Unmanned inspection system for shaft wall of air shaft

Abstract

The invention discloses an air shaft wall unmanned inspection system, and relates to the technical field of air shaft wall inspection, the air shaft wall unmanned inspection system comprises a main body mechanism, the main body mechanism comprises a hanging ring, and the bottom of the main body mechanism is provided with a walking mechanism. According to the air shaft wall unmanned inspection system, the hanging hooks on the suspension cables penetrate through the hanging rings through the winches, the whole inspection system is slowly put into an air shaft, the whole inspection system walks on the air shaft wall, and when the inspection system encounters small obstacles such as reinforcing steel bars or broken stones, the inspection system can be stopped from moving. The side, close to an obstacle, of a connecting plate can deflect upwards around a first rotating shaft, so that a rotating block and a limiting plate deflect together, an adjusting roller moves upwards along the limiting plate, a telescopic connecting rod is pushed upwards through a movable plate, and meanwhile, a spring is compressed; the omni-directional wheels can be lifted upwards and climb over a small obstacle, and when the omni-directional wheels cross over the small obstacle, the connecting plate can be pressed downwards to enable the inspection system to walk in the air shaft under the action of the elastic force of the spring.

Description

Technical Field

[0001] The invention relates to the technical field of ventilation shaft wall inspection, and in particular to an ventilation shaft wall unmanned inspection system. Background Art

[0002] The air shaft is a shaft specially used for ventilation in the mine. The shaft that takes in fresh air is called the air inlet shaft; the shaft that discharges polluted air is called the air outlet shaft. The number of air shafts set up in each mine field is related to the ventilation system adopted and the arrangement of the air shafts. Each ventilation system must have at least one air inlet shaft and one air outlet shaft. Among them, the air inlet shaft can be a cage shaft, an inclined shaft for string car lifting, a ramp or a main horizontal shaft, or a special air inlet shaft can be used; the air outlet shaft is generally a special shaft, and most of its cross-section is circular.

[0003] The invention patent application with application publication number CN 113246654 A discloses "Omnidirectional wheel and mobile device", the wheel includes a hub bracket and a plurality of first roller assemblies and a plurality of second roller assemblies connected to the hub bracket, the first roller assembly includes a first shaft and a first roller, the first roller includes a rim portion and a spoke portion connected, the first roller assembly also includes a first roller bracket, the first roller bracket includes a first bracket unit and a second bracket unit, the first bracket unit includes a first fixing portion, and the second bracket unit includes a second fixing portion, and the mutual cooperation between the above structures achieves the effect of stable operation, low noise and low vibration of the omnidirectional wheel; the application publication number is CN 114013214 A's invention patent application published "An Active Omnidirectional Wheel and Its Movement Method", including a hub frame, a hub drive mechanism, and a segmented wheel group. The hub drive mechanism includes an active drive component and a segmented wheel transmission component. The active drive component is installed inside the hub frame. Multiple segmented wheel groups are evenly spaced on the outer periphery of the hub frame and are respectively connected to the hub frame. Each segmented wheel group is connected to the active drive component through a segmented wheel transmission component. Each segmented wheel transmission component is respectively penetrated through the peripheral side of the hub frame. The mutual cooperation between the hub and the segmented wheel achieves the ability of omnidirectional movement. However, the wind shaft is hundreds of meters deep and several meters in diameter. When conducting a well wall quality survey, it is necessary to go up and down the ladder manually, which not only has a high safety risk, but also cannot guarantee the quality and frequency of inspections. The wind speed in the shaft is high and there is dust in the return air flow. The heavy fog causes low visibility. In order to ensure safe production, eliminate the safety risks of manual inspections, and improve the quality and frequency of inspections, it is necessary to establish an unmanned inspection system for the shaft wall, realize dynamic unmanned inspections of the shaft wall, observe and compare changes in shaft wall temperature, cracks, water output, water temperature, water turbidity, etc., and issue timely warnings when abnormal conditions occur. To this end, we propose an unmanned inspection system for the shaft wall.

[0004] Combining the above problems, we will find that it is difficult to avoid the above problems at the same time when using the existing ones on the market, and even if they can be solved, they need to be solved through external tools, which makes it impossible to achieve the desired effect. Therefore, we propose an unmanned inspection system for the wind shaft wall. Summary of the invention

[0005] The purpose of the present invention is to provide an unmanned inspection system for the ventilation shaft wall to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an unmanned inspection system for a wind shaft wall, comprising a main body mechanism, the main body mechanism comprising a hanging ring, and a walking mechanism is arranged at the bottom of the main body mechanism;

[0007] The walking mechanism includes an adaptive unit, which is arranged at the bottom of the main body mechanism and is used to enable the entire patrol system to climb over small obstacles such as gravel or steel bars when encountering them on the wall of the wind shaft;

[0008] The walking mechanism further includes a fine-tuning unit, which is arranged at the bottom of the adaptive unit. The fine-tuning unit is used in conjunction with the adaptive unit, and the fine-tuning unit is used to further enable the patrol system to climb over small obstacles.

[0009] A monitoring mechanism is arranged on the top of the main body mechanism, and the monitoring mechanism is arranged on the top of the main body mechanism, and the monitoring mechanism is used for all-round monitoring of the water volume and temperature information inside the air shaft.

[0010] Preferably, the adaptive unit includes a rotating block, a connecting plate is fixedly connected to the bottom of the rotating block, a limiting plate is fixedly connected to the rotating block, a mounting slot is opened at the bottom of the main body mechanism, a fixed plate is fixedly connected to the inside of the mounting slot, a retractable connecting rod is fixedly connected to the bottom of the fixed plate, a movable plate is fixedly connected to the bottom of the retractable connecting rod, a spring is fixedly connected to the top of the movable plate, and an adjusting roller is movably connected to the bottom of the movable plate.

[0011] Preferably, the number of the mounting slots is four and they are centrally symmetrically distributed at the bottom of the main body mechanism, one side of the mounting slot passes through and extends to the side of the main body mechanism, the interior of the rotating block is fixedly connected with a first rotating shaft, and the first rotating shaft is rotatably connected to the interior of the mounting slot.

[0012] By opening four centrally symmetrically distributed installation grooves at the bottom of the main mechanism, the four rotating blocks can be rotatably installed at the bottom of the main mechanism under the action of the first rotating shaft, so as to facilitate the installation of the structure for walking, which can stably support the main mechanism and drive the main mechanism to walk stably.

[0013] Preferably, the number of the upper limit plates on a single rotating block is two and they are symmetrically distributed on the rotating block, the limit plates are obliquely distributed, and the angle between the two limit plates on a single rotating block is an obtuse angle.

[0014] By installing the limit plate on the rotating block, the adjusting roller can be prevented from falling off the rotating block due to the deflection of the connecting plate, thereby limiting the moving track of the adjusting roller.

[0015] Preferably, the fixing plate is fixedly connected to the inner top wall of the mounting through slot, the top of the spring is fixedly connected to the bottom of the fixing plate, and the spring is sleeved on the outside of the telescopic connecting rod.

[0016] Preferably, a mounting plate is fixedly connected to the bottom of the movable plate, the number of mounting plates on a single movable plate is two and they are symmetrically distributed, a second rotating shaft is rotatably connected between the two mounting plates on a single movable plate, and an adjusting roller is fixedly connected to the outer side of the second rotating shaft.

[0017] Preferably, the fine-tuning unit includes a mounting seat, the interior of the mounting seat is rotatably connected to a movable ball, the bottom of the movable ball is fixedly connected to a connecting shaft, the bottom of the connecting shaft is fixedly connected to a walking motor, and the output shaft of the walking motor is fixedly connected to an omnidirectional wheel.

[0018] Preferably, the mounting seat is fixedly connected to the bottom of the connecting plate, and a movable groove is provided at the bottom of the mounting seat, and the size of the movable groove is adapted to the rotation trajectory of the movable ball.

[0019] By starting the travel motor, the omnidirectional wheels can be driven to rotate and drive the patrol system to move on the wall of the wind shaft. With the coordinated use of the movable groove and the movable ball, the angle of the omnidirectional wheels can be fine-tuned to further improve the effect of climbing over small obstacles.

[0020] Preferably, the monitoring mechanism includes a first installation box, a side wall of the first installation box is provided with an air inlet, an infrared temperature sensor is fixedly connected to the side of the first installation box, a second installation box is fixedly connected to the top of the first installation box, a high-definition camera is fixedly connected to the top of the second installation box, an air blowing pipe is fixedly connected to the inner top wall of the second installation box, a driving motor is fixedly connected to the interior of the second installation box, a fan blade is fixedly connected to the output shaft of the driving motor, and an electric heating tube is fixedly connected to the interior of the second installation box.

[0021] Preferably, the first installation box is fixedly connected to the top of the main body structure, a gas detection device is fixedly connected inside the first installation box, the number of the infrared temperature sensors is four and they are centrally symmetrically distributed on the four sides of the first installation box, the air inlet holes are located on both sides of the infrared temperature sensor, and the number of the air inlet holes on a single side is not less than three, a wireless communication module is fixedly connected inside the first installation box, a microprocessor is fixedly connected inside the first installation box, the electric heating tube is located above the fan blades, and the inner top wall of the second installation box is provided with installation through holes that are centrally symmetrically distributed around the high-definition camera, and the air blow pipe is installed inside the installation through hole and is inclined at a certain angle toward the side of the high-definition camera.

[0022] By opening multiple air inlet holes, all-round gas can be detected, which improves the accuracy of the detection data. The air blowing pipe is installed at a certain angle to the side of the high-definition camera, so that hot air can be accurately blown onto the high-definition camera for defogger, preventing the hot air from scattering and reducing the defogger effect.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention uses a winch to pass the hook on the suspension cable through the lifting ring, and slowly puts the entire patrol system into the wind shaft. The entire patrol system moves on the wind shaft wall. When the patrol system encounters small obstacles such as steel bars or gravel, the side of the connecting plate close to the obstacle will deflect upward around the first rotating shaft, so that the rotating block and the limit plate deflect together, the adjusting roller moves up along the limit plate, and the retractable connecting rod is pushed upward through the movable plate, and the spring is compressed at the same time. Under the mutual cooperation between the above structures, the omnidirectional wheel can be lifted upward and climb over small obstacles. When crossing over small obstacles, the connecting plate can be pressed downward under the elastic force of the spring, so that the entire patrol system can still walk close to the wind shaft wall.

[0025] 2. The present invention can drive the omnidirectional wheel by starting the travel motor, so that the entire patrol system can move on the wall of the wind shaft. When the omnidirectional wheel contacts a small obstacle, the movable ball will rotate in the mounting seat to fine-tune the angle of the omnidirectional wheel, further improving the effect of the entire patrol system in climbing over small obstacles.

[0026] 3. The air in the air shaft of the present invention enters the interior of the first installation box through the air inlet hole and contacts the gas detection device installed in the first installation box, so as to detect the air in the air shaft, monitor the temperature in the air shaft through the infrared temperature sensor, process the collected gas information and temperature information through the microprocessor, and transmit the processed information to the remote server or user terminal through the wireless communication module. The high-definition camera can shoot and transmit the environment in the air shaft, analyze whether there is water discharge from the wall of the air shaft, and determine the location of the water discharge point and the change of the water volume at the water discharge point. When the surface of the high-definition camera is fogged, the microcontroller controls the start-up of the drive motor and the electric heating tube, heats the air in the second installation box through the electric heating tube, and drives the fan blades to rotate through the drive motor, and blows the hot air from the second installation box to the high-definition camera through the air blow pipe for defog. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 Another isometric schematic diagram of the overall structure of the present invention;

[0029] Figure 3 It is a schematic diagram of the walking mechanism of the present invention;

[0030] Figure 4 It is a schematic diagram of the adaptive unit of the present invention;

[0031] Figure 5 It is a local exploded diagram of the adaptive unit of the present invention;

[0032] Figure 6 It is a schematic diagram of the fine-tuning unit of the present invention;

[0033] Figure 7 It is a partial cutaway schematic diagram of the fine-tuning unit of the present invention;

[0034] Figure 8 This is a schematic diagram of the first installation box of the present invention;

[0035] Fig. 9 This is a partial exploded view of the second installation box of the present invention;

[0036] Fig.10 This is a schematic cross-sectional view of the second installation box of the present invention.

[0037] In the figure: 1, main body; 11, lifting ring; 2, walking mechanism; 21, adaptive unit; 2101, rotating block; 2102, connecting plate; 2103, limiting plate; 2104, installation slot; 2105, fixing plate; 2106, retractable connecting rod; 2107, movable plate; 2108, spring; 2109, adjusting roller; 2110, first rotating shaft; 2111, mounting plate; 2112, second rotating shaft; 22, fine-tuning unit; 2201, mounting seat; 2202, movable ball; 2203, connecting shaft; 2204, walking motor; 2205, omnidirectional wheel; 2206, movable slot; 3, monitoring mechanism; 301, first mounting box; 302, air inlet; 303, infrared temperature sensor; 304, second mounting box; 305, high-definition camera; 306, air blowing pipe; 307, driving motor; 308, fan blades; 309, electric heating tube; 310, mounting through hole. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1

[0040] See also Figure 1-10 The present invention provides a technical solution: an unmanned inspection system for a wind shaft wall, comprising a main body mechanism 1, the main body mechanism 1 comprises a hanging ring 11, and a walking mechanism 2 is arranged at the bottom of the main body mechanism 1.

[0041] As a further limitation of the walking mechanism 2 of the present invention, the walking mechanism 2 includes an adaptive unit 21, which is arranged at the bottom of the main mechanism 1, and the adaptive unit 21 is used to enable the entire patrol system to climb over small obstacles such as gravel or steel bars when encountering them on the wall of the wind shaft;

[0042] The adaptive unit 21 includes a rotating block 2101, the bottom of which is fixedly connected to a connecting plate 2102, a limiting plate 2103 is fixedly connected to the rotating block 2101, a mounting slot 2104 is provided at the bottom of the main body mechanism 1, a fixed plate 2105 is fixedly connected inside the mounting slot 2104, a retractable connecting rod 2106 is fixedly connected to the bottom of the fixed plate 2105, a movable plate 2107 is fixedly connected to the bottom of the retractable connecting rod 2106, a spring 2108 is fixedly connected to the top of the movable plate 2107, and an adjusting roller 2109 is movably connected to the bottom of the movable plate 2107.

[0043] There are four mounting slots 2104 which are centrally symmetrically distributed at the bottom of the main body mechanism 1. One side of the mounting slot 2104 passes through and extends to the side of the main body mechanism 1. The interior of the rotating block 2101 is fixedly connected with a first rotating shaft 2110, and the first rotating shaft 2110 is rotatably connected to the interior of the mounting slot 2104.

[0044] Under the action of the first rotating shaft 2110, the rotating block 2101 can rotate in the installation groove 2104. When the entire patrol system encounters small obstacles on the wall of the wind shaft, the angle of the connecting plate 2102 can be adjusted to cooperate with the subsequent structure to achieve adaptive adjustment.

[0045] There are two upper limit plates 2103 on a single rotating block 2101 and they are symmetrically distributed on the rotating block 2101 . The limit plates 2103 are obliquely distributed, and the angle between the two limit plates 2103 on the single rotating block 2101 is an obtuse angle.

[0046] When the entire patrol system encounters a small obstacle on the wall of the wind shaft, the connecting plate 2102 will deflect upward toward the obstacle, causing the rotating block 2101 and the limiting plate 2103 to deflect in the same direction. The adjusting roller 2109 can move up and down under the restriction of the limiting plate 2103.

[0047] The fixing plate 2105 is fixedly connected to the inner top wall of the installation slot 2104 , the top of the spring 2108 is fixedly connected to the bottom of the fixing plate 2105 , and the spring 2108 is sleeved on the outer side of the telescopic connecting rod 2106 .

[0048] When the patrol system encounters a small obstacle and causes the adjusting roller 2109 to move upward, the movable plate 2107 moves upward together, compressing the retractable connecting rod 2106 and the spring 2108. When the patrol system passes over the small obstacle, the elastic force of the spring 2108 resets the adjusting roller 2109, thereby resetting the connecting plate 2102.

[0049] A mounting plate 2111 is fixedly connected to the bottom of the movable plate 2107. There are two mounting plates 2111 on a single movable plate 2107 and they are symmetrically distributed. A second rotating shaft 2112 is rotatably connected between the two mounting plates 2111 on the single movable plate 2107. An adjusting roller 2109 is fixedly connected to the outer side of the second rotating shaft 2112.

[0050] Under the action of the second rotating shaft 2112, the adjusting roller 2109 can rotate between the two mounting plates 2111, and then roll between the two limit plates 2103, so as to achieve the purpose of changing the deformation of the spring 2108. Under the action of the elastic force of the spring 2108, the connecting plate 2102 can be adaptively adjusted to climb over small obstacles.

[0051] The specific implementation method of this embodiment is as follows: first, the hook on the suspension cable is passed through the lifting ring 11 by a winch, and the entire patrol system is slowly placed into the wind shaft. The entire patrol system moves on the wall of the wind shaft. When the patrol system encounters small obstacles such as steel bars or gravel, the side of the connecting plate 2102 close to the obstacle will deflect upward around the first rotating shaft 2110, so that the rotating block 2101 and the limit plate 2103 deflect together, and the adjusting roller 2109 moves upward along the limit plate 2103, and the retractable connecting rod 2106 is pushed upward through the movable plate 2107, and the spring 2108 is compressed at the same time. With the mutual cooperation between the above structures, the omnidirectional wheel 2205 can be lifted upward and climb over small obstacles. When crossing over small obstacles, the connecting plate 2102 can be pressed downward under the elastic force of the spring 2108, so that the entire patrol system can still walk close to the wall of the wind shaft.

[0052] Embodiment 2

[0053] See also Figure 1-10 The present invention provides a technical solution: an unmanned inspection system for the wind shaft wall. The present invention makes corresponding improvements to the technical problems mentioned in the background technology.

[0054] As a further limitation of the walking mechanism 2 of the present invention, the walking mechanism 2 further includes a fine-tuning unit 22, which is disposed at the bottom of the adaptive unit 21, and the fine-tuning unit 22 is used in conjunction with the adaptive unit 21, and the fine-tuning unit 22 is used to further enable the patrol system to climb over small obstacles;

[0055] The fine-tuning unit 22 includes a mounting seat 2201 , which is internally rotatably connected to a movable ball 2202 , the bottom of the movable ball 2202 is fixedly connected to a connecting shaft 2203 , the bottom of the connecting shaft 2203 is fixedly connected to a travel motor 2204 , and the output shaft of the travel motor 2204 is fixedly connected to an omnidirectional wheel 2205 .

[0056] A mobile power source is disposed inside the main body mechanism 1 , and the mobile power source is electrically connected to the travel motor 2204 .

[0057] The mounting seat 2201 is fixedly connected to the bottom of the connecting plate 2102 . A movable groove 2206 is provided at the bottom of the mounting seat 2201 . The size of the movable groove 2206 is adapted to the rotation trajectory of the movable ball 2202 .

[0058] The specific implementation method of this embodiment is: starting the walking motor 2204 can drive the omnidirectional wheel 2205, so that the entire patrol system can move on the wall of the wind shaft. When the omnidirectional wheel 2205 contacts a small obstacle, the movable ball 2202 will rotate in the mounting seat 2201 to fine-tune the angle of the omnidirectional wheel 2205, thereby further improving the effect of the entire patrol system in climbing over small obstacles.

[0059] It should be noted that the omnidirectional wheel 2205 is a prior art disclosed in patent publication number “CN 113246654 A”, and therefore, the specific structure and use principle of the omnidirectional wheel 2205 will not be described in detail.

[0060] Embodiment 3

[0061] See also Figure 1-10 The present invention provides a technical solution: an unmanned inspection system for the wind shaft wall. The present invention makes corresponding improvements to the technical problems mentioned in the background technology.

[0062] As a further limitation of the monitoring mechanism 3 of the present invention, a monitoring mechanism 3 is provided on the top of the main mechanism 1. The monitoring mechanism 3 is provided on the top of the main mechanism 1. The monitoring mechanism 3 is used to monitor the water volume and temperature information inside the air shaft in all directions.

[0063] The monitoring mechanism 3 includes a first installation box 301, a side wall of the first installation box 301 is provided with an air inlet 302, an infrared temperature sensor 303 is fixedly connected to the side of the first installation box 301, a second installation box 304 is fixedly connected to the top of the first installation box 301, a high-definition camera 305 is fixedly connected to the top of the second installation box 304, an air blowing pipe 306 is fixedly connected to the inner top wall of the second installation box 304, a driving motor 307 is fixedly connected to the inside of the second installation box 304, a fan blade 308 is fixedly connected to the output shaft of the driving motor 307, and an electric heating tube 309 is fixedly connected to the inside of the second installation box 304.

[0064] The first installation box 301 is fixedly connected to the top of the main body 1, and a gas detection device is fixedly connected inside the first installation box 301. There are four infrared temperature sensors 303, which are symmetrically distributed on the four sides of the first installation box 301. The air inlet holes 302 are located on both sides of the infrared temperature sensor 303, and the number of the air inlet holes 302 on a single side is not less than three. A wireless communication module is fixedly connected inside the first installation box 301, and a microprocessor is fixedly connected inside the first installation box 301. The electric heating tube 309 is located above the fan blades 308. The inner top wall of the second installation box 304 and around the high-definition camera 305 are provided with installation through holes 310 that are symmetrically distributed. The air blowing tube 306 is installed inside the installation through hole 310 and is inclined at a certain angle to the side of the high-definition camera 305.

[0065] The specific implementation of this embodiment is as follows: the air in the wind shaft enters the interior of the first installation box 301 through the air inlet 302, and contacts the gas detection device installed in the first installation box 301, so that the air in the wind shaft can be detected, and the temperature in the wind shaft is monitored by the infrared temperature sensor 303. The microprocessor processes the collected gas information and temperature information, and transmits the processed information to the remote server or user terminal through the wireless communication module, and displays it in the form of a curve graph. The high-definition camera 305 can shoot and transmit the environment in the wind shaft, analyze whether there is water outflow from the wind shaft wall, and determine the location of the water outlet point and the change in the water volume at the water outlet point. When the surface of the high-definition camera 305 is fogged, the microcontroller controls the start-up of the drive motor 307 and the electric heating tube 309, and the air in the second installation box 304 is heated by the electric heating tube 309, and the fan blades 308 are driven to rotate by the drive motor 307, and the hot air is blown from the second installation box 304 to the high-definition camera 305 through the blowing pipe 306 for defog.

[0066] It should be noted that the infrared temperature sensor 303, the high-definition camera 305, the wireless communication module, the microprocessor, the drive motor 307, the electric heating tube 309 and the mobile power supply are electrically connected, and their internal connection method is the existing technology, so it will not be described one by one.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned inspection system for a ventilation shaft wall, comprising a main body mechanism (1), wherein the main body mechanism (1) comprises a hanging ring (11), and is characterized in that: A walking mechanism (2) is provided at the bottom of the main mechanism (1); The walking mechanism (2) comprises an adaptive unit (21), which is arranged at the bottom of the main mechanism (1), and is used to enable the entire patrol system to climb over small obstacles such as gravel or steel bars when encountering them on the wall of the wind shaft; The walking mechanism (2) further comprises a fine-tuning unit (22), wherein the fine-tuning unit (22) is arranged at the bottom of the adaptive unit (21), and the fine-tuning unit (22) is used in conjunction with the adaptive unit (21), and the fine-tuning unit (22) is used to further enable the patrol system to climb over small obstacles; A monitoring mechanism (3) is arranged on the top of the main body mechanism (1); the monitoring mechanism (3) is arranged on the top of the main body mechanism (1); and the monitoring mechanism (3) is used to monitor the water volume and temperature information inside the air shaft in all directions.

2. The unmanned inspection system for the ventilation shaft wall according to claim 1 is characterized in that: The adaptive unit (21) comprises a rotating block (2101), the bottom of the rotating block (2101) is fixedly connected to a connecting plate (2102), the rotating block (2101) is fixedly connected to a limiting plate (2103), the bottom of the main body mechanism (1) is provided with a mounting slot (2104), the interior of the mounting slot (2104) is fixedly connected to a fixing plate (2105), the bottom of the fixing plate (2105) is fixedly connected to a telescopic connecting rod (2106), the bottom of the telescopic connecting rod (2106) is fixedly connected to a movable plate (2107), the top of the movable plate (2107) is fixedly connected to a spring (2108), and the bottom of the movable plate (2107) is movably connected to an adjusting roller (2109).

3. The unmanned inspection system for the ventilation shaft wall according to claim 2 is characterized in that: The number of the mounting through slots (2104) is four and they are centrally symmetrically distributed at the bottom of the main body mechanism (1); one side of the mounting through slot (2104) passes through and extends to the side of the main body mechanism (1); the interior of the rotating block (2101) is fixedly connected with a first rotating shaft (2110); the first rotating shaft (2110) is rotatably connected to the interior of the mounting through slot (2104).

4. The unmanned inspection system for the ventilation shaft wall according to claim 2 is characterized in that: The number of the upper limit plates (2103) on a single rotating block (2101) is two and they are symmetrically distributed on the rotating block (2101); the limit plates (2103) are obliquely distributed; and the angle between the two limit plates (2103) on a single rotating block (2101) is an obtuse angle.

5. The unmanned inspection system for the ventilation shaft wall according to claim 2 is characterized in that: The fixing plate (2105) is fixedly connected to the inner top wall of the mounting groove (2104), the top of the spring (2108) is fixedly connected to the bottom of the fixing plate (2105), and the spring (2108) is sleeved on the outer side of the telescopic connecting rod (2106).

6. The unmanned inspection system for the ventilation shaft wall according to claim 2 is characterized in that: A mounting plate (2111) is fixedly connected to the bottom of the movable plate (2107); the number of mounting plates (2111) on a single movable plate (2107) is two and they are symmetrically distributed; a second rotating shaft (2112) is rotatably connected between the two mounting plates (2111) on a single movable plate (2107); an adjusting roller (2109) is fixedly connected to the outer side of the second rotating shaft (2112).

7. The unmanned inspection system for the ventilation shaft wall according to claim 2 is characterized in that: The fine-tuning unit (22) comprises a mounting seat (2201), the mounting seat (2201) is rotatably connected to a movable ball (2202) inside, the bottom of the movable ball (2202) is fixedly connected to a connecting shaft (2203), the bottom of the connecting shaft (2203) is fixedly connected to a walking motor (2204), and the output shaft of the walking motor (2204) is fixedly connected to an omnidirectional wheel (2205).

8. The unmanned inspection system for the ventilation shaft wall according to claim 7 is characterized in that: The mounting seat (2201) is fixedly connected to the bottom of the connecting plate (2102), and a movable groove (2206) is provided at the bottom of the mounting seat (2201). The size of the movable groove (2206) is adapted to the rotation trajectory of the movable ball (2202).

9. The unmanned inspection system for the ventilation shaft wall according to claim 1 is characterized in that: The monitoring mechanism (3) comprises a first installation box (301), a side wall of the first installation box (301) is provided with an air inlet hole (302), a side of the first installation box (301) is fixedly connected to an infrared temperature sensor (303), a top of the first installation box (301) is fixedly connected to a second installation box (304), a top of the second installation box (304) is fixedly connected to a high-definition camera (305), an inner top wall of the second installation box (304) is fixedly connected to an air blowing pipe (306), the interior of the second installation box (304) is fixedly connected to a driving motor (307), an output shaft of the driving motor (307) is fixedly connected to a fan blade (308), and the interior of the second installation box (304) is fixedly connected to an electric heating pipe (309).

10. The unmanned inspection system for the ventilation shaft wall according to claim 9, characterized in that: The first installation box (301) is fixedly connected to the top of the main body (1); a gas detection device is fixedly connected inside the first installation box (301); the number of the infrared temperature sensors (303) is four and they are centrally symmetrically distributed on the four sides of the first installation box (301); the air inlet holes (302) are located on both sides of the infrared temperature sensor (303); the number of the air inlet holes (302) on a single side is not less than three; a wireless communication module is fixedly connected inside the first installation box (301); a microprocessor is fixedly connected inside the first installation box (301); the electric heating tube (309) is located above the fan blades (308); the inner top wall of the second installation box (304) is provided with installation through holes (310) centrally symmetrically distributed around the high-definition camera (305); the air blowing tube (306) is installed inside the installation through hole (310) and is inclined at a certain angle toward the high-definition camera (305).

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