CN211278385U - Underground working face inspection robot system adaptive to tracks - Google Patents
Underground working face inspection robot system adaptive to tracks Download PDFInfo
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Abstract
The utility model discloses a robot system is patrolled and examined to orbital underground working face of self-adaptation, include: the robot comprises a driving system, a suspension supporting mechanism, a rope-holding device, a robot body and an inspection system. The driving system adopts a driving wheel, a circuitous wheel and a steel wire cable to form a loop and drives the robot body fixedly connected with the steel wire cable to move; the suspension supporting mechanism is arranged at the lower part of a top plate of the hydraulic support, plays a role in assisting in supporting the steel wire cable, and enables the steel wire cable to move relative to the hydraulic support through the sliding rail, so that the inspection line is kept in a linear state when the hydraulic support is irregularly arranged; the rope-holding device holds the steel wire cable tightly and hangs the robot body; the robot body is internally provided with an image system which can respectively collect visible light images and thermal imaging images; the inspection system controls the robot system and analyzes and fuses the visible light image and the thermal imaging image. The underground working face inspection robot system can adapt to the movement and irregular arrangement of the hydraulic supports, realize automatic inspection of the underground working face, realize the acquisition, fusion and uploading of visible light and thermal imaging video data, monitor abnormity and give an alarm in real time.
Description
The technical field is as follows:
the invention relates to the technical field of coal mine robots, and particularly provides an underground working surface inspection robot system with a self-adaptive track.
Background art:
the coal mine fully mechanized mining working surface is a first production site of coal, and the mechanical equipment of the coal mine fully mechanized mining working surface is numerous and generally comprises three pieces of equipment, namely a hydraulic support, a scraper conveyor and a roller coal cutter. Due to the complex working conditions and the severe environment of the fully mechanized coal mining face, abnormal conditions are easy to occur during coal mining operation, the safety management work of the whole coal mine is seriously influenced, and the fully mechanized coal mining face is a key area in the safety management work of the coal mine.
The sensor inside the fully mechanized mining equipment can not accurately and timely react to the accident situation sometimes, and in order to ensure safe production, workers are required to regularly carry out follow-up inspection and inspection on the fully mechanized mining working face. However, the coal face is generally long (generally 80-300 m), narrow in space, high in temperature and poor in visual environment, so that the manual inspection efficiency is low, the working environment is hard, the labor intensity is high, and the danger coefficient of workers is high. Along with the improvement of automation and intellectualization level of a coal mine, the application of the robot in the underground is gradually increased, and the inspection robot is also applied to replace workers to carry out inspection work on a working surface.
The existing coal mine inspection robot mainly utilizes a crawler-type or wheel-type self-moving carrier to install a sensor on a moving carrier, so that inspection of certain positions or equipment of a coal mine is realized. The robots are suitable for the environment with wide space and simple terrain, and the inspection requirements of the fully mechanized coal mining face cannot be met.
The application publication number is CN 108762125A's Chinese patent discloses a colliery is combined and is adopted working face and patrol and examine robot and system, should patrol and examine the robot and control through handheld remote control terminal and patrol and examine the robot and examine the comprehensive work face state, can't realize automatic the patrolling and examining, in addition, should patrol and examine the robot track and be the I shape track, lack the flexibility, unable self-adaptation hydraulic support's irregular arrangement.
The invention discloses a coal mine fully-mechanized mining working face inspection robot with an authorization publication number of CN 106671992B, which drives a steel wire cable to drive a cable car (a mounting sensor) suspended on a steel wire rope by a friction wheel to realize long-distance reciprocating inspection of the fully-mechanized mining working face. However, the steel wire rope of the inspection robot is rigidly connected with the hydraulic support, so that the position of the steel wire rope cannot be adjusted, and the straightness of the robot track cannot be maintained when the hydraulic support is irregularly arranged; the inspection robot is lack of a steel wire rope track tensioning device and cannot adapt to the change of the length of a track; the auxiliary supporting device roller is rigidly connected with the support, so that the smooth degree of the robot when passing is influenced.
Therefore, it is urgently needed to provide a fully mechanized mining face inspection robot system capable of adapting to the tracks.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a self-adaptive orbital underground working surface inspection robot system, which realizes automatic inspection of underground fully mechanized mining working surfaces, can adapt to irregular arrangement of hydraulic supports, and realizes acquisition, fusion and uploading of visible light and thermal imaging video data, abnormality monitoring and real-time alarm.
In order to achieve the above object, the present invention provides an adaptive orbital downhole working surface inspection robot system, comprising: the robot comprises a driving system, a suspension supporting mechanism, a rope-holding device, a robot body and an inspection system.
The driving system is used for forming a motion track of the inspection robot, driving the steel wire cable to move and driving the robot body to move and comprises a driving module, a roundabout and tensioning module and the steel wire cable;
furthermore, the driving module is used for driving the inspection robot to move and comprises a driving main body frame, a driving movable frame, a servo motor, a speed reducer, a driving wheel, an adjusting pulley block and a limiting pulley block; the driving main body frame is used for integrally mounting the driving device; the driving movable frame is movably connected to the driving main body frame, can slide in the vertical direction along the driving main body frame, and is used for adjusting the height of the steel wire cable at the driving end and installing an adjusting pulley block; the driving motor, the speed reducer and the driving wheel are used for driving the steel wire cable to move; the limiting pulley block is used for limiting and guiding the steel wire cable; the adjusting pulley block is arranged on the movable frame and used for adjusting the position of the steel wire cable at the driving end in the horizontal plane;
furthermore, the circuitous and tensioning module is used for circuitous and tensioning steel wire cables and comprises a circuitous main body frame, a movable cantilever frame, circuitous wheels, a line adjusting pulley block and a heavy hammer device; the circuitous main body frame is used for integrally mounting the circuitous device; the movable cantilever frame is movably connected with the circuitous main body frame, can move in the vertical direction along the circuitous main body frame and is used for installing circuitous wheels, adjusting the height of the circuitous end of the steel wire cable and installing a line adjusting pulley block; the circuitous wheel is used for reversely circuitizing the steel wire cable; the line adjusting pulley block is arranged on the movable cantilever frame and used for adjusting the position of the steel wire cable at the circuitous end in a horizontal plane; the weight device is connected with the roundabout wheel, and the steel wire cable is tensioned through gravity.
The suspension support mechanism is used for suspension support of a steel wire cable on the lower part of a top plate of the hydraulic support and comprises a suspension plate, an adjusting bolt, a sliding rail and a guide limiting device; the hoisting plate and the adjusting bolt are used for hoisting and position adjustment of the suspension mechanism at the lower part of the top plate of the hydraulic support; the slide rail is used for keeping the robot track in a linear state when the hydraulic supports move or are arranged irregularly; the guide limiting device is used for hanging a steel wire cable and guiding and limiting the robot during movement;
furthermore, the guide limiting device comprises a bracket, a sliding block, a fixed pulley block, a movable pulley block and a guide plate; the bracket suspends the guide limiting device at the lower part of the slide rail through the slide block, and is provided with the fixed pulley block, the movable pulley block and the guide plate; the fixed pulley block comprises two fixed pulleys, the movable pulley block comprises a fixed pulley and a movable pulley, and a movable pulley shaft can slide along the vertical direction to adapt to the passing of the rope clip device; the guide plate is used for guiding and limiting when the rope holding device passes through.
The rope clip device is used for fixing the robot body on a steel wire cable, and the steel wire cable drives the robot body to move when moving so as to perform patrol operation, and comprises a rope clip left piece, a rope clip right piece, a left holding plate, a right holding plate, a guide wheel and a suspender; the left clamping plate is arranged on the left piece of the rope clamp, and the right clamping plate is arranged on the right piece of the rope clamp; the left holding plate and the right holding plate are connected together through a bolt and clamp the steel wire cable; the guide wheel is used for guiding the robot when the robot passes through the suspension support mechanism; the suspender is connected to the right part of the rope clip and used for installing the robot body in a hanging mode.
The robot body comprises a front visible light camera, a front thermal imager and a rear visible light camera, and is used for realizing visible light and thermal imaging video data acquisition and uploading visible light and thermal imaging video data.
The inspection system comprises a control system, a communication system and a display system;
furthermore, the control system comprises a high-performance industrial control host, a data fusion synchronous processor, a left limit switch, a right limit switch and a robot motion control button; the high-performance industrial control host and the data fusion synchronous processor can realize the analysis and fusion of visible light and thermal imaging video data and alarm in real time when abnormal; the left and right limit switches are used for determining the movement reverse position when the robot automatically inspects; the robot motion control button can realize automatic inspection by one-key starting, stopping inspection, advancing and retreating;
furthermore, the communication system adopts a wired (RJ45) to enable the control host to be accessed to the local area network, and adopts a Wireless (WIFI) to enable the inspection robot to be accessed to the local area network;
further, display system can show and patrol and examine robot motion state, shows that visible light camera, leading thermal imager gathered data and fusion data.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the inspection robot movement track steel wire cable is in non-rigid connection with the hydraulic support, and can automatically adapt to irregular arrangement of the hydraulic support and keep the inspection track in a linear state.
The driving movable frame and the adjusting pulley block of the driving module can realize the position adjustment of the driving end of the steel wire cable, the movable cantilever frame and the adjusting pulley block of the circuitous and tensioning module can realize the position adjustment of the circuitous end of the steel wire cable, and the driving module and the circuitous module can realize the position adjustment of the steel wire cable relative to the hydraulic support together.
Thirdly, the heavy hammer device is adopted to apply gravity to tension the steel wire cable, so that the tension of the steel wire cable can be maintained when the length of the track of the inspection robot changes.
And fourthly, the inspection robot body smoothly passes through the auxiliary supporting position through the position yielding of the movable pulley of the guide limiting device and the guide effect of the guide plate.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a patrol robot system (from the coal surface to the hydraulic support)
FIG. 2 drive module
FIG. 3 routing and tensioning Module
FIG. 4 structure diagram of suspension support mechanism
FIG. 5 shows a structure of a guide position limiter
FIG. 6 shows a rope clip
Figure 7 rope clip and robot body
FIG. 8 is a schematic view of a vertical field of view of visible light
FIG. 9 thermographic vertical field of view
FIG. 10 is a schematic diagram of a strong electric system (field top view)
FIG. 11 is a schematic view of a weak current system (field top view)
FIG. 12 is a schematic diagram of a network communication system
FIG. 13 shows a system interface diagram
Detailed Description
The following embodiments of the present invention are described in detail, and the present embodiment is implemented on the premise of the technical solution of the present invention, and the detailed implementation manner and the specific operation process are given.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 13, an embodiment of the present invention provides an inspection system for an underground working surface inspection robot with a self-adaptive track, including: the robot comprises a steel wire cable 1, a driving module 2, a roundabout and tensioning module 3, a suspension supporting mechanism 4, a rope-holding device 5, a robot body 6 and an inspection system.
Specifically, the driving module 2 comprises a driving main body frame 2-1 welded on the ground in a floor mode, a driving movable frame 2-2 movably connected to the driving main body frame, a servo motor 2-3 providing positive and negative rotation power with certain power, a speed reducer 2-4 connected to the servo motor and playing a role in speed reduction, a driving wheel 2-5 driving a cable to move, a limiting pulley block I2-6, a limiting pulley block II 2-7 and a driving end line adjusting pulley block 2-8. The driving movable frame 2-2 can slide along the driving main body frame 2-1 in the vertical direction to adjust the height of the steel wire cable 1. The driving main body frame 2-1 is provided with a first limiting pulley block 2-6, and the driving movable frame 2-2 is provided with a second limiting pulley block 2-7, so that the limiting and guiding effects on the steel wire cable are achieved. A driving end line adjusting pulley block 2-8 is arranged on the driving movable frame 2-2, and can adjust the position of the steel wire cable 1 in the horizontal plane while playing the role of limiting and guiding. Fig. 2 is a schematic structural diagram thereof.
Specifically, the roundabout and tensioning module 3 comprises a roundabout main body frame 3-1, a movable cantilever frame 3-2 movably connected to the roundabout main body frame 3-1, a roundabout wheel 3-3 enabling the cable to form a loop, a roundabout end circuit adjusting pulley block 3-4 installed on the movable cantilever frame 3-2, and a heavy hammer device 3-5 enabling the steel wire cable 1 to keep a straight state by dynamically adjusting tension. The movable cantilever frame 3-2 can slide along the circuitous main body frame 3-1 in the vertical direction to adjust the height of the steel wire cable 1. The circuitous end line adjusting pulleys 3-4 can adjust the position of the steel wire cable 1 in the horizontal plane while playing the role of limiting and guiding. The weight device 3-5 is connected with the roundabout wheel 3-3, and the steel wire cable 1 is tensioned by gravity. Fig. 3 is a schematic structural diagram thereof.
Specifically, the suspension support mechanism 4 of the present embodiment includes a hoisting plate 4-1, an adjusting bolt 4-2, a slide rail seat 4-3, a slide rail 4-4, and a guiding and limiting device 4-5. The two hoisting plates 4-1 are used for connecting the suspension support mechanism 4 with the hydraulic support 8. The adjusting bolt 4-2 is connected with the hoisting plate 4-1 and the slide rail seat 4-3, and the height position of the slide rail 4-4 relative to the hydraulic support 8 can be adjusted. The slide rail 4-4 is arranged perpendicular to the coal wall, and the guide limiting device 4-5 is suspended below the slide rail 4-4 and can slide along the slide rail 4-4. Through hanging supporting mechanism 4 for it can carry out the self-adaptation to moving a frame process (hydraulic support 8 irregular arrangement) to patrol and examine the robot track. Fig. 4 is a schematic structural diagram thereof.
More specifically, the guide limiting device 4-5 comprises a support 4-51, a top sliding block 4-52, a fixed pulley block 4-53, a movable pulley block 4-54, a linear bearing 4-55 and a guide plate 4-56. The support 4-51 is suspended at the lower part of the slide rail 4-4 through a top slide block 4-52, and is provided with a fixed pulley block 4-53, a movable pulley block 4-54 and a guide plate 4-56. The fixed pulley block 4-53 comprises two fixed pulleys. The movable pulley block 4-54 comprises a fixed pulley and a movable pulley. When the inspection robot body 6 passes through the guide limiting device 4-5, the movable pulley can move up and down along the direction vertical to the steel wire cable through the linear bearing 4-55, so that the robot can pass through the movable pulley. The fixed pulley blocks 4-53 and the movable pulley blocks 4-54 together suspend, guide and limit the steel wire cable. The guide limiting device 4-5 is also provided with a guide plate 4-56 for guiding the inspection robot body 6 to pass through smoothly. Fig. 5 is a schematic structural diagram thereof.
Specifically, the structure of the rope clip 5 of the present embodiment is as shown in fig. 6, and includes a rope clip right piece 5-1, a rope clip left piece 5-2, a right holding plate 5-3, a left holding plate 5-4, a guide wheel support 5-5, a guide wheel 5-6, and a boom 5-7. The right part 5-1 of the rope clip is provided with a right holding plate 5-3, the left part 5-2 of the rope clip is provided with a left holding plate 5-4, and the left holding plate and the right holding plate hold the steel wire cable 1 under the stress of bolts. The rope clip right piece 5-1 is provided with a guide wheel support 5-5, the guide wheel support 5-5 is provided with a guide wheel 5-6, when the inspection robot passes through the guide limiting device 4-5, the guide wheel 5-6 rolls through the middle of a guide plate 4-56 of the guide limiting device 4-5, and the guide wheel plays a guide role in guiding the inspection robot body 6 to pass through. The booms 5-7 are connected to the left part of the rope clip for mounting the robot body 6 (fig. 7) in suspension.
Specifically, the robot body 6 of the embodiment includes a front visible light camera, a front thermal imager, and a rear visible light camera, and can collect visible light and thermal imaging video data and upload the visible light and thermal imaging video data. The resolution of the visible light camera is 1920 × 1200 pixels, the horizontal viewing angle is 81 °, the vertical viewing angle is 55 °, and fig. 8 is referred to; the thermal imager resolution was 640 × 512 pixels, horizontal viewing angle 45 °, vertical viewing angle 37 °, see fig. 9.
Specifically, the inspection system of the embodiment includes a control system, a communication system, and a display system.
More specifically, a high-performance industrial control computer is adopted to control the field driving device, receive and process data collected by the inspection robot, and a data fusion synchronous processor is adopted to fuse visible light and thermal imaging video data, so that abnormal real-time alarm is realized. And sensing the arrival limit of the inspection robot by adopting a laser correlation limit switch 7-1. The control button can realize one-key control of automatic inspection, inspection stop, forward and backward states of the inspection robot. The method can realize the setting of parameters such as temperature abnormity alarm threshold, fusion transparency, brake distance, inspection speed and the like. The electromechanical control scheme refers to fig. 10 and 11.
Specifically, the control host computer adopts wired (RJ45) to access the local area network, and the inspection robot adopts Wireless (WIFI) to access the local area network, as shown in fig. 12.
Specifically, the display system can display the motion state of the inspection robot, and display the data collected by the visible light camera and the front thermal imager and the fusion data, as shown in fig. 13.
The working principle of the invention is as follows:
refer to FIGS. 1 to 13. The steel wire cable 1 forms a closed loop through the driving wheels 2-5 and the circuitous wheels 3-3, and the suspension supporting mechanism 4 suspends the steel wire cable 1 below a top plate of the hydraulic support 8. The servo motor 2-3 drives the driving wheel 2-5 to rotate through the speed reducer 2-4 so as to drive the steel wire cable 1 to move. The position of the steel wire cable 1 can be adjusted by the driving movable frame 2-2, the movable cantilever frame 3-2, the driving end line adjusting pulley block 2-8 and the circuitous end line adjusting pulley block 3-4. The weight device 3-5 dynamically adjusts the tension to keep the steel wire cable 1 in a straight state. The robot body 6 is fixed on the steel wire cable 1 through the rope clip 5 and moves together with the steel wire cable 1. The guiding and limiting device 4-5 guides the robot body 6 to smoothly pass through the suspension supporting mechanism 4. The sliding rails 4-4 of the suspension supporting mechanism 4 can enable the guide limiting devices 4-5 and the steel wire cables 1 to slide relative to the hydraulic support 8, and when the hydraulic support 8 is irregularly arranged, the inspection lines are in a linear state, so that the inspection lines are adaptive to the movement of the hydraulic support 8. The control system controls the movement of the robot body, when the robot body 6 is sensed by the laser opposite-emitting limit switch 7-1 welded on the lower edge of the hydraulic support 8 during automatic inspection, a signal is sent out to enable the servo motors 2-3 to drive the steel wire cable 1 to run reversely and drive the inspection robot body 6 to move reversely, and therefore automatic round-trip inspection is achieved. The front visible light camera, the rear visible light camera and the front thermal imager realize the acquisition of visible light and thermal imaging video data, the communication system uploads the data to the control host, and the control host analyzes and fuses the visible light and thermal imaging video data and alarms abnormal conditions.
Claims (6)
1. The utility model provides an orbital underground working face of self-adaptation patrols and examines robot system which characterized in that includes: the robot comprises a driving system, a suspension supporting mechanism, a rope-holding device, a robot body and an inspection system; wherein,
the driving system is used for forming a steel wire cable closed loop to serve as a motion track of the inspection robot and driving the steel wire cable to move so as to drive the robot body to move;
the suspension supporting mechanism is used for suspending steel wire cables below the hydraulic support, adapts to irregular arrangement of the hydraulic support, and is matched with the rope clip device to guide the inspection robot to pass through the suspension supporting position;
the rope-holding device is used for fixing the robot on the cable and is matched with the suspension support mechanism to guide the inspection robot to pass through the suspension support position;
an image system is arranged in the robot body, so that visible light and thermal imaging video data acquisition and uploading can be realized;
the inspection system realizes communication between the inspection robot and the control host, control of robot motion, analysis, fusion and display of visible light and thermal imaging video data, and abnormal alarm.
2. The adaptive track downhole face inspection robot system according to claim 1, wherein the drive system comprises a drive module, a detour and tension module, a wire cable; wherein,
the driving module comprises a driving main body frame, a driving movable frame, a servo motor, a speed reducer, a driving wheel, a limiting pulley block and a driving end adjusting pulley block, wherein the driving main body frame is used for integrally mounting the driving module;
circuitous and tensioning module is including circuitous main part frame, activity cantilever boom, circuitous wheel, weight device, circuitous end adjustment assembly pulley, circuitous main part frame is used for the integral erection of circuitous module, the circuitous wheel is used for circuitous steel wire cable to form closed loop, activity cantilever boom and circuitous end adjustment assembly pulley are used for adjusting the position of steel wire cable at circuitous end, and circuitous end adjustment assembly pulley still plays the spacing effect of steel wire cable motion direction.
3. The adaptive-track underground working surface inspection robot system according to claim 1, wherein the suspension support mechanism comprises a hoisting plate, an adjusting bolt, a guide limiting device and a slide rail, and has an auxiliary support effect on the steel wire cable;
the hoisting plate and the adjusting bolt connect the suspension support mechanism to the lower part of the top plate of the hydraulic support and can adjust the position;
the guide limiting device comprises a support, a fixed pulley block, a movable pulley block and a guide plate, wherein the support is used for mounting and suspending the pulley block and the guide plate, the fixed pulley block and the movable pulley block together perform auxiliary guide and limiting on a steel wire cable, the movable pulley block can move to adapt to the passing of the rope holding device, and the guide plate is used for guiding the rope holding device when the rope holding device passes through;
the slide rail is arranged along the direction perpendicular to the coal wall, and the guide limiting device can move along the slide rail, so that the routing inspection route is in a linear state when the hydraulic supports are irregularly arranged, and the moving process of the hydraulic supports is adapted.
4. The adaptive track downhole working surface inspection robot system according to claim 1, wherein the rope holding device comprises a rope holder left piece, a rope holder right piece, a left holding plate, a right holding plate, a guide wheel, a boom; the left holding plate and the right holding plate are matched with the bolt to clamp the steel wire cable; the rope-holding device is provided with a guide wheel, and the guide wheel passes through a guide plate of the guide limiting device when the robot passes through the suspension supporting mechanism, so that the motion of the inspection robot is guided; the suspender is used for suspending the robot body.
5. The adaptive track underground working face inspection robot system according to claim 1, wherein the robot body comprises a front visible light camera, a front thermal imager and a rear visible light camera, and visible light and thermal imaging video data acquisition and uploading can be realized.
6. The adaptive track downhole worksurface inspection robot system of claim 1 wherein the inspection system comprises a control system, a communication system and an image display system;
the control system comprises a high-performance industrial control host, a data fusion synchronous processor, a left limit switch, a right limit switch and a robot motion control button; the high-performance industrial control host and the data fusion synchronous processor can realize the analysis and fusion of visible light and thermal imaging video data and alarm in real time when abnormal; the left and right limit switches are used for determining the movement reverse position when the robot automatically patrols and examines; the robot motion control button can realize automatic inspection by one-key starting, stopping inspection, advancing and retreating;
the communication system adopts a wired (RJ45) to access the control host to the local area network, and adopts a Wireless (WIFI) to access the inspection robot to the local area network;
the display system can display the motion state of the inspection robot and display the data collected by the visible light camera and the front thermal imager and the fusion data.
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| CN112761723A (en) * | 2020-12-25 | 2021-05-07 | 中国矿业大学 | Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method |
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| CN114310841A (en) * | 2022-02-15 | 2022-04-12 | 西安华创马科智能控制***有限公司 | Inspection robot track unit, track system and inspection method |
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| CN112412536A (en) * | 2020-11-12 | 2021-02-26 | 临沂矿业集团菏泽煤电有限公司 | Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method |
| CN112761723A (en) * | 2020-12-25 | 2021-05-07 | 中国矿业大学 | Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method |
| CN113021305A (en) * | 2021-03-19 | 2021-06-25 | 太原理工大学 | Inspection robot system |
| WO2022193446A1 (en) * | 2021-03-19 | 2022-09-22 | 太原理工大学 | Inspection robot system |
| CN113148547A (en) * | 2021-04-12 | 2021-07-23 | 北京龙软科技股份有限公司 | Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system |
| CN114355944A (en) * | 2022-01-05 | 2022-04-15 | 天津华宁电子有限公司 | Mining working face double-vehicle control system |
| CN114355944B (en) * | 2022-01-05 | 2023-11-28 | 天津华宁电子有限公司 | Mining working face double-vehicle control system |
| CN114310841A (en) * | 2022-02-15 | 2022-04-12 | 西安华创马科智能控制***有限公司 | Inspection robot track unit, track system and inspection method |
| CN117309668A (en) * | 2023-09-21 | 2023-12-29 | 东南大学 | Portable automatic detection equipment and detection method for steel wire corrosion |
| CN117309668B (en) * | 2023-09-21 | 2024-05-31 | 东南大学 | Portable automatic detection equipment and detection method for steel wire corrosion |
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