Driving face airborne inspection robot

Abstract

The invention discloses a driving working face onboard inspection robot, and belongs to the technical field of mining, the driving working face onboard inspection robot comprises a centralized control center and inspection equipment, the inspection equipment comprises a circulating cableway and an inspection robot installed on the circulating cableway, the circulating cableway is erected on a bendable rubber belt conveyor, and the bendable rubber belt conveyor is arranged on the inspection robot. Scanning equipment, monitoring equipment and acquisition equipment are arranged on the inspection robot, the scanning equipment performs full-range scanning on the excavated roadway, the acquisition equipment acquires working face production environment parameters, and the scanning equipment, the monitoring equipment and the acquisition equipment are in communication connection with the centralized control center; the centralized control center is in communication connection with the digging and anchoring all-in-one machine, the anchor rod loading machine, the bendable rubber belt conveyor and the stepping type self-moving machine tail. Non-contact monitoring can be carried out on working face tunneling equipment and a working environment, the problems that the sensing range is limited, precision is not high and shielding is likely to happen are solved, and the problems that systems are scattered, fight independently, difficult to maintain and weak in collaboration are solved through centralized cooperative control of the centralized control center.

Description

Technical Field

[0001] The invention relates to the technical field of mining, and in particular to an airborne inspection robot for a tunneling working face. Background Art

[0002] When a coal mine conducts face excavation, it will use face excavation equipment. The face excavation equipment includes a production system and an auxiliary system. The production system mainly includes an integrated excavator and anchor machine, an anchor loader, a flexible belt conveyor, and a step-type self-moving tail. It is mainly used to complete functions such as cutting, support, anchoring, and coal flow transportation. The auxiliary system is mainly used to complete functions such as power supply, ventilation, drainage, and environmental monitoring. These two systems jointly guarantee the production tasks of the excavation face. The total length of the face excavation equipment is about 150 meters. There are many devices and complex systems. Therefore, there are many safety hazards, high failure rates, and large maintenance. For example, the underground working environment is harsh, and the face excavation equipment is easily affected by dust, gas, water mist, low illumination, and spalling. In addition, there are various operators on the excavation face, who work together with the face excavation equipment to complete the face operation. In a restricted environment and blind spots, personal injury accidents are easily caused.

[0003] In order to adapt to the underground working environment, improve the reliability of equipment operation, and protect the personal safety of operators, tunneling equipment and personnel will be equipped with various monitoring and protection devices to monitor the working environment of the tunneling face, equipment operating status, spatial position, operator status, etc. However, the equipment of the tunneling face has a relatively scattered division of labor according to the tunneling process and task requirements. Each monitoring and protection device is equipped with its own independent power supply, collection and processing system, resulting in the working environment, equipment operating status perception and its monitoring and analysis system being independent of each other, each working independently, with poor reliability and stability, difficult maintenance, and weak coordination. In addition, the sensors are fixed on the equipment, resulting in limited sensing range and low accuracy. Although the cameras are arranged in many places, they are easily blocked and the effect is not ideal. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned technical problems and to provide an airborne inspection robot for an excavation working face, which realizes a suspended inspection mode and can perform all-round non-contact monitoring of the excavation equipment and working environment of the working face, avoiding the problems of limited sensing range, low accuracy and susceptibility to obstruction. Through centralized and coordinated control by a centralized control center, the problems of scattered monitoring equipment and analysis systems, independent operation, difficult maintenance and weak coordination are solved.

[0005] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention discloses an airborne inspection system for an excavation working face, which is used to be installed on the excavation equipment of the working face, wherein the excavation equipment of the working face includes an integrated excavation and anchoring machine, an anchor loader, a flexible belt conveyor and a walking self-moving tail arranged in sequence, including a centralized control center and an inspection device, wherein the inspection device includes a circulating cableway and an inspection robot installed on the circulating cableway, wherein the circulating cableway is erected on the flexible belt conveyor, and the inspection robot is provided with a scanning device, a monitoring device and a collection device, wherein the scanning device is used to perform a full-range scan of the excavated tunnel, and the collection device is used to collect the production environment parameters of the working face, and the scanning device, the monitoring device and the collection device are all communicatively connected to the centralized control center, and the centralized control center is communicatively connected to the integrated excavation and anchoring machine, the anchor loader, the flexible belt conveyor and the walking self-moving tail.

[0006] Preferably, the scanning device comprises a lidar sensor.

[0007] Preferably, the monitoring device comprises a camera.

[0008] Preferably, the collection equipment includes a gas sensor, a dust sensor, a temperature and humidity sensor, and a wind speed sensor.

[0009] Preferably, a processor is provided in the inspection robot, and an optical fiber interface, an electrical wire interface and / or a wireless transmission device for communicating with the centralized control center is provided on the inspection robot; the optical fiber interface, the electrical wire interface and the wireless transmission device are all electrically connected to the processor, and the scanning device, the monitoring device and the acquisition device are all electrically connected to the processor.

[0010] Preferably, the inspection robot is also provided with a display screen, an operation button, a working indicator light and a voice device, and the display screen, the operation button, the working indicator light and the voice device are all electrically connected to the processor.

[0011] Preferably, the circulating ropeway includes a steel wire rope, a support rod, a turntable and a motor. There are two turntables, which are respectively arranged at the head end and the tail end of the flexible belt conveyor. The steel wire rope is sleeved on the two turntables. The turntable located at the tail end of the flexible belt conveyor is driven by a motor. The support rod is installed on the flexible belt conveyor, and the support rod is provided with a support wheel for supporting the steel wire rope.

[0012] Preferably, a remote control signal receiver is installed on the motor.

[0013] Preferably, it also includes a power supply device and a cable reeling device with a power cord rolled up, the power supply device and the cable reeling device are arranged on the tail of the walking self-moving machine, the inspection robot is provided with a power interface electrically connected to the processor, one end of the power cord is connected to the power supply device, and the other end of the power cord is connected to the power interface.

[0014] Preferably, the centralized control center is installed at the tail end of the walking type self-moving machine.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] In the present invention, scanning equipment, monitoring equipment and acquisition equipment are integrated on the inspection robot, realizing a suspended inspection mode, capable of performing all-round non-contact monitoring of the working face excavation equipment and its working environment, replacing the monitoring systems on various devices, broadening the monitoring range of the excavation working face and the equipment protection function, avoiding the problems of limited sensing range, low accuracy and susceptibility to obstruction, simplifying the hardware system of single-machine equipment, reducing system costs, improving the safety, intelligence and reliability of the working face, and centrally collecting and processing information through the centralized control center, as well as issuing instructions to various devices of the working face excavation equipment, which can be centrally and collaboratively controlled, solving the problems of scattered monitoring equipment and analysis systems, each operating independently, difficult maintenance, weak coordination, and poor reliability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the machine-borne inspection system for the excavation working face and the excavation equipment for the working face in the embodiment;

[0019] Figure 2 It is a schematic diagram of the top view of the structure of the machine-borne inspection system for the excavation working face and the excavation equipment for the working face in the embodiment;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the machine-borne inspection system for the tunneling working face in the embodiment;

[0021] Figure 4 It is a front view structural schematic diagram of the machine-borne inspection system for the excavation working face in the embodiment;

[0022] Figure 5 It is a schematic diagram of the top view of the structure of the machine-borne inspection system for the tunneling working face in the embodiment;

[0023] Figure 6 for Figure 3 A partial enlarged view of

[0024] Figure 7 This is a schematic diagram of the rear-end three-dimensional structure of the inspection robot in the embodiment;

[0025] Figure 8 This is a schematic diagram of the front-end three-dimensional structure of the inspection robot in the embodiment;

[0026] Fig. 9 A schematic diagram of the top view of the inspection robot in the embodiment;

[0027] Fig.10 Schematic diagram of the rear view structure of the inspection robot in the embodiment;

[0028] Fig.11 This is a diagram of the power supply and communication network of the inspection robot in the embodiment;

[0029] Fig.12 Schematic diagram of the inspection robot in the embodiment.

[0030] Explanation of the accompanying reference numerals: 1. Control center; 2. Circular ropeway; 3. Inspection robot; 4. Power supply equipment; 5. Cable reel; 6. Support rod; 7. Support wheel; 8. Turntable; 9. Motor; 10. LiDAR sensor; 11. Protective cover; 12. Camera; 13. Gas sensor; 14. Dust sensor; 15. Temperature and humidity sensor; 16. Wind speed sensor; 17. Power interface; 18. Antenna; 19. Display screen; 20. Operation button; 21. Anchor digging machine; 22. Anchor loader; 23. Flexible belt conveyor; 24. Walking self-moving tail. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] This embodiment provides an airborne inspection system for a tunneling working face, such as Figures 1 to 12As shown, it is used to be installed on the working face excavation equipment to achieve airborne operation. The working face excavation equipment includes an integrated digging and anchoring machine 21, an anchor loader 22, a flexible belt conveyor 23 and a walking self-moving tail 24 which are arranged in sequence. The tail end of the anchor loader 22 is hinged to the head of the flexible belt conveyor 23 through a hinge mechanism. The flexible belt conveyor 23 is overlapped on the walking self-moving tail 24. During production, the walking self-moving tail 24 does not move, the anchor loader 22 actively and synchronously follows the digging and anchoring machine 21 to move, and the flexible belt conveyor 23 moves synchronously with the anchor loader 22. The digging and anchoring machine 21 and the anchor loader 22 cooperate to complete the head-on support of the working face, and the coal cut by the digging and anchoring machine 21 is transported to the flexible belt conveyor 23 straddled at the tail through the scraper conveying mechanism of the anchor loader 22. The working face excavation equipment is an existing equipment, and no further introduction is given here.

[0033] The airborne inspection system of the excavation working face includes a centralized control center 1 and inspection equipment. The inspection equipment includes a circulating ropeway 2 and an inspection robot 3. The circulating ropeway 2 is set on a flexible belt conveyor 23, and the circulating ropeway 2 will move with the flexible belt conveyor 23. The inspection robot 3 is installed on the circulating ropeway 2, and the circulating ropeway 2 moves in a circular motion to drive the inspection robot 3 to perform inspections in a circular motion. The coverage of the circulating ropeway 2 must at least include the head and tail ends of the flexible belt conveyor 23. The inspection robot 3 is provided with scanning equipment, monitoring equipment and acquisition equipment. The scanning equipment is used to perform a full-range scan of the excavated tunnels, with a scanning angle of 360 degrees. The scanning information includes information such as tunnel contours, tunnel dimensions, tunnel forming quality, and bolt support status. The acquisition equipment is used to collect the production environment parameters of the working face, which include but are not limited to gas concentration, dust concentration, temperature and humidity, and wind speed, providing a basis for the operation of the working face excavation and support transportation and its ventilation system and the environmental locking linkage. The monitoring equipment is used for real-time monitoring, and the monitoring content includes but is not limited to monitoring the quality of the anchor bolt support in the tunnel, the roof pressure, etc., the deviation of the conveying system belt, the smoke of the belt, the tearing of the belt, the coal pile at the unloading point, the blocking of the scraper of the anchor loader 22, the foreign matter in the conveying system, the number of personnel on the working face and the position between personnel and equipment (used to protect personnel from equipment damage) and monitoring the unsafe behavior of personnel underground (such as not wearing a safety helmet and illegal operation, etc.). The scanning equipment, monitoring equipment and collection equipment are all connected to the centralized control center 1 for communication, and transmit information to the centralized control center 1. The centralized control center 1 is connected to the integrated digging and anchoring machine 21, the anchor loader 22, the flexible belt conveyor 23 and the walking self-moving tail 24 for communication. The centralized control center 1 conducts a comprehensive analysis and judgment on the received information, and then issues instructions to each device of the integrated digging and anchoring machine 21, the anchor loader 22, the flexible belt conveyor 23 and the walking self-moving tail 24, and each device performs corresponding actions according to the production process and safety production needs.

[0034] Scanning equipment, monitoring equipment and acquisition equipment are integrated on the inspection robot 3, realizing a suspended inspection mode, which can perform all-round non-contact monitoring of the working face excavation equipment and its working environment, replace the monitoring systems on various equipment, broaden the monitoring range of the excavation working face and the equipment protection function, avoid the problems of limited sensing range, low accuracy and susceptibility to obstruction, simplify the hardware system of single-machine equipment, reduce system costs, improve the safety, intelligence and reliability of the working face, and uniformly collect and process information through the centralized control center 1, and issue instructions to various devices of the working face excavation equipment, which can be centrally coordinated and controlled, solving the problems of scattered monitoring equipment and analysis systems, each working independently, difficult maintenance, weak coordination, and poor reliability and stability.

[0035] In one embodiment, if Figures 1 to 12 As shown, the scanning equipment includes a laser radar sensor 10, which uses the laser radar to perform a full-range scan of the excavated tunnel. At least one laser radar sensor 10 is used. If one laser radar sensor 10 is used, the laser radar sensor 10 is preferably set on the top of the inspection robot 3, and the scanning angle is 360 degrees. If multiple laser radar sensors 10 are used, they can be installed in different positions as needed. Preferably, the installation angle of the inspection robot 3 can be adjusted, and the operator adjusts the laser radar installation angle through the remote control to adapt to different tunnel conditions and scanning angles. After scanning by the laser radar sensor 10, information such as the tunnel contour, tunnel size, tunnel forming quality, and anchor support status can be presented on the centralized control center 1. A protective cover 11 is provided on the laser radar sensor 10 preferably set on the top of the inspection robot 3.

[0036] In one embodiment, if Figures 1 to 12As shown, the monitoring equipment includes a camera 12, and the type of camera 12 can be rotated as needed. As a preferred embodiment, an intrinsically safe AI camera can be selected. Note: Intrinsic safety means intrinsic safety, and AI means artificial intelligence. The number and orientation of the camera 12 are set as needed. For example, a camera 12 is installed at the front end of the inspection robot 3, a camera 12 is installed at the rear end, and a camera 12 is installed on the left and right sides of the inspection robot 3. The specific positions of the cameras 12 on the front end, the rear end, and the left and right sides are adjusted as needed. For example, the camera 12 at the front end is located near the top position (diagonally in front of the top), and the camera 12 at the rear end is located near the top position (diagonally behind the top), which is used to monitor the quality of the anchor bolt and cable support in the roadway, the roof pressure, etc. The cameras 12 on the left and right sides are used to monitor the working conditions of the transport belt, including the deviation of the transport system belt, the smoke of the belt, the tearing of the belt, the coal pile at the unloading point, the blocked rotation of the scraper of the anchor loader 22, and the foreign matter in the transport system. In addition, a camera 12 (not shown in the figure) can also be installed on the pedestrian side of the inspection robot 3 to conduct personnel statistics and personnel protection on the working surface, count the number of people entering the working surface and the positions between people and equipment, protect people from harm by equipment, and monitor unsafe behaviors of underground personnel, such as not wearing safety helmets and illegal operations.

[0037] In one embodiment, if Figures 1 to 12 As shown, the collection equipment includes a gas sensor 13, a dust sensor 14, a temperature and humidity sensor 15 and a wind speed sensor 16 to collect gas concentration, dust concentration, temperature and humidity, and wind speed, providing a basis for the operation of the working face excavation and transportation and its ventilation system and the environmental locking linkage.

[0038] In one embodiment, if Figures 1 to 12As shown, the inspection robot 3 is provided with a processor, and the inspection robot 3 is provided with an optical fiber interface, an electric wire interface and / or a wireless transmission device, and the optical fiber interface, the electric wire interface and the wireless transmission device are all electrically connected to the processor. The scanning device, the monitoring device and the acquisition device are all electrically connected to the processor. The processor can receive, process and analyze the data of the scanning device, the monitoring device and the acquisition device, and then output and transmit it to the centralized control center 1. Specifically, it can be transmitted through an optical fiber interface and an optical fiber, or through an electric wire interface and a cable, or through a wireless transmission device. The wireless transmission device can use a 5G module, which is transmitted to the 5G base station of the excavation working face through an antenna 18, and then sent to the centralized control center 1 through the 5G base station. The centralized control center 1 comprehensively analyzes and judges and sends it to the equipment for execution. As a preferred embodiment, the processor has built-in edge algorithm software, which is responsible for processing and analyzing the data of the scanning device, the monitoring device and the acquisition device, and has intelligent recognition models of various scenes and operating states such as anchor protection, working environment, transportation system, personnel situation, etc., to provide safety protection for the operation of the excavation working face system.

[0039] In one embodiment, if Figures 1 to 12 As shown, the inspection robot 3 needs to be intrinsically safe. If the inspection robot 3 uses an explosion-proof housing, each electrical component inside needs to be intrinsically safe.

[0040] In one embodiment, if Figures 1 to 12 As shown, the inspection robot 3 is also provided with a display screen 19, an operation button 20, a working indicator light and a voice device, and the display screen 19, the working indicator light and the voice device are all electrically connected to the processor. The display screen 19 displays the working status of the inspection robot 3. When the robot is working, the working indicator light flashes. The voice device can broadcast the identified fault information.

[0041] In one embodiment, if Figures 1 to 12 As shown, the circulating ropeway 2 includes a steel wire rope, a support rod 6, a turntable 8 and a motor 9. The turntable 8 includes two turntables 8, which are respectively installed at the head end and the tail end of the flexible belt conveyor 23. The steel wire rope is sleeved on the two turntables 8. The turntable 8 at the tail end of the flexible belt conveyor 23 is driven by the motor 9. The support rod 6 is installed on the flexible belt conveyor 23. The support rod 6 is provided with a support wheel 7 for supporting the steel wire rope. The motor 9 can drive the turntable 8 through a gear box. The motor 9 is installed at the tail end of the flexible belt conveyor 23.

[0042] In one embodiment, if Figures 1 to 12 As shown, a remote control signal receiver is installed on the motor 9. Through the remote control signal transmitter of the portable remote controller, a signal can be output to the remote control signal receiver to control the start, stop, reset, acceleration, and deceleration of the motor 9, thereby realizing the start, stop, reset, acceleration, and deceleration control of the inspection robot 3.

[0043] In one embodiment, if Figures 1 to 12 As shown, the inspection robot 3 is also equipped with a main controller and a remote control signal receiver. The remote control signal receiver is electrically connected to the main controller. The parameters of the inspection robot 3 can be set through the remote control signal transmitter of the portable remote control to achieve multifunctional testing. The running speed of the inspection robot 3 can be manually adjusted by the portable remote control, or automatically adjusted by the centralized control center 1. Under the control of the centralized control center 1, its inspection speed can automatically match the belt running speed of the flexible belt conveyor 23. When the inspection robot 3 inspects the joint between the flexible belt conveyor 23 and the excavator 21, it must stop. The stop time can be set or intelligently identified. After the anchor loader 22 and the excavator 21 complete a working cycle, the inspection robot 3 can go back.

[0044] In one embodiment, if Figures 1 to 12 As shown, the machine-mounted inspection system for the excavation working face also includes a power supply device 4 and a cable reel 5, on which a power cord is reeled. The power supply device 4 and the cable reel 5 are arranged on the tail 24 of the walking self-moving machine, preferably at the tail end of the walking self-moving machine tail 24. The inspection robot 3 is provided with a power interface 17 electrically connected to the processor. One end of the power cord on the cable reel 5 is connected to the power supply device 4, and the other end of the power cord is connected to the power interface 17. The power supply device 4 supplies power to the inspection robot 3 via the power cord. When the inspection robot 3 is inspecting or the flexible belt conveyor 23 is moving, the cable reel 5 automatically retracts and releases the power cord.

[0045] In one embodiment, if Figures 1 to 12 As shown, the centralized control center 1 is installed at the tail end of the tail 24 of the walking type self-moving machine.

[0046] In one embodiment, if Figures 1 to 12 As shown, the power supply device 4 includes a combined power switch, and the combined power switch is embedded with multiple intrinsically safe power supplies, one of which is used to power the inspection robot 3, another is used to power the motor 9, and the remaining circuits can power other devices. The power cord can be a multi-core cable. The multiple intrinsically safe power supplies are reasonably distributed according to the working current of the electrical components. In order to meet the intrinsic safety requirements, there can be no common terminal between the power supplies when the multiple intrinsically safe power supplies are powered.

[0047] The machine-borne inspection system for the excavation working face has the following benefits:

[0048] ① Only one processor with built-in edge algorithm is needed in the inspection robot 3, which can process the data of the camera 12 and the laser radar sensor 10 at different positions, simplifying the hardware and reducing the cost. ② The camera 12 and the laser radar sensor 10 are arranged on the inspection robot 3, with a wide recognition range, high precision, multiple protection types and high reliability. ③ The processor is encapsulated inside the inspection robot 3, with simple cable layout, good protection performance and high reliability. ④ The inspection robot 3 centrally collects and processes data, simplifies the communication network of the working face, saves hardware expenditure and overhead, improves the reliability of the system, broadens the application scenarios and functions of the camera 12 and the laser radar sensor 10, and uses one machine for multiple purposes, which improves the intelligence of the excavation system. ⑤ The inspection robot 3 directly and centrally processes the collaborative control data of the excavation working face to improve the real-time performance of the system. ⑥ The inspection robot 3 has dual redundancy of wired and wireless transmission, which improves the data transmission speed and reliability. ⑦ The explosion-proof type of the inspection robot 3 is intrinsically safe, light in weight and safe. ⑧ The working power supply of the inspection robot 3 is powered by a multi-combination intrinsically safe power supply on the platform, saving rechargeable batteries and no need to charge.

[0049] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An airborne inspection system for a tunneling working face, which is used to be installed on a tunneling equipment for a working face, wherein the tunneling equipment for a working face includes a tunneling and anchoring machine, an anchor loader, a flexible belt conveyor and a walking self-moving tail arranged in sequence, and is characterized in that: It includes a centralized control center and inspection equipment, the inspection equipment includes a circulating cableway and an inspection robot installed on the circulating cableway, the circulating cableway is erected on the flexible belt conveyor, the inspection robot is provided with scanning equipment, monitoring equipment and collecting equipment, the scanning equipment is used for full-range scanning of the excavated tunnels, the collecting equipment is used for collecting production environment parameters of the working face, the scanning equipment, the monitoring equipment and the collecting equipment are all communicatively connected with the centralized control center, the centralized control center is communicatively connected with the integrated digging and anchoring machine, the bolt loader, the flexible belt conveyor and the walking type self-moving machine tail.

2. The machine-mounted inspection system for a tunneling working face according to claim 1 is characterized in that: The scanning device includes a lidar sensor.

3. The machine-borne inspection system for a tunneling working face according to claim 1 is characterized in that: The monitoring device includes a camera.

4. The machine-borne inspection system for excavation working face according to claim 1 is characterized in that: The collection equipment includes a gas sensor, a dust sensor, a temperature and humidity sensor, and a wind speed sensor.

5. The machine-borne inspection system for excavation working face according to claim 1 is characterized in that: The inspection robot is provided with a processor, and is provided with an optical fiber interface, an electrical wire interface and / or a wireless transmission device for communicating with the centralized control center. The optical fiber interface, the electrical wire interface and the wireless transmission device are all electrically connected to the processor, and the scanning device, the monitoring device and the acquisition device are all electrically connected to the processor.

6. The machine-borne inspection system for excavation working face according to claim 5 is characterized in that: The inspection robot is also provided with a display screen, an operation button, a working indicator light and a voice device, and the display screen, the operation button, the working indicator light and the voice device are all electrically connected to the processor.

7. The machine-borne inspection system for excavation working face according to claim 6 is characterized in that: The circulating ropeway includes a steel wire rope, a support rod, a turntable and a motor. There are two turntables, which are respectively arranged at the head end and the tail end of the flexible belt conveyor. The steel wire rope is sleeved on the two turntables. The turntable located at the tail end of the flexible belt conveyor is driven by a motor. The support rod is installed on the flexible belt conveyor, and the support rod is provided with a support wheel for supporting the steel wire rope.

8. The machine-borne inspection system for excavation working face according to claim 7 is characterized in that: A remote control signal receiver is installed on the motor.

9. The machine-borne inspection system for tunneling working face according to claim 5, characterized in that: It also includes a power supply device and a cable reeling device with a power cord reeled in, the power supply device and the cable reeling device are arranged on the tail of the walking self-moving machine, the inspection robot is provided with a power interface electrically connected to the processor, one end of the power cord is connected to the power supply device, and the other end of the power cord is connected to the power interface.

10. The machine-borne inspection system for excavation working face according to claim 1, characterized in that: The centralized control center is installed at the tail end of the walking type self-moving machine.

Images