An automatic inspection method and device based on a mine vertical shaft ladder interval

Abstract

The application discloses an automatic inspection method and device based on a mine vertical shaft ladder interval, and belongs to the technical field of coal mine vertical shaft inspection. The device comprises a lifting moving device and a ring moving device, which drive an image acquisition device to acquire a longitudinal position Di and a ring angle Aj of an inner wall of a vertical shaft in real time; the longitudinal position Di and the ring angle Aj are integrated by a data processing device to obtain position information (Di, Aj); when an unqualified crack of the inner wall of the vertical shaft is detected, the position information (Di, Aj) is uploaded in real time to realize accurate positioning of the crack; the application can realize automatic inspection of the crack of the inner wall of the mine vertical shaft, acquire accurate positions, image states, crack extension widths, lengths and other detailed data of unqualified cracks (cracks with potential hidden dangers), greatly improve the inspection efficiency, acquire the most real crack information, provide important protection for searching of unqualified cracks by workers, and timely discovery and treatment of safety hidden dangers.

Description

Technical Field

[0001] This invention relates to an automatic inspection method and device based on the ladder compartment of a mine shaft, belonging to the field of coal mine shaft inspection technology. Background Technology

[0002] Vertical shafts, as crucial facilities in coal mine ventilation systems, play a vital role in the coal mining industry by providing ventilation, ensuring air quality, regulating temperature and humidity, and extracting gas. Due to underground mining operations and geological movements, cracks may develop on the inner walls of vertical shafts. The size of these cracks directly affects the safe operation of the shaft, necessitating regular inspections, especially the inspection and location of cracks. This is crucial for subsequent safety assessments and risk management. Traditional shaft inspections primarily rely on manual climbing of ladders within the shaft. Large shafts are typically hundreds of meters deep, with high wind speeds, abundant coal dust, and low visibility. Manual inspections are labor-intensive, pose significant safety risks, and suffer from low quality and frequency, leading to potential omissions and false positives, and hindering precise location and accurate analysis based on actual conditions.

[0003] Therefore, there is a need for a safe, efficient, and accurate automatic crack inspection device and method for mine shafts that can accurately locate and provide real feedback on crack information. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of poor safety, low efficiency, inability to accurately locate and analyze cracks in the inner wall of coal mine shafts in existing coal mine shaft inspection technologies, and to provide an automatic inspection method and device based on the ladder room of a mine shaft.

[0005] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution.

[0006] First aspect: An automatic inspection method based on the ladder compartment of a mine shaft, the method comprising:

[0007] The image acquisition device uses a lifting and moving device and a ring moving device to acquire the longitudinal position Di and 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 the position information (Di, Aj);

[0009] When a defective crack is detected on the inner wall of the shaft, the location information (Di, Aj) is uploaded in real time to achieve precise location of the crack.

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

[0011] In response to the automatic inspection command, the D1 position is photographed and recorded as (D1, A1). The circular moving device drives the image acquisition device to move circumferentially. At the same time, the high-definition camera and infrared scanning device begin to take pictures and roughly scan the inner wall of the shaft.

[0012] When a crack feature is detected during a coarse scan, the width and length data of the crack are transmitted to the data processing device in real time. The data processing device sends control commands to the circular moving device and the image acquisition device. The circular moving device stops moving, and 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 takes a picture and scans the crack at a preset position and transmits the crack data and picture to the data processing device in real time.

[0013] The collected complete crack data is compared with the preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, it is defined as an unqualified crack.

[0014] The data processing device integrates the codes of the defective cracks, the complete images and scan data, along with the coordinate positions and shooting time information (Fk,Di,Aj,Tt);

[0015] The data processing device stores the integrated and complete fracture information in real time and transmits it to the surface through a wireless signal receiver on the ladder in the shaft.

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

[0017] Optionally, if the captured image indicates that the fracture is not entirely within the current wide-angle view, a fine scan of the current position is performed first. After the fine scan, it is determined whether the fracture extends circumferentially. If so, a fine scan of the next circumferential extension area is performed. If not, it indicates that the fracture is extending in the depth direction, and the scanning of the remaining circumferential directions at the current depth continues until the entire inner wall of the shaft at the current depth is scanned. The lifting and moving device then moves to the next depth D2 for a coarse scan until the fracture extension area stops, followed by a fine scan. After the fine scan is completed, it is determined whether the fracture is complete. If not, the scanning continues to determine whether the fracture is extending circumferentially until it is determined to be a complete fracture. The data processing device stitches the images together according to the fracture's encoding and characteristics to form a complete fracture image.

[0018] The collected complete crack data is compared with the preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, it is defined as an unqualified crack.

[0019] Optionally, if the crack is intact, the image acquisition device captures and scans the crack at a preset location, and transmits the crack data and images to the data processing device in real time, including:

[0020] The high-definition camera of the image acquisition device begins its first image capture and scan of the crack at a first position, transmitting the crack data and images to the data processing device in real time. After the first position image capture and scan is completed, the drive mechanism on the image acquisition device moves the high-definition camera forward to a second position to capture and scan the crack a second time, transmitting the crack data and images to the data processing device in real time. After the second position image capture is completed, the drive mechanism on the image acquisition device moves the high-definition camera forward to a third position to capture and scan the crack a third time, transmitting the crack data and images to the data processing device in real time. At this point, the data processing device obtains a complete image and data information of the crack. After the third position image capture is completed, the drive mechanism moves the high-definition camera back to the initial position.

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

[0022] After the fine scanning is completed, the data processing device determines that the fracture extends in the vertical direction until the entire inner wall of the shaft at depth D1 is scanned. Once the fracture feature is fully captured, the data processing device stitches together the collected photos of the fracture taken at the same shooting angle and at multiple depths to form a complete fracture image. The fracture data is then compared with preset thresholds for the width and length of unqualified fractures. If any indicator exceeds the threshold, the fracture is judged as unqualified.

[0023] Optionally, when the unqualified cracks on the inner wall of the shaft are not completely within the current wide-angle shooting window and are located at multiple depths and shooting angles, the image acquisition device coarsely scans to detect the crack features and transmits data such as crack width and length to the data processing device in real time. It then sends control commands to the circular moving device and the image acquisition device. The circular 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 wide-angle shooting window. The image acquisition device completes the fine scan of the current (D1, A1) positioning. The data processing device determines whether the crack extends circumferentially or in the longitudinal direction until the entire inner wall of the shaft at depth D1 is scanned and the crack features are fully captured. The data processing device stitches together the collected photos of this crack at the same shooting angle and multiple depths to form a complete crack image and compares the crack data with preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, it is determined to be an unqualified crack.

[0024] The second aspect: an automatic inspection device based on the ladder compartment of a mine shaft, comprising:

[0025] A lifting and moving device is installed on the ladder in the vertical shaft. The lifting and moving device is equipped with a main frame. The main frame is equipped with a ring moving device. The ring moving device is equipped with an image acquisition device. The image acquisition device is signal-connected to a data processing device. The data processing device sends the inspection data to the outside of the shaft through a wireless signal receiver.

[0026] A portable power source is used to provide power to a lifting and moving device, a ring-shaped moving device, an image acquisition device, and a data processing device.

[0027] Optionally, the lifting and moving device includes a longitudinal track between the ladders, an explosion-proof motor, and a reduction gear. The longitudinal track is located between the ladders, and the reduction gear meshes with the longitudinal track and the output end of the explosion-proof motor. The explosion-proof motor rotates to drive the reduction gear to move along the longitudinal track.

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

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

[0030] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0031] This invention provides an automatic identification and image acquisition method for defective cracks on the inner wall of a vertical shaft. Based on the visibility of the shaft and the wide-angle capability of a high-definition camera, it automatically scans and captures images layer by layer from the shaft opening to the bottom, achieving full-coverage automatic inspection of the shaft's inner wall without any missed detections. Utilizing an image acquisition device and a data processing device, it employs a combination of coarse and fine scanning to automatically identify cracks and acquire clearer images and data. The method combines crack coding with layer-by-layer scanning to avoid repeated scanning of cracks. Furthermore, crack coding facilitates data processing and image stitching of cracks spanning depths and camera angles, resulting in complete crack images and data.

[0032] This invention enables automatic inspection of cracks in the inner wall of mine shafts, obtaining precise location, image status, and detailed data such as the width and length of crack extensions, greatly improving inspection efficiency and providing important assurance for workers to find unqualified cracks and promptly identify and address safety hazards. Attached Figure Description

[0033] Figure 1 This invention relates to an automatic inspection device structure for ladder rooms in mine shafts;

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

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

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

[0037] Figure 5 This invention relates to a method for locating cracks in the inner wall of a vertical shaft.

[0038] Figure 6 This invention relates to an automatic identification and image acquisition method for defective cracks in the inner wall of a vertical shaft;

[0039] Figure 7 This is a schematic diagram showing that the crack in this invention is completely within the currently captured wide-angle view.

[0040] Figure 8 This is a schematic diagram of the present invention where the crack is not completely within the current wide-angle view window and is at the same depth from multiple shooting angles;

[0041] Figure 9 This is a schematic diagram of the present invention where the crack is not completely within the current wide-angle view window and is at multiple depths at the same shooting angle;

[0042] Figure 10 This is a schematic diagram of the present invention where the crack is not completely within the current wide-angle view window and exists at multiple depths and multiple shooting angles.

[0043] In the diagram: 1—Vertical shaft; 2—Ladder compartment; 21—Wireless signal receiver; 3—Lifting and moving device; 4—Circular moving device; 5—Image acquisition device; 6—Data processing device; 7—Main frame; 8—Mobile power supply; 31—Longitudinal track; 32—Explosion-proof motor one; 33—Reduction gear one; 41—Explosion-proof motor two; 42—Reduction gear two; 43—Moving platform; 51—Support frame; 52—Moving slider; 53—Drive motor; 54—Screw assembly; 55—High-definition camera; 56—Infrared scanner Detailed Implementation

[0044] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] Example 1, such as Figures 5-10 This invention discloses an automatic inspection method based on the ladder compartment of a mine shaft, as detailed below:

[0048] The defective cracks in the inner wall of the shaft are entirely within the current wide-angle view, for reference. Figure 7 Assuming at position (D1, A1), the infrared scanner 56 of the image acquisition device 5 coarsely scans and detects the crack feature, transmitting data such as crack width and length to the data processing device 6 in real time. The data processing device 6 sends control commands to the circular moving device 4 and the image acquisition device 5. The circular moving device 4 stops moving, and simultaneously, 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. It then sends an image acquisition command signal to the image acquisition device 5. The high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 begin the first shooting and scanning of the crack at the first position (initial position), transmitting the crack data and images to the data processing device 6 in real time. After the first shooting and scanning at the first position is completed, the image acquisition... The drive motor 53 on device 5 drives the high-definition camera 55, fixed on the movable slider 52, forward (towards the inner wall of the shaft) to the second position to perform a second scan of the fracture, and transmits the fracture data and photos to the data processing device 6 in real time. After the second scan is completed, the drive motor 53 on the image acquisition device 6 controls the movable slider 52 to move the high-definition camera 55 forward to the third position to perform a third scan of the fracture, and transmits the fracture data and photos to the data processing device 6 in real time. After the third scan is completed, the drive motor 53 controls the movable slider 52 to move the high-definition camera back to the initial position. The three scans are essentially a close-up magnification of the fracture; the more obvious the features are, the more accurate the scan results, and it is also a fine scan of the fracture. The data processing device 6 compares the collected fracture data with preset thresholds for the width and length of unqualified fractures. If any indicator exceeds the threshold, it is determined to be an unqualified fracture. The data processing device 6 integrates the code of the unqualified crack, the complete image and scan data, along with information such as coordinate position and shooting time (F1, D1, A1, T1), and packages them together to be sent to the surface in real time through the wireless signal receiver 21 on the ladder.

[0049] Example 2: The defective cracks in the inner wall of the shaft are not completely within the current wide-angle view and are at the same depth from multiple shooting angles, as shown in the reference. Figure 8Assuming the image acquisition device 5 is at position (D1, A1), the infrared scanner 56 of the image acquisition device 5 coarsely scans and detects the crack feature, and transmits data such as the crack width and length to the data processing device 6 in real time. The data processing device 6 sends control commands to the ring moving device 4 and the image acquisition device 5. The ring moving device 4 stops moving, and 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. It then sends an image acquisition command signal to the image acquisition device 5. Under the control of the drive motor 53, the high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 complete the fine scan of the current (D1, A1) positioning (refer to Case 1 for the fine scan process). After the fine scan is completed, the data processing device 6 determines that the crack extends circumferentially. The data processing device 6 issues a control command, and the ring moving device 4 starts to move and stops at angle A2. At this time, it is at position (D1,A2). The three-shot scanning method (fine scan) is the same as at position (D1,A1). If the crack still extends to A3, A4..., then it continues to move to A3, A4... and repeats this shooting scanning method until the crack feature is fully captured. The data processing device 6 stitches together the collected photos of the crack at the same depth from multiple shooting angles to form a complete crack image. The crack data is then compared with the preset width and length thresholds of unqualified cracks. If any indicator exceeds the threshold, it is judged as an unqualified crack. The data processing device 6 integrates the code of this crack, the complete image and scan data, along with information such as coordinate position and shooting time (F2,D1,A1,T1), (F2,D1,A2,T1), (F2,D1,A3,T1)... and packages them together to send to the well surface in real time through the wireless signal receiver 21 on the ladder.

[0050] Example 3: The defective cracks in the inner wall of the shaft are not completely located within the current wide-angle view and are at multiple depths at the same shooting angle, as shown in the reference. Figure 9Assuming the image acquisition device 5 is at position (D1, A1), the infrared scanner 56 of the image acquisition device 5 coarsely scans and detects the crack feature, transmitting data such as crack width and length to the data processing device 6 in real time. The data processing device 6 sends control commands to the circular moving device 4 and the image acquisition device 5. The circular moving device 4 stops moving, and 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 wide-angle shooting range. It then sends an image acquisition command signal to the image acquisition device 5. The high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5, under the control of the drive motor 53, complete the fine scan of the current (D1, A1) positioning (refer to Case 1 for the fine scan process). After the fine scan is completed, the data processing device 6 determines that the crack extends in the depth direction. To prevent missed detections and repeated inspections, the data processing device 6 sends a control command, and the circular moving device 4 continues to move, capturing the image. The acquisition device 5 scans A2, A3... at depth D1 until the entire inner wall of the shaft at depth D1 is scanned. The lifting and moving device 3 then moves to depth D2 and stops at position (D2, A1). Since the crack at position (D1, A1) extends to position (D2, A1), the crack needs to be scanned. The three scanning methods are the same as at position (D1, A1). If the crack continues to extend to D3, D4..., the device continues to move in a circular motion until the entire inner wall of the shaft at depth D2 is scanned. Then, it descends to D3, D4... and repeats this scanning method until the crack feature is fully captured. The data processing device 6 stitches together the collected images of the crack at the same shooting angle and multiple depths to form a complete crack image. The crack data is then compared with preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, the crack is judged as unqualified. The data processing device 6 integrates the code of this crack, the complete image and scan data, along with information such as coordinate position and shooting time (F3,D1,A1,T1), (F3,D2,A1,T1), (F3,D3,A1,T1)... and packages them together to send to the well surface in real time through the wireless signal receiver 21 on the ladder.

[0051] Example 4: The defective cracks in the inner wall of the shaft are not completely within the current wide-angle view and are located at multiple depths and shooting angles, as shown in the reference. Figure 10Assuming the location is (D1, A1), the infrared scanner 56 of the image acquisition device 5 coarsely scans and detects the crack feature, transmitting data such as crack width and length to the data processing device 6 in real time. The data processing device 6 sends control commands to the circular moving device 4 and the image acquisition device 5. The circular moving device 4 stops moving, and 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. It then sends an image acquisition command signal to the image acquisition device 5. Under the control of the drive motor 53, the high-definition camera 55 and the infrared scanner 56 of the image acquisition device 5 complete the fine scan of the current (D1, A1) positioning (the fine scan process is described in Case 1). After the fine scan is completed, the data processing device 6 determines that the crack extends circumferentially. The data processing device 6 sends a control command, and the circular moving device 4 begins to move and stops at angle A2, which is the (D1, A2) position. The three-shot scanning method (fine scan) is the same as at the (D1, A1) position. After the fine scan is completed, the data processing device 6 determines that the crack extends longitudinally. Extending deeper, to prevent missed inspections and repeated inspections, the data processing device 6 issues a control command, and the circular moving device 4 continues to move. The image acquisition device 5 scans A2, A3... at depth D1 until the entire inner wall of the shaft at depth D1 is scanned. The lifting moving device 3 moves to depth D2, and the circular moving device 4 begins circumferential movement for coarse scanning. The coarse scanning reaches the (D2, A2) position because the F4 fracture at position (D1, A1) extends from (D1, A2) to (D2, A1). This requires a fine scan of the crack. The three-shot scanning method (fine scan) is the same as at position (D1,A1). If the crack continues to extend, for example, towards position (D3,A3), the crack image acquisition method is the same as above, until the crack feature is fully captured. The data processing device 6 stitches together the collected images of the crack at multiple depths from the same shooting angle to form a complete crack image. The crack data is then compared with preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, it is determined to be an unqualified crack. The data processing device 6 integrates the crack code, the complete image captured, and the scan data, along with information such as coordinate position and shooting time (F4,D1,A1,T1), (F4,D1,A2,T1), (F4,D2,A2,T1), etc., and packages them together to transmit them in real time to the well surface via the wireless signal receiver 21 on the ladder.

[0052] This invention enables automatic inspection of cracks in the inner wall of mine shafts, obtaining precise location, image status, and detailed data such as the width and length of crack extensions of unqualified cracks (cracks with potential hazards), greatly improving inspection efficiency and obtaining the most accurate crack information. This provides important assurance for workers to find unqualified cracks and promptly discover and deal with safety hazards.

[0053] Example 5: An automatic inspection device based on the ladder compartment of a mine shaft is disclosed, comprising:

[0054] A lifting and moving device 3 is installed on the ladder room 2 inside the vertical shaft 1. The lifting and moving device 3 is equipped with a main frame 7. The main frame 7 is equipped with a ring moving device 4. The ring moving device 4 is equipped with an image acquisition device 5. The image acquisition device 5 is 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] The portable power supply 8 is used to provide power to the lifting and moving device, the ring-shaped moving device, the image acquisition device, and the data processing device.

[0056] like Figures 1-2 As shown, in the specific implementation process, the main frame 7 is a C-shaped frame, and the central axis of the C-shaped frame coincides with the central axis of the vertical shaft, which is used to support and install the lifting and moving device 3, the ring 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 rail 31. The explosion-proof motor 32 is integrated with the displacement encoder and is fixed to the main frame 7 by bolts. It cooperates with the reduction gear 33 to reduce speed and meshes with the T-shaped rack installed on the longitudinal rail 31 between the ladders in the vertical shaft 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 ring-shaped moving device 4 includes an explosion-proof motor 41, an angle encoder, a reduction gear 42, rollers, and a moving platform 43. The moving platform 43 is placed on the main frame 7, and the rollers are connected to the moving platform 43 by threads. At the same time, the rollers cooperate with the outer ring track of the main frame 7 to realize the reversing movement of the moving platform. The explosion-proof motor 41 is integrated with the angle encoder and is fixed to the moving platform 43 by bolts. It cooperates with the reduction gear 2. After being decelerated by the reduction gear 2, it meshes with the gear of the main frame to realize the ring-shaped movement control of the device.

[0059] like Figure 4As shown, in the specific implementation process, the image acquisition device 5 is used to scan and photograph the cracks in the inner wall of the shaft. It includes a drive device, a high-definition camera 55, and an infrared scanner 56. The drive device can drive the high-definition camera and the infrared scanner to move back and forth, making the scanning results clearer and more accurate. It consists of a support frame 51, a drive motor 53, a lead screw assembly 54, and a moving slider 52. The support frame 51 is fixed to the installation moving platform by bolts. The drive motor 53 is fixed on the support frame 51. The moving slider 52 is placed in the slide rail of the support frame 51. It cooperates with the drive motor through the lead screw assembly, and the drive motor controls the moving slider to move back and forth on the slide rail of the support frame. The high-definition camera is fixed on the moving slider to photograph the inner wall of the shaft. The captured video and images are stored in real time and sent to the data processing device. The infrared scanner scans the width and length of the cracks in the inner wall of the shaft and sends the scanning results to the data processing device in real time.

[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 based on the received data, and determine whether the crack is qualified (qualified means that the crack has basically no impact on the function of the shaft, unqualified means that the crack will have a potential impact on the function of the shaft or cause other dangers and disasters). Based on the judgment result, control commands are issued to the lifting and moving device, the ring moving device, and the image acquisition device. If the judgment result is qualified, the next area is photographed and scanned. If the judgment result is unqualified, the crack is photographed and scanned in detail, and the crack location and details are packaged and sent to the surface via a wireless signal receiver so that the staff can find and deal with the unqualified crack.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic inspection method based on the ladder compartments of a mine shaft, characterized in that, The method includes: The image acquisition device uses a lifting and moving device and a ring moving device to acquire the longitudinal position Di and circumferential angle Aj of the inner wall of the shaft in real time, where i=1,2,3……, j=1,2,3……; The longitudinal position Di and the circumferential angle Aj are integrated by a data processing device to obtain the position information (Di, Aj). When a defective crack is detected on the inner wall of the shaft, the location information (Di, Aj) is uploaded in real time to achieve precise location of the crack; The method for detecting defective cracks in the inner wall of the vertical shaft includes: In response to the automatic inspection command, the D1 position is photographed and recorded as (D1, A1). The circular moving device drives the image acquisition device to move in a circular direction. At the same time, the high-definition camera and infrared scanning device begin to take pictures and roughly scan the inner wall of the shaft. When a crack feature is detected during a coarse scan, the width and length data of the crack are transmitted to the data processing device in real time. The data processing device sends control commands to the circular moving device and the image acquisition device. The circular moving device stops moving, and 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 takes a picture and scans the crack at a preset position and transmits the crack data and picture to the data processing device in real time. The collected complete crack data is compared with the preset thresholds for the width and length of unqualified cracks. If any index exceeds the threshold, it is defined as an unqualified crack Fk. The data processing device integrates the code of the defective crack, the complete image and scan data, along with the coordinate position and shooting time information (Fk,Di,Aj,Tt), where k=1,2,3... and t=1,2,3...; The data processing device stores the integrated and complete fracture information in real time and transmits it to the surface via a wireless signal receiver on the ladder in the shaft. The data processing device marks the current depth position as Da and issues a control command. The circular moving device continues to move, and the image acquisition device scans the remaining circumferential directions at the current depth until the entire inner wall of the shaft at the current depth is scanned. Then, the lifting moving device descends to... The location is determined until the entire inner wall of the shaft is scanned, where a=1,2,3...

2. The automatic inspection method based on the ladder compartment of a mine shaft according to claim 1, characterized in that, If the fracture is not completely within the current wide-angle view based on the acquired images, a fine scan of the current position is performed first. After the fine scan, it is determined whether the fracture extends circumferentially. If so, a fine scan of the next circumferential extension area is performed. If not, it extends in the depth direction, and the scanning of the remaining circumferential directions at the current depth continues until the entire inner wall of the shaft at the current depth is scanned. The lifting and moving device then moves to the next depth D2 for a coarse scan until the fracture extension area stops, and a fine scan is performed. After the fine scan, it is determined whether it is a complete fracture. If not, the scanning continues to determine whether it extends circumferentially until it is determined to be a complete fracture. The data processing device stitches the images together according to the fracture's encoding and characteristics to form a complete fracture image. The collected complete crack data is compared with the preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, it is defined as an unqualified crack.

3. The automatic inspection method based on the ladder room of a mine shaft according to claim 1, characterized in that, If the crack is intact, the image acquisition device will capture and scan the crack at a preset location, and transmit the crack data and images to the data processing device in real time, including: The high-definition camera of the image acquisition device begins its first image capture and scan of the crack at a first position, transmitting the crack data and images to the data processing device in real time. After the first position image capture and scan is completed, the drive mechanism on the image acquisition device moves the high-definition camera forward to a second position to capture and scan the crack a second time, transmitting the crack data and images to the data processing device in real time. After the second position image capture is completed, the drive mechanism on the image acquisition device moves the high-definition camera forward to a third position to capture and scan the crack a third time, transmitting the crack data and images to the data processing device in real time. At this point, the data processing device obtains a complete image and data information of the crack. After the third position image capture is completed, the drive mechanism moves the high-definition camera back to the initial position.

4. The automatic inspection method based on the ladder room of a mine shaft according to claim 1, characterized in that, When the defective cracks on the inner wall of the shaft are not completely within the current wide-angle view and are at multiple depths at the same shooting angle, the image acquisition device coarsely scans the crack features and transmits the crack width and length data to the data processing device in real time. It also sends a control command to the circular moving device image acquisition device, which stops moving. At the same time, the data processing device processes the received crack information, encodes the crack, and determines that the crack is an incomplete crack within the current wide-angle view. The image acquisition device then completes the fine scan of the current (D1,A1) positioning. After the fine scanning is completed, the data processing device determines that the fracture extends in the vertical direction until the entire inner wall of the shaft at depth D1 is scanned. Once the fracture feature is fully captured, the data processing device stitches together the collected photos of the fracture taken at the same shooting angle and at multiple depths to form a complete fracture image. The fracture data is then compared with preset thresholds for the width and length of unqualified fractures. If any indicator exceeds the threshold, the fracture is judged as unqualified.

5. The automatic inspection method based on the ladder room of a mine shaft according to claim 1, characterized in that, When an unqualified crack on the inner wall of the shaft is not completely within the current wide-angle shooting window and is located at multiple depths and shooting angles, the image acquisition device coarsely scans and detects the crack features. It then transmits the crack width and length data to the data processing device in real time and sends control commands to the circular moving device and the image acquisition device. The circular 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 wide-angle shooting window. The image acquisition device completes the fine scan of the current (D1, A1) positioning. The data processing device determines whether the crack extends circumferentially or in the longitudinal direction until the entire inner wall of the shaft at depth D1 is scanned and the crack features are fully captured. The data processing device stitches together the collected photos of this crack at the same shooting angle and multiple depths to form a complete crack image. It then compares the crack data with preset thresholds for the width and length of unqualified cracks. If any indicator exceeds the threshold, the crack is determined to be unqualified.

6. An automatic inspection device based on the ladder compartment of a mine shaft, based on the method of any one of claims 1-5, characterized in that, include: A lifting and moving device is installed on the ladder in the vertical shaft. The lifting and moving device is equipped with a main frame. The main frame is equipped with a ring moving device. The ring moving device is equipped with an image acquisition device. The image acquisition device is signal-connected to a data processing device. The data processing device sends the inspection data to the outside of the shaft through a wireless signal receiver. A portable power source is used to provide power to a lifting and moving device, a ring-shaped moving device, an image acquisition device, and a data processing device.

7. The automatic inspection device based on the ladder compartment of a mine shaft according to claim 6, characterized in that, The lifting and moving device includes a longitudinal track between the ladders, an explosion-proof motor, and a reduction gear. The longitudinal track is located between the ladders. The reduction gear meshes with the longitudinal track and the output end of the explosion-proof motor. The explosion-proof motor rotates to drive the reduction gear to move along the longitudinal track.

8. The automatic inspection device based on the ladder compartment of a mine shaft according to claim 6, characterized in that, The circular moving device includes an explosion-proof motor II, a reduction gear II, and a moving platform. The explosion-proof motor II is located on the moving platform, and the reduction gear II is located at the output end of the explosion-proof motor II. The reduction gear II meshes with a gear located on the main frame. The rotation of the explosion-proof motor II drives the moving platform to move in a circle along the main frame.

9. The automatic inspection device based on the ladder compartment of a mine shaft according to claim 8, characterized in that, The image acquisition device includes a support frame, a movable slider, a drive motor, a lead screw assembly, a high-definition camera, and an infrared scanner. The support frame is mounted on a moving platform, the power end of the drive motor is connected to the lead screw assembly, the lead screw assembly is equipped with a movable slider, and the high-definition camera and infrared scanner are mounted on the movable slider.

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