CN113192230B - Mining multi-functional inspection device - Google Patents
Mining multi-functional inspection device Download PDFInfo
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- CN113192230B CN113192230B CN202110589854.8A CN202110589854A CN113192230B CN 113192230 B CN113192230 B CN 113192230B CN 202110589854 A CN202110589854 A CN 202110589854A CN 113192230 B CN113192230 B CN 113192230B
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- 238000007689 inspection Methods 0.000 title claims abstract description 59
- 238000005065 mining Methods 0.000 title claims abstract description 25
- 239000000428 dust Substances 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 238000005192 partition Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 12
- 241000282693 Cercopithecidae Species 0.000 abstract description 8
- 208000037805 labour Diseases 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides a mining multifunctional inspection device which comprises an upper shell, a front camera, a side camera, a transmitting antenna mounting seat, a transmitting antenna, a lower shell, a battery box, a wireless charging coil, a wireless charging electric cabinet and a main control electric cabinet, wherein a gas sensor, a wind speed sensor, a section scanner, a wind speed electric cabinet and a dust sensor are arranged on the upper surface of the lower mounting plate, the wireless charging coil is connected with the wireless charging electric cabinet, and the wireless charging electric cabinet is connected with the main control electric cabinet and an intrinsic safety battery in the battery box. The mining multifunctional inspection device can be carried on the existing mine side facilities of a mine car, a monkey car and a winch, and forms a walking type mining inspection device by means of the existing facilities of a coal mine, and the walking movement of the inspection device is completed by the traction of a rope or the mine car, so that the inspection operation of inspection workers is simulated, and the intelligent inspection of the coal mine environment is realized.
Description
Technical Field
The invention belongs to the technical field of inspection devices, and particularly provides a mining multifunctional inspection device.
Background
The coal mine inspection is an important component of a coal mine operation management system, and is an important ring for ensuring safe and reliable operation of coal mine electromechanical equipment. The existing coal mine tunnel and the electromechanical inspection adopt a manual inspection mode, and the problem of high labor intensity of workers is solved.
The Chinese patent publication No. CN104386445A discloses a monorail crane of an overhead automatic inspection system of a belt conveyor. The monorail crane mainly comprises two sliding frames and a tensioning device which are symmetrically arranged in an I-shaped steel guide rail groove, wherein the inspection robot is pulled by a steel wire rope, and the steel wire rope is driven by an explosion-proof driving motor to move. The device uses 2 driving devices, and is high in cost and large in size.
The Chinese patent publication No. CN205098937U discloses a track type inspection robot device, which is arranged on a track, and realizes the movable inspection of equipment along the line by being provided with sensors such as temperature, smoke, tearing and the like, thereby achieving the whole-course real-time monitoring and control of the belt conveyor and preventing and reducing the occurrence of faults of the belt conveyor.
The mining inspection device is in a self-walking mode, steel rails need to be erected, the early investment is large, the mining inspection device cannot be applied to existing monkey vehicles and rail vehicles on mining sides, and meanwhile, the inspection device has fewer functions and does not have the functions of tunnel section scanning and tunnel wind speed measurement.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide the mining multifunctional inspection device which has the functions of wireless communication, wireless charging, gas collection, wind speed collection, environment image collection and tunnel section collection, can be carried on the existing mine square facilities of a mine car, a monkey car and a winch, realizes the running movement of the inspection device, reduces the construction cost of the mine square, and is convenient for replacing an inspection site.
In order to achieve the above purpose, the invention adopts the following technical scheme: a mining multifunctional inspection device comprises:
The upper shell is of an open shell structure, a first cavity and a second cavity which are separated by a partition plate are arranged in the upper shell, the front of the first cavity is of an open structure, and two sides of the second cavity are of open structures;
the front camera is arranged in the first cavity;
the side camera is arranged in the second cavity;
The transmitting antenna mounting seat is arranged at an opening at one side of the second cavity;
the transmitting antenna is arranged on the transmitting antenna mounting seat;
The lower shell is of a shell structure with an inner cavity and comprises an upper mounting plate, a lower mounting plate, a connecting plate, a front panel, a rear panel, a first side plate and a second side plate, openings are respectively formed in the first side plate and the second side plate, holes are formed in the rear panel, and the upper mounting plate is connected with a bottom plate of the upper shell through bolts so as to realize connection between the lower shell and the upper shell;
The battery box is arranged at the opening part on the first side plate, and an intrinsic safety battery is arranged in the battery box;
The wireless charging coil is arranged at the opening of the second side plate;
The wireless charging electric cabinet is arranged below the connecting plate;
The main control electric cabinet is arranged below the connecting plate and is positioned at the rear side of the wireless charging electric cabinet, the upper part of the connecting plate is fixed on the lower surface of the upper mounting plate, and the wireless charging electric cabinet and the main control electric cabinet are arranged in the cavity in the lower shell;
The upper surface of the lower mounting plate is provided with a gas sensor, a wind speed sensor, a section scanner, a wind speed electric cabinet and a dust sensor, the front side and the rear side of the lower surface of the lower mounting plate are respectively provided with an ultrasonic wind speed probe, and the lower surface of the lower mounting plate is also provided with a laser emitter;
The wind speed sensor and the two ultrasonic wind speed probes are connected with the wind speed electric cabinet, the wind speed sensor is used for measuring the wind speed of a certain point and transmitting the collected information to the wind speed electric cabinet, the ultrasonic wind speed probe is used for measuring the wind speed of a certain section of a roadway and transmitting the collected information to the wind speed electric cabinet, and the wind speed electric cabinet is used for collecting and processing the wind speed signals;
The intrinsic safety battery in the battery box is respectively connected with the main control electric cabinet, the gas sensor, the wind speed sensor, the section scanner, the wind speed electric cabinet, the dust sensor and the ultrasonic wind speed probe for power supply; the gas sensor, the laser emitter, the wind speed electric cabinet, the front camera, the side camera, the section scanner and the dust sensor are respectively connected with the main control electric cabinet, the main control electric cabinet is additionally connected with the transmitting antenna, the gas sensor, the wind speed electric cabinet, the front camera, the side camera, the section scanner and the dust sensor transmit acquired information to the main control electric cabinet, and the data mutual transmission with a 4G communication base station and a WiFi communication base station of a mine is realized through the transmitting antenna;
The wireless charging coil is connected with the wireless charging electric cabinet, the wireless charging electric cabinet is connected with the main control electric cabinet and the intrinsic safety battery in the battery box, the wireless charging electric cabinet transmits electric quantity information of the intrinsic safety battery to the main control electric cabinet, and the main control electric cabinet transmits real-time information of the intrinsic safety battery to the control background through the transmitting antenna.
Further, the mining multifunctional inspection device further comprises two supporting legs which are respectively fixed on the left side and the right side of the lower mounting plate through bolts.
Further, a wire rope hook connecting flange is fixed above the partition plate along the vertical direction.
Further, the section scanner is installed at the upper surface rear side of lower part mounting panel to stretch out from the trompil department of rear panel, section scanner internally mounted has this ampere of driving motor, can drive the laser probe of section scanner and realize 360 degrees rotations, measures the section deformation state in tunnel, accomplishes the section scanning to the tunnel.
Compared with the prior art, the invention has the following beneficial effects: the mining multifunctional inspection device can be carried on the existing mine side facilities of a mine car, a monkey car and a winch, and forms a walking type mining inspection device by means of the existing facilities of a coal mine, and the walking movement of the inspection device is completed by the traction of a rope or the mine car, so that the inspection operation of inspection workers is simulated, and the intelligent inspection of the coal mine environment is realized. Compared with the track type inspection robot and the mobile inspection robot, the early-stage construction cost is lower, and the inspection site is convenient to replace.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the front structure of the invention with parts broken away;
FIG. 3 is a schematic view of the structure of the invention with parts disassembled;
FIG. 4 is a schematic view of the bottom structure of the present invention;
FIG. 5 is a schematic diagram of the invention and the mining monkey vehicle and winch mounting structure;
FIG. 6 is a schematic view of the installation structure of the mine car and the present invention;
in the figure: 1- -lower housing; 101-an upper mounting plate; 102-a lower mounting plate; 103-connecting plates; 104-a front panel; 105-a rear panel; 106-a first side plate; 107-a second side plate;
2-supporting legs; 3-front camera; 4-a steel wire rope hook connecting flange; 5-side cameras; 6-transmitting antennas; 61-a transmitting antenna mount; 7-a battery case; 8-a wireless charging coil; 9-an ultrasonic wind speed probe; 10-a gas sensor; 11-wind speed sensor; 12-section scanner; 13-a laser emitter;
14-an upper housing; 141-a first cavity; 142-a second cavity; 143-a separator;
15-wind speed electric cabinet; 16-a wireless charging electric cabinet; 17-a main control electric cabinet; 18-a dust sensor; 19-a steel wire rope hook; 20-a steel wire rope; 21-mine car.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, a mining multifunctional inspection device, the inspection device comprising:
The upper shell 14 is provided with an open shell structure above, a first cavity 141 and a second cavity 142 separated by a partition 143 are arranged in the upper shell, the open structure is arranged in front of the first cavity 141, and two sides of the second cavity 142 are open structures;
a front camera 3 installed in the first cavity 141;
A side camera 5 mounted in the second cavity 142;
a transmitting antenna mounting seat 61 mounted at an opening at one side of the second cavity 142;
a transmitting antenna 6 mounted on the transmitting antenna mount 61;
The lower shell 1 is a shell structure with an inner cavity and comprises an upper mounting plate 101, a lower mounting plate 102, a connecting plate 103, a front panel 104, a rear panel 105, a first side plate 106 and a second side plate 107, openings are respectively arranged on the first side plate 106 and the second side plate 107, openings are arranged on the rear panel 105, and the upper mounting plate 101 is connected with a bottom plate of the upper shell 14 through bolts so as to realize the connection between the lower shell 1 and the upper shell 14;
The battery box 7 is arranged at the opening of the first side plate 106, and an intrinsic safety battery is arranged in the battery box 7;
A wireless charging coil 8 mounted at an opening on the second side plate 107;
A wireless charging electric cabinet 16 mounted below the connection plate 103;
The main control electric cabinet 17 is arranged below the connecting plate 103 and positioned at the rear side of the wireless charging electric cabinet 16, the upper part of the connecting plate 103 is fixed on the lower surface of the upper mounting plate 101, and the wireless charging electric cabinet 16 and the main control electric cabinet 17 are arranged in the cavity in the lower shell 1;
A gas sensor 10, a wind speed sensor 11, a section scanner 12, a wind speed electric cabinet 15 and a dust sensor 18 are arranged on the upper surface of the lower mounting plate 102, an ultrasonic wind speed probe 9 is respectively arranged on the front side and the rear side of the lower surface of the lower mounting plate 102, and a laser emitter 13 is also arranged on the lower surface of the lower mounting plate 102;
The wind speed sensor 11 and the two ultrasonic wind speed probes 9 are both connected with the wind speed electric cabinet 15, the wind speed sensor 11 is used for measuring the wind speed of a certain point and transmitting the acquired information to the wind speed electric cabinet 15, the ultrasonic wind speed probes 9 are used for measuring the wind speed of a certain section of a roadway and transmitting the acquired information to the wind speed electric cabinet 15, and the wind speed electric cabinet 15 is used for acquiring and processing the wind speed signals;
The intrinsic safety battery in the battery box 7 is respectively connected with the main control electric cabinet 17, the gas sensor 10, the wind speed sensor 11, the section scanner 12, the wind speed electric cabinet 15, the dust sensor 18 and the ultrasonic wind speed probe 9 for power supply;
The gas sensor 10, the laser emitter 13, the wind speed electric cabinet 15, the front camera 3, the side camera 5, the section scanner 12 and the dust sensor 18 are respectively connected with the main control electric cabinet 17, the main control electric cabinet 17 is additionally connected with the transmitting antenna 6, the gas sensor 10, the wind speed electric cabinet 15, the front camera 3, the side camera 5, the section scanner 12 and the dust sensor 18 transmit acquired information to the main control electric cabinet 17, and the data mutual transmission with a 4G communication base station and a WiFi communication base station of a mine is realized through the transmitting antenna 6; the front camera 3 and the side camera 5 can adjust shooting angles, accurate acquisition of visual information of mine environments is achieved, the section scanner 12 adopts a laser ranging principle to measure the section deformation state of a roadway, the section scanning of the roadway is completed, the laser transmitter 13 can transmit line laser, and the device can be used for measuring, finding points and tracing the section of the roadway.
The wireless charging coil 8 is connected with the wireless charging electric cabinet 16, the wireless charging electric cabinet 16 is connected with the main control electric cabinet 17 and the intrinsic safety battery in the battery box 7, the wireless charging electric cabinet 16 transmits electric quantity information of the intrinsic safety battery to the main control electric cabinet 17, the main control electric cabinet 17 transmits real-time information of the intrinsic safety battery to the control background through the transmitting antenna 6, an operator can monitor the electric quantity state of the battery, when the battery is close to dead, the operator can manually replace the intrinsic safety battery in the battery box 7, or the inspection device is moved to the intrinsic safety charging pile, and automatic charging is completed through the wireless charging coil 8.
The mining multifunctional inspection device further comprises two supporting legs 2 which are respectively fixed on the left side and the right side of the lower mounting plate 102 through bolts.
A steel wire rope hook connecting flange 4 is fixed above the partition plate 143 along the vertical direction and is used for being connected with a steel wire rope hook 19, the steel wire rope hook 19 is connected with a steel wire rope 20, and the walking type mining inspection device is formed by means of traction of a coal mine monkey car or winch.
The section scanner is installed at the rear side of the upper surface of the lower mounting plate 102 and extends out of the opening of the rear panel 105, an intrinsic safety driving motor is installed inside the section scanner 12, a laser probe of the section scanner 12 can be driven to rotate for 360 degrees, the section deformation state of a roadway is measured, and the section scanning of the roadway is completed.
The invention can be arranged at a coal mine fixed position to realize the inspection operation of the fixed position.
The invention can be matched with a mining monkey vehicle and a winch for use, the steel wire rope hook connecting flange 4 is connected with the steel wire rope hook 19, the steel wire rope hook 19 is connected with the steel wire rope 20, and the travelling type mining inspection device is formed by the traction of the mining monkey vehicle or the winch, so that the travelling movement of the inspection device is completed, the inspection operation of inspection workers is simulated, and the intelligent inspection of the coal mine environment is realized, as shown in figure 5.
The invention can be matched with a mine car for use, is connected with the mine car through the support legs 2, forms a walking type mine inspection device by means of movement of the mine car, completes traveling movement of the inspection device, simulates inspection operation of inspection workers, and achieves intelligent inspection of coal mine environments, as shown in fig. 6.
The inspection device is provided with various sensors, has the functions of wireless communication, wireless charging, gas collection, wind speed collection, environment image collection and tunnel section collection, and can be used for classifying and storing the traditional artificial sensory phenomena which cannot be reproduced and compared accurately in real time by using digitized images, sounds and accurate data and transmitting the digital images, sounds and accurate data to a 4G communication base station and a WiFi communication base station of a mine, so that the inspection device is convenient for the inquiry and reproduction of fault problems, can reduce the labor intensity of workers, reduce the labor risk, discover the problems in time and avoid the expansion of accidents.
The mining multifunctional inspection device adopts an intrinsic safety battery power supply mode, the intrinsic safety battery is installed in the battery box 7, and because the battery only needs to be supplied with power for each electric cabinet and each sensor inside, the battery endurance can reach 8-9 hours, the power management module inside the main control electric cabinet 17 can transmit real-time information of the intrinsic safety battery to the control background, an operator can monitor the electric quantity state of the battery, when the battery is close to no electricity, the operator can manually replace the intrinsic safety battery inside the battery box 7, or the inspection device is moved to an intrinsic safety charging pile, and automatic charging is completed through the wireless charging coil 8.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (2)
1. The utility model provides a mining multi-functional inspection device which characterized in that, this inspection device includes:
The upper shell is of an open shell structure, a first cavity and a second cavity which are separated by a partition plate are arranged in the upper shell, the front of the first cavity is of an open structure, and two sides of the second cavity are of open structures;
the front camera is arranged in the first cavity;
the side camera is arranged in the second cavity;
The transmitting antenna mounting seat is arranged at an opening at one side of the second cavity;
the transmitting antenna is arranged on the transmitting antenna mounting seat;
The lower shell is of a shell structure with an inner cavity and comprises an upper mounting plate, a lower mounting plate, a connecting plate, a front panel, a rear panel, a first side plate and a second side plate, openings are respectively formed in the first side plate and the second side plate, holes are formed in the rear panel, and the upper mounting plate is connected with a bottom plate of the upper shell through bolts so as to realize connection between the lower shell and the upper shell;
The battery box is arranged at the opening part on the first side plate, and an intrinsic safety battery is arranged in the battery box;
The wireless charging coil is arranged at the opening of the second side plate;
The wireless charging electric cabinet is arranged below the connecting plate;
The main control electric cabinet is arranged below the connecting plate and is positioned at the rear side of the wireless charging electric cabinet, the upper part of the connecting plate is fixed on the lower surface of the upper mounting plate, and the wireless charging electric cabinet and the main control electric cabinet are arranged in the cavity in the lower shell;
The upper surface of the lower mounting plate is provided with a gas sensor, a wind speed sensor, a section scanner, a wind speed electric cabinet and a dust sensor, the front side and the rear side of the lower surface of the lower mounting plate are respectively provided with an ultrasonic wind speed probe, and the lower surface of the lower mounting plate is also provided with a laser emitter;
The wind speed sensor and the two ultrasonic wind speed probes are connected with the wind speed electric cabinet, the wind speed sensor is used for measuring the wind speed of a certain point and transmitting the collected information to the wind speed electric cabinet, the ultrasonic wind speed probe is used for measuring the wind speed of a certain section of a roadway and transmitting the collected information to the wind speed electric cabinet, and the wind speed electric cabinet is used for collecting and processing the wind speed signals;
The intrinsic safety battery in the battery box is respectively connected with the main control electric cabinet, the gas sensor, the wind speed sensor, the section scanner, the wind speed electric cabinet, the dust sensor and the ultrasonic wind speed probe for power supply; the gas sensor, the laser emitter, the wind speed electric cabinet, the front camera, the side camera, the section scanner and the dust sensor are respectively connected with the main control electric cabinet, the main control electric cabinet is additionally connected with the transmitting antenna, the gas sensor, the wind speed electric cabinet, the front camera, the side camera, the section scanner and the dust sensor transmit acquired information to the main control electric cabinet, and the data mutual transmission with a 4G communication base station and a WiFi communication base station of a mine is realized through the transmitting antenna;
The wireless charging coil is connected with the wireless charging electric cabinet, the wireless charging electric cabinet is connected with the main control electric cabinet and the intrinsic safety battery in the battery box, the wireless charging electric cabinet transmits electric quantity information of the intrinsic safety battery to the main control electric cabinet, and the main control electric cabinet transmits real-time information of the intrinsic safety battery to the control background through the transmitting antenna;
the mining multifunctional inspection device further comprises two supporting legs which are respectively fixed on the left side and the right side of the lower mounting plate through bolts;
and a steel wire rope hook connecting flange is fixed above the partition plate along the vertical direction.
2. A mining multifunctional inspection device according to claim 1 wherein the section scanner is mounted on the rear side of the upper surface of the lower mounting plate and extends from the aperture of the rear panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110589854.8A CN113192230B (en) | 2021-05-28 | 2021-05-28 | Mining multi-functional inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110589854.8A CN113192230B (en) | 2021-05-28 | 2021-05-28 | Mining multi-functional inspection device |
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| CN113192230A CN113192230A (en) | 2021-07-30 |
| CN113192230B true CN113192230B (en) | 2024-05-03 |
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| CN202110589854.8A Active CN113192230B (en) | 2021-05-28 | 2021-05-28 | Mining multi-functional inspection device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113873108A (en) * | 2021-08-23 | 2021-12-31 | 广东大唐国际潮州发电有限责任公司 | Non-contact intelligent inspection device for coal conveying belt |
| CN114766393B (en) * | 2022-04-06 | 2023-09-26 | 滨州学院 | Inspection device for deep sea cultivation |
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| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
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| CN215117604U (en) * | 2021-05-28 | 2021-12-10 | 中煤科工集团沈阳研究院有限公司 | Mining multifunctional inspection device |
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2021
- 2021-05-28 CN CN202110589854.8A patent/CN113192230B/en active Active
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| CN206290288U (en) * | 2016-12-15 | 2017-06-30 | 山西戴德测控技术有限公司 | A kind of mining tunnel automatic inspection device |
| CN111086963A (en) * | 2019-08-09 | 2020-05-01 | 中国矿业大学 | Synchronous track moving device of shaft inspection system and control method thereof |
| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
| CN111152236A (en) * | 2020-01-19 | 2020-05-15 | 辽宁工程技术大学 | Inspection robot for safety detection of mining belt conveyor |
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