CN214524133U - Intelligent cruise search and rescue robot under foot type coal mine - Google Patents
Intelligent cruise search and rescue robot under foot type coal mine Download PDFInfo
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- CN214524133U CN214524133U CN202120061045.5U CN202120061045U CN214524133U CN 214524133 U CN214524133 U CN 214524133U CN 202120061045 U CN202120061045 U CN 202120061045U CN 214524133 U CN214524133 U CN 214524133U
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Abstract
The invention relates to the technical field of robots, in particular to a foot type underground intelligent cruising search and rescue robot for a coal mine, which comprises an object carrying unit, a leg unit, a control and communication and human body detection unit and an image acquisition, radar ranging and auxiliary function unit, wherein the object carrying unit is directly connected with the leg unit as the main body of the device, the control and communication and human body detection unit is arranged in the object carrying unit, and the image acquisition, radar ranging and auxiliary function unit is arranged on the surface of the object carrying unit. Can effectively assist rescue workers to know the positions of the difficult workers and the specific conditions in the mine.
Description
Technical Field
The utility model relates to the technical field of robot, what specifically say is a sufficient colliery is intelligence search and rescue robot that cruises in pit.
Background
After the mine disaster occurs, the mine environment is full of dangerousness, and people cannot enter and search and rescue in a trade mode. If the trade people enter the mine environment for search and rescue or touch and arrange the mine environment, secondary accidents are easy to happen, so that more lives and properties are lost, and investigation and understanding show that the mine disaster at present mostly adopts two modes for processing.
In the first mode, various sensors are installed in the mine environment to detect the mine environment, the post-disaster mine environment is judged by looking up sensor data after a disaster occurs, and then a search and rescue scheme is customized. This approach often has a number of disadvantages, and is not effective in completing the task after the actual disaster has occurred. The mine disaster detection system has the advantages that firstly, sensors are not enough to be distributed in all mine environments, a plurality of detection blind areas can be brought, the detection blind areas can easily occur at the disaster occurrence place, mine underground data cannot be collected, secondly, when mine disasters occur, sensor equipment and a sensor data transmission system are often damaged, the environment of a disaster area cannot be effectively detected, thirdly, the types of the sensors in the existing mine are limited, the placement positions of the sensors are fixed, the environment after the disaster occurs is extremely complex, and the sensors originally arranged aiming at the mine environment before the disaster often cannot play an effective role.
In the second mode, the robot is used for exploring in a mine environment after disaster, a crawler-type robot or a wheel-type robot is mostly used for searching and rescuing, the terrain passing capacity of the crawler-type robot and the wheel-type robot is still low compared with that of a foot-type robot, and the robot is difficult to pass through a complex environment in a disaster mine smoothly.
However, the terrain in the mine after disaster is very complex, and has various terrains such as broken stones, slits, steps, gullies, steep slopes, etc., and the structural characteristics of the hexapod type robot make it easy to pass through the complex road sections. Therefore, the foot type robot enters the mine after the disaster to search and rescue, the search and rescue efficiency can be improved to a great extent, the casualty risk of search and rescue personnel can be reduced, and the foot type robot is very suitable for executing search and rescue work after mine accidents.
The existing reported downhole rescue robot for the legged coal mine comprises: a six sufficient spiders search and rescue robot in pit in colliery that north China science and technology institute huxing was designed patent application number: 201410828955.6. the foot type coal mine underground rescue robot has the following defects: the capability of in-vivo detection is not perfect, the capability of real-time three-dimensional modeling of the underground structure of the coal mine is not available, and the function of foot end feedback and gait adjustment is not available. In view of this, the utility model provides a sufficient colliery is intelligence in pit and is cruises search and rescue robot, its specific beneficial effect as follows:
1. a sufficient formula colliery is intelligence in pit and is cruises and search for and rescue robot, its supporting leg is based on the netted bearing structure that black nylon materials 3D printed, has good hardness and toughness, can be adapted to various complicated topography in the mine.
2. A sufficient formula colliery is intelligence cruise search and rescue robot in pit, the inside photoelectric sensor of its supporting leg, the cooperation design of toe and spring, compression spring rises when the robot toe lands for the toe end stretches into photoelectric sensor's photoelectric door in, thereby form and be in the light and make photoelectric sensor's output signal change and transmit for the steering wheel control panel, thereby judge the state that lands of every leg of robot in real time, adjust the action of shank in the position through steering wheel control panel adjustment steering wheel.
3. A sufficient formula colliery is intelligence in pit and is cruises and search for and rescue robot, its mining gas sensor's design can make the robot when carrying out the rescue and survey the gaseous concentration of real-time supervision gas on every side.
4. A sufficient formula colliery is intelligence cruises in pit and searches for ands rescue robot, its light, RGB-D degree of depth camera and laser radar's cooperation design can gather the color and the degree of depth information of environment in real time and with information input Jeston Nano control panel carry out real-time modeling to mine inner structure and pass through wireless transmission module remote transmission for the PC with the result of modelling for the inside condition of mine can be known to the people outside the mine.
5. A sufficient colliery is intelligence in pit and is cruises search and rescue robot, human infrared detection module and RGB-D degree of depth camera's cooperation design can carry out the live body to the personnel of distress under the mine and detect and the visual tracking.
6. A sufficient formula colliery is intelligence in pit and is cruises search and rescue robot, first aid material is equipped with to the inside in storage medicine storehouse, can provide first aid material for it when the robot is close to the victim.
SUMMERY OF THE UTILITY MODEL
In order to make up the defects of the prior art, the utility model provides a foot-type underground intelligent cruise search and rescue robot for a coal mine, which mainly aims to efficiently complete search and rescue detection tasks when mine accidents occur and reduce casualty rate in mine rescue; the supporting legs are of a mesh-shaped supporting structure based on black nylon material 3D printing, have good hardness and toughness, and can adapt to various complex terrains; the photoelectric sensor, the toe and the spring in the supporting leg are designed in a matched mode, when the toe of the robot lands, the spring is compressed to ascend, the tail end of the toe extends into a photoelectric door of the photoelectric sensor, light blocking is formed, output signals of the photoelectric sensor are changed and transmitted to a steering engine control panel, the landing state of each leg of the robot is judged in real time, and the motion of the leg is adjusted by adjusting the position of a steering engine through the steering engine control panel; the design of the mining gas sensor can ensure that the robot can monitor the concentration of the surrounding gas in real time when carrying out rescue detection; the matched design of the illuminating lamp, the RGB-D depth camera and the laser radar can acquire color and depth information of the environment in real time, input the information into a JestonNano control board to carry out real-time modeling on the internal structure of the mine, and remotely transmit the modeling result to a PC (personal computer) through a wireless transmission module, so that people outside the mine can know the internal condition of the mine; a sufficient formula colliery is intelligence in pit and is cruises search and rescue robot, first aid material is equipped with to the inside in storage medicine storehouse, can provide first aid material for it when the robot is close to the victim.
The utility model provides a technical scheme that its technical problem adopted is: the device comprises a carrying unit, a leg unit, a control, communication and human body detection unit and an image acquisition, radar ranging and auxiliary function unit; the carrying unit is used as a main body of the device and is directly connected with the leg unit; the control, communication and human body detection unit is arranged in the object carrying unit; the image acquisition, radar ranging and auxiliary functional unit is arranged on the surface of the object carrying unit; the object carrying unit is used as a main body of the device and is mainly used for bearing, installing and controlling, communicating and human body detecting units and image collecting, radar ranging and auxiliary function units; the leg unit enables the device to realize the walking function; the control, communication and human body detection unit mainly controls the walking of the leg unit and the receiving and processing of the device to external signals; the image acquisition, radar ranging and auxiliary function unit diversifies the functions of the device and is responsible for power supply of the device.
As a preferred technical proposal of the utility model, the carrying unit comprises a carrying platform lower sheet, a copper column, a carrying platform upper sheet and a battery compartment cover plate; the contour shape of the lower piece of the carrying platform and the upper piece of the carrying platform is hexagonal, the lower piece of the carrying platform is fixed with the upper piece of the carrying platform through a copper column, the lower piece of the carrying platform is provided with a plurality of positioning holes, the upper piece of the carrying platform is provided with a plurality of positioning holes and a circular groove opening, the cover plate of the battery bin is fixed on the upper side of the upper piece of the carrying platform through the copper column, and the cover plate of the battery bin is provided with a plurality of positioning holes.
As a preferred technical scheme of the utility model, the leg unit comprises a screw, a steering engine, a double-U-shaped bracket, a joint leg, a supporting leg, a photoelectric sensor, a spring and a toe; the leg unit is directly connected with the object carrying unit by the steering gears fixed between the lower piece of the object carrying platform and the upper piece of the object carrying platform through screws, two steering gears are respectively connected with two sides of the double-U-shaped support, the joint leg is hinged with the steering gears through screws so as to realize the connection of the joint leg and the double-U-shaped support, the support leg is hinged with the steering gears through screws so as to realize the connection of the support leg and the joint leg, the photoelectric sensor is arranged on the inner side of the support leg, the toe is inserted into the tail end of the support leg, a spring is arranged between the toe and the support leg, when the toe of the robot is landed, the spring is compressed to rise, so that the tail end of the toe extends into a photoelectric door of the photoelectric sensor, thereby blocking light is formed, the output signal of the photoelectric sensor is changed and transmitted to the control panel, and the landing state of each leg of the robot is judged in real time, the motion of the leg is adjusted by adjusting the position of the steering engine through the steering engine control panel.
As an optimal technical scheme, control, communication and human detecting element include Jeston Nano control panel, wireless transmission module, steering wheel control panel and human infrared detection module, signal reception, processing and the transmission of control, communication and human detecting element mainly used device.
As a preferred technical scheme of the utility model, the image acquisition, radar ranging and auxiliary functional unit comprises an RGB-D depth camera, a lighting lamp, a medicine storage bin, a laser radar, a mine gas sensor and a lithium battery; the RGB-D degree of depth camera fix in the round notch of objective table top, the light install in RGB-D degree of depth camera upside, storage medicine storehouse fix on objective table top, lidar install at battery compartment apron upside, mining gas sensor install on objective table top, the lithium cell fix between battery compartment apron and objective table top.
As an optimal technical scheme of the utility model, the supporting leg be based on the netted bearing structure that black nylon materials 3D printed, have good hardness and toughness, can be adapted to various complicated topography in the mine.
The utility model has the advantages that:
1. a sufficient formula colliery is intelligence in pit and is cruises and search for and rescue robot, its supporting leg is based on the netted bearing structure that black nylon materials 3D printed, has good hardness and toughness, can be adapted to various complicated topography in the mine.
2. A sufficient formula colliery is intelligence cruise search and rescue robot in pit, the inside photoelectric sensor of its supporting leg, the cooperation design of toe and spring, compression spring rises when the robot toe lands for the toe end stretches into photoelectric sensor's photoelectric door in, thereby form and be in the light and make photoelectric sensor's output signal change and transmit for the steering wheel control panel, thereby judge the state that lands of every leg of robot in real time, adjust the action of shank in the position through steering wheel control panel adjustment steering wheel.
3. A sufficient formula colliery is intelligence in pit and is cruises and search for and rescue robot, its mining gas sensor's design can make the robot when carrying out the rescue and survey the gaseous concentration of real-time supervision gas on every side.
4. A sufficient formula colliery is intelligence cruises in pit and searches for ands rescue robot, its light, RGB-D degree of depth camera and laser radar's cooperation design can gather the color and the degree of depth information of environment in real time and with information input Jeston Nano control panel carry out real-time modeling to mine inner structure and pass through wireless transmission module remote transmission for the PC with the result of modelling for the inside condition of mine can be known to the people outside the mine.
5. A sufficient colliery is intelligence in pit and is cruises search and rescue robot, human infrared detection module and RGB-D degree of depth camera's cooperation design can carry out the live body to the personnel of distress under the mine and detect and the visual tracking.
6. A sufficient formula colliery is intelligence in pit and is cruises search and rescue robot, first aid material is equipped with to the inside in storage medicine storehouse, can provide first aid material for it when the robot is close to the victim.
Drawings
The present invention will be further described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic view of the overall three-dimensional structure of the present invention;
fig. 2 is a schematic perspective view of the leg removing unit according to the present invention;
fig. 3 is a schematic perspective view of the leg unit of the present invention;
FIG. 4 is a cross-sectional view at A-A of the end of the support leg of the present invention;
fig. 5 is a block diagram of the start-up flow of the present invention;
FIG. 6 is a software system level block diagram of the present invention;
fig. 7 is a block diagram illustrating the flow of the present invention through an obstacle;
FIG. 8 is a block diagram of the three-dimensional map construction algorithm of the present invention;
FIG. 9 is a software system communication block diagram of the present invention;
in the figure: objective unit 1, leg unit 2, control, communication and human detection unit 3, image acquisition, radar range finding and auxiliary function unit 4, objective platform lower plate 11, copper post 12, objective platform upper plate 13, battery compartment apron 14, screw 21, steering wheel 22, two U type supports 23, joint leg 24, supporting leg 25, photoelectric sensor 26, spring 27, toe 28, jesten nano control panel 31, wireless transmission module 32, steering wheel control panel 33, human infrared detection module 34, RGB-D degree of depth camera 41, light 42, storage medicine storehouse 43, laser radar 44, mining gas sensor 45 and lithium cell 46.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further described below with reference to the following embodiments.
As shown in figures 1 to 9, the utility model provides a sufficient colliery is intelligence cruise search and rescue robot in pit, including carrying thing unit 1, leg unit 2, control, communication and human body detecting element 3 and image acquisition, radar range finding and auxiliary function unit 4, carry thing unit 1 and directly link to each other with leg unit 2 as the main part of this device, control, communication and human body detecting element 3 are installed in carrying thing unit 1, image acquisition, radar range finding and auxiliary function unit 4 is installed on carrying thing unit 1 surface, carry thing unit 1 and be used for mainly bearing and installing control, communication and human body detecting element 3 and image acquisition, radar range finding and auxiliary function unit 4 as the main part of device, leg unit 2 makes the function that the device can realize walking, control, communication and human body detecting element 3 mainly control the walking of leg unit 2 and the device to the receipt and processing of external signal, the image acquisition, radar ranging and auxiliary functional unit 4 diversifies the functions of the device and is responsible for the power supply of the device.
As shown in fig. 1 to 9, the utility model discloses a sufficient coal mine underground intelligent cruise search and rescue robot, the objective unit 1 includes an objective platform lower sheet 11, a copper column 12, an objective platform upper sheet 13 and a battery compartment cover plate 14; the profile shapes of the lower piece 11 and the upper piece 13 of the object carrying platform are hexagons, the lower piece 11 and the upper piece 13 of the object carrying platform are fixed through copper columns 12, the lower piece 11 of the object carrying platform is provided with a plurality of positioning holes, the upper piece 13 of the object carrying platform is provided with a plurality of positioning holes and circular groove openings, the cover plate 14 of the battery bin is fixed on the upper side of the upper piece 13 of the object carrying platform through the copper columns 12, and the cover plate 14 of the battery bin is provided with a plurality of positioning holes.
As shown in fig. 1 to 9, the leg unit 2 of the intelligent cruise search and rescue robot for the foot type coal mine comprises a screw 21, a steering engine 22, a double U-shaped bracket 23, a joint leg 24, a support leg 25, a photoelectric sensor 26, a spring 27 and a toe 28; the leg unit 2 is fixed between the lower sheet 11 and the upper sheet 13 of the object carrying platform by a steering engine 22 through screws 21, so that the leg unit 2 is directly connected with the object carrying unit 1, two steering engines 22 are respectively connected with two sides of the double-U-shaped support 23, the joint leg 24 is hinged with the steering engine 22 through the screws 21 so that the joint leg 24 is connected with the double-U-shaped support 23, the support leg 25 is hinged with the steering engine 22 through the screws 21 so that the support leg 25 is connected with the joint leg 24, the photoelectric sensor 26 is installed on the inner side of the support leg 25, the toe 28 is inserted into the tail end of the support leg 25, a spring 27 is arranged between the toe 28 and the support leg 25, when the robot toe 28 lands, the spring 27 is compressed to ascend, so that the tail end of the toe 28 extends into a photoelectric door of the photoelectric sensor 26, thereby blocking light, changing the output signal of the photoelectric sensor 26 and transmitting the signal to the control panel 33, therefore, the landing state of each leg of the robot is judged in real time, and the motion of the leg is adjusted by adjusting the position of the steering engine 22 through the steering engine control panel 33.
As shown in fig. 1-9, a sufficient colliery is intelligence cruise search and rescue robot in pit, control, communication and human detecting element 3 include jesconnao control panel 31, wireless transmission module 32, steering wheel control panel 33 and human infrared detection module 34, signal reception, processing and transmission of control, communication and human detecting element 3 mainly used device.
As shown in fig. 1 to 9, the image acquisition, radar ranging and auxiliary function unit 4 of the intelligent cruising search and rescue robot for the foot coal mine comprises an RGB-D depth camera 41, a lighting lamp 42, a medicine storage bin 43, a laser radar 44, a mine gas sensor 45 and a lithium battery 46; the RGB-D depth camera 41 is fixed in a circular groove opening of the objective platform upper piece 13, the illuminating lamp 42 is installed on the upper side of the RGB-D depth camera 41, the medicine storage bin 43 is fixed on the objective platform upper piece 13, the laser radar 44 is installed on the upper side of the battery compartment cover plate 14, the mining gas sensor 45 is installed on the objective platform upper piece 13, and the lithium battery 46 is fixed between the battery compartment cover plate 14 and the objective platform upper piece 13.
As shown in fig. 1 to 9, the utility model discloses a sufficient formula colliery is intelligence cruises search and rescue robot in pit, supporting leg 25 be based on the netted bearing structure that black nylon materials 3D printed, have good hardness and toughness, can be adapted to various complicated topography in the mine.
As shown in fig. 1 to 9, the utility model discloses a start-up process implementation is that the rescue personnel place mine mouth department with foot formula robot and press the robot start button, the robot just begins independently to accomplish the hardware drive, later the rescue personnel open in hand the PC and log in robot upper computer software system, lower computer system jeston Nano control panel 31 and the steering wheel control panel 33 that move in through wireless transmission module 32 and the robot body are connected in this system, the rescue personnel starts robot operation software on the PC, the robot just begins rescue detection work, later the rescue personnel only need wait for the robot at mine mouth department and on exploring the in-process with three-dimensional map in the mine, information such as difficult personnel coordinate position and gas concentration passes back to the PC, the rescue personnel formulate scientific accurate rescue scheme according to passing back information again.
As shown in fig. 1 to 9, the utility model discloses the embodiment of establishing the inside three-dimensional map of mine is that robot self-starting RGB-D camera 41 and laser radar 44, the color and the degree of depth information of beginning collection environment, carry out three-dimensional map based on SLAM technique to the surrounding environment and rebuild and extract surrounding environment characteristic point and self positional information, utilize the vision odometer to come the relative motion between position appearance and two moments that the incremental computation camera was come to the motion process after the robot, SLAM system rear end utilizes the map optimization method to demonstrate the three-dimensional map in the mine.
As shown in figures 1 to 9, the embodiment of the utility model is that the robot extracts the characteristic point information of the obstacle in the three-dimensional image building process and transmits the characteristic point information to the leg unit 2 of the moving system and the control, communication and human body detection unit 3 at the bottom layer, the moving system judges which kind of terrain the current road section belongs to based on the characteristic point information, the more flat road section adopts the triangular gait, the slit road section adopts the side-shifting gait, if the robot of the road section with irregular characteristic points such as rubble and the like adopts the free gait, the moving system plans the real-time track of six legs based on the kinematics algorithm and the characteristic point information to realize the autonomous obstacle crossing, for the obstacle which cannot be crossed, the control, communication and human body detection unit 3, the image acquisition, radar ranging and auxiliary function unit 4 and a navigation system of a decision layer built by a PC (personal computer) are used for planning a path again to avoid the obstacle.
As shown in fig. 1 to 9, the embodiment of the present invention for detecting the life body and marking the position is to detect the person in distress in the coal mine through the human body infrared detection module 34 during the movement of the robot. When the human infrared detection module 34 detects a living body, a sensing layer built by the RGB-D depth camera 41 and the PC starts to run a visual human recognition algorithm to visually lock the celebrity, the robot starts to track the celebrity, and the flashing light 42 reminds the celebrity, and when the living body does not move any more, first-aid materials are provided for the celebrity and the position of the celebrity is marked on the three-dimensional map.
The utility model mainly aims to enable the robot to enter a mine after disaster for autonomous detection, search people in distress and provide first-aid materials, establish a mine three-dimensional structure map in the process and mark the coordinate position of the people in the mine, simultaneously detect the gas content such as gas in the mine, effectively assist the rescuers and reduce the casualty rate in mine rescue, when in use, the robot autonomously enters the mine in distress, the structure in the mine is modeled in real time through the cooperation of the illuminating lamp 42, the RGB-D depth camera 41 and the laser radar 44 after entering the mine, map model information is transmitted to the PC through the wireless transmission module 32, the advancing direction of the next step is judged according to the self modeling condition, the gait of the robot is adjusted in real time by combining the design of the leg unit photoelectric sensor 26, the design of the mine gas sensor 45 can enable the robot to detect the concentration change of the gas in the mine in real time, the design of the drug storage bin 43 can provide first-aid materials for the robot when the robot approaches the person in trouble.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the invention without departing from the spirit and scope of the invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a sufficient colliery is intelligence search and rescue robot that cruises in pit which characterized in that: comprises a carrying unit (1), a leg unit (2), a control, communication and human body detection unit (3) and an image acquisition, radar ranging and auxiliary function unit (4); the carrying unit (1) is used as the main body of the device and is directly connected with the leg unit (2); the control, communication and human body detection unit (3) is arranged in the object carrying unit (1); the image acquisition, radar ranging and auxiliary function unit (4) is arranged on the surface of the carrying unit (1).
2. The intelligent cruise search and rescue robot for the coal mine well with feet according to claim 1, is characterized in that: the carrying unit (1) comprises a carrying platform lower sheet (11), a copper column (12), a carrying platform upper sheet (13) and a battery compartment cover plate (14); the profile shape of lower slide of cargo platform (11) and upper slide of cargo platform (13) is the hexagon, and lower slide of cargo platform (11) is fixed through copper post (12) with upper slide of cargo platform (13), and lower slide of cargo platform (11) is equipped with a plurality of locating holes, and upper slide of cargo platform (13) is equipped with a plurality of locating holes and round notch, battery compartment apron (14) are fixed the upside of upper slide of cargo platform (13) through copper post (12), are equipped with a plurality of locating holes on battery compartment apron (14).
3. The intelligent cruise search and rescue robot for the coal mine well with feet according to claim 1, is characterized in that: the leg unit (2) comprises a screw (21), a steering engine (22), a double-U-shaped bracket (23), a joint leg (24), a support leg (25), a photoelectric sensor (26), a spring (27) and a toe (28); a steering engine (22) on the leg unit (2) is fixed between the lower sheet (11) and the upper sheet (13) of the object carrying platform through a screw (21), thereby realizing the direct connection of the leg unit (2) and the carrying unit (1), two sides of the double-U-shaped bracket (23) are respectively connected with two steering engines (22), the joint legs (24) are hinged with the steering engine (22) through screws (21) so as to realize the connection of the joint legs (24) and the double U-shaped brackets (23), the supporting legs (25) are hinged with the steering engine (22) through screws (21) so as to realize the connection between the supporting legs (25) and joint legs (24), the photoelectric sensor (26) is arranged at the inner side of the supporting leg (25), the toe (28) is inserted into the tail end of the supporting leg (25), and a spring (27) is arranged between the toe (28) and the supporting leg (25).
4. The intelligent cruise search and rescue robot for the coal mine well with feet according to claim 1, is characterized in that: the control, communication and human body detection unit (3) comprises a JestonNano control panel (31), a wireless transmission module (32), a steering engine control panel (33) and a human body infrared detection module (34).
5. The intelligent cruise search and rescue robot for the coal mine well with feet according to claim 1, is characterized in that: the image acquisition, radar ranging and auxiliary function unit (4) comprises an RGB-D depth camera (41), an illuminating lamp (42), a medicine storage bin (43), a laser radar (44), a mine gas sensor (45) and a lithium battery (46); RGB-D degree of depth camera (41) fix in the circular slot mouth of slide (13) on the cargo platform, light (42) install in RGB-D degree of depth camera (41) upside, storage medicine storehouse (43) fix on slide (13) on the cargo platform, laser radar (44) install on battery compartment apron (14) upside, mining gas sensor (45) install on slide (13) on the cargo platform, lithium cell (46) fix between slide (13) on battery compartment apron (14) and the cargo platform.
6. The intelligent cruise search and rescue robot for the coal mine well with feet according to claim 3, is characterized in that: the supporting legs (25) are mesh-shaped supporting structures based on black nylon materials for 3D printing.
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| CN202120061045.5U CN214524133U (en) | 2021-01-11 | 2021-01-11 | Intelligent cruise search and rescue robot under foot type coal mine |
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| CN202120061045.5U CN214524133U (en) | 2021-01-11 | 2021-01-11 | Intelligent cruise search and rescue robot under foot type coal mine |
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