Intelligent equipment for laying cables in underground coal mine roadway

Abstract

The invention provides intelligent equipment for laying cables in a coal mine underground roadway. The intelligent equipment comprises a movable chassis, a path planning system, a cable punching and fixing system, a cable management system, a cable laying system, an intelligent control system and a power supply system. A path planning system, a cable punching and fixing system, a cable management system and a cable laying system are fixedly installed on the movable chassis, and the cable laying system is fixed to the wire outlet end of the cable management system. The intelligent control system and the power supply system are arranged inside or outside the movable chassis; when a cable is laid, the intelligent control system controls the movable chassis to move according to a signal sent by the path planning system, and when it is detected that the movable chassis moves to a planned position, the cable punching and fixing system is controlled to punch holes in a roadway and install a cable fixing device. When it is detected that the fixing device is installed, the cable management system is controlled to pay off the cable and convey the cable to the cable laying system, and the cable laying system is controlled to hang the cable on the cable fixing device according to the length of the pay-off cable. The problems that in the prior art, manual cable laying is low in efficiency and poor in safety are solved. The intelligent cable laying device can adapt to a complex underground roadway environment and has efficient, safe and intelligent cable laying capacity.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to an intelligent device for laying cables in underground coal mine tunnels. Background Art

[0002] In existing technology, cable laying is a crucial step in coal mine production and operation, as underground tunnels are complex and hostile environments. Currently, cable laying relies primarily on manual labor. However, due to the narrow underground space, dim lighting, poor ventilation, and uneven tunnel surfaces, manual laying is inefficient, unsafe, and labor-intensive, posing significant safety risks. Currently, most outdoor inspection robots are wheeled, which are prone to tilting or even toppling over uneven surfaces. These robots have limited adaptability to road conditions and are unsuitable for complex road inspections. Therefore, a cable laying device suitable for the complex and harsh environments of underground coal mine tunnels is needed. Summary of the Invention

[0003] To address these challenges, the present invention proposes an intelligent device for laying cables in underground coal mine tunnels. This device addresses the low efficiency and poor safety issues inherent in manual cable laying in existing technologies. The device is adaptable to complex underground tunnel environments and offers efficient, safe, and intelligent cable laying capabilities.

[0004] The present invention provides an intelligent device for laying cables in underground coal mine tunnels, comprising:

[0005] Mobile chassis, path planning system, cable drilling and fixing system, cable management system, cable laying system, intelligent control system and power supply system;

[0006] The path planning system, cable punching and fixing system, cable management system and cable laying system are fixedly installed on the mobile chassis. The cable laying system is fixed to the outlet end of the cable management system. The intelligent control system and power supply system are set inside or outside the mobile chassis.

[0007] When laying cables, the intelligent control system controls the movement of the mobile chassis according to the signal sent by the path planning system. When it detects that the mobile chassis has moved to the planned position, it controls the cable drilling and fixing system to drill holes in the laneway and install cable fixing devices. When it detects that the fixing devices are installed, it controls the cable management system to release the cables and transport them to the cable laying system. According to the length of the released cables, it controls the cable laying system to hang the cables on the cable fixing devices.

[0008] In addition, the mobile chassis includes: two swing arms, a chassis box and two main tracks;

[0009] The two main crawlers are respectively arranged on both sides of the chassis box and are driven by two motors in the chassis box. A swing arm is installed at the front end of the outer side of each main crawler through a transmission shaft. The swing arm is driven by the motor installed in the chassis box after changing direction through a bevel gear and then through a gear.

[0010] In addition, the path planning system includes: a three-dimensional laser scanning device and a camera device;

[0011] The camera device is responsible for collecting tunnel image data, and the three-dimensional laser scanning device is used to construct the three-dimensional map data of the tunnel. The tunnel image data and the three-dimensional map data of the tunnel are sent to the intelligent control system, and the intelligent control system combines the SLAM algorithm to realize path planning and navigation.

[0012] In addition, the cable punching and fixing system includes: mechanical gripper, ultrasonic drill, mechanical small arm and mechanical large arm;

[0013] The mechanical arm is rotatably mounted on the mobile chassis, one end of the mechanical arm is rotatably connected to the mechanical arm, and the other end of the mechanical arm is connected to the fixed plate, on which the mechanical gripper and ultrasonic drill are mounted;

[0014] During operation, after the path planning system determines the drilling position, the mechanical arm drives the mechanical arm to rotate to the drilling position, the ultrasonic drill drills a hole in the tunnel rock wall, and the mechanical gripper clamps the cable fixing device and fixes it in the hole.

[0015] In addition, the cable laying system includes: laying robot small arm, laying robot large arm and cable grabbing robot;

[0016] The laying robot arm is rotatably mounted on the mobile chassis and close to the cable management system. The laying robot arm is connected to the laying robot arm and the cable grabbing robot in sequence.

[0017] During operation, the laying robot arm and the laying robot arm drive the cable grabbing robot to rotate to the position of the cable fixing device, and the cable grabbing robot clamps the cable and hangs it on the cable fixing device.

[0018] In addition, the laying robot arm and the laying robot arm drive the cable grabbing robot to rotate to the position of the cable fixing device, and the cable grabbing robot clamps the cable and hangs it on the cable fixing device, including:

[0019] According to the image provided by the path planning system, the image is identified, preprocessed, color space selected and feature extracted to obtain a feature image, which is matched with the preset fixture image. If the match is successful, the position of the cable fixture is determined, and the cable grabbing robot is controlled to clamp the cable and hang it on the cable fixture.

[0020] In addition, the cable management system includes: a cable winding device and a cable tensioning device;

[0021] The cable is wound on the cable winding device, and the cable tensioning device is installed on the coil in the middle of the cable winding device, and is used to apply tensioning force to make the cable tightly wound on the coil when the cable is wound.

[0022] In addition, the intelligent control system includes: a host computer and a slave computer;

[0023] The host computer analyzes the data collected by the path planning system to determine the fixed position of the cable fixing device;

[0024] The lower computer is used to receive the fixed position information of the upper computer and control the cable punching and fixing system to punch holes and fix the cable fixing device, and control the cable laying system to hang the cable on the cable fixing device.

[0025] In addition, in the lanes where cables have been laid, the camera device in the path planning system is used to capture images and send the image data to the intelligent control system. If it is detected that the cable fixing device is loose or missing, the intelligent control system controls the cable grabbing robot in the cable laying system to re-fix the cable fixing device.

[0026] In addition, in the lanes where cables have been laid, the camera device in the path planning system is used to capture images and send the image data to the intelligent control system. If it is detected that the cable has fallen from the cable fixing device or is damaged, the intelligent control system controls the cable punching and fixing system's mechanical grippers to re-hang the cable.

[0027] The present invention solves the problems of low efficiency and poor safety of manual cable laying in the prior art. The present invention can adapt to complex underground tunnel environments and has efficient, safe and intelligent cable laying capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the overall structure of an intelligent device for laying cables in underground coal mine tunnels provided by one embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the overall structure of an intelligent device for laying cables in underground coal mine tunnels provided by one embodiment of the present invention;

[0030] Figure 3 for Figure 1 Schematic diagram of the cable punching and fixing system;

[0031] Figure 4 A flowchart of image processing for an intelligent device for laying cables in an underground coal mine tunnel provided in accordance with one embodiment of the invention;

[0032] Figure 5A diagram illustrating the working principle of an intelligent control system in an intelligent device for laying cables in underground coal mine tunnels, provided as an embodiment of the invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to specific embodiments and accompanying drawings, which are intended only to elaborate on the specific embodiments of the present invention and do not impose any limitation on the present invention. The scope of protection of the present invention shall be subject to the claims.

[0034] Reference Figure 1 The present invention proposes an intelligent device for laying cables in underground coal mine tunnels, comprising:

[0035] Mobile chassis, path planning system, cable drilling and fixing system 6, cable management system 4, cable laying system 5, intelligent control system and power supply system;

[0036] The path planning system, cable punching and fixing system 6, cable management system 4 and cable laying system 5 are fixedly installed on the top of the mobile chassis. The cable laying system 5 is fixed to the outlet end of the cable management system 4. The intelligent control system and power supply system are set inside or outside the mobile chassis.

[0037] When laying cables, the intelligent control system controls the movement of the mobile chassis according to the signal sent by the path planning system. When it detects that the mobile chassis has moved to the planned position, it controls the cable drilling and fixing system 6 to drill holes in the lane and install cable fixing devices. When it detects that the fixing devices are installed, it controls the cable management system 4 to release the cables and transport the cables to the cable laying system 5. According to the length of the released cables, the cable laying system 5 controls the cable hanging on the cable fixing devices.

[0038] Optionally, the main body of the mobile chassis is constructed of high-strength, lightweight alloy material, offering excellent impact and corrosion resistance, making it suitable for the damp and dusty underground environment. Optionally, the mobile chassis utilizes a four-track drive system combined with four-wheel drive. Four motors drive each of the four tracks, enabling variable-radius and center-steering steering. This allows for more precise directional control and improved maneuverability for intelligent equipment laying cables in underground coal mine tunnels. This significantly enhances the robot's flexibility and allows it to adapt to the complex terrain of coal mine tunnels, including uneven surfaces, flooded areas, and ramps.

[0039] The path planning system is used to create a path plan and plan a laying path that avoids obstacles and reaches the designated laying location. Optionally, for the initial cable laying in a newly mined tunnel, a 3D laser scanner 7 is first used to construct a tunnel map, develop a path plan, and plan a laying path that avoids obstacles and reaches the designated laying location. The path planning system sends the tunnel map to the intelligent control system, which receives it and performs subsequent control.

[0040] The cable drilling and securing system 6 receives control from the intelligent control system, drilling holes at designated locations and securing the cable fixture. Optionally, an ultrasonic drill 13 is activated, using high-frequency vibrations to rapidly drill holes. A mechanical gripper 12 then inserts a hook into the drilled hole and secures it. The hook's position and angle are determined by a combination of a binocular camera 8 and a path planning algorithm.

[0041] The cable management system 4 is used to release and tighten cables. Optionally, the cable management system has a built-in cable storage compartment equipped with an automatic winding and releasing mechanism. The cable storage compartment can accommodate cables of various specifications and can adjust the cable tension according to laying requirements to avoid cable entanglement or excessive stretching.

[0042] The cable laying system 5 is used to hang the cable on the cable fixing device. Optionally, a six-degree-of-freedom robotic arm can be used to accurately control the cable laying position and direction according to a preset path. The laying fixing device adopts a hydraulic clamping mechanism to fix the cable on the tunnel wall or the ground.

[0043] Optionally, the intelligent control system integrates a main control unit, a camera, an environmental perception module, and a communication module. The main control unit utilizes an AI-based control algorithm, enabling real-time adjustment of the laying path and speed. The environmental perception module, which includes infrared sensors, ultrasonic sensors, cameras, and gas detection sensors, monitors the tunnel environment in real time, including obstacles, personnel, and gas concentrations. The communication module supports wireless communication, enabling remote data exchange with the ground control center and providing an intuitive user interface for real-time viewing of equipment status, working environment video, cable laying progress, and other information.

[0044] Optionally, the power supply system uses a built-in lithium battery pack to support long-term operation. The power supply system is equipped with an energy recovery device to recover energy when the equipment goes downhill or stops to extend the battery life.

[0045] Optionally, it also includes a safety protection system: equipped with an explosion-proof shell to meet the explosion-proof standards of underground coal mines. Equipped with an emergency brake device and a rollover protection system to ensure the safety of the robot's operation. Optionally, the safety protection system also has an alarm module. When the sensor detects a sudden dangerous situation (such as excessive concentration of harmful gases), the system will act and notify the alarm module to sound an alarm. The equipment is equipped with a high-capacity battery to ensure long-term operation. At the same time, the built-in battery management system monitors the power and promptly reminds the operator to replace the battery. The safety protection system ensures the stability of equipment operation through multi-level protection design, such as current overload protection and sensor fault detection.

[0046] The present invention solves the problems of low efficiency and poor safety of manual cable laying in the prior art. The present invention can adapt to complex underground tunnel environments and has efficient, safe and intelligent cable laying capabilities.

[0047] In one embodiment, the mobile chassis includes: two swing arms 1, a chassis box 2 and two main tracks 3;

[0048] The two main crawlers 3 are respectively arranged on both sides of the chassis box 2 and are driven by two motors in the chassis box 2. A swing arm 1 is installed at the front end of the outer side of each main crawler 3 through a transmission shaft. The swing arm 1 is driven by the motor installed in the chassis box 2 after changing direction through a bevel gear and then through a gear.

[0049] The two main crawlers 3 can automatically adjust the height and grip according to the roadway ground conditions to ensure stable movement of the equipment.

[0050] Optionally, the two swing arms 1 adopt a method of having bearings on the output shaft and supporting track wheels with the bearings. The swing arms are also called swing arm track wheels, which can rotate around the drive shaft at a certain angle, so as to be suitable for walking on complex terrain such as climbing.

[0051] Optionally, the gears of the main crawler 3 adopt trapezoidal double-sided tooth synchronous belts, which are efficient and compact, have high friction, and have the advantages of belt drive, gear drive, and chain drive.

[0052] The coordination of the swing arm and the main track enables the vehicle to travel on complex terrain.

[0053] In one embodiment, the path planning system includes: a three-dimensional laser scanning device 7 and a camera device 8;

[0054] The camera device is responsible for collecting lane image data, and the three-dimensional laser scanning device 7 is used to construct lane three-dimensional map data. The lane image data and lane three-dimensional map data are sent to the intelligent control system, and the intelligent control system combines the SLAM algorithm to realize path planning and navigation.

[0055] SLAM (simultaneous localization and mapping), also known as CML (Concurrent Mapping and Localization), is real-time positioning and map construction, or concurrent mapping and positioning.

[0056] The three-dimensional laser scanning device 7 and the camera device 8 cooperate to make the path planning clearer.

[0057] Optionally, the camera device 8 is a binocular camera. The 3D laser scanning device 7 is a 3D laser scanner. Optionally, the binocular camera lens mounted on the chassis has the ability to swing left and right and up and down, allowing for flexible adjustment of the field of view. It is responsible for capturing images of the underground cable fixture (channel cable hook) and transmitting this information in real time to the intelligent control system for in-depth analysis and processing.

[0058] Reference Figure 3 In one embodiment, the cable punching and fixing system 6 includes: a mechanical gripper 12, an ultrasonic drill 13, a mechanical small arm 14 and a mechanical large arm 15;

[0059] The mechanical arm 15 is rotatably mounted on the mobile chassis, one end of the mechanical arm 14 is rotatably connected to the mechanical arm 15, and the other end of the mechanical arm 14 is connected to a fixed plate, on which a mechanical gripper 12 and an ultrasonic drill 13 are mounted;

[0060] During operation, after the path planning system determines the drilling position, the mechanical arm 15 drives the mechanical arm 14 to rotate to the drilling position, the ultrasonic drill 13 drills the tunnel rock wall, and the mechanical gripper 12 clamps the cable fixing device and fixes it in the hole.

[0061] A small mechanical arm 14 and a large mechanical arm 15 are provided for flexible rotation so that the mechanical gripper 12 and the ultrasonic drill 13 can reach the target position. The ultrasonic drill 13 drills a hole in the tunnel rock wall, and the mechanical gripper 12 clamps the cable fixture and fixes it in the hole, thereby securing the cable fixture. Optionally, the cable fixture is a cable hook.

[0062] In one embodiment, the cable laying system 5 includes: a laying robot small arm, a laying robot large arm and a cable grabbing robot 10;

[0063] The laying robot arm is rotatably mounted on the mobile chassis and close to the cable management system. The laying robot arm is connected to the laying robot arm and the cable grabbing robot 10 in sequence;

[0064] During operation, the laying robot arm and the laying robot arm drive the cable grabbing robot 10 to rotate to the position of the cable fixing device, and the cable grabbing robot 10 clamps the cable and hangs it on the cable fixing device.

[0065] The laying robot arm, the laying robot arm and the cable grabbing robot 10 are rotatably connected in pairs to facilitate multi-angle rotation.

[0066] The cable is fixed to the tunnel or the ground by the cable grabbing manipulator 10, which grabs the cable and hangs it on the cable fixing device. This embodiment greatly shortens the cable laying time, reduces manual intervention, and improves work efficiency and safety.

[0067] Optionally, a displacement sensor is installed in the laying machine arm or the laying machine arm. The displacement sensor is installed in the laying machine arm or the laying machine arm to measure the cable hanging distance. The technical indicators of the displacement sensor used in this equipment are: rated working voltage is 12V, output signal voltage is 0.5V-4.5V, and its measurement range is 0~1000mm. During the measurement process, the accuracy of the displacement sensor is required to be less than 4mm.

[0068] Reference Figure 4 In one embodiment, the laying robot arm and the laying robot arm drive the cable grabbing robot 10 to rotate to the position of the cable fixing device, and the cable grabbing robot 10 grabs the cable and hangs it on the cable fixing device, including:

[0069] According to the image provided by the path planning system, the image is identified, preprocessed, color space selected and feature extracted to obtain a feature image, which is matched with the preset fixture image. If the match is successful, the position of the cable fixture is determined, and the cable grabbing robot 10 is controlled to clamp the cable and hang it on the cable fixture.

[0070] The cable fixing device is identified through image processing and recognition, and the task of hanging the cable is then achieved.

[0071] In one embodiment, the cable management system includes: a cable winding device and a cable tensioning device 9;

[0072] The cable is wound on the cable winding device, and the cable tensioning device 9 is installed on the coil in the middle of the cable winding device, and is used to apply tensioning force to make the cable tightly wound on the coil when the cable is wound.

[0073] By arranging the cable winding device and the cable tensioning device 9, the cables can be freely retracted and extended.

[0074] Reference Figure 5 ,In one embodiment, the intelligent control system includes: a host computer and a slave computer;

[0075] The host computer analyzes the data collected by the path planning system to determine the fixed position of the cable fixing device;

[0076] The lower computer is used to receive the fixed position information of the upper computer and control the cable punching and fixing system 6 to punch and fix the cable fixing device, and control the cable laying system 5 to hang the cable on the cable fixing device.

[0077] Optionally, the host computer includes an industrial computer and a display. The host computer collects image data through a binocular camera, and the industrial computer performs image analysis and calculation to determine the exact position of the cable fixing device (which can be a cable hook). The lower computer is responsible for receiving information from the host computer and controlling the movement of the cable grabbing manipulator 10. It needs to complete keyboard scanning, real-time sensor information collection, send control signals to the pilot solenoid valve (drive solenoid valve), display the position information of the cable hanging cylinder, and perform emergency stop locking control. The host computer sends the position information of the target hook to the lower computer through the serial port. The system design part mainly includes a CPU minimum system, a switch signal input circuit, an analog signal input circuit, a drive signal output circuit, a liquid crystal display circuit, a serial communication circuit, an emergency stop locking circuit, a serial communication interface circuit, and a power supply circuit.

[0078] Optionally, the cable grabbing manipulator 10 is connected to a cable hanging cylinder. The upper computer transmits position information to the lower computer via serial communication. The lower computer collects the position signal of the cable hanging cylinder in real time and outputs a control signal to control the cable grabbing manipulator 10 to hang the cable on the cable hook. The coordinated operation of the upper and lower computers realizes the automatic hanging of the cable in the underground tunnel.

[0079] In one embodiment, in a lane where cables have been laid, a camera device 8 in a path planning system is used to capture images and send the image data to an intelligent control system. If it is detected that the cable fixing device is loose or missing, the intelligent control system controls the cable grabbing robot 10 in the cable laying system 5 to re-fix the cable fixing device.

[0080] By inspecting the tunnels where cables have been laid, we can check for loose or missing cables and repair them in a timely manner.

[0081] In one embodiment, in a lane where cables have been laid, a camera device 8 in a path planning system is used to capture images and send the image data to an intelligent control system. If it is detected that the cable has fallen from a cable fixing device or is damaged, the intelligent control system controls the mechanical gripper 12 of the cable punching and fixing system 6 to re-hang the cable.

[0082] By inspecting the tunnels where cables have been laid, we can check for any dropped or damaged cables and re-hang them in time.

[0083] In one embodiment, during the initial cable laying in a newly mined tunnel, a 3D laser scanner constructs a tunnel map, develops a path plan, and plots a route that avoids obstacles until the designated laying location is reached. The ultrasonic drill is then activated, and the drill bit rapidly drills holes through high-frequency vibrations. A robotic gripper then installs and secures the cable hook within the drilled hole. The position and angle of the cable hook are determined by a binocular camera and a path planning algorithm. Subsequently, the cable management system is activated, and the cables are evenly transported to the cable laying system. A six-degree-of-freedom robotic arm precisely lays the cables according to a preset trajectory, avoiding positional deviations and safety risks associated with manual operation. The entire process requires no human intervention, achieving a laying speed of 20 meters per minute. With the intelligent control system and wireless communication module, operators can remotely monitor the robot's operating status through a ground-based control terminal, adjusting the laying path or correcting errors in real time to ensure high-quality laying in complex environments.

[0084] The equipment uses a combination of four tracks and four-wheel drive. The four sets of tracks are driven by motors, which has strong obstacle-crossing capabilities and can easily cope with complex underground terrain such as silt, gravel or steep slopes. In addition, the structural design of the main tracks ensures the flexibility of the robot in narrow tunnels. The automatic winding and releasing device in the cable storage compartment can dynamically adjust the release speed of the cable according to the laying progress, preventing the cable from being entangled or over-stretched, and ensuring a smooth and orderly cable laying process. The equipment is equipped with a three-dimensional laser scanner to build a three-dimensional map of the tunnel, and combines the SLAM algorithm to achieve path planning and navigation. Multi-sensor fusion technology comprehensively processes data from infrared, ultrasonic and gas sensors to perceive the tunnel environment in real time and make dynamic adjustments. For example, when encountering an obstacle, the equipment will automatically slow down or detour.

[0085] Optionally, the mobile chassis is entirely cast from 4A01 series aluminum alloy.

[0086] Optionally, in order to increase friction, the effective contact area between the main track and the ground must be increased. Therefore, the height of the main track from the ground should not be too large. After comprehensive consideration of the design, the diameter of the driving wheel and the driven wheel of the main track is designed to be 160mm.

[0087] Because the equipment operates in the harsh environment of underground coal mines, the intelligent control system requires a high level of protection. The enclosure's protection rating is IP67 or higher, meaning it achieves a dustproof rating of level 6, completely preventing dust from entering the enclosure. It also requires a waterproof rating of level 7 or higher, requiring the enclosure to remain completely submerged in water for at least 30 minutes without water ingress, while maintaining a water temperature no greater than 5 Kelvin.

[0088] Optionally, the electrical performance of the intelligent control system includes the following aspects: the input voltage is DC 12V, the analog input voltage is 0.5V-4.5V, and the switch output signal is approximately 0V or 12V. In addition, under normal conditions, the insulation resistance between the terminal block and the housing should be greater than 10M ohms.

[0089] The above description is only the principle and preferred embodiment of the present invention. It should be noted that for those skilled in the art, several other variations can be made based on the principle of the present invention, which should also be considered as the scope of protection of the present invention.

Claims

1. An intelligent device for laying cables in underground coal mine tunnels, characterized in that: include: Mobile chassis, path planning system, cable drilling and fixing system, cable management system, cable laying system, intelligent control system and power supply system; The path planning system, cable punching and fixing system, cable management system and cable laying system are fixedly installed on the mobile chassis. The cable laying system is fixed to the outlet end of the cable management system. The intelligent control system and power supply system are set inside or outside the mobile chassis. When laying cables, the intelligent control system controls the movement of the mobile chassis according to the signal sent by the path planning system. When it detects that the mobile chassis has moved to the planned position, it controls the cable drilling and fixing system to drill holes in the laneway and install cable fixing devices. When it detects that the fixing devices are installed, it controls the cable management system to release the cables and transport them to the cable laying system. According to the length of the released cables, it controls the cable laying system to hang the cables on the cable fixing devices.

2. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: The mobile chassis includes: two swing arms, a chassis box and two main crawlers; The two main crawlers are respectively arranged on both sides of the chassis box and are driven by two motors in the chassis box. A swing arm is installed at the front end of the outer side of each main crawler through a transmission shaft. The swing arm is driven by the motor installed in the chassis box after changing direction through a bevel gear and then through a gear.

3. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: The path planning system includes: a three-dimensional laser scanning device and a camera device; The camera device is responsible for collecting tunnel image data, and the three-dimensional laser scanning device is used to construct the three-dimensional map data of the tunnel. The tunnel image data and the three-dimensional map data of the tunnel are sent to the intelligent control system, and the intelligent control system combines the SLAM algorithm to realize path planning and navigation.

4. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: The cable punching and fixing system includes: mechanical gripper, ultrasonic drill, mechanical small arm and mechanical large arm; The mechanical arm is rotatably mounted on the mobile chassis, one end of the mechanical arm is rotatably connected to the mechanical arm, and the other end of the mechanical arm is connected to the fixed plate, on which the mechanical gripper and ultrasonic drill are mounted; During operation, after the path planning system determines the drilling position, the mechanical arm drives the mechanical arm to rotate to the drilling position, the ultrasonic drill drills a hole in the tunnel rock wall, and the mechanical gripper clamps the cable fixing device and fixes it in the hole.

5. The intelligent device for laying cables in underground coal mine tunnels according to claim 4, characterized in that: The cable laying system includes: laying mechanical small arm, laying mechanical large arm and cable grabbing mechanical arm; The laying robot arm is rotatably mounted on the mobile chassis and close to the cable management system. The laying robot arm is connected to the laying robot arm and the cable grabbing robot in sequence. During operation, the laying robot arm and the laying robot arm drive the cable grabbing robot to rotate to the position of the cable fixing device, and the cable grabbing robot clamps the cable and hangs it on the cable fixing device.

6. The intelligent device for laying cables in underground coal mine tunnels according to claim 5, characterized in that: The laying mechanical arm and the laying mechanical arm drive the cable grabbing mechanical arm to rotate to the position of the cable fixing device, and the cable grabbing mechanical arm clamps the cable and hangs it on the cable fixing device, which includes: According to the image provided by the path planning system, the image is identified, preprocessed, color space selected and feature extracted to obtain a feature image, which is matched with the preset fixture image. If the match is successful, the position of the cable fixture is determined, and the cable grabbing robot is controlled to clamp the cable and hang it on the cable fixture.

7. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: The cable management system includes: a cable winding device and a cable tensioning device; The cable is wound on the cable winding device, and the cable tensioning device is installed on the coil in the middle of the cable winding device, and is used to apply tensioning force to make the cable tightly wound on the coil when the cable is wound.

8. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: The intelligent control system includes: a host computer and a slave computer; The host computer analyzes the data collected by the path planning system to determine the fixed position of the cable fixing device; The lower computer is used to receive the fixed position information of the upper computer and control the cable punching and fixing system to punch holes and fix the cable fixing device, and control the cable laying system to hang the cable on the cable fixing device.

9. The intelligent device for laying cables in underground coal mine tunnels according to claim 1, characterized in that: In a lane where cables have been laid, the camera device in the path planning system is used to capture images and send the image data to the intelligent control system. If it is detected that the cable fixing device is loose or missing, the intelligent control system controls the cable grabbing robot in the cable laying system to re-fix the cable fixing device.

10. The intelligent device for laying cables in underground coal mine tunnels according to any one of claims 1 to 9, characterized in that: In a lane where cables have been laid, the camera device in the path planning system is used to capture images and send the image data to the intelligent control system. If it is detected that the cable has fallen from the cable fixing device or is damaged, the intelligent control system controls the cable drilling and fixing system's mechanical grippers to re-hang the cable.

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