperature and humidity, and vehicle operation failures detected by the whole machine, thereby providing on-site warnings;

[0059] The Y-axis push rod motor is mainly used to adjust the height of the pan / tilt 16, so as to meet the collection range of equipment appearance and temperature information of equipment at different heights on site through visible light sensors and infrared sensors to a greater extent;

[0060] The displacement actuator 19 and the button operating mechanism 20 are integrated into one body, mainly consisting of three integrated CAN bus controlled motors, and the macro camera 18. The two integrated motors in the displacement actuator 19 mainly control the macro camera 18 to move along the Y-axis and X-axis directions, and one motor in the button operating mechanism 20 controls the pressing rod 2001 to move along the Z-axis direction, and the macro camera 18 assists in identification and positioning. When the macro camera 18 detects relevant information, the Z-direction push rod motor works, and the push rod pushes the pressing rod 2001 to press the button on the device.

[0061] The remote management module 203 is a network-to-CAN and network-to-IO module, which mainly realizes remote communication with the monitoring center through the network after the robot is connected to the ring network. At the same time, it can communicate with the MCU unit 202 through the network to realize emergency start-up operations on some module units and remote power-on and power-off operations on the entire machine.

[0062] The power conversion unit 205 is mainly used to convert the DC48V voltage provided by the lithium iron phosphate battery into the power voltage required by each module device and sensor and to provide a stable power supply.

[0063] The Wifi6 communication module 21tong mainly realizes wireless communication between the robot and the ring network, uploads the information collected by the robot to the monitoring center in real time, and at the same time, the robot operation instructions issued by the monitoring center are sent to the robot body, and the remote upgrade operation of the robot can also be realized.

[0064] The energy management system 204 collects and monitors the collected power-related information (battery voltage, power current, charging voltage, charging current, battery temperature, and power protection limit parameter triggering alarm information) to achieve management of the robot's power consumption.

[0065] During the production process of the utility model,

[0066] 1. Optimize the main structure and mobile platform: The robot body can be made of high-strength corrosion-resistant materials to ensure that it has sufficient durability and stability in the harsh environment of coal mines. At the same time, it is equipped with an all-terrain adaptive wheel system to adapt to the complex terrain of coal mines, ensuring that the robot can move stably and smoothly under various conditions.

[0067] 2. Multimodal sensor integration design: Integrate multiple sensors, such as gas detectors (GD4 sensor 9, hydrogen sulfide sensor 6), smoke concentration sensors 7, temperature and humidity sensors 8, sound wave detectors 10, optical cameras (visible light sensors, infrared sensors), and vibration monitoring sensors can also be added to monitor the temperature, gas concentration, dust distribution, sound abnormalities and equipment operation status underground in real time and comprehensively, so as to achieve three-dimensional and multi-dimensional monitoring of the underground environment and equipment status of coal mines. The integrated displacement actuator 19, macro camera 18, and button operation mechanism 20 can ensure that the on-site equipment can be operated during unmanned inspection operations.

[0068] 3. Application of intelligent analysis and decision-making system: The robot is equipped with an advanced data collection and processing system, which receives and analyzes the data from various sensors in real time, uses the built-in artificial intelligence algorithm to perform data analysis, realizes intelligent identification and processing of environmental data, discovers potential safety hazards in advance, and promptly notifies relevant personnel through the early warning system.

[0069] 4. Application of autonomous navigation and obstacle avoidance technology: SLAM (Simultaneous Localization and Mapping) technology can be used, combined with ultrasonic, laser radar17 and other ranging sensors, to achieve autonomous navigation and dynamic obstacle avoidance of the robot in unknown environments, ensuring the smooth completion of inspection tasks.

[0070] 5. Integration of remote communication and cloud docking functions: By setting up the Wifi6 communication module 21 and using the Wifi6 wireless network technology, the on-site detection data collected by the robot can be uploaded to the monitoring center in real time and interact with the cloud database, so that remote monitoring personnel can grasp the underground conditions in real time and make remote decisions and commands.

[0071] 6. Efficient energy management system: Adopt efficient and energy-saving power system and intelligent energy management strategy to optimize the energy distribution and use of the robot during long-term inspection operations, ensure its continuous and stable operation, and reduce work interruptions caused by energy supply problems.

[0072] The wheeled inspection robot of the utility model has been successfully field-tested in multiple coal mines. Its multi-modal sensor combination not only realizes all-round and multi-level monitoring of the underground environment, but also improves the accuracy and response speed of hidden danger detection through the intelligent analysis system, greatly reducing the safety risks in coal mines and providing strong guarantee for safe production in coal mines.

[0073] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0074] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] The utility model is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the utility model is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the utility model, or are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. A multi-sensor wheeled inspection robot for use in an underground coal mine environment, comprising a walking body (1), characterized in that: A control unit explosion-proof compartment (2) is provided on the top of the walking body (1), and a VCU unit (201), an MCU unit (202), a remote management module (203), an energy management system (204), a power conversion unit (205), a wheel driver (206), a Y-axis push rod motor driver (207), a relay control module (208), a debugging network port (209), a routing module (210), a button operating mechanism driver (211), and an IMU unit (212) are arranged inside the control unit explosion-proof compartment (2). A wireless charging unit (3) is arranged on the front side wall of the walking body (1), and an ultrasonic left sensor (4) and an ultrasonic right sensor (5) are respectively arranged at two ends of the bottom of the rear side wall; The front side wall of the explosion-proof compartment (2) of the control unit is respectively provided with a hydrogen sulfide sensor (6), a smoke concentration sensor (7), a temperature and humidity sensor (8), and a GD4 sensor (9), a side wall is provided with a sonic wave detector (10), and the top is provided with a support plate (11); A fixed bin (12) is provided on the top of the support plate (11), a telescopic cover (13) is provided on the top of the fixed bin (12), a Wifi6 communication module (21) and a Y-axis push rod motor are provided inside the fixed bin (12), and the top of the push rod of the Y-axis push rod motor is fixedly connected to the top of the telescopic cover (13), and an audible and visual alarm (14) and an emergency stop button (15) are respectively provided at the bottom of the rear side of the fixed bin (12); a pan-tilt platform (16) is provided on the top of the telescopic cover (13), and a visible light sensor and an infrared sensor are provided on the pan-tilt platform (16); A laser radar (17) is arranged at the front end of the top of the support plate (11), and a macro camera (18) and a displacement actuator (19) for driving the macro camera (18) to adjust along the X-axis and Y-axis directions are arranged on one side, and a button operating mechanism (20) is arranged on the displacement actuator (19); The VCU unit (201) is communicatively connected to the MCU unit (202) via the CAN-1 bus; is communicatively connected to the relay control module (208), the ultrasonic left sensor (4), the ultrasonic right sensor (5), and the sound wave detector (10) via the RS485 bus; and is communicatively connected to the wheel driver (206) and the energy management system (204) via the CAN-2 bus; The MCU unit (202) is respectively connected to the routing module (210), the pan / tilt platform (16), the debugging network port (209), the laser radar (17), and the macro camera (18) through the network port; is connected to the IMU unit (212) through the USB port; is respectively connected to the wireless charging unit (3) and the GD4 sensor (9) through the RS485-1 bus; is respectively connected to the hydrogen sulfide sensor (6), the smoke concentration sensor (7), and the temperature and humidity sensor (8) through the RS485-2 bus; is respectively connected to the sound and light alarm (14), the Y-axis push rod motor driver (207), the displacement actuator (19), and the button operating mechanism driver (211) through another CAN-2 bus; the routing module (210) is connected to the remote management module (203) through the network port or the WiFi6 communication module (21); The power conversion unit (205) is connected to each module and supplies power to each module; the energy management system (204) is connected to the power conversion unit (205); The remote management module (203) is respectively connected to the VCU unit (201) and the MCU unit (202) through a remote control CAN bus; and the power conversion unit (205) and the energy management system (204) are remotely controlled through a remote power-on switch IO module.

2. A multi-sensor wheeled inspection robot for use in underground coal mine environments according to claim 1, characterized in that: The displacement actuator (19) comprises an X-axis slide module (1901) and a Y-axis slide module (1902); the base of the X-axis slide module (1901) is fixedly mounted on a top side edge of a support plate (11); the base of the Y-axis slide module (1902) is fixedly mounted on a moving platform of the X-axis slide module (1901); a sliding plate (1903) is fixedly mounted on the moving platform of the Y-axis slide module (1902); a macro camera (18) is fixedly mounted on one end of an outer wall of the sliding plate (1903); and a button operating mechanism (20) is mounted on the other end of the outer wall of the sliding plate (1903).

3. The multi-sensor wheeled inspection robot for underground coal mine environment according to claim 1, characterized in that: The button operating mechanism (20) is a Z-direction push rod motor, and a pressing rod (2001) is provided at the push rod end of the Z-direction push rod motor.

4. The multi-sensor wheeled inspection robot for underground coal mine environment according to claim 1, characterized in that: The telescopic cover (13) is an accordion-type telescopic cover.

5. The multi-sensor wheeled inspection robot for underground coal mine environment according to claim 1, characterized in that: The GD4 sensor (9) monitors the concentration of CH4, CO, CO2, and O2 gases in the underground environment of coal mines.

6. The multi-sensor wheeled inspection robot for underground coal mine environment according to claim 1, characterized in that: The remote management module (203) is a network-to-CAN and network-to-IO module.

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