A tunneling face on-board inspection robot

Abstract

The application discloses a kind of tunneling working face airborne inspection robot, belong to mining technical field, including centralized control center and inspection equipment, inspection equipment includes circulating cableway and installs on the inspection robot of circulating cableway, circulating cableway is erected on bendable belt conveyor, scanning equipment, monitoring equipment and acquisition equipment are equipped on the inspection robot, scanning equipment carries out full range scanning to the tunneling roadway, acquisition equipment acquires working face production environment parameter, scanning equipment, monitoring equipment and acquisition equipment are connected with centralized control center, centralized control center is connected with excavating anchor integrated machine, anchor rod loader, bendable belt conveyor and step type self-moving tail, can be non-contact monitoring to working face tunneling equipment and working environment, avoid the problem that inductive range is limited, precision is not high and is easily blocked, by centralized control of centralized control center, solve the problem that system is dispersed, each for war, maintenance difficulty and weak cooperativity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine exploitation, in particular to a machine-mounted inspection robot for a driving face. BACKGROUND

[0002] When a coal mine carries out driving of a working face, a working face driving device is used, which comprises a production system and an auxiliary system. The production system mainly comprises a combined drilling and bolting machine, a bolting loader, a bendable belt conveyor and a step-by-step self-moving tail, and is mainly used for completing functions such as cutting, supporting, bolting and coal flow transportation. The auxiliary system is mainly used for completing functions such as power supply, ventilation, drainage and environmental monitoring. The two systems jointly guarantee the production task of the driving face. The total length of the working face driving device is about 150 meters, and the device is numerous and the system is complex. Therefore, there are many safety hazards, high failure rate and large maintenance amount. For example, the underground working environment is poor, and the working face driving device is easily affected by dust, gas, water mist, low illumination and spalling. Moreover, various operators work together with the working face driving device to complete the working face operation. In the limited environment and visual blind area, it is easy to cause personal injury accidents.

[0003] In order to adapt to the underground working environment, improve the reliability of the device operation and protect the personal safety of the operators, various monitoring and protection devices are configured for the driving device and the operators to monitor the working environment of the driving face, the running state of the device, the spatial position and the state of the operators. However, the driving face device is divided according to the driving process and task requirements, and each monitoring and protection device is provided with independent power supply, acquisition and processing systems. As a result, the working environment, the device running state sensing and the monitoring and analysis system thereof are independent of each other, and each system is in a state of fighting alone, which has poor reliability and stability, is difficult to maintain and has weak coordination. Moreover, the sensors are fixed on the device, which limits the sensing range and reduces the precision. Although the cameras are arranged at multiple positions, they are easily blocked and have unsatisfactory effect. SUMMARY

[0004] The present application aims to solve the above technical problems and provides a machine-mounted inspection robot for a driving face, which realizes a suspended inspection mode, can monitor the working face driving device and the working environment in a full range and non-contact manner, avoids the problems of limited sensing range, low precision and easy blocking, and solves the problems of dispersion of the monitoring devices and analysis systems, fighting alone, difficult maintenance and weak coordination through centralized and coordinated control of the control center.

[0005] To achieve the above object, the present application provides the following scheme: The present application discloses a kind of machine-mounted inspection systems of driving face, for being installed on driving face driving equipment, the driving face driving equipment includes the integrated machine of excavation anchor, anchor rod loader, bendable belt conveyor and step type self-moving tail, including control center and inspection equipment, the inspection equipment includes circulating cableway and installs on the inspection robot of circulating cableway, the circulating cableway is erected on the bendable belt conveyor, scanning equipment, monitoring equipment and acquisition equipment are equipped on the inspection robot, the scanning equipment is used to scan the whole range to the tunnel that has been excavated, the acquisition equipment is used to acquire driving face production environment parameter, the scanning equipment, the monitoring equipment and the acquisition equipment are all connected with the control center, and the control center is connected with the integrated machine of excavation anchor, the anchor rod loader, the bendable belt conveyor and the step type self-moving tail.

[0006] Preferably, the scanning device includes a laser radar sensor.

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

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

[0009] Preferably, the inspection robot is provided with a processor, an optical fiber interface, a wire interface and / or a wireless transmission device for communication connection with the control center, the optical fiber interface, the wire interface and the wireless transmission device are electrically connected with the processor, and the scanning device, the monitoring device and the acquisition device are electrically connected with the processor.

[0010] Preferably, the inspection robot is further 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 electrically connected with the processor.

[0011] Preferably, the circulating cableway includes a steel wire rope, a support rod, a rotating disc and a motor, the rotating disc is provided with two, two rotating discs are arranged at the head end and the tail end of the bendable belt conveyor, the steel wire rope is sleeved on the two rotating discs, the rotating disc at the tail end of the bendable belt conveyor is driven by the motor, the support rod is installed on the bendable 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, a power supply device and a cable winding device with a power cable are further included, the power supply device and the cable winding device are arranged on the step-by-step self-moving tail, the power supply interface electrically connected to the processor is arranged on the inspection robot, one end of the power cable is connected to the power supply device, and the other end of the power cable is connected to the power supply interface.

[0014] Preferably, the centralized control center is installed at the tail end of the step-by-step self-moving tail.

[0015] The present application has the following technical effects relative to the prior art:

[0016] In the present application, the scanning device, the monitoring device and the acquisition device are integrated on the inspection robot, a suspended inspection mode is realized, the working face tunneling device and its working environment can be monitored in all directions and non-contact, the monitoring system on each device is replaced, the monitoring range of the tunneling working face and the device protection function are widened, the problems of limited sensing range, low precision and easy to be blocked are avoided, the hardware system of the single machine device is simplified, the system cost is reduced, the safety, intelligence and reliability of the working face are improved, the information is collected and processed by the centralized control center, and the instructions are issued to each device of the working face tunneling device, the centralized cooperative control is realized, and the problems of scattered monitoring devices and analysis systems, each for war, difficult maintenance, weak cooperation and poor reliability and stability are solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 It is a perspective structural schematic diagram of the tunneling working face airborne inspection system and the tunneling working face device in the embodiment.

[0019] Figure 2 It is a top view structural schematic diagram of the tunneling working face airborne inspection system and the tunneling working face device in the embodiment.

[0020] Figure 3 It is a perspective structural schematic diagram of the tunneling working face airborne inspection system in the embodiment.

[0021] Figure 4 It is a front view structural schematic diagram of the tunneling working face airborne inspection system in the embodiment.

[0022] Figure 5 It is a top view structural schematic diagram of the tunneling working face airborne inspection system in the embodiment.

[0023] Figure 6 is a partial enlarged view of the rear end of the inspection robot in the embodiment; Figure 3

[0024] Figure 7 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0025] Figure 8 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0026] Figure 9 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0027] Figure 10 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0028] Figure 11 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0029] Figure 12 is a schematic diagram of the front end of the inspection robot in the embodiment;

[0030] The accompanying drawings are used to illustrate the present application. In the drawings:1, central control center; 2, circulating cableway; 3, inspection robot; 4, power supply device; 5, cable winding device; 6, support rod; 7, support wheel; 8, turntable; 9, motor; 10, laser radar sensor; 11, protective cover; 12, camera; 13, gas sensor; 14, dust sensor; 15, temperature and humidity sensor; 16, wind speed sensor; 17, power supply interface; 18, antenna; 19, display screen; 20, operation button; 21, combined excavating and anchoring machine; 22, anchor rod loader; 23, bendable belt conveyor; 24, step-by-step self-moving tail. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0032] The present embodiment provides a tunneling working face on-board inspection system, which comprises a combined excavating and anchoring machine, an anchor rod loader, a bendable belt conveyor, a step-by-step self-moving tail, and an inspection robot. Figures 1 to 12As shown, for installation on the working face tunneling equipment, realize on-board. Working face tunneling equipment includes in turn set up the anchor integrated machine 21, anchor rod loader 22, bendable belt conveyor 23 and step type self-moving tail 24. The tail end of anchor rod loader 22 is hinged to the head of bendable belt conveyor 23 through hinged mechanism. Bendable belt conveyor 23 is lapped on step type self-moving tail 24. In production, step type self-moving tail 24 does not move, anchor rod loader 22 actively synchronously follows anchor integrated machine 21 walking, bendable belt conveyor 23 follows anchor rod loader 22 synchronous movement, anchor integrated machine 21 and anchor rod loader 22 cooperatively complete working face head-on support, the coal cut by anchor integrated machine 21 is transported to the tail end of bendable belt conveyor 23 through the scraper conveyor mechanism of anchor rod loader 22. The working face tunneling equipment is the existing equipment, which will not be described in detail here.

[0033] The tunneling working face on-board inspection system includes a control center 1 and an inspection device, the inspection device includes a circulating cableway 2 and an inspection robot 3, the circulating cableway 2 is erected on the bendable belt conveyor 23, and the circulating cableway 2 moves with the bendable belt conveyor 23. The inspection robot 3 is installed on the circulating cableway 2, and the circulating cableway 2 circulates to drive the inspection robot 3 to circulate and inspect. The coverage range of the circulating cableway 2 at least includes the head and tail ends of the bendable belt conveyor 23. The inspection robot 3 is provided with a scanning device, a monitoring device and a collection device. The scanning device is used for full-range scanning of the excavated roadway, the scanning angle is 360 degrees, and the scanning information includes roadway profile, roadway size, roadway forming quality, anchor support state and the like. The collection device is used for collecting working face production environment parameters, and the production environment parameters include but are not limited to gas concentration, dust concentration, temperature and humidity and wind speed, which provide a basis for the operation of the working face excavation, support and transportation system and the environment closed-loop linkage. The monitoring device is used for real-time monitoring, and the monitoring content includes but is not limited to monitoring of the roadway anchor support quality, roof pressure and the like, belt deviation of the transportation system, belt smoke, belt tearing, coal stacking at the unloading point, scraper blocking of the anchor rod loader 22, foreign matter of the transportation system, working face personnel quantity statistics and position between personnel and equipment (for protecting personnel from being hurt by equipment) and monitoring of unsafe behaviors of underground personnel (such as not wearing a safety helmet and illegal operation). The scanning device, the monitoring device and the collection device are in communication connection with the control center 1, and information is transmitted to the control center 1. The control center 1 is in communication connection with the anchor integrated machine 21, the anchor rod loader 22, the bendable belt conveyor 23 and the step type self-moving tail 24. The control center 1 comprehensively analyzes and judges the received information, and then issues instructions to the anchor integrated machine 21, the anchor rod loader 22, the bendable belt conveyor 23 and the step type self-moving tail 24, and each device executes corresponding actions according to production process and safety production needs.

[0034] The scanning device, monitoring device and collecting device are integrated on the inspection robot 3, realizing the suspended inspection mode, and can monitor the working face tunneling device and its working environment in all directions and non-contact mode, replacing the monitoring system on each device, widening the monitoring range and device protection function of the working face, avoiding the problems of limited sensing range, low precision and easy to be blocked, simplifying the hardware system of single machine device, reducing the system cost, improving the safety, intelligence and reliability of the working face, collecting and processing information through the centralized control center 1, and issuing instructions to each device of the working face tunneling device, which can be centrally and cooperatively controlled, solving the problems of scattered monitoring devices and analysis systems, each for the war, difficult to maintain, weak cooperation, poor reliability and stability.

[0035] In an embodiment, as shown in Figures 1 to 12 The scanning device includes a laser radar sensor 10, which scans the excavated roadway in the full range through laser radar. The laser radar sensor 10 is at least used one. If one laser radar sensor 10 is used, the laser radar sensor 10 is preferably arranged at 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 at different positions as needed. As a preferred, the installation angle of the inspection robot 3 can be adjusted, and the operator adjusts the installation angle of the laser radar through the remote controller to adapt to different roadway conditions and scanning angles. After scanning by the laser radar sensor 10, the information of the roadway profile, the roadway size, the roadway forming quality, the anchor support state and the like can be presented on the centralized control center 1. As a preferred, the laser radar sensor 10 arranged at the top of the inspection robot 3 is covered with a protective cover 11.

[0036] In an embodiment, as shown in Figures 1 to 12As shown, the monitoring device includes a camera 12, which can be rotated as needed, and is preferably an intrinsically safe AI camera. Note that intrinsically safe means intrinsically safe, and AI means Artificial Intelligence. The number and position of the camera 12 are set as needed. For example, one camera 12 is installed at the front end of the inspection robot 3, one camera 12 is installed at the rear end of the inspection robot 3, and one camera 12 is installed on each of the left and right sides of the inspection robot 3. The positions of the cameras 12 on the front end, rear end, and left and right sides can be adjusted as needed. For example, the camera 12 on the front end is located near the top (obliquely forward of the top), and the camera 12 on the rear end is located near the top (obliquely rearward of the top), for monitoring the quality of roadway anchor and cable support, roof pressure, and the like. The cameras 12 on the left and right sides are used to monitor the working conditions of the transport belt, including belt deviation, belt smoke, belt tearing, unloaded coal piles, scraper machine blockage of the anchor rod loader 22, and 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, which can be used for working face personnel statistics and personnel protection, counting the number of personnel entering the working face and the position between personnel and equipment, protecting personnel from being harmed by equipment, and monitoring unsafe behavior of underground personnel, such as not wearing a safety helmet and violating regulations.

[0037] In an embodiment, as shown in Figures 1 to 12 The collection device 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, to provide a basis for the operation of the working face excavation, support, and ventilation system and the environmental closed-loop linkage.

[0038] In an embodiment, as shown in Figures 1 to 12As shown, the inspection robot 3 is provided with a processor, and the inspection robot 3 is provided with a fiber interface, a wire interface and / or a wireless transmission device, and the fiber interface, the wire interface and the wireless transmission device are electrically connected with the processor. The scanning device, the monitoring device and the acquisition device are electrically connected with 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 to the centralized control center 1. Specifically, the transmission can be performed through the fiber interface and the optical fiber, or through the wire interface and the cable, or through the wireless transmission device. The wireless transmission device can adopt a 5G module, and the 5G module transmits to the 5G base station of the tunneling working face through the antenna 18, and then transmits to the centralized control center 1 through the 5G base station, and the centralized control center 1 comprehensively analyzes and judges to issue to the equipment for execution. As an optimization, the processor is built-in with edge algorithm software, which is responsible for data processing and analysis of the scanning device, the monitoring device and the acquisition device, and has intelligent identification models of various scenes such as anchor protection, working environment, transportation system and personnel situation, to provide safety guarantee for the system operation of the tunneling working face.

[0039] In an embodiment, as shown in Figures 1 to 12 The inspection robot 3 needs to be intrinsically safe. If the inspection robot 3 adopts an explosion-proof shell, the internal electrical components need to be intrinsically safe.

[0040] In an embodiment, as shown in Figures 1 to 12 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 electrically connected with the processor. The display screen 19 displays the working state 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 an embodiment, as shown in Figures 1 to 12 The circulating cableway 2 includes a steel wire rope, a support rod 6, a rotating disc 8 and a motor 9. The rotating disc 8 includes two, and the two rotating discs 8 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 rotating discs 8. The rotating disc 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, and the support rod 6 is provided with a support wheel 7 for supporting the steel wire rope. The motor 9 can drive the rotating disc 8 through a gear box. The motor 9 is installed at the tail end of the flexible belt conveyor 23.

[0042] In an embodiment, as shown in Figures 1 to 12 A remote control signal receiver is installed on the motor 9. Through the remote control signal transmitter of the portable remote controller, the signal can be output to the remote control signal receiver for controlling the start, stop, reset, acceleration and deceleration control of the motor 9, so as to realize the start, stop, reset, acceleration and deceleration control of the inspection robot 3.

[0043] In an embodiment, as shown in Figures 1 to 12 The main controller and the remote signal receiver are also installed in the inspection robot 3, and the remote signal receiver is electrically connected with the main controller. The parameters of the inspection robot 3 can be set through the remote signal transmitter of the portable remote controller, so as to realize multifunctional test. The running speed of the inspection robot 3 can be manually adjusted through the portable remote controller, or automatically adjusted through the centralized control center 1. Under the control of the centralized control center 1, the inspection speed of the inspection robot 3 can automatically match the running speed of the belt of the flexible belt conveyor 23. The inspection robot 3 needs to stop when it inspects the joint part of the flexible belt conveyor 23 and the excavating-anchor integrated machine 21. The stop time can be set or intelligently recognized. After the anchor loader 22 and the excavating-anchor integrated machine 21 complete a working cycle, the inspection robot 3 can go back.

[0044] In an embodiment, as shown in Figures 1 to 12 The excavation face onboard inspection system also includes a power supply device 4 and a cable winding device 5. The power supply line is wound on the cable winding device 5. The power supply device 4 and the cable winding device 5 are arranged on the step-by-step self-moving tail 24, and preferably arranged at the tail end of the step-by-step self-moving tail 24. The inspection robot 3 is provided with a power supply interface 17 electrically connected with the processor. One end of the power supply line on the cable winding device 5 is connected with the power supply device 4, and the other end of the power supply line is connected with the power supply interface 17. The power supply device 4 supplies power to the inspection robot 3 through the power supply line. When the inspection robot 3 inspects or the flexible belt conveyor 23 moves, the cable winding device 5 automatically winds and unwinds the power supply line.

[0045] In an embodiment, as shown in Figures 1 to 12 The centralized control center 1 is arranged at the tail end of the step-by-step self-moving tail 24.

[0046] In an embodiment, as shown in Figures 1 to 12 The power supply device 4 includes a combined power switch, and multiple intrinsically safe power supplies are embedded in the combined power switch. One of the multiple intrinsically safe power supplies supplies power to the inspection robot 3, another one supplies power to the motor 9, and the remaining circuits can supply power to other devices. The power supply line can be a multi-core cable. The multiple intrinsically safe power supplies are reasonably distributed according to the working current of electrical components. In order to meet the intrinsically safe requirement, the multiple intrinsically safe power supplies cannot have a common terminal when supplying power.

[0047] The excavation face onboard inspection system has the following advantages:

[0048] ①The inspection robot 3 only needs one processor with edge algorithm inside to process the data of the cameras 12 and the laser radar sensors 10 in different positions, which simplifies the hardware and reduces the cost. ②The cameras 12 and the laser radar sensors 10 are arranged on the inspection robot 3, which has wide recognition range, high precision, multiple protection types and high reliability. ③The processor is packaged inside the inspection robot 3, which has simple cable arrangement, good protection performance and high reliability. ④The inspection robot 3 collects and processes data centrally, which simplifies the communication network of the working face, saves hardware expenditure and overhead, improves the reliability of the system, widens the application scenarios and functions of the cameras 12 and the laser radar sensors 10, realizes one machine with multiple functions, and improves the intelligent degree of the tunneling system. ⑤The inspection robot 3 directly processes the cooperative control data of the tunneling working face centrally, which improves the real-time performance of the system. ⑥The inspection robot 3 has wired and wireless transmission dual redundancy, which improves the data transmission speed and reliability. ⑦The inspection robot 3 is of an intrinsically safe type, which is light in weight and good in safety. ⑧The working power supply of the inspection robot 3 is supplied by multiple combined intrinsically safe power supplies on the platform, which saves the charging battery and eliminates the need for charging.

[0049] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A machine-mounted inspection system for a tunneling face, used for installation on tunneling equipment at the working face, the tunneling equipment comprising, in sequence, a tunneling and anchoring integrated machine, an anchor loader, a flexible belt conveyor, and a stepping self-propelled tail section, characterized in that, The system includes a control center and inspection equipment. The inspection equipment comprises a circulating cableway and an inspection robot mounted on the cableway. The circulating cableway is erected on a flexible conveyor belt. The inspection robot is equipped with scanning, monitoring, and data acquisition devices. The scanning device performs a full-range scan of the excavated roadway, and the data acquisition device collects environmental parameters from the working face. All three devices—scanning, monitoring, and data acquisition—are communicatively connected to the control center. The control center is also connected to the tunneling and anchoring machine, the bolt loader, and... The flexible belt conveyor and the stepping self-propelled tail section are communicatively connected; the circulating cableway includes a steel wire rope, a support rod, a turntable, and a motor. Two turntables are provided, one at the head end and one at the tail end of the flexible belt conveyor. The steel wire rope is looped around the two turntables. The turntable 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 has a support wheel for supporting the steel wire rope. The central control center is installed at the tail end of the stepping self-propelled tail section. It also includes power supply equipment and cable winding device with power cord wound up. The power supply equipment and the cable winding device are installed on the stepping self-propelled tail. The inspection robot is provided with a power interface that is electrically connected to the processor. One end of the power cord is connected to the power supply equipment and the other end of the power cord is connected to the power interface. The monitoring equipment includes a camera; the camera is an intrinsically safe AI camera; the inspection robot adopts an explosion-proof shell, and all internal electrical components are intrinsically safe; the power supply equipment includes a combined power switch, which has multiple intrinsically safe power supplies embedded in it, one of which powers the inspection robot, another powers the motor, and the remaining circuits can power other devices. When multiple intrinsically safe power supplies are used, there must be no common terminal between the power supplies. The scanning equipment includes a lidar sensor, and the data acquisition equipment includes a gas sensor, a dust sensor, a temperature and humidity sensor, and a wind speed sensor. The inspection robot has a camera mounted at its front end, a camera mounted at its rear end, and a camera mounted on each of its left and right sides. The front and rear cameras are used to monitor the quality of the roadway anchor bolt and cable support and the roof pressure. The cameras on the left and right sides are used to monitor the operating conditions of the conveyor belt, including belt misalignment, belt smoke, belt tearing, coal accumulation at the unloading point, blockage of the scraper conveyor of the anchor bolt loader, and foreign objects in the conveyor system. The camera on the pedestrian side is used for personnel statistics and protection at the working face, counting the number of personnel entering the working face and their positions relative to equipment, ensuring personnel are protected from equipment damage, and monitoring unsafe behaviors of personnel underground. The inspection robot is equipped with a processor and has fiber optic interfaces, wire interfaces, and / or wireless transmission devices for communication with the central control center. The fiber optic interfaces, wire interfaces, and wireless transmission devices are all electrically connected to the processor. The scanning device, monitoring device, and data acquisition device are all electrically connected to the processor. The processor can receive, process, and analyze data from the scanning device, monitoring device, and data acquisition device, and then output and transmit the data to the central control center. The central control center comprehensively analyzes and judges the data and issues it to the equipment for execution.

2. The machine-mounted inspection system for a tunneling face according to claim 1, characterized in that, The inspection robot is also equipped with a display screen, operation buttons, work indicator lights, and voice device. The display screen, operation buttons, work indicator lights, and voice device are all electrically connected to the processor.

3. The machine-mounted inspection system for a tunneling face according to claim 1, characterized in that, A remote control signal receiver is installed on the motor.

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