Hull-shaped unmanned submersible rescue robot for underground mines and control methods thereof

A hull-shaped unmanned submersible rescue robot for underground mines, comprising:

• a robot body, a sensing module, and a control device;
• wherein the sensing module is connected to the control device;
• the control device is located in the robot body and is connected to a drive device of the robot body;
• the sensing module includes a pressure sensor and a thermal imaging sensor;
• the pressure sensor is located at an outer bottom of the robot body;
• and the thermal imaging sensor is located at an outer sidewall of the robot body;
• the pressure sensor is configured to sense a draft of the robot body and send the draft to the control device;
• the thermal imaging sensor is configured to sense a position of each individual around the robot body and send the position of each individual to the control device;
• and
• the control device controls the robot body to start based on the draft of the robot body, and after the robot body is started, the control device controls the robot body to travel toward the position of each individual based on the position of each individual sent by the thermal imaging sensor;
• wherein,
• in response to determining that the control device receives a water pressure value sent by the pressure sensor being greater than or equal to a first preset value, the control device controls the thermal imaging sensor and the drive device of the robot body to start;
• and
• in response to determining that the control device receives thermal imaging information sent by the thermal imaging sensor, the control device controls the robot body to move based on the thermal imaging information;
• the thermal imaging information includes location information.