CN114035240B - Detection device and method for filling non-roof-connected empty area based on snake-shaped robot - Google Patents

Abstract

The invention provides a detection device and a detection method for filling an unconnected overhead space based on a snake-shaped robot. The detection device comprises n snake-shaped robots and 1 mobile workbench, wherein the n snake-shaped robots are divided into 1 leading snake-shaped robot and (n-1) relay snake-shaped robots, the snake-shaped robots are in a modular design, and each single snake-shaped robot consists of 4 modules, namely a snake-head module, a snake-tail module, a crawler walking module and a snake-wriggling module; when the missed headspace area is detected, the acquired data information is transmitted to the mobile workbench through mutual wireless relay among the snakelike robots, and the data information is displayed on the display and stored in the data storage in the form of a point cloud model, video and visual data after being processed by the central processor. The method effectively solves the technical problems of difficult detection, long time consumption and low precision of the filling of the missed headspace area, and has the advantages of good reliability, high maintainability, strong universality, simple operation and the like.

Description

A detection device and method for filling unconnected headspace based on a snake-like robot

technical field

The invention relates to the technical field of mine measurement and safety, in particular to a detection device and method for filling an unconnected headspace area based on a snake-shaped robot.

Background technique

Mining backfill technology is a widely used construction technology in current underground mining projects. Compared with other construction technologies, backfill mining technology has the characteristics of high recovery rate, good safety, and low impact on the environment. It is the mainstream direction of current mining development. However, due to the consolidation and settlement of the slurry during the filling process, the self-flow gradient of the slurry, the low concentration of the slurry and the slow drainage rate, the irregular roof shape of the gob, the unreasonable layout of the filling wells and the unreasonable filling sequence, the goaf is filled and connected. The top is extremely difficult, and there is often a phenomenon that the filling is not connected to the top. Failure to fill the open area with the roof will often lead to a series of serious consequences: when the upward approach method is used, if the one-step approach is not filled with the roof, the safety conditions during the second-step mining process will be poor; if the downward approach method is adopted During mining, if the access backfill is not connected to the top, an effective artificial false roof cannot be formed, which will seriously threaten the safety of the lower layer mining operation; if the stope filling is not connected to the top, the upper rock cannot be effectively controlled. The deformation and movement of the body may cause large-scale subsidence of the rock formation. Especially in the upward mining, if the filling is not connected to the top, a large number of top and bottom pillars must be left. The recovery of this part of the pillar resources is difficult and the recovery rate is low, resulting in Serious waste of resources. Therefore, it is necessary to effectively deal with the filled unconnected headspace area, and the detection of the filled unconnected headspace area is the premise and basic condition for formulating reasonable and effective treatment measures.

The traditional empty area detection method is to drill a vertical hole, lower it to the empty area with a single-line suspension laser scanning device, use the laser cross-section sweep to determine the horizontal section shape of the empty area, and then gradually reconstruct and integrate to determine the three-dimensional model of the empty area. volume. Obviously, there are many deficiencies in the traditional method of detection of empty areas: the workload and effectiveness of detection work depend heavily on the location of the borehole, and everything is unknown in the early stage of detection, and the workload and effectiveness of detection become random events. On the basis of traditional methods, Northeastern University and Beijing University of Science and Technology put forward a method of using unmanned aerial vehicles to carry laser scanning devices to quickly detect goafs. speed and accuracy of zone scanning. However, the shape of the unconnected headspace area has its particularity. It is mainly dominated by cracks and fissures. The volume is small and there are occlusions. Moreover, the possibility of water accumulation in the upper part is high. The UAV is only suitable for areas with large space volume. Active and unable to enter the filling empty area. At present, there is no method and device for detecting the filled unconnected headspace at home and abroad.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides a detection device and method for filling unconnected headspace based on a snake-shaped robot, which can effectively solve the problem of filling unconnected headspace detection, reduce detection workload and improve detection accuracy.

The technical scheme of the present invention is: a detection device for filling unfinished headspace based on a snake-shaped robot, characterized in that:

(1) The detection device for filling unfinished headspace area based on the snake robot includes n snake robots and a mobile worktable, and the n snake robots are divided into a lead snake robot and (n-1) A relay snake robot.

(2) The snake-shaped robot adopts a modular design, and is divided into four types: snake head module, snake tail module, crawler walking module, and meandering-crawling module according to different positions and functions, and the modules are connected by joint structure, among which: snake head The module is located at the front end of the snake-shaped robot, the snake-tail module is located at the end of the snake-shaped robot, the crawler walking module corresponds to the crawler gait, and the meandering-creep module corresponds to the two basic gaits of meandering movement and telescopic movement. The detailed description table is shown in Table 1. During the exercise, different basic gait and movement modes can be selected through the remote control of the mobile workbench according to the road environment information. All modules include an action system and a perception system, among which: the action system is composed of a single-chip microcomputer, a drive motor, and a joint servo to support the movement of the module; the perception system is composed of an odometer, a sound wave range finder, and an inertial measurement unit, which is used to obtain Environmental information and location parameters of the snake robot.

Table 1 Module function description

(3) The mobile workbench includes components such as wireless communication data transceiver, central processor, data storage, display and remote control. The central processor is integrated based on three parts: digital signal processor, application processor and mode controller. For data analysis and processing, the detection results are presented on the display in the form of point cloud models, video, audio and visual data.

(4) Within the power range of the wireless communication data transceiver, wireless connection and data transmission can be achieved between the mobile workbench, the lead snake-shaped robot and the relay snake-shaped robot, and the remote control of the mobile workbench can be achieved. Switch the connection signal on the controller.

Further, the snakehead module is equipped with a high-definition waterproof camera, a three-dimensional laser scanner, an action system and a perception system consisting of an odometer, a sound wave range finder, and an inertial measurement unit. For the 3D laser scanner and perception system, the action system is located at the end of the snake head module.

Further, the crawler walking module and the meandering-crawling module adopt a symmetrical design, the front and rear can be reversed, and both the front and the rear have action systems, and the middle of the crawler walking module is equipped with a crawler traveling mechanism in addition to the sensing system.

Further, the snake tail module includes a central controller, a wireless communication data transceiver, an action system and a perception system, the action system is located at the front end, the central controller and the perception system are in the middle, and the wireless communication signal transmitter is at the end.

Further, the snake head module, the crawler walking module, the meandering-crawling module and the snake tail module are all provided with a safety shell on the surface, and the joint mechanism is provided with a protective cover, and the safety shell and the protective cover are made of airtight lightweight waterproof materials, At the same time, there is a certain distance between the two and the compressed air is filled to ensure that the snake-shaped robot can float on the water surface after entering the water body. Grip;

Further, the motion system, the three-dimensional laser scanner, the acoustic range finder, and the wireless communication data transceiver are all waterproofed.

Further, the control command of the central controller adopts a model design, which is divided into 9 motion modes: forward, backward, left turn, right turn, head up, reset, obstacle crossing, ditch crossing and climbing, respectively corresponding to the crawler. There are 3 basic gaits of walking, meandering and telescoping. Different modes of different synchronous states correspond to different response actions of the drive motor and joint steering gear. The remote controller performs manual operation and the central controller performs data analysis. .

Preferably, the lead snake-shaped robot and the relay snake-shaped robot have a body length of 1.5-2 m, a maximum cross-sectional diameter of 5 cm, and can freely pass through a channel with a diameter greater than or equal to 6 cm.

Further, the present invention also provides a method for detecting unconnected headspace based on a snake-shaped robot filling unconnected headspace detection device, and the method sequentially includes the following detection steps:

Step 1. Drill holes with a construction diameter of 6-10 cm in the tunnel project near the unconnected headspace area to be filled and penetrate the unconnected headspace area to form the entry and exit passage of the snake-shaped robot. The length of the borehole is required to be ≤ 10m, and the slope is less than or equal to 25%. If there is a channel with a length of ≤10m and a slope of ≤25% between the unconnected headspace area and the nearby tunnel engineering, the existing channel can be used as the entry and exit channel of the snake robot. Skip step 1 and go directly to step 2;

Step 2. Move the mobile workbench to the safe area of the nearby well project, turn on the mobile workbench and the leading snake-shaped robot, and put the leading snake-shaped robot into the access channel in step 1, and operate the robot through the remote control. The leading snake-shaped robot enters the unconnected headspace area to be detected, and the scene in the unconnected headspace area to be detected will be recorded by the high-definition waterproof camera, and then transmitted to the mobile workbench through the wireless communication data transceiver. on the display;

Step 3. The operating technician controls the remote controller to remotely control the leading snake robot to move in the depth direction of the unconnected headspace area to be detected by watching the display, and determines the basic gait of the leading snake robot according to the transmitted data and pictures. and sports mode, when the road conditions are flat and compact without water, the basic gait of crawler walking is selected. When the movement reaches water or loose sandy belts, the basic meandering gait is selected. When the above two gaits are both When unable to exercise, choose the basic telescopic gait to return; the exercise mode is selected according to the actual terrain and detection needs. Then set it as forward/backward/left turn/right turn/head up/reset/obstruction/ditch crossing/climbing movement mode;

Step 4. When the signal on the display interface disappears, the leading snake robot stops moving, opens the first relay snake robot and puts it into the access channel in step 1, and puts the mobile workbench The wireless communication data transceiver establishes a connection with the wireless communication data transceiver of the first relay snake robot, and then operates the first relay snake robot to move to the lead snake robot, and then switches the signal to the lead snake robot The robot continues to move in depth to the unconnected headspace area to be tested. When the signal on the display interface disappears again, open the second relay snake robot and put it into the entry and exit channel in step 1, and make the movement work. The wireless communication data transceiver of the station establishes a connection with the wireless communication data transceiver of the second relay snake robot, and then operates the second relay snake robot to move to the lead snake robot, and then switches the signal to the lead snake The robot continues to move in depth to the unconnected headspace area to be tested... and so on until the leading snake robot traverses all the corners of the empty area. At this time, a total of m relay snake robots are placed, m≤(n-1), in During the movement of the leading snake robot, the three-dimensional shape of the unconnected headspace area to be detected is scanned by a three-dimensional laser scanner and the measurement data is transmitted to the data storage of the mobile workbench. Measure and transmit the measurement data to the data storage of the mobile workbench, and the above-mentioned measurement data is processed by the central processor and presented on the display in the form of point cloud model, audio-visual video and visual data;

Step 5. Operate the lead snake robot, the mth relay snake robot, the (m-1)th relay snake robot, the (m-2)th relay snake robot...the first relay The snake robot exits the entry and exit channel in step 1 to complete the detection.

The beneficial effects of the technical solution of the present invention are as follows:

(1) Based on the detection device of the filling unconnected headspace area of the snake-shaped robot, the snake-shaped robot has the characteristics of good motion stability and strong ability to adapt to the terrain, and can freely deal with the harsh terrain environment of the underground open area.

(2) The snake-shaped robot adopts a modular design and has the potential to move in various complex environments, and its reliability and maintenance are high.

(3) All structures are sealed, waterproof and dustproof, suitable for underground operations.

(4) The snake-shaped robot adopts a multi-gait design, the crawler-type walking speed in drilling is fast, and the creeping walking at the dead corner can be retreated, the movement is efficient, the flexibility is high, and the detection speed is greatly improved.

(5) The motion control is carried out in the form of a combination of wireless relays, which has the characteristics of easy operation, free from occlusion and distance restrictions.

Description of drawings

1 is a schematic diagram of a system of a detection device for filling unconnected headspace based on a snake-shaped robot provided by the present invention;

2 is a top view of the appearance of an embodiment of a snake-shaped robot-based filling unconnected headspace detection device provided by the present invention;

3 is a partial enlarged view of the crawler walking module of the filling void volume detection device based on the snake-shaped robot provided by the present invention;

Fig. 4 is a partial enlarged view of the meandering-creeping module of the volume detection device for filling voids based on the snake-shaped robot provided by the present invention;

Fig. 5 is the control instruction flow chart of the central controller of the filling void volume detection device based on the snake-shaped robot provided by the present invention;

In the picture: 1-HD waterproof camera; 2-3D laser scanner; 3-safety shell; 4-protective cover; 5-wireless communication data transceiver; 6-crawler running mechanism; 7-high friction coefficient material.

Detailed ways

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, All other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

As shown in FIG. 1 and FIG. 2 , the detection device for filling unfinished headspace area based on a snake-shaped robot includes n snake-shaped robots and a mobile worktable, and the n snake-shaped robots are divided into a lead snake robot and (n-1) relay snake robots.

The snake-shaped robot adopts a modular design, and is divided into four types: snake head module, snake tail module, crawler walking module, and meandering-crawling module according to different positions and functions. The front end of the snake-shaped robot, the snake-tail module is located at the end of the snake-shaped robot, the crawler walking module corresponds to the crawler gait, and the meandering-crawling module corresponds to the two basic gaits of meandering motion and telescopic motion. During the exercise, different basic gait and movement modes can be selected through the remote control of the mobile workbench according to the road environment information. All modules include an action system and a perception system, among which: the action system is composed of a single-chip microcomputer, a drive motor, and a joint servo to support the movement of the module; the perception system is composed of an odometer, a sound wave range finder, and an inertial measurement unit, which is used to obtain Environmental information and location parameters of the snake robot.

Table 1 Module function description

The mobile workbench includes components such as a wireless communication data transceiver 5, a central processing unit, a data storage, a display and a remote control. The central processing unit is integrated based on three parts: a digital signal processor, an application processor and a mode controller. For data analysis and processing, the detection results are presented on the display in the form of point cloud models, video, audio and visual data.

Within the power range of the wireless communication data transceiver 5, wireless connection and data transmission can be achieved between the mobile workbench, the lead snake-shaped robot and the relay snake-shaped robot, and can be connected to the remote control of the mobile workbench. Switch the connection signal.

The snakehead module is equipped with a high-definition waterproof camera 1, a three-dimensional laser scanner 2, an action system and a perception system composed of an odometer, a sound wave range finder, and an inertial measurement unit. For the 3D laser scanner 2 and the perception system, the action system is located at the end of the snake head module. The high-definition waterproof camera 1 adopts a high-quality image sensor with 782×582 pixels, and 12 LED lights are embedded outside it, so as to provide a clear and realistic high-resolution dynamic image for technicians, so as to accurately judge the roof rock of the empty area. and filling quality. The three-dimensional laser scanner 2360° sweeps the snake head through the cross section to obtain the local point cloud data of the filling empty area, and the position data obtained by the odometer, combined with the water depth measured by the acoustic range finder, through the key algorithm of the central processor. Splicing and fusion of point cloud data, reconstructing the three-dimensional space model of the empty area, and integrating the volume of the currently scanned empty area, and reporting the location of the stagnant water area and the volume of the water body.

The crawler walking module and the meandering-crawling module are symmetrically designed, the front and rear can be reversed, and the front and rear have action systems, and the middle of the crawler walking module is equipped with a crawler traveling mechanism 6 in addition to the sensing system.

The snake tail module includes a central controller, a wireless communication data transceiver 5, an action system and a perception system. The action system is located at the front end, the central controller and the perception system are in the middle, and the wireless communication signal transmitter is at the end.

The snake head module, the crawler walking module, the meandering-crawling module and the snake tail module are all provided with a safety shell 3 on the surface, and a protective cover 4 is added to the joint mechanism. At the same time, there is a certain distance between the two and the compressed air is filled to ensure that the snake-shaped robot can float on the water surface after entering the water body. The surface of the containment shell 3 of all modules is coated with high friction coefficient material 7 to increase the amount of the snake-shaped robot in the filling body. surface grip;

The motion system, the three-dimensional laser scanner 2, the acoustic range finder, and the wireless communication data transceiver 5 are all waterproofed.

The control command of the central controller adopts a pattern design, which is divided into 9 motion modes: forward, backward, left turn, right turn, head up, reset, obstacle crossing, ditch crossing and climbing, respectively corresponding to crawler walking, winding There are 3 basic gaits, serpentine and telescopic, and different modes of different synchronous states correspond to different response actions of the drive motor and joint steering gear. The remote controller performs manual operation and the central controller performs data analysis.

The lead snake-shaped robot and the relay snake-shaped robot have a body length of 1.5-2m, a maximum cross-sectional diameter of 5cm, and can freely pass through a channel with a diameter greater than or equal to 6cm.

When using the detection device for filling unconnected headspace based on the snake-shaped robot to detect the unconnected headspace, the following detection steps are included in sequence:

Step 1. Drill holes with a construction diameter of 6-10 cm in the tunnel project near the unconnected headspace area to be filled and penetrate the unconnected headspace area to form the entry and exit passage of the snake-shaped robot. The length of the borehole is required to be ≤ 10m, and the slope is less than or equal to 25%. If there is a channel with a length of ≤10m and a slope of ≤25% between the unconnected headspace area and the nearby tunnel engineering, the existing channel can be used as the entry and exit channel of the snake robot. Skip step 1 and go directly to step 2;

Step 2. Move the mobile workbench to the safe area of the nearby well project, turn on the mobile workbench and the leading snake-shaped robot, and put the leading snake-shaped robot into the access channel in step 1, and operate the robot through the remote control. The leading snake-shaped robot enters the unconnected headspace area to be detected, and the scene in the unconnected headspace area to be detected is recorded by the high-definition waterproof camera 1, and then transmitted to the mobile workbench through the wireless communication data transceiver 5 on the display;

Step 3. The operating technician controls the remote controller to remotely control the leading snake robot to move in the depth direction of the unconnected headspace area to be detected by watching the display, and determines the basic gait of the leading snake robot according to the transmitted data and pictures. and sports mode, when the road conditions are flat and firm and there is no stagnant water, the basic gait of crawler walking is selected. When they are unable to exercise, choose the telescopic gait to return; the exercise mode is selected according to the actual terrain and detection needs. Then set it as forward/backward/left turn/right turn/head up/reset/obstruction/ditch crossing/climbing movement mode;

Step 4. When the signal on the display interface disappears, the leading snake robot stops moving, opens the first relay snake robot and puts it into the access channel in step 1, and puts the mobile workbench The wireless communication data transceiver 5 establishes a connection with the wireless communication data transceiver 5 of the first relay snake robot, and then operates the first relay snake robot to move to the lead snake robot, and then switches the signal to the lead snake robot. The snake robot continues to move in depth to the unconnected headspace area to be tested. When the signal on the display interface disappears again, open the second relay snake robot and put it into the entry and exit channel in step 1. The wireless communication data transceiver 5 of the mobile workbench establishes a connection with the wireless communication data transceiver 5 of the second relay snake robot, and then operates the second relay snake robot to move to the lead snake robot, and then transmits the signal Switch to the lead snake robot and continue to move in depth to the unconnected headspace area to be tested... and so on until the lead snake robot traverses all the corners of the empty area. At this time, a total of m relay snake robots are placed, m≤(n- 1) During the movement of the leading snake-shaped robot, the three-dimensional shape of the unconnected headspace area to be detected is scanned by the three-dimensional laser scanner 2 and the measurement data is transmitted to the data storage of the mobile workbench. Measured by the acoustic range finder and transmits the measurement data to the data storage of the mobile workbench, the above-mentioned measurement data is processed by the central processor and presented on the display in the form of point cloud model, audio-visual video and visual data;

Step 5. Operate the lead snake robot, the mth relay snake robot, the (m-1)th relay snake robot, the (m-2)th relay snake robot...the first relay The snake robot exits the entry and exit channel in step 1 to complete the detection.

Claims (4)

1. A detection method of a detection device of a filled unconnected headspace area based on a snake-shaped robot comprises n snake-shaped robots and 1 moving workbench, wherein the n snake-shaped robots are divided into 1 leading snake-shaped robot and (n-1) relay snake-shaped robots; the snake-shaped robot is in a modular design and is divided into a snake head module, a snake tail module, a crawler belt walking module and a snake-wriggle module according to different positions and functions, and all the modules are connected by joint structures; the mobile workbench comprises a wireless communication data transceiver, a central processor, a data memory, a display and a remote controller, wherein the central processor is integrated based on a digital signal processor, an application processor and a mode controller 3 and is used for analyzing and processing data, and detection results are presented on the display in the form of a point cloud model, a video and audio and visual data; in the power range of the wireless communication data transceiver, wireless connection and data transmission can be realized among the mobile workbench, the collar snake-shaped robot and the relay snake-shaped robot, and connection signal switching can be performed on a remote controller of the mobile workbench;

the method is characterized by sequentially comprising the following detection steps:

step 1, a drill hole with the construction aperture of 6-10cm in a roadway project near a to-be-detected filled non-connected headspace area is communicated with the non-connected headspace area to form an access passage of the snake-shaped robot, the length of the drill hole is required to be less than or equal to 10m, the gradient is required to be less than or equal to 25%, if a passage with the length of less than or equal to 10m and the gradient of less than or equal to 25% is communicated between the non-connected headspace area and the near roadway project, the existing passage can be used as the access passage of the snake-shaped robot, and the step 1 is skipped to directly enter the step 2;

step 2, moving the mobile workbench to a safe area of a nearby roadway project, opening the mobile workbench and the collar snake-shaped robot, putting the collar snake-shaped robot into the access channel in the step 1, operating the collar snake-shaped robot through the remote controller to enter a missed headspace area to be detected, recording a scene in the missed headspace area to be detected by a high-definition waterproof camera, and transmitting the scene to a display of the mobile workbench through a wireless communication data transceiver;

step 3, operating a technician to control a remote controller to remotely control the bow-shaped snake robot to advance to the depth direction of the missed headspace area to be detected by watching the display, and determining a basic gait form and a movement mode of the bow-shaped snake robot according to the transmitted data and pictures, selecting a crawler walking basic gait when the road condition is smooth and compact and has no ponding, selecting a meandering basic gait when the robot moves to a ponding or loose sandy area, and selecting a telescopic basic gait to return when the 2 gaits can not move; the motion mode is selected according to actual landforms and detection requirements, and when the user needs to go forward/go backward/turn left/turn right/raise/reset/cross obstacle/cross ditch/climb, the user is respectively set to go forward/go backward/turn left/turn right/raise/reset/cross obstacle/cross ditch/climb;

step 4, when the signal on the display interface disappears, the collar snake-shaped robot stops moving, the 1 st relay snake-shaped robot is opened and put into the access passage in the step 1, the wireless communication data transceiver of the mobile workbench is connected with the wireless communication data transceiver of the 1 st relay snake-shaped robot, then the 1 st relay snake-shaped robot is operated to move to the collar snake-shaped robot, then the signal is switched to the collar snake-shaped robot to continue to move to the depth of the missed headspace area to be measured, when the signal on the display interface disappears again, the 2 nd relay snake-shaped robot is opened and put into the access passage in the step 1, the wireless communication data transceiver of the mobile workbench is connected with the wireless communication data transceiver of the 2 nd relay snake-shaped robot, then the 2 nd relay snake-shaped robot is operated to move to the collar snake-shaped robot, then, signals are switched to a leading snake-shaped robot to continue to move to the depth … of the unconnected headspace area to be detected, and the like is carried out until the leading snake-shaped robot traverses all corners of the vacant areas, at the moment, m relay snake-shaped robots are put into the leading snake-shaped robot in total, m is less than or equal to (n-1), in the movement process of the leading snake-shaped robot, the three-dimensional form of the unconnected headspace area to be detected is scanned through a three-dimensional laser scanner, and measurement data are transmitted to a data storage of a mobile workbench, the depth of accumulated water in the ponding area is measured through a sound wave distance meter, and the measurement data are transmitted to the data storage of the mobile workbench, and are presented on a display in the form of a point cloud model, video and visual data after being processed through a central processor;

and 5, operating the leading snake-shaped robot, the mth relay snake-shaped robot, the (m-1) th relay snake-shaped robot and the (m-2) th relay snake-shaped robot … in sequence, and enabling the 1 st relay snake-shaped robot to exit the access passage in the step 1 to finish the detection.

2. The method for detecting the device for detecting the filled missed headspace area based on the snake-shaped robot as claimed in claim 1, wherein: the snake head module is located the snake robot front end, and the snake tail module is located the snake robot end, and crawler walking module corresponds the track motion gait, and the wriggling-wriggling module corresponds wriggling motion and 2 kinds of basic gaits of concertina movement, and in the motion process, the remote controller through mobile workbench according to road surface environmental information selects different basic gaits and motion mode, and all modules all contain actuating system and perception system, wherein: the action system consists of a singlechip, a driving motor and a joint steering engine and is used for supporting the module to move; the sensing system consists of a speedometer, a sound wave distance meter and an inertia measuring unit and is used for acquiring environmental information and position parameters of the snake-shaped robot.

3. The method for detecting the device for detecting the filled missed headspace area based on the snake-shaped robot as claimed in claim 1, wherein:

(1) the snake head module is provided with carrying equipment which comprises a high-definition waterproof camera, a three-dimensional laser scanner, an action system, a mileometer, a sound wave range finder and a sensing system consisting of an inertia measuring unit, wherein the high-definition waterproof camera is positioned at the foremost end of the snake head module and is sequentially provided with the three-dimensional laser scanner and the sensing system, and the action system is positioned at the rearmost end of the snake head module;

(2) the crawler belt walking module and the wriggling-creeping module are symmetrically designed, the front part and the rear part can be exchanged, the front part and the rear part are provided with action systems, and the middle part of the crawler belt walking module is additionally provided with a crawler belt walking mechanism besides a sensing system;

(3) the snake tail module comprises a central controller, a wireless communication data transceiver, an action system and a sensing system, wherein the action system is positioned at the foremost end, the central controller and the sensing system are arranged in the middle, and a wireless communication signal transmitter is arranged at the tail end;

(4) the snake head module, the crawler walking module, the snake head-wriggling module and the snake tail module are all provided with containment vessels on the surfaces, the joint mechanism is externally provided with a protective sleeve, the containment vessels and the protective sleeve are made of air-tight light waterproof materials, a certain distance is reserved between the containment vessels and the protective sleeve, compressed air is filled between the containment vessels and the protective sleeve, the snake-shaped robot can float on the water surface after entering a water body, and the surfaces of the containment vessels of all the modules are coated with high-friction-coefficient materials so as to increase the ground holding power of the snake-shaped robot on the surface of a filling body;

(5) the action system, the three-dimensional laser scanner, the acoustic distance meter and the wireless communication data transceiver are all subjected to waterproof treatment;

(6) the control command of the central controller adopts a modular design, is divided into 9 motion modes of advancing, retreating, left turning, right turning, head raising, resetting, obstacle crossing, ditch crossing and slope climbing, respectively corresponds to 3 basic gaits of crawler walking, winding and stretching, and different asynchronous modes, corresponds to different response actions of a driving motor and a joint steering engine, is manually operated by the remote controller, and is subjected to data analysis and control by the central controller.

4. The method for detecting the device for detecting the filled missed headspace area based on the snake-shaped robot as claimed in claim 1, wherein: preferably, the length of the bodies of the leading snake-shaped robot and the relay snake-shaped robot is 1.5-2m, the maximum section diameter is 5cm, and the leading snake-shaped robot and the relay snake-shaped robot can freely pass through a channel with the diameter more than or equal to 6 cm.

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