AU2019375583B2

AU2019375583B2 - Self-propelled peeping probe adapted to different diameters of drill holes and peeping method

Info

Publication number: AU2019375583B2
Application number: AU2019375583A
Authority: AU
Inventors: Xiaowei Feng; Peng Huang
Original assignee: China University of Mining and Technology CUMT; China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2018-11-05
Filing date: 2019-02-22
Publication date: 2021-10-07
Anticipated expiration: 2039-02-22
Also published as: AU2019375583A1; CN109162699B; CN109162699A; WO2020093623A1

Abstract

A self-propelled peeping probe adapted to different diameters of drill holes and a method. The probe comprises a peeping probe body (1), a camera (2), walking wheels (3), rocker arms (4) connected to the walking wheels (3), and an operating host (30). The rock arms (4) can achieve a certain angle of damping opening or closing under the effects of internal torsion springs (12) and gas springs (16), and have alarm functions, and the rocker arms (4) can be fixed in grooves (5) in the side of the peeping probe by means of locking holes (7) and locking blocks (6). The self-propelled function of the peeping probe in a drill hole can be achieved by means of an internal power supply, a driving motor (8), a video processing module (19), a control module (21), a WIFI module (22), and the external operating host (30). The peeping probe has the advantages of centered drill hole, self-propelling, and few operating workers in a drilling peeping operation process, the complexity in a conventional drilling peeping operation is reduced, a push rod and a video transmission line are removed, and auxiliary accessories are greatly reduced.

Description

SELF-ADVANCING PEEPING PROBE ADAPTED TO DIFFERENT DRILLING DIAMETERS, AND PEEPING METHOD TECHNICAL FIELD

The present invention relates to a peeping probe and a method, more particularly, to a

self-advancing peeping probe adapted to different drilling diameters, and a peeping method,

suitable for the fields of geotechnical engineering, mine engineering and geological

exploration.

BACKGROUND

In the geotechnical engineering, mine engineering and geological exploration, the

situation inside the rock stratum is relatively hidden, and it is difficult to fine the details such

as cracks, separation layers, broken regions and the like in the rock stratum through

observation by naked eyes and analogy of experience. Based on this, engineers and

technicians often use drilling peeping instrument to detect the structure of the rock stratum in

the rock stratum. In addition, the drilling peeping instrument may detect the range of the

broken rock zone of roadway surrounding rock and its change situation, test the displacement

change of the rock stratum of the surrounding rock in the stress process, detect the lithology

and thickness of the coal seam and its top plate rock stratum, and detect the separation, crack

and breakage situations of the roadway roof.

The existing drilling peeping instrument mainly includes a peeping host, a peeping probe,

a stainless steel push rod, a connecting line and other accessories. In the actual operation

process, the peeping probe is connected to the upper push rod and then is pushed into the drill

hole, is sequentially connected to the subsequent push rod and is gradually pushed into the

drill hole. In the advancing process, a picture monitored by the peeping probe is displayed on

the peeping host in real time, and the advance speed and amplitude of the push rod are

controlled through the drill hole shape of the push rod.

However, under the background of the above process, there are the following problems:

1, the advance speed and amplitude of the push rod are limited by manual operation, which easily leads to unclear image of the key position of the inner wall of the drill hole; 2, when the drill hole is deep, it is difficult to control the stability of the push rod, especially in the roof drilling peeping process, the push rod is easily blocked by the broken rocks in the drill hole crushed zone region, which sometimes causes difficulty in pushing; 3, the peeping probe is difficult to center in the drill hole, resulting in poor precision, and the edge of the front end of the peeping probe is easily scratched by the inner wall of the drill hole and rock debris is stacked on the peeping probe, thereby deteriorating the imaging effect; and 4, the peeping process has strict requirements on the diameter of the drill hole, and the drill holes with different diameters need to be equipped with the peeping probes with different diameters, so that the operation process is complex and the equipment cost is increased.

SUMMARY OF THE INVENTION

Technical problem: an objective of the present invention is to overcome the defects in the

prior art and provide a self-advancing peeping probe adapted to different drilling diameters,

and a peeping method, wherein the self-advancing peeping probe adapted to different drilling

diameters has a simple structure, high stability and good peeping effect and simplifies the

operation process.

Technical solution: to achieve the above objective, a self-advancing peeping probe

adapted to different drilling diameters according to the present invention includes a

cylindrical peeping probe main body; a protruded camera is arranged at the top of the peeping

probe main body; an orienting WIFI receiving line interface connected to an orienting WIFI

receiving line and an emergency rope connecting column connected to an emergency rope are

arranged at the bottom of the peeping probe main body; a lens, a video processing module, a

battery bin, a control module and a WIFI module are sequentially arranged in the peeping

probe main body and below the camera; a group of symmetrically arranged side wall grooves

are arranged on each of an upper part and a lower part of the peeping probe main body; the

two groups of side wall grooves arranged symmetrically on the upper and lower parts are

perpendicular to each other; telescopic swinging devices acting synchronously are arranged in

each group of side wall grooves; each of the telescopic swinging device comprises a rocker arm which is hinged on an inner wall of the probe main body through a main vertical shaft in a sleeving way, and a walking wheel which is connected to the rocker arm; a torsion spring sleeves the main vertical shaft; one end of the torsion spring overlaps a secondary vertical shaft A in the peeping probe main body, and the other end of the torsion spring overlaps a secondary vertical shaft B in the rocker arm; the main vertical shaft is hinged to a gas spring, and the other end of the gas spring is hinged on a rocker arm vertical shaft located on a lower swing in the rocker arm; a driving motor connected to the walking wheel is arranged in the rocker arm; the connecting end of the rocker arm and the walking wheel is an arc-shaped section, and the arc-shaped section is matched with the walking wheel; a rocker arm end detection contact piece adheres to an outer edge of the connecting end of the rocker arm and the peeping probe main body; the peeping probe main body is provided with a probe main body end detection contact piece at a position corresponding to the rocker arm end detection contact piece when the rocker arm reaches a maximum opening angle; a square rocker arm locking hole is formed in an outer side of the rocker arm; and a rocker arm locking block is arranged on a side of the side wall groove of the peeping probe main body at a position corresponding to the locking hole when the rocker arm reaches a minimum opening angle.

The probe main body of the cylindrical peeping probe has a diameter of 35 mm to 45

mm and a height of 300 mm to 400 mm.

A length of the emergency rope is 6 m to 20 m, and length labels adhere to the

emergency rope in meters.

A length of the orienting WIFI receiving line is 2 m to 3 m, and a length of an orienting

WIFI transmitting line is 2 m to 4 m.

A distance between the side wall grooves on the upper and lower parts of the peeping

probe main body is 90 mm to 120 mm, the top of each of the side wall grooves is a right angle,

and the bottom of each of the side wall grooves inclines at an inclination angle of 10.

The connecting end of the rocker arm and the peeping probe main body 1 is an

arc-shaped section, and an outer edge of the connecting end and an outer edge of the

connecting end of the walking wheel transit in a straight line.

The maximum opening angle of the rocker arm under the double effects of the torsion spring and the gas spring reaches 30.

A peeping method using the self-advancing peeping probe adapted to different drilling

diameters includes the following steps:

a. measuring the gas content in a peeping region by a gas tester to ensure no gas is

distributed in the peeping region, selecting a position, needing to be peeped, at the periphery

of a roadway, and drilling a rock stratum, wherein in order to enable the walking wheel

connected to the rocker arm to be engaged with an inner wall of a drill hole well, a diameter

of the drill hole should be smaller than a straight line distance corresponding to an outer

diameter of the walking wheel when the rocker arms symmetrical on two sides open at the

maximum angle, thereby avoiding that the walking wheel may be separated from the inner

wall of the drill hole or idle in the advancing process of the peeping probe;

b. connecting the orienting WIFI receiving line and the emergency rope adhering to

length labels in meters onto the orienting WIFI receiving line interface and the emergency

rope connecting column at the bottom of the peeping probe, loosening a group of rocker arms

on the upper part of the peeping probe main body, pushing the rocker arm locking block on a

side surface of each of the side wall grooves to unlock buckling between the rocker arm

locking block and the rocker arm locking hole so as to release the rocker arm, pressing and

shrinking one group of rocker arms on the upper part of the peeping probe main body, pushing

the peeping probe into the drill hole, enabling one group of rocker arms entering the front part

of the drill hole to slowly expand outwards under the double effects of the torsion spring and

the gas spring to abut against a side wall at the periphery of the drill hole, loosening one

group of rocker arms on the lower part of the peeping probe main body, pushing the rocker

arm locking block to release the rocker arms in the same way as that of the previous group of

rocker arms, pressing the rocker arms and pushing into the drill hole, enabling one group of

rocker arms entering the back part of the drill hole to have the same action as that of one

group of rocker arms on the front part to form cross support against the side wall at the

periphery of the drilling hole with the previous group of rocker arms;

c. continuously pushing the peeping probe into the drill hole, fixing the orienting WIFI

transmitting line with adhesive tape at a position of 5 cm to 10 cm distal from an orifice of the drill hole to be close to the inner wall of the drill hole, connecting the other end of the orienting WIFI transmitting line to a control host, and controlling and monitoring the working state of the peeping probe main body by the control host; d. transmitting an electric control signal by the orienting WIFI receiving line and the orienting WIFI transmitting line between the control host and the peeping probe main body, wherein the receiving end is the peeping probe main body and the transmission path is the orienting WIFI receiving line, and the transmitting end is the control host and the transmission path is the orienting WIFI transmitting line; and acquiring the signal and storing a peeping video by the peeping probe main body, and comparing and checking with an advancing distance of the peeping probe displayed by an operator holding the control host with reference to the length labels adhering to the emergency rope in meters; e. when the peeping probe move forward to encounter a rock stratum crushing region, enabling the peeping probe main body (1) to move forward or backward by the control host and cooperating with the emergency rope, and pulling the emergency rope to enable the peeping probe main body to move backward rapidly; f. when the peeping probe encounters a region where the diameter of the drill hole becomes larger in the advancing process, expanding the rocker arm under the double effects of the torsion spring and the gas spring, engaging the rocker arm end detection contact piece with the probe main body end detection contact piece when expanding to a maximum angle, feeding back a warning signal, transmitting the warning signal to the handheld control host by the orienting WIFI transmitting line, and enabling an operator to take measures at once; and g. when the drill hole is deformed to cause the diameter to become smaller in the advancing process of the peeping probe, enabling the rocker arm to shrink and press the torsion spring and the gas spring, so that the overall effective diameter of the peeping probe becomes smaller, and the peeping probe adapts to the deformed drill hole region and passes through the region. In a region where the drill hole is crushed seriously, when the peeping probe main body is stuck by broken rocks, the emergency rope is pulled and adjusted, so that the rocker arms retract towards directions of the grooves, thus avoiding the situation that the peeping probe main body cannot retreat. The present invention has the following beneficial effects: by adoption of the above technical solution, the present invention adapts to self-advancing peeping with different drilling diameters; and the connecting end of the rocker arm and the peeping probe main body is an arc-shaped section, and an outer edge of the connecting end and an outer edge of the connecting end of the walking wheel transit in a straight line. After peeping operation is completed through the rocker arm locking hole and the rocker arm locking block, the rocker arm locking block is pushed into the rocker arm locking hole when the rocker arm is pressed into the groove on the outer side of the peeping probe by an external force, thereby avoiding secondary pop-up of the rocker arm and facilitating storage. The maximum opening angle of the rocker arm under the double effects of the torsion spring and the gas spring reaches 30, and the opening angle of the rocker arm and the damping property in the angle opening and closing process are ensured through the torsion spring and the gas spring. In addition, the torsion spring and the gas spring can ensure the opening and closing force of the rocker arm, enable the peeping probe to adapt to the drill holes with different diameters, guarantee the buckling force of the walking wheel and the inner wall of the drill in the advancing process and prevent the loosening and idling situations. Compared with the prior art, the present invention has the following advantages: 1) The peeping probe can adapt to different drilling diameters. The diameter of the traditional peeping probe cannot be changed and the specific drilling diameter requires a specific peeping probe. Through cooperation with the torsion spring and the gas spring in the rocker arm, the rocker arm may be opened and closed within a certain angle, so as to adapt to different drilling diameters. The gas spring ensures the damping property in the opening and closing process of the rocker arm, and the torsion spring ensures the grasping force of the wheel on the inner wall of the drill hole to avoid slipping. 2) Extension of the push rod is avoided, the intensity of labor operation is reduced and the peeping operation efficiency is improved. The problems that in the traditional peeping operation, it is necessary to continuously extend the push rod to enable the peeping probe to arrive at a specific position in the rock stratum and the push speed is difficult to control are solved. The peeping probe may advance at constant speed, may reduce the advancing speed by observing the crushed and separation layer regions in the rock stratum, may increase the advancing speed in the complete region, and can perform retreating observation and re-collection of the observed region.

3) The number of workers is reduced. In the traditional drilling peeping operation, in

general, three operators are required, one operator pushes the push rod, one operator assisting

in extending the push rod, and the last operator operates the control host. In the present

invention, the number of the operators may be reduced to one. An additional operator is

required to pull the emergency rope in case of emergency. In most cases, one operator can

complete the operation.

4) Centering of the peeping probe is ensured, and the situations that the peeping probe

scratches the inner wall of the drill hole and the rock debris adheres to the probe are avoided.

5) The orienting WIFI transmitting line and the orienting WIFI receiving line ensure the

directionality of signal transmission. The continuity, directionality and stable gain

characteristics of signal transmission are ensured through the orienting WIFI receiving line

connected to an orienting WIFI receiving line interface at the bottom of the peeping probe as

well as the orienting WIFI transmitting line connected to the control host. One end of the

orienting WIFI adheres to a position of 5 cm to 10 cm distal from the orifice, of the inner wall

of the drill hole, so that the transmission effect is enhanced.

6) Emergency measures are perfect. The emergency rope is connected to the emergency

rope connecting column at the bottom of the peeping probe to ensure retreat of the peeping

probe under an emergency situation; meanwhile, the length labels adhered to the emergency

rope in meters, the advancing distance of the peeping probe can be checked with the control

host held by the operator according to the labels of the emergency rope.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a three-dimensional structural diagram of a peeping probe according to the

present invention;

FIG. 2 is a schematic structural diagram of the rocker in FIG. 1;

FIG. 3 is a schematic diagram of an enlarged structure of a rotating part of the rocker

arm structure in FIG. 2;

FIG. 4 is a schematic diagram of a sectional structure of FIG. 1;

FIG. 5 is a schematic diagram of an enlarged structure near a connection position of the

rocker arm structure and the probe main body in FIG. 4; and

FIG. 6 is a schematic structural diagram of a peeping probe in actual application.

In the accompanying drawings: 1-peeping probe main body, 2-camera, 3-walking wheel,

4-rocker arm, 5-side wall groove, 6-rocker arm locking block, 7-rocker arm locking hole,

8-driving motor, 9-detection contact piece lead, 10-rocker arm end detection contact piece,

11-probe main body end detection contact piece, 12-torsion spring, 13-main vertical shaft,

14-secondary vertical shaft A, 15-secondary vertical shaft B, 16-gas spring, 17-rocker arm

vertical shaft, 18-lens, 19-video processing module, 20-battery bin, 21-control module,

22-WIFI module, 23-orienting WIFI receiving line interface, 24-emergency rope connecting

column, 25-drill hole, 26-rock stratum, 27-emergency rope, 28-orienting WIFI receiving line,

29-orienting WIFI transmitting line, 30-control host.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The present invention is further described below with reference to embodiments in the

accompanying drawings.

As shown in FIG. 1, a self-advancing peeping probe adapted to different drilling

diameters includes a cylindrical peeping probe main body 1, a protrude camera 2 is arranged

at the top of the peeping probe main body 1, an orienting WIFI receiving line interface 23

connected to an orienting WIFI receiving line 28 and an emergency rope connecting column

24 connected to an emergency rope 27 are arranged at the bottom of the peeping probe main

body 1, and the cylindrical peeping probe main body 1 has a diameter of 35 mm to 45 mm

and a height of 300 mm to 400 mm; advancing control of the peeping probe main body 1 in

the drill hole 25 is completed by the control host 30, and the control host is connected to an

orienting WIFI transmitting line 29, as shown in FIG. 6; a length of the orienting WIFI

receiving line 28 is 2 m to 3m, and a length of the orienting WIFI transmitting line 29 is 2 m to 4 m; and a length of the emergency rope 27 is 6 m to 20 m, and length labels adhere to the emergency rope in meters. As shown in FIG. 4, a lens 18, a video processing module 19, a battery bin 20, a control module 21 and a WIFI module 22 are sequentially arranged in the peeping probe main body 1 and located below the camera 2, a group of symmetrically arranged side wall grooves 5 are arranged on each of an upper part and a lower part of the peeping probe main body 1, the two groups of side wall grooves arranged symmetrically on the upper and lower parts are perpendicular to each other, telescopic swinging devices acting synchronously are arranged in each group of side wall grooves, a distance between the side wall grooves 5 on the upper and lower parts of the peeping probe main body 1 is 90 mm to

120 mm, the top of each of the side wall grooves 5 is a right angle, and the bottom of each of

the side wall grooves 5 inclines at an inclination angle of 10. As shown in FIG. 5, the

telescopic swinging device includes a rocker arm 4 and a walking wheel 3, wherein the rocker

arm 4 is hinged to an inner wall of the probe main body 1 through a main vertical shaft 13; the

walking wheel 3 is connected to the rocker arm 4; a driving motor 8 connected to the walking

wheel 3 is arranged in the rocker arm 4; the connecting end of the rocker arm 4 and the

peeping probe main body 1 is an arc-shaped section; the rocker arm 4 and the peeping probe

main body 1 are superimposed and sleeved with each other through the main vertical shaft

fixed in the peeping probe main body 1; and an outer edge of the connecting end of the rocker

arm 4 and the peeping probe main body 1 and an outer edge of the connecting end of the

walking wheel 3 transit in a straight line. A torsion spring 12 sleeves the main vertical shaft 13.

As shown in FIG. 2, one end of the torsion spring 12 overlaps a secondary vertical shaft A 14

in the peeping probe main body 1, and the other end of the torsion spring 12 overlaps a

secondary vertical shaft B 15 in the rocker arm, the main vertical shaft 13 is hinged to a gas

spring 16, and the other end of the gas spring 16 is hinged on a rocker arm vertical shaft 17

located on a lower swing in the rocker arm 4; and the maximum opening angle of the rocker

arm 4 under the double effects of the torsion spring 12 and the gas spring 16 reaches 30°. As

shown in FIG. 2, the connecting end of the rocker arm 4 and the walking wheel 3 is an

arc-shaped section, and the arc-shaped section is matched with the walking wheel 3; a rocker

arm end detection contact piece 10 adheres to an outer edge of the connecting end of the rocker arm 4 and the peeping probe main body 1; the peeping probe main body 1 is provided with a probe main body end detection contact piece 11 at a position corresponding to the rocker arm end detection contact piece 10, that is, when the rocker arm 4 reaches a maximum opening angle, the rocker arm end detection contact piece 10 is just engaged with the probe main body end detection contact piece 11 fixed in the probe main body 1; a square rocker arm locking hole 7 is formed in an outer side of the rocker arm 4; and a rocker arm locking block

6 is arranged on a side of the side wall groove 5 of the peeping probe main body 1 at a

position corresponding to the locking hole 7 when the rocker arm 4 reaches a minimum

opening angle, and the rocker arm locking block 6 can be embedded into the rocker arm

locking hole 7.

diameters, as shown in FIG. 6, specifically includes the following steps:

a. the gas content in a peeping region is measured by a gas tester to ensure no gas is

distributed in the peeping region, a position, needing to be peeped, at the periphery of a

roadway is selected, and a rock stratum 26 is drilled, wherein in order to enable the walking

wheel 3 connected to the rocker arm 4 to be engaged with an inner wall of a drill hole 25 well,

a diameter of the drill hole 25 should be smaller than a straight line distance corresponding to

an outer diameter of the walking wheel 3 when the rocker arms 4 symmetrical on two sides

open at the maximum angle, thereby avoiding that the walking wheel 3 may be separated

from the inner wall of the drill hole 25 or idle in the advancing process of the peeping probe;

b. the orienting WIFI receiving line 28 and the emergency rope 27 adhering to length

labels in meters are connected onto the orienting WIFI receiving line interface 23 and the

emergency rope connecting column 24 at the bottom of the peeping probe, a group of rocker

arms 4 on the upper part of the peeping probe main body 1 are loosened, the rocker arm

locking block 6 on a side surface of each of the side wall grooves 5 is pushed to unlock

buckling between the rocker arm locking block 6 and the rocker arm locking hole 7 so as to

release the rocker arm 4, one group of rocker arms 4 on the upper part of the peeping probe

main body 1 are pressed and shrunk, the peeping probe is pushed into the drill hole 25, one

group of rocker arms 4 entering the front part of the drill hole 25 slowly expand outwards under the double effects of the torsion spring 12 and the gas spring 16 to abut against a side wall at the periphery of the drill hole 25, one group of rocker arms 4 on the lower part of the peeping probe main body 1 are loosened, the rocker arm locking block 6 is pushed to release the rocker arms 4 in the same way as that of the previous group of rocker arms, the rocker arms 4 is pressed and pushed into the drill hole 25, one group of rocker arms entering the back part of the drill hole 25 to have the same action as that of one group of rocker arms on the front part to form cross support against the side wall at the periphery of the drilling hole

25 with the previous group of rocker arms;

the peeping probe is continuously pushed into the drill hole 25, the orienting WIFI

transmitting line 29 with adhesive tape is fixed at a position of 5 cm to 10 cm distal from an

orifice of the drill hole 25 to be close to the inner wall of the drill hole 25, the other end of the

orienting WIFI transmitting line 29 is connected to a control host 30, and the working state of

the peeping probe main body 1 is controlled and monitored by the control host 30;

d. an electric control signal is transmitted by the orienting WIFI receiving line 28 and the

orienting WIFI transmitting line 29 between the control host 30 and the peeping probe main

body 1, wherein the receiving end is the peeping probe main body 1 and the transmission path

is the orienting WIFI receiving line 28, and the transmitting end is the control host 30 and the

transmission path is the orienting WIFI transmitting line 29; and the signal is acquired and a

peeping video is stored by the peeping probe main body 1, and comparison and check with an

advancing distance of the peeping probe displayed by an operator holding the control host 30

are conducted with reference to the length labels adhering to the emergency rope 27 in meters;

e. when the peeping probe move forward to encounter a rock stratum crushing region,

the peeping probe main body 1 moves forward or backward by the control host 30 and

cooperating with the emergency rope 27, and the emergency rope 27 is pulled to enable the

peeping probe main body 1 to move backward rapidly;

f. when the peeping probe encounters a region where the diameter of the drill hole 25

becomes larger in the advancing process, the rocker arm 4 expands under the double effects of

the torsion spring 12 and the gas spring 16, the rocker arm end detection contact piece 10 is

engaged with the probe main body end detection contact piece 11 when the rocker arm 4 expands to a maximum angle, a warning signal is fed back, the warning signal is transmitted to the handheld control host 30 by the orienting WIFI transmitting line 29, and an operator take measures at once; in a region where the drill hole 25 is crushed seriously, when the peeping probe main body 1 is stuck by broken rocks, the emergency rope 27 is pulled and adjusted, so that the rocker arms 4 retract towards directions of the grooves 5, thus avoiding the situation that the peeping probe main body 1 cannot retreat; and advancing of the peeping probe main body 1 is completed by the walking wheel 3, wherein the walking wheel 3 has a diameter of 10 mm and a height of 20 mm; and g. when the drill hole 25 is deformed to cause the diameter to become smaller in the advancing process of the peeping probe, the rocker arm 4 shrinks and presses the torsion spring 12 and the gas spring 16, so that the overall effective diameter of the peeping probe becomes smaller, and the peeping probe adapts to the deformed drill hole region and passes through the region.

CLAIMES:

1. A self-advancing peeping probe adapted to different drilling diameters, comprising a

cylindrical peeping probe main body (1); a protruded camera (2) is arranged at the top of the

peeping probe main body (1); an orienting WIFI receiving line interface (23) connected to an

orienting WIFI receiving line (28) and an emergency rope connecting column (24) connected

to an emergency rope (27) are arranged at the bottom of the peeping probe main body (1); a

lens (18), a video processing module (19), a battery bin (20), a control module (21) and a

WIFI module (22) are sequentially arranged in the peeping probe main body (1) and below

the camera (2); a group of symmetrically arranged side wall grooves (5) are arranged on each

of an upper part and a lower part of the peeping probe main body (1); the two groups of side

wall grooves (5) arranged symmetrically on the upper and lower parts are perpendicular to

each other; telescopic swinging devices acting synchronously are arranged in each group of

side wall grooves (5); each of the telescopic swinging device comprises a rocker arm (4)

which is hinged on an inner wall of the probe main body (1) through a main vertical shaft (13)

in a sleeving way, and a walking wheel (3) which is connected to the rocker arm (4); a torsion

spring (12) sleeves the main vertical shaft (13); one end of the torsion spring (12) overlaps a

secondary vertical shaft A (14) in the peeping probe main body (1), and the other end of the

torsion spring (12) overlaps a secondary vertical shaft B (15) in the rocker arm; the main

vertical shaft (13) is hinged to a gas spring (16), and the other end of the gas spring (16) is

hinged on a rocker arm vertical shaft (17) located on a lower swing in the rocker arm (4); a

driving motor (8) connected to the walking wheel (3) is arranged in the rocker arm (4); the

connecting end of the rocker arm (4) and the walking wheel (3) is an arc-shaped section, and

the arc-shaped section is matched with the walking wheel (3); a rocker arm end detection

contact piece (10) adheres to an outer edge of the connecting end of the rocker arm (4) and the

peeping probe main body (1); the peeping probe main body (1) is provided with a probe main

body end detection contact piece (11) at a position corresponding to the rocker arm end

detection contact piece (10) when the rocker arm (4) reaches a maximum opening angle; a

square rocker arm locking hole (7) is formed in an outer side of the rocker arm (4); and a rocker arm locking block (6) is arranged on a side of the side wall groove (5) of the peeping probe main body (1) at a position corresponding to the locking hole (7) when the rocker arm

(4) reaches a minimum opening angle.

2. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein the cylindrical peeping probe main body (1) is 35 mm to 45 mm in diameter

and 300 mm to 400 mm in height.

3. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein a length of the emergency rope (27) is 6 m to 20 m, and length labels adhere

to the emergency rope in meters.

4. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein a length of the orienting WIFI receiving line (28) is 2 m to 3 m, and a length

of an orienting WIFI transmitting line (29) is 2 m to 4 m.

5. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein a distance between the side wall grooves (5) on the upper and lower parts of

the peeping probe main body (1) is 90 mm to 120 mm, the top of each of the side wall

grooves is a right angle, and the bottom of each of the side wall grooves inclines at an

inclination angle of 10.

6. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein the connecting end of the rocker arm (4) and the peeping probe main body (1)

is an arc-shaped section, and an outer edge of the connecting end and an outer edge of the

connecting end of the walking wheel (3) transit in a straight line.

7. The self-advancing peeping probe adapted to different drilling diameters according to

claim 1, wherein the maximum opening angle of the rocker arm (4) under the double effects

of the torsion spring (12) and the gas spring (16) reaches 30°.

8. A peeping method using the self-advancing peeping probe adapted to different drilling

diameters according to claim 1, comprising the following steps:

of a roadway, and drilling a rock stratum (26), wherein in order to enable the walking wheel

(3) connected to the rocker arm (4) to be engaged with an inner wall of a drill hole (25) well, a

diameter of the drill hole (25) should be smaller than a straight line distance corresponding to

an outer diameter of the walking wheel (3) when the rocker arms (4) symmetrical on two

sides open at the maximum angle, thereby avoiding that the walking wheel (3) may be

separated from the inner wall of the drill hole (25) or idle in the advancing process of the

peeping probe;

b. connecting the orienting WIFI receiving line (28) and the emergency rope (27)

adhering to length labels in meters onto the orienting WIFI receiving line interface (23) and

the emergency rope connecting column (24) at the bottom of the peeping probe, loosening a

group of rocker arms (4) on the upper part of the peeping probe main body (1), pushing the

rocker arm locking block (6) on a side surface of each of the side wall grooves (5) to unlock

buckling between the rocker arm locking block (6) and the rocker arm locking hole (7) so as

to release the rocker arm (4), pressing and shrinking one group of rocker arms (4) on the

upper part of the peeping probe main body (1), pushing the peeping probe into the drill hole

(25), enabling one group of rocker arms (4) entering the front part of the drill hole (25) to

slowly expand outwards under the double effects of the torsion spring (12) and the gas spring

(16) to abut against a side wall at the periphery of the drill hole (25), loosening one group of

rocker arms (4) on the lower part of the peeping probe main body (1), pushing the rocker arm

locking block (6) to release the rocker arms (4) in the same way as that of the previous group

of rocker arms, pressing the rocker arms (4) and pushing into the drill hole (25), enabling one

group of rocker arms entering the back part of the drill hole (25) to have the same action as

that of one group of rocker arms on the front part to form cross support against the side wall

at the periphery of the drilling hole (25) with the previous group of rocker arms;

c. continuously pushing the peeping probe into the drill hole (25), fixing the orienting

WIFI transmitting line (29) with adhesive tape at a position of 5 cm to 10 cm distal from an

orifice of the drill hole (25) to be close to the inner wall of the drill hole (25), connecting the

other end of the orienting WIFI transmitting line (29) to a control host (30), and controlling

and monitoring the working state of the peeping probe main body (1) by the control host (30);

d. transmitting an electric control signal by the orienting WIFI receiving line (28) and the

Claims

orienting WIFI transmitting line (29) between the control host (30) and the peeping probe

main body (1), wherein the receiving end is the peeping probe main body (1) and the

transmission path is the orienting WIFI receiving line (28), and the transmitting end is the

control host (30) and the transmission path is the orienting WIFI transmitting line (29); and

acquiring the signal and storing a peeping video by the peeping probe main body (1), and

comparing and checking with an advancing distance of the peeping probe displayed by an

operator holding the control host (30) with reference to the length labels adhering to the

emergency rope (27) in meters;

e. when the peeping probe move forward to encounter a rock stratum crushing region,

enabling the peeping probe main body (1) to move forward or backward by the control host

(30) and cooperating with the emergency rope (27), and pulling the emergency rope (27) to

enable the peeping probe main body (1) to move backward rapidly;

f. when the peeping probe encounters a region where the diameter of the drill hole (25)

becomes larger in the advancing process, expanding the rocker arm (4) under the double

effects of the torsion spring (12) and the gas spring (16), engaging the rocker arm end

detection contact piece (10) with the probe main body end detection contact piece (11) when

expanding to a maximum angle, feeding back a warning signal, transmitting the warning

signal to the handheld control host (30) by the orienting WIFI transmitting line (29), and

enabling an operator to take measures at once; and

g. when the drill hole (25) is deformed to cause the diameter to become smaller in the

advancing process of the peeping probe, enabling the rocker arm (4) to shrink and press the

torsion spring (12) and the gas spring (16), so that the overall effective diameter of the

peeping probe becomes smaller, and the peeping probe adapts to the deformed drill hole

region and passes through the region.

9. The peeping method using the self-advancing peeping probe adapted to different

drilling diameters according to claim 1 according to claim 8, wherein in a region where the

drill hole (25) is crushed seriously, when the peeping probe main body (1) is stuck by broken

rocks, the emergency rope (27) is pulled and adjusted, so that the rocker arms (4) retract

towards directions of the grooves (5), thus avoiding the situation that the peeping probe main body (1) cannot retreat.