Automatic inspection method and inspection device based on mine shaft ladder compartment

Abstract

The invention discloses an automatic inspection method and device based on a mine shaft ladder compartment, and belongs to the technical field of coal mine shaft inspection. The method comprises the steps that a lifting moving device and an annular moving device drive an image collecting device to obtain the longitudinal position Di and the annular angle Aj of the inner wall of a vertical shaft in real time; integrating the longitudinal position Di and the annular angle Aj through a data processing device to obtain position information (Di, Aj); uploading the position information (Di, Aj) in real time in response to the detected unqualified crack on the inner wall of the vertical shaft, so as to realize the accurate positioning of the crack; according to the invention, automatic inspection of cracks on the inner wall of the mine shaft can be realized, detailed data such as accurate positions, image states, crack extension width and length of unqualified cracks (cracks with potential risks) can be obtained, the inspection efficiency is greatly improved, the most real crack information can be obtained, and the method and the device can be used for providing an important basis for workers to find the unqualified cracks. And important guarantee is provided for timely finding and processing potential safety hazards.

Description

Technical Field

[0001] The invention relates to an automatic inspection method and an inspection device based on a mine shaft ladder room, belonging to the technical field of coal mine shaft inspection. Background Art

[0002] As an important facility of the coal mine ventilation system, the vertical shaft has the functions of ventilating the underground, ensuring air quality, regulating temperature and humidity, and extracting gas, and plays a vital role in the coal mining industry. Affected by underground coal mine work and geological movements, cracks may appear on the inner wall of the vertical shaft. The size of the cracks directly affects the safe operation of the vertical shaft. Therefore, it is necessary to conduct regular inspections of the vertical shaft, especially the inspection and positioning of the cracks, which is particularly important for the subsequent safety assessment and risk management of the vertical shaft. Traditional vertical shaft inspections mainly rely on manual climbing of the ladder room inside the vertical shaft for inspection. Large vertical shafts are usually several hundred meters deep, with high wind speeds, full of coal dust, and low visibility. Manual inspections are labor-intensive and have high safety risks. The quality and frequency of inspections are low, and there is a possibility of missed inspections and false inspections. It is impossible to accurately locate and accurately analyze based on actual conditions.

[0003] Therefore, there is a need for a safe, efficient, accurate positioning, and true feedback crack information automatic inspection device and method for mine shaft cracks. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of poor safety, low efficiency, inability to accurately locate, and inability to accurately analyze according to actual conditions in the existing coal mine shaft inner wall crack inspection technology, and to provide an automatic inspection method and inspection device based on the mine shaft ladder room;

[0005] In order to achieve the above objectives / solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] A first aspect: an automatic inspection method based on a mine shaft ladder room, the method comprising:

[0007] The image acquisition device is driven by the lifting and moving device and the circular moving device to obtain the longitudinal position Di and the circumferential angle Aj of the inner wall of the shaft in real time;

[0008] The longitudinal position Di and the circumferential angle Aj are integrated by a data processing device to obtain position information (Di, Aj);

[0009] In response to detecting unqualified cracks on the inner wall of the shaft, the position information (Di, Aj) is uploaded in real time to achieve accurate positioning of the cracks.

[0010] Optionally, the method for detecting unqualified cracks on the inner wall of the shaft includes:

[0011] In response to the automatic inspection instruction, the D1 position is photographed, recorded as the (D1, A1) position, and the annular moving device drives the image acquisition device to move in an annular direction, while the high-definition camera and the infrared scanning device begin to take a rough scan of the inner wall of the shaft;

[0012] In response to the crack feature being detected in the rough scan, the width and length data of the crack are transmitted to the data processing device in real time. The data processing device sends a control instruction to the annular moving device and the image acquisition device, and the annular moving device stops moving. The data processing device encodes the crack and determines whether it is a complete crack within the current shooting wide angle. If it is a complete crack, the image acquisition device photographs and scans the crack at a preset position, and transmits the crack data and photos to the data processing device in real time.

[0013] Compare the collected complete crack data with the preset thresholds of width and length of unqualified cracks. If any of the indicators exceeds the threshold, it is determined as an unqualified crack.

[0014] The data processing device integrates the codes of the unqualified cracks, the complete pictures and scan data, together with the coordinate position and shooting time information (Fk, Di, Aj, Tt);

[0015] The data processing device stores the integrated complete fracture information in real time and sends it to the well surface through the wireless signal receiver on the ladder room of the shaft;

[0016] The data processing device marks the current depth position as Da and issues a control instruction. The circular moving device continues to move, and the image acquisition device shoots and scans the remaining circular directions at the current depth until the inner wall of the shaft is completely photographed and scanned at the current depth. The lifting and moving device descends to the Da+1 position until the inner wall of the entire shaft is completely photographed and scanned.

[0017] Optionally, when it is determined based on the collected pictures that the fissure is not completely within the current shooting wide angle, a fine scan is first performed at the current position. After the fine scan is completed, it is determined whether the fissure extends in the circumferential direction. If so, a fine scan is performed for the next circumferential extension area. If not, it is extended in the depth direction. The remaining circumferential directions at the current depth are continuously photographed and scanned until all the inner walls of the shaft at the current depth are photographed and scanned. The lifting and moving device is moved to the next depth D2 for a rough scan until the fissure extension area stops and a fine scan is performed. After the fine scan is completed, it is determined whether it is a complete fissure. If not, it is determined whether the scan is extended in the circumferential direction until it is determined to be a complete fissure. The data processing device performs splicing according to the coding and features of the fissure to form a complete fissure image.

[0018] The collected complete crack data is compared with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack.

[0019] Optionally, if the crack is complete, the image acquisition device photographs and scans the crack at a preset position, and transmits the crack data and photos to the data processing device in real time, including:

[0020] The high-definition camera of the image acquisition device starts to shoot and scan the crack for the first time at the first position, and transmits the crack data and photos to the data processing device in real time; after the shooting and scanning at the first position are completed, the driving device on the image acquisition device drives the high-definition camera to move forward to the second position to shoot and scan the crack for the second time, and transmits the crack data and photos to the data processing device in real time; after the shooting at the second position is completed, the driving device on the image acquisition device drives the high-definition camera to continue to move forward to the third position to shoot and scan the crack for the third time, and transmits the crack data and photos to the data processing device in real time, at which time the data processing device obtains the complete image and data information of this crack; after the shooting at the third position is completed, the driving device drives the high-definition camera to move to the initial position.

[0021] Optionally, when the unqualified cracks on the inner wall of the shaft are not completely within the current shooting wide-angle window and are within multiple depths of the same shooting angle, the image acquisition device roughly scans the crack features, and transmits the crack width, length and other data to the data processing device in real time, and sends a control instruction to the image acquisition device of the annular mobile device, the annular mobile device stops moving, and the data processing device processes the received crack information, encodes the crack, and determines that the crack is an incomplete crack within the current shooting wide angle, and the image acquisition device completes the fine scan of the current (D1, A1) positioning;

[0022] After the fine scan is completed, the data processing device determines that the crack extends in the depth direction until the inner wall of the shaft at the depth of D1 is completely photographed and scanned, and until all the features of this crack are photographed. The data processing device will splice the collected photos of this crack taken at multiple depths at the same shooting angle to form a complete crack picture, and compare the crack data with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is judged as an unqualified crack.

[0023] Optionally, when the unqualified cracks on the inner wall of the shaft are not completely within the current shooting wide-angle window and are at multiple depths and multiple shooting angles, the image acquisition device roughly scans the crack features and transmits the crack width, length and other data to the data processing device in real time, and sends control instructions to the annular moving device and the image acquisition device. The annular moving device stops moving, and the data processing device processes the received crack information, encodes the crack and determines that the crack is an incomplete crack within the current shooting wide angle. The image acquisition device completes the fine scan of the current (D1, A1) positioning, and the data processing device determines that the crack extends in the annular direction and in the depth direction until the inner wall of the shaft is completely photographed and scanned at the depth of D1, and the crack features are fully photographed. The data processing device stitches the collected photos of the crack at multiple depths at the same shooting angle to form a complete crack picture, and compares the crack data with the preset width and length thresholds of the unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack.

[0024] A second aspect: An automatic inspection device based on a mine shaft ladder room, comprising:

[0025] A lifting and moving device is arranged on the ladder room in the shaft, the lifting and moving device is provided with a main frame, the main frame is provided with a ring-shaped moving device, the ring-shaped moving device is provided with an image acquisition device, the image acquisition device is signal-connected to a data processing device, and the data processing device sends the inspection data to the outside of the shaft through a wireless signal receiver;

[0026] A mobile power source is used to provide power to the lifting and moving device, the circular moving device, the image acquisition device and the data processing device.

[0027] Optionally, the lifting and moving device includes a longitudinal track of the ladder room, an explosion-proof motor and a reduction gear. The longitudinal track is arranged in the ladder room, and the reduction gear is meshed with the longitudinal track and the output end of the explosion-proof motor. The rotation of the explosion-proof motor drives the reduction gear to move along the longitudinal track.

[0028] Optionally, the annular moving device includes an explosion-proof motor 2, a reduction gear 2 and a moving platform, the explosion-proof motor 2 is arranged on the moving platform, the reduction gear 2 is arranged at the output end of the explosion-proof motor 2, the reduction gear 2 is meshed with a gear arranged on the main frame, and the rotation of the explosion-proof motor 2 drives the moving platform to move in a circle along the main frame.

[0029] Optionally, the image acquisition device includes a support frame, a mobile slider, a drive motor, a screw assembly, a high-definition camera and an infrared scanner, the support frame is installed on a mobile platform, the power end of the drive motor is connected to the screw assembly, the screw assembly is provided with a mobile slider, and the high-definition camera and infrared scanner are arranged on the mobile slider.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The method for automatically identifying and acquiring images of unqualified cracks on the inner wall of a shaft of the present invention realizes full coverage automatic inspection of the inner wall of the shaft and avoids missed inspections by automatically photographing and scanning each layer from the wellhead to the bottom of the shaft according to the visibility of the shaft and the wide-angle high-definition camera. The method combines rough scanning with fine scanning by using an image acquisition device and a data processing device to realize automatic identification of cracks and obtain clearer pictures and data information of the cracks. The method of combining crack coding with layer-by-layer scanning is adopted to avoid repeated shooting and scanning of cracks, and crack coding is conducive to the data processing device to perform data processing and photo stitching on cracks across depths and camera shooting angles, so as to obtain complete crack images and data.

[0032] The present invention can realize automatic inspection of cracks on the inner wall of a mine shaft, obtain the precise location of unqualified cracks, image status, width and length of extended cracks and other detailed data, greatly improve the inspection efficiency, and provide important guarantee for workers to find unqualified cracks, and timely discover and deal with safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The present invention is based on the structure of an automatic inspection device for a mine shaft ladder room;

[0034] Figure 2 The lifting and moving device structure of the present invention;

[0035] Figure 3 The ring-shaped moving device structure of the present invention;

[0036] Figure 4 This is the structure of the image acquisition device of the present invention;

[0037] Figure 5 The invention is a method for locating cracks on the inner wall of a vertical shaft;

[0038] Figure 6 The invention provides an automatic identification and image acquisition method for unqualified cracks on the inner wall of a shaft;

[0039] Figure 7 This is a schematic diagram showing that the crack of the present invention is completely within the current shooting wide-angle viewing window;

[0040] Figure 8 It is a schematic diagram of the present invention in which the crack is not completely in the current shooting wide-angle window and is at multiple shooting angles at the same depth;

[0041] Fig. 9 It is a schematic diagram of the present invention that the crack is not completely in the current shooting wide-angle window and is at multiple depths at the same shooting angle;

[0042] Fig.10 It is a schematic diagram of the present invention in which the crack is not completely in the current shooting wide-angle window and is at multiple depths and multiple shooting angles;

[0043] In the figure: 1—shaft; 2—ladder room; 21—wireless signal receiver; 3—lifting and moving device; 4—annular moving device; 5—image acquisition device; 6—data processing device; 7—main frame; 8—mobile power supply; 31—longitudinal track; 32—explosion-proof motor 1; 33—reduction gear 1; 41—explosion-proof motor 2; 42—reduction gear 2; 43—moving platform; 51—support frame; 52—moving slider; 53—driving motor; 54 screw assembly; 55—high-definition camera; 56—infrared scanner DETAILED DESCRIPTION

[0044] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0047] Embodiment 1, as Figure 5-Figure 10 The present invention discloses an automatic inspection method based on a mine shaft ladder room, which is as follows:

[0048] The unqualified cracks on the inner wall of the shaft are completely within the current wide-angle window. Figure 7 , assuming that at the position (D1, A1), the infrared scanner 56 of the image acquisition device 5 roughly scans the crack features, and transmits the crack width, length and other data to the data processing device 6 in real time. The data processing device 6 sends a control instruction to the annular moving device 4 and the image acquisition device 5, and the annular moving device 4 stops moving. At the same time, the data processing device 6 processes the received crack information, encodes the crack as F1, and determines that the crack is a complete crack within the current shooting wide angle, and sends an image acquisition instruction signal to the image acquisition device 5. The high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 start to shoot and scan the crack for the first time at the first position (initial position), and transmit the crack data and photos to the data processing device 6 in real time; after the shooting and scanning at the first position is completed, the image acquisition device 6 The driving motor 53 on the device 5 drives the high-definition camera 55 fixed on the moving slider 52 to move forward (toward the inner wall of the shaft) to the second position through the lead screw assembly 54 to take a second photo scan of the crack, and transmit the crack data and photos to the data processing device 6 in real time; after the second position photo scan is completed, the driving motor 53 on the image acquisition device 6 controls the moving slider 52 to drive the high-definition camera 55 to continue to move forward to the third position to take a third photo scan of the crack, and transmit the crack data and photos to the data processing device 6 in real time; after the third position photo is completed, the driving motor 53 controls the moving slider 52 to drive the high-definition camera to move to the initial position. The three shots are actually a close-up magnification of the crack. The more obvious the features of the shot are, the more accurate the scanning results are, and it is also a precise scan of the crack. The data processing device 6 compares the collected crack data with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack. The data processing device 6 integrates the codes of the unqualified cracks, the complete pictures and scanning data taken, together with the coordinate position, shooting time and other information (F1, D1, A1, T1), and packages them together and sends them to the well in real time through the wireless signal receiver 21 on the ladder room;

[0049] Example 2: The unqualified cracks on the inner wall of the shaft are not completely in the current wide-angle shooting window and are in multiple shooting angles at the same depth. Figure 8, assuming that at the position (D1, A1), the infrared scanner 56 of the image acquisition device 5 roughly scans the crack features, and transmits the crack width, length and other data to the data processing device 6 in real time. The data processing device 6 sends a control instruction to the annular moving device 4 and the image acquisition device 5, and the annular moving device 4 stops moving. At the same time, the data processing device 6 processes the received crack information, encodes the crack as F2, and determines that the crack is an incomplete crack within the current shooting wide angle, and sends an image acquisition instruction signal to the image acquisition device 5. The high-definition camera 55 and infrared scanner 56 of the image acquisition device 5 complete the fine scanning of the current (D1, A1) position under the control of the drive motor 53 (refer to Case 1 for the fine scanning process); After the fine scan is completed, the data processing device 6 determines that the crack extends in the annular direction. The data processing device 6 issues a control instruction, and the annular moving device 4 starts to move to the A2 angle and stops. At this time, it is the (D1, A2) position. The three-shot scanning method (fine scan) is the same as at the (D1, A1) position. If the crack still extends to A3, A4..., it continues to move to A3, A4... and repeats this shooting and scanning method until the crack features are fully photographed. The data processing device 6 will splice the collected photos of the crack taken at multiple shooting angles at the same depth to form a complete crack picture, and compare the crack data with the preset unqualified crack width and length thresholds. When any indicator exceeds the threshold, it is determined to be an unqualified crack. The data processing device 6 integrates the crack code, the complete picture and scanning data, together with the coordinate position, shooting time and other information (F2, D1, A1, T1), (F2, D1, A2, T1), (F2, D1, A3, T1) ... and packages them together and sends them to the well in real time through the wireless signal receiver 21 on the ladder room;

[0050] Example 3: The unqualified cracks on the inner wall of the shaft are not completely in the current wide-angle window and are at multiple depths at the same shooting angle. Fig. 9, assuming that at the position (D1, A1), the infrared scanner 56 of the image acquisition device 5 roughly scans the crack features and transmits the crack width, length and other data to the data processing device 6 in real time. The data processing device 6 sends a control instruction to the annular moving device 4 and the image acquisition device 5, and the annular moving device 4 stops moving. At the same time, the data processing device 6 processes the received crack information, encodes the crack as F3, and determines that the crack is an incomplete crack within the current shooting wide angle, and sends an image acquisition instruction signal to the image acquisition device 5. The high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 complete the fine scanning of the current (D1, A1) positioning under the control of the drive motor 53 (refer to Case 1 for the fine scanning process); after the fine scanning is completed, the data processing device 6 determines that the crack extends in the depth direction. In order to prevent missed inspections and repeated inspections, the data processing device 6 sends a control instruction, and the annular moving device 4 continues to move. The image The acquisition device 5 photographs and scans A2, A3, etc. at the depth of D1 until the inner wall of the shaft at the depth of D1 is completely photographed and scanned. The lifting and moving device 3 starts to move to the depth position of D2 and stops. At this time, it is the position (D2, A1). Because the crack at the position (D1, A1) extends to the position (D2, A1), the crack needs to be photographed. The three-shot scanning method is the same as that at the position (D1, A1). If the crack still extends to D3, D4, etc., it continues to move in a circular motion until the inner wall of the shaft at the depth of D2 is completely photographed and scanned, and then descends to D3, D4, etc. and repeats this shooting method until all the features of the crack are photographed. The data processing device 6 stitches the collected photos of the crack at multiple depths at the same shooting angle to form a complete crack picture, and compares the crack data with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack. The data processing device 6 integrates the crack code, the complete picture and scanning data, together with the coordinate position, shooting time and other information (F3, D1, A1, T1), (F3, D2, A1, T1), (F3, D3, A1, T1) ... and packages them together and sends them to the well in real time through the wireless signal receiver 21 on the ladder room;

[0051] Example 4: The unqualified cracks on the inner wall of the shaft are not completely in the current wide-angle shooting window and are at multiple depths and multiple shooting angles. Fig.10, assuming that at the position (D1, A1), the infrared scanner 56 of the image acquisition device 5 roughly scans the crack features and transmits the crack width, length and other data to the data processing device 6 in real time. The data processing device 6 sends a control instruction to the annular moving device 4 and the image acquisition device 5, and the annular moving device 4 stops moving. At the same time, the data processing device 6 processes the received crack information, encodes the crack as F4, and determines that the crack is an incomplete crack within the current shooting wide angle, and sends an image acquisition instruction signal to the image acquisition device 5. The high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 complete the fine scanning of the current (D1, A1) positioning under the control of the drive motor 53 (refer to Case 1 for the fine scanning process); after the fine scanning is completed, the data processing device 6 determines that the crack extends in the annular direction, and the data processing device 6 sends a control instruction, and the annular moving device 4 starts to move to the A2 angle and stops. At this time, it is the (D1, A2) position. The three-shot scanning method (fine scanning) is the same as that at the (D1, A1) position. After the fine scanning is completed, the data processing device 6 determines that the crack extends in the longitudinal direction. In order to prevent missed inspection and repeated inspection, the data processing device 6 issues a control command, the annular moving device 4 continues to move, and the image acquisition device 5 shoots and scans A2, A3, etc. at the depth of D1 until the inner wall of the shaft at the depth of D1 is completely photographed and scanned. The lifting and moving device 3 moves to the depth of D2, and the annular moving device 4 starts to move in an annular direction for rough scanning, and the rough scanning reaches the position (D2, A2). Because the F4 crack at the position (D1, A1) extends to the position (D2, A1) through (D1, A2), This requires a precise scan of the fissure, and the three-shot scanning method (precision scan) is the same as that at the (D1, A1) position. If the fissure is still extending, for example, extending to the (D3, A3) position, the fissure shooting acquisition method is the same as above, until the fissure features are fully photographed, and the data processing device 6 will splice the collected photos of the fissure taken at multiple depths at the same shooting angle to form a complete fissure picture, and compare the fissure data with the preset unqualified fissure width and length thresholds. When any indicator exceeds the threshold, it is determined to be an unqualified fissure. The data processing device 6 integrates the fissure code, the complete picture taken and the scanning data, together with the coordinate position, shooting time and other information (F4, D1, A1, T1), (F4, D1, A2, T1), (F4, D2, A2, T1)... and packages them together and sends them to the well in real time through the wireless signal receiver 21 on the ladder room;

[0052] The present invention can realize automatic inspection of cracks on the inner wall of a mine shaft, obtain the precise position, image status, width and length of unqualified cracks (cracks with potential hidden dangers), and other detailed data of the crack extension, thereby greatly improving the inspection efficiency and obtaining the most authentic crack information, thus providing important guarantee for the staff to find unqualified cracks and timely discover and deal with safety hazards.

[0053] Embodiment 5: An automatic inspection device based on a mine shaft ladder room is disclosed, comprising:

[0054] A lifting and moving device 3 is arranged on the ladder room 2 in the shaft 1, and a main frame 7 is arranged on the lifting and moving device 3. The main frame 7 is provided with a ring-shaped moving device 4. The ring-shaped moving device 4 is provided with an image acquisition device 5. The image acquisition device 5 is signal-connected to a data processing device 6. The data processing device 6 sends the inspection data to the outside of the shaft through a wireless signal receiver 21;

[0055] A mobile power source 8 is used to provide power to the lifting and moving device, the circular moving device, the image acquisition device and the data processing device.

[0056] like Figure 1-Figure 2 As shown, in the specific implementation process, the main frame 7 is a C-shaped frame, the central axis of the C-shaped frame coincides with the central axis of the shaft, and is used to support and install the lifting and moving device 3, the circular moving device 4, the image acquisition device 5, the data processing device 6, etc.;

[0057] The lifting and moving device 3 includes an explosion-proof motor 32, a displacement encoder, a reduction gear 33, and a longitudinal track 31; the explosion-proof motor 32 is integrated with the displacement encoder, fixed to the main frame 7 by bolt connection, and cooperates with the reduction gear 33, which is decelerated by the reduction gear 33 and meshes with the T-shaped rack installed on the longitudinal track 31 between the ladders in the shaft, so as to realize the lifting and moving control of the entire automatic inspection equipment;

[0058] like Figure 3 As shown, in the specific implementation process, the annular moving device 4 includes an explosion-proof motor 2 41, an angle encoder, a reduction gear 2 42, a roller, and a moving platform 43; the moving platform 43 is placed on the main frame 7, and the roller is connected to the moving platform 43 by threads, and cooperates with the outer annular track of the main frame 7 to realize the reversing movement of the installed moving platform, the explosion-proof motor 2 41 is integrated with the angle encoder, fixed on the moving platform 43 by bolt connection, and cooperates with the reduction gear 2, and is decelerated by the reduction gear 2, and meshes with the gear of the main frame to realize the annular movement control of the device;

[0059] like Figure 4As shown, in the specific implementation process, the image acquisition device 5 is used for scanning and photographing the cracks on the inner wall of the shaft, and includes a driving device, a high-definition camera 55, and an infrared scanner 56; the driving device can drive the high-definition camera and the infrared scanner to move forward and backward, so that the shooting and scanning results are clearer and more accurate, and is composed of a support frame 51, a driving motor 53, a screw assembly 54, and a moving slider 52. The support frame 51 is fixedly connected to the installation mobile platform by bolts, the driving motor 53 is fixed on the support frame 51, and the moving slider 52 is placed in the slide rail of the support frame 51. The screw assembly cooperates with the driving motor, and the driving motor controls the moving slider to move forward and backward on the slide rail of the support frame; the high-definition camera is fixedly connected to the moving slider to photograph the inner wall of the shaft, and the captured video and pictures are stored in real time and sent to the data processing device; the infrared scanner scans the width and length of the cracks on the inner wall of the shaft, and the scanning results are sent to the data processing device;

[0060] The data processing device 6 is used to receive data sent by the image processing device, calculate the width and length of the crack in real time according to the received data, and judge whether the crack is qualified (qualified means that the crack has basically no effect on the function of the shaft, and unqualified means that the crack will have a potential impact on the function of the shaft or cause other dangerous disasters), and issue control instructions to the lifting and moving device, the circular moving device, and the image acquisition device according to the judgment result. If the judgment result is qualified, the next area will be photographed and scanned. If the judgment result is unqualified, the crack will be photographed and scanned in detail, and the crack location and details will be packaged and sent to the well through a wireless signal receiver to facilitate the staff to find and subsequently handle the unqualified cracks.

[0061] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic inspection method based on a mine shaft ladder room, characterized in that: The method comprises: The image acquisition device is driven by the lifting and moving device and the circular moving device to obtain the longitudinal position Di and the circumferential angle Aj of the inner wall of the shaft in real time; The longitudinal position Di and the circumferential angle Aj are integrated by a data processing device to obtain position information (Di, Aj); In response to detecting unqualified cracks on the inner wall of the shaft, the position information (Di, Aj) is uploaded in real time to achieve accurate positioning of the cracks.

2. The automatic inspection method based on the ladder room of the mine shaft according to claim 1 is characterized in that: The method for detecting unqualified cracks on the inner wall of the shaft comprises: In response to the automatic inspection instruction, the D1 position is photographed, recorded as the (D1, A1) position, and the annular moving device drives the image acquisition device to move in an annular direction, while the high-definition camera and the infrared scanning device begin to take a rough scan of the inner wall of the shaft; In response to the crack feature being detected in the rough scan, the width and length data of the crack are transmitted to the data processing device in real time. The data processing device sends a control instruction to the annular moving device and the image acquisition device, and the annular moving device stops moving. The data processing device encodes the crack and determines whether it is a complete crack within the current shooting wide angle. If it is a complete crack, the image acquisition device photographs and scans the crack at a preset position, and transmits the crack data and photos to the data processing device in real time. Compare the collected complete crack data with the preset thresholds of width and length of unqualified cracks. If any of the indicators exceeds the threshold, it is determined as an unqualified crack. The data processing device integrates the codes of the unqualified cracks, the complete pictures and scan data, together with the coordinate position and shooting time information (Fk, Di, Aj, Tt); The data processing device stores the integrated complete fracture information in real time and sends it to the well surface through the wireless signal receiver on the ladder room of the shaft; The data processing device marks the current depth position as Da and issues a control instruction. The circular moving device continues to move, and the image acquisition device shoots and scans the remaining circular directions at the current depth until the inner wall of the shaft is completely photographed and scanned at the current depth. The lifting and moving device descends to the Da+1 position until the inner wall of the entire shaft is completely photographed and scanned.

3. The automatic inspection method based on the ladder room of the mine shaft according to claim 1 is characterized in that: When it is determined based on the collected images that the fissure is not completely within the current shooting wide angle, a fine scan is first performed at the current position. After the fine scan is completed, it is determined whether the fissure extends in the circumferential direction. If so, a fine scan is performed for the next circumferential extension area. If not, it is extended in the depth direction. The remaining circumferential directions at the current depth are continuously photographed and scanned until all the inner walls of the shaft at the current depth are photographed and scanned. The lifting and moving device is moved to the next depth D2 for a rough scan until the fissure extension area stops and a fine scan is performed. After the fine scan is completed, it is determined whether it is a complete fissure. If not, it is continued to be determined whether the scan is extended in the circumferential direction until it is determined to be a complete fissure. The data processing device performs splicing according to the codes and features of the fissure to form a complete fissure image. The collected complete crack data is compared with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack.

4. The automatic inspection method based on the ladder room of a mine shaft according to claim 2 is characterized in that: If it is a complete crack, the image acquisition device photographs and scans the crack at a preset position, and transmits the crack data and photos to the data processing device in real time, including: The high-definition camera of the image acquisition device starts to shoot and scan the crack for the first time at the first position, and transmits the crack data and photos to the data processing device in real time; after the shooting and scanning at the first position are completed, the driving device on the image acquisition device drives the high-definition camera to move forward to the second position to shoot and scan the crack for the second time, and transmits the crack data and photos to the data processing device in real time; after the shooting at the second position is completed, the driving device on the image acquisition device drives the high-definition camera to continue to move forward to the third position to shoot and scan the crack for the third time, and transmits the crack data and photos to the data processing device in real time, at which time the data processing device obtains the complete image and data information of this crack; after the shooting at the third position is completed, the driving device drives the high-definition camera to move to the initial position.

5. The automatic inspection method based on the ladder room of a mine shaft according to claim 2 is characterized in that: When the unqualified cracks on the inner wall of the shaft are not completely within the current shooting wide-angle window and are at multiple depths of the same shooting angle, the image acquisition device roughly scans the crack features, and transmits the crack width, length and other data to the data processing device in real time, and sends a control instruction to the image acquisition device of the annular mobile device, the annular mobile device stops moving, and the data processing device processes the received crack information, encodes the crack, and determines that the crack is an incomplete crack within the current shooting wide angle, and the image acquisition device completes the fine scan of the current (D1, A1) positioning; After the fine scan is completed, the data processing device determines that the crack extends in the depth direction until the inner wall of the shaft at the depth of D1 is completely photographed and scanned, and until all the features of this crack are photographed. The data processing device will splice the collected photos of this crack taken at multiple depths at the same shooting angle to form a complete crack picture, and compare the crack data with the preset width and length thresholds of unqualified cracks. When any indicator exceeds the threshold, it is judged as an unqualified crack.

6. The automatic inspection method based on the ladder room of the mine shaft according to claim 1 is characterized in that: When the unqualified cracks on the inner wall of the shaft are not completely within the current wide-angle shooting window and are at multiple depths and multiple shooting angles, the image acquisition device roughly scans the crack features and transmits the crack width, length and other data to the data processing device in real time, and issues control instructions to the annular moving device and the image acquisition device. The annular moving device stops moving, and the data processing device processes the received crack information, encodes the crack and determines that the crack is an incomplete crack within the current shooting wide angle. The image acquisition device completes the fine scan of the current (D1, A1) positioning, and the data processing device determines that the crack extends in the annular direction and in the depth direction until the inner wall of the shaft is completely photographed and scanned at the depth of D1, and the crack features are fully photographed. The data processing device stitches the collected photos of the crack at multiple depths at the same shooting angle to form a complete crack picture, and compares the crack data with the preset width and length thresholds of the unqualified cracks. When any indicator exceeds the threshold, it is determined to be an unqualified crack.

7. An automatic inspection device based on the ladder room of a mine shaft, characterized in that: include: A lifting and moving device is arranged on the ladder room in the shaft, the lifting and moving device is provided with a main frame, the main frame is provided with a ring-shaped moving device, the ring-shaped moving device is provided with an image acquisition device, the image acquisition device is signal-connected to a data processing device, and the data processing device sends the inspection data to the outside of the shaft through a wireless signal receiver; A mobile power source is used to provide power to the lifting and moving device, the circular moving device, the image acquisition device and the data processing device.

8. The automatic inspection device based on the ladder room of the mine shaft according to claim 7 is characterized in that: The lifting and moving device includes a longitudinal track of the ladder room, an explosion-proof motor and a reduction gear. The longitudinal track is arranged in the ladder room. The reduction gear is meshed with the longitudinal track and the output end of the explosion-proof motor. The rotation of the explosion-proof motor drives the reduction gear to move along the longitudinal track.

9. The automatic inspection device based on the ladder room of the mine shaft according to claim 7 is characterized in that: The annular moving device includes an explosion-proof motor 2, a reduction gear 2 and a moving platform. The explosion-proof motor 2 is arranged on the moving platform, the reduction gear 2 is arranged at the output end of the explosion-proof motor 2, the reduction gear 2 is meshed with the gear arranged on the main frame, and the rotation of the explosion-proof motor 2 drives the moving platform to move in an annular manner along the main frame.

10. The automatic inspection device based on the ladder room of the mine shaft according to claim 9 is characterized in that: The image acquisition device includes a support frame, a movable slider, a driving motor, a screw assembly, a high-definition camera and an infrared scanner. The support frame is installed on a movable platform, the power end of the driving motor is connected to the screw assembly, the screw assembly is provided with a movable slider, and the high-definition camera and the infrared scanner are arranged on the movable slider.

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