China National Coal Mining Equipment Co.,Ltd.,Beijing ,China

In order to solve the problems of narrow inspection operation space in complex mining face, complicated coordination between equipmentand difficult manual inspection caused by poor working environment as well as the safety of inspection personnel can not be guaranteed, this paper has designed a kind of small space occupation, adapting to the interaction of three major equipment, which can realize automatic inspection and gather video surveillance. The system integrates data fusion, data upload, abnormal temperature alarm and other functions. The automatic inspection robot system includes an automatic inspection system, a robot body, an electrical control system, a communication network system and a centralized control room system. The automatic inspection system adopts the method of combining the suspension cable mechanism with the suspension rail support mechanism to realize the adaptation of the robot inspection path and track of the robot after the pulling of the hydraulic support in the fully mechanized mining face. The working data collected by the visible light camera and infrared thermal imager loaded on the robot body can be realized by two-way information interaction with the control host through the communication network system.The collected working data can realize the real-time fusion with visible and infrared data through the centralized control system of the centralized control room, which lays the foundation for further advanced recognition through intelligent analysis algorithm. The centralized control room system can perform visual processing on the collected data, real-time intelligent control of the working status of the inspection robot, and alarm when the comprehensive mining equipment works abnormally. The automatic inspection robot conducts experimental research in the laboratory of the fully-mechanized coal mining face of the coal mining machine.The results show that in the narrow equipment space of fully-mechanized mining face, the hydraulic support often carries out the pulling operation, and the existing fixed-track inspection robot can not carry out the inspection. The adaptive rail system designed in this paper can absorb the equipment position changes caused by the pulling frame to ensure the smooth inspection track and realize the barrier-free passage of the inspection robot. The robot body adopts high-precision visible light sensor and thermal imaging sensor to obtain high-precision visual image information. Compared with the existing manual visual measurement or hand-held instrument measurement, the data are true, reliable and real-time feedback on-site environmental conditions. The data processed by the visualization of the centralized control room system can directly reflect the working status of the equipment during operation, improve the accuracy of the inspection personnel’s control of the work equipment. Its alarm function can timely inform the inspection personnel of the abnormal cause abnormality of the operation when the work is abnormal, so as to improve the safety and reliability of the inspection operations. The station space of the automatic inspection robot for fully-mechanized mining face is small, which can replace manual implementation of the inspection work on the fullymechanized mining face and collect data accurately and reliably.

0 引言
1 自动巡检机器人系统组成
2 自动巡检机器人关键技术
2.1 自动巡检
2.2 数据采集与融合
2.3 可视化与智能控制
2.4 报警
3 自动巡检机器人试验情况
4 试验结果及分析
5 结论

郝勇,袁智.综采工作面自动巡检机器人系统设计[J].煤炭科学技术,2020,48(8):145-149.