Intelligent inspection robot system and method for vertical shaft defects

Abstract

The invention relates to the technical field of coal mine safety inspection, in particular to a vertical shaft defect intelligent inspection robot system and a control method.The vertical shaft defect intelligent inspection robot system comprises a transverse frame, a rotating block, a moving block and moving frames, the ground is provided with an inner wall, the inner wall is provided with two sets of oppositely-arranged cage guides, and the transverse frame makes contact with the cage guides through the moving frames at the two ends; a first motor mounting part is mounted at the bottom of the center of the transverse frame, two sets of battery mounting parts are arranged on the two sides of the first motor mounting part, a first motor is mounted in the first motor mounting part, a lower inspection part is mounted below the first motor mounting part, and a battery pack is mounted in the battery mounting parts. According to the inspection method of the intelligent inspection robot for the vertical shaft defects, the intelligent inspection robot system for the vertical shaft defects is controlled, comprehensive and careful detection and detection are carried out, clear images are ensured, and the detection effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety inspection, and particularly relates to an intelligent inspection robot system and method for vertical shaft defects. Background Art

[0002] Most coal mining in China is carried out by underground mining methods. However, for underground coal mines, the geological conditions of the mine shafts are often very complex, the working environment is relatively harsh, and accidents are likely to occur. The vertical shaft is the throat of the mine, undertaking the important task of connecting underground mineral resources with the surface production system. At present, problems such as deformation, spalling, and cracks in the vertical shaft seriously affect the production safety of coal mines, hinder the normal exploitation of mineral resources, and cause huge economic losses to the country and society;

[0003] At present, the inspection tasks of the shaft are mainly relied on manual labor. However, manual inspection has problems such as poor accuracy, low efficiency, and easy omission of inspections, and it has gradually been unable to meet the requirements of deep shaft inspection;

[0004] Domestic coal mine safety monitoring robots have gradually been put into use. Intelligent inspection robots are also very suitable for shaft inspection operations because of their advantages such as low application difficulty, high inspection efficiency, and flexible equipment loading. The currently developed inspection robots mainly detect shaft defects through equipment such as ordinary cameras, infrared cameras, and section scanners carried on them. However, the detection accuracy of these detection methods is generally not ideal, and there is still a lack of effective detection methods for common defects such as shaft deformation, shaft wall spalling, and shaft surface cracks;

[0005] Based on the actual coal mine application environment, applying robot technology to specific environments such as coal roadways and vertical shafts, improving the application of health monitoring technology in the coal mine environment, gradually realizing safe, efficient, intelligent, and unmanned coal mining, and at the same time monitoring and warning the status of coal mine infrastructure and equipment to provide safety guarantee for its efficient production is the general trend of coal mine development;

[0006] Therefore, developing a deep shaft intelligent unmanned inspection system and realizing regular unmanned inspection of vertical shafts through emerging scientific and technological means to ensure the safety of the passage, improve the ability of risk prevention and control, provide accurate information for maintaining the safety of the vertical shaft passage, and are of great significance to the safe production and digital transformation of the mining area;

[0007] When facing ultra-deep vertical shafts, the inspection intelligent robot needs to operate stably. And when using the ground penetrating radar to detect by air coupling method, the detection image may be unclear due to some factors and further detection is required. Therefore, such an inspection method and system are needed. Summary of the Invention

[0008] Therefore, the present invention is made in view of the above problems. The object of the present invention is to control the intelligent inspection robot system for vertical shaft defects by using the inspection method of the intelligent inspection robot for vertical shaft defects. A cross frame with a mobile module driven by a motor is adopted, and components such as a ground penetrating radar, a 3D laser scanner, and a CCD camera are carried to move. After being driven by the motor to rotate, the two groups of support rods move synchronously for stable fixation, and then the ground penetrating radar moves on the support rods for close detection to solve the above problems. The present invention realizes the above object through the following technical solutions:

[0009] An intelligent inspection robot system for vertical shaft defects, comprising: a cross frame, a rotating block, a moving block, and a moving frame. The ground has an inner wall, and the inner wall has two groups of opposite guide rails. The cross frame contacts the guide rails through the moving frames at both ends. At the bottom center of the cross frame, there is a first motor mounting part. On both sides of the first motor mounting part, there are two groups of battery mounting parts. A first motor is installed in the first motor mounting part. The lower part of the inspection is installed below the first motor mounting part. A battery pack is installed in the battery mounting part. At the bottom of the rotating block, there is a second mounting hole. At the top of the rotating block, there is a mounting groove. At the center of the top of the rotating block, there is a second motor mounting part. The rotating block is installed at the top end of the first motor through the second mounting hole. A first support rod and a second support rod are installed in the mounting groove. At the bottom of the moving block, there are two groups of chutes. The moving block is provided with a through screw hole. At the top of the moving block, there is a circular slideway. At the center of the top of the moving block, there is a third motor mounting part. The moving block is installed at the top of the first support rod and the second support rod through the chutes at the bottom. A fourth motor is installed in the third motor mounting part. The ground penetrating radar is installed in the circular slideway through a pulley. At the center of the moving frame, there is a first square channel. The moving frame is provided with two groups of front extension plates. Between the middle positions of the two groups of front extension plates, there is a front frame. At the center of the front frame, there is a second square channel. There are two groups of fifth motors, which are installed between the moving frame and the front frame. The fifth motors are connected to drive gears. A protection plate is installed on the end faces of the two groups of front extension plates.

[0010] Preferably, there are two groups of long inner grooves on the cross frame. At the center of the cross frame, there is a first mounting hole. There are two groups of electric push rods, which are respectively installed in the two groups of long inner grooves. One end of the electric push rod is installed with a push rod, and a fixed head is provided at the end of the push rod.

[0011] Preferably, the bottom of the lower part of the inspection is provided with a plurality of connecting plates. At the center of the bottom of the lower part of the inspection, there is a 3D laser scanner. The lower end of the connecting plate is provided with a lower plate, and the bottom of the lower plate is provided with a plurality of lighting devices and CCD cameras.

[0012] Preferably, a gear is provided at the top of the second motor. One end of the first support rod is provided with a first friction head, and the other end is provided with a first side plate. At the middle position of the first support rod, there is a first rack. On one side of the first side plate, there is a bearing plate and a first through hole. A third motor is installed on the bearing plate.

[0013] Preferably, one end of the second support rod is provided with a second friction head, the other end is provided with a second side plate, a second rack is provided at the middle position of the second support rod, and a through hole and a second through hole are provided on one side of the second side plate.

[0014] Preferably, the first friction head passes through the second through hole, the second friction head passes through the first through hole, both the first rack and the second rack are engaged with the gear, one end of the third motor is provided with a screw rod, and a smooth shaft is installed in the through hole.

[0015] Preferably, two sets of pulleys are provided at the bottom of the ground penetrating radar, a control rod is provided on the side of the ground penetrating radar, and a third mounting hole is opened at the bottom of the control rod.

[0016] Preferably, the driving gear is engaged with one side of the transmission gear set, the other side of the transmission gear set is engaged with the conveying gear set, the other side of the conveying gear set is engaged with the moving friction belt, and a third square channel is provided at the center of the protection plate.

[0017] An inspection method for a vertical shaft defect intelligent inspection robot includes the above-mentioned vertical shaft defect intelligent inspection robot system, and further includes the following steps:

[0018] S1: First, start the system. After the system is initialized and receives the inspection instruction, the moving block is located at the central position. The fourth motor is started to drive the control rod to drive the ground penetrating radar to rotate, so as to perform circular line detection. At the same time, the 3D laser scanner, the lighting device, and the CCD camera work synchronously to perform 3D scanning and image acquisition program detection;

[0019] S2: The fifth motor drives the driving gear to rotate, and then through the transmission gear set, the conveying gear set drives the moving friction belt to move, so that the moving friction belt drives the cross frame to move downward by using the friction force with the shaft guide;

[0020] S3: When it is detected that there are defects that have not been identified, the fifth motor stops moving. At the same time, the electric push rod pushes the push rod to drive the fixed head to pass through the first square channel, the second square channel, and the third square channel in sequence, and then abuts against the shaft guide, so as to fix the cross frame;

[0021] S4: The first motor drives the rotating block to rotate, so that the rotating block drives the first support rod and the second support rod to rotate together. When it rotates to an appropriate angle, then the second motor drives the gear to rotate, and further makes the first support rod and the second support rod move in the opposite direction, so that the first friction head and the second friction head abut against the inner wall for stability. Then the third motor drives the screw rod to rotate, so that the moving block moves to the position to be detected. The fourth motor is started to drive the control rod to drive the ground penetrating radar to rotate, and rotates until the ground penetrating radar faces the position where the detection is clear for detection;

[0022] S5: The first motor, the second motor, and the third motor drive in reverse to make the moving block, the first support rod, and the second support rod return to their initial positions. The fifth motor drives to drive the cross frame to continue moving downward;

[0023] S6: When reaching the bottom of the shaft, start the reverse program. The fifth motor drives in reverse to drive the cross frame to move upward;

[0024] S7: When reaching the top of the shaft, the acquisition stops.

[0025] Advantages of the present invention:

[0026] 1. The present invention uses the intelligent inspection robot inspection method for vertical shaft defects to control the intelligent inspection robot system for vertical shaft defects, conducts comprehensive and detailed detection and inspection, ensures clear images, and has good detection effects.

[0027] 2. The present invention uses technologies such as intelligent cruise, real-time communication, and the Internet to build an end-to-end (ground to underground) cooperation platform and application system based on multi-sensors. Combining intelligent data extraction and analysis, it can remotely and real-time detect and record air shaft faults.

[0028] 3. The present invention uses a cross frame with a moving module driven by a motor, which drives components such as a ground penetrating radar, a three-dimensional laser scanner, and a CCD camera to move. After the motor drives and rotates, the two groups of support rods move synchronously for stable fixation. Then the ground penetrating radar moves on the support rods for close detection, so that the complex defects in the vertical shaft can be comprehensively detected, and the subtle defects can also be detected in real time. On the basis of ensuring personnel safety, the working efficiency and effect of detection are improved. Description of the Drawings

[0029] Figure 1 It is an overall assembly schematic diagram of the vertical shaft provided by the present invention.

[0030] Figure 2 It is the first overall state schematic diagram of the inspection robot provided by the present invention.

[0031] Figure 3 It is the second overall state schematic diagram of the inspection robot provided by the present invention.

[0032] Figure 4 It is the explosion state schematic diagram of the inspection robot provided by the present invention.

[0033] Figure 5 It is the first state schematic diagram of the internal push rod provided by the present invention.

[0034] Figure 6 It is the second state schematic diagram of the internal push rod provided by the present invention.

[0035] Figure 7Schematic diagram of the cross-frame provided by the present invention.

[0036] Figure 8 Schematic diagram of the lower part of the inspection provided by the present invention.

[0037] Figure 9 Schematic diagram of the first perspective of the rotating block provided by the present invention.

[0038] Figure 10 Schematic diagram of the second perspective of the rotating block provided by the present invention.

[0039] Figure 11 Schematic diagram of the first support rod provided by the present invention.

[0040] Figure 12 Schematic diagram of the second support rod provided by the present invention.

[0041] Figure 13 Schematic diagram of the first perspective of the moving block provided by the present invention.

[0042] Figure 14 Schematic diagram of the second perspective of the moving block provided by the present invention.

[0043] Figure 15 Schematic diagram of the ground penetrating radar provided by the present invention.

[0044] Figure 16 Schematic diagram of the moving module provided by the present invention.

[0045] Figure 17 Schematic diagram of the exploded state of the moving module provided by the present invention.

[0046] Figure 18 Schematic diagram of the moving frame provided by the present invention.

[0047] Figure 19 Control flowchart of the inspection method of the intelligent inspection robot for shaft defects provided by the present invention.

[0048] Explanation of reference numerals:

[0049] 10. Ground; 11. Inner wall; 12. Cage guide; 20. Horizontal frame; 201. Long inner groove; 202. First mounting hole; 21. First motor mounting part; 22. Battery mounting part; 23. First motor; 24. Lower part of inspection; 241. Connecting plate; 242. 3D laser scanner; 25. Lower plate; 251. Lighting device; 252. CCD camera; 26. Electric push rod; 261. Push rod; 262. Fixed head; 27. Battery pack; 30. Rotating block; 301. Mounting groove; 302. Second mounting hole; 303. Second motor mounting part; 31. Second motor; 311. Gear; 32. First support rod; 321. First friction head; 322. First rack; 323. First side plate; 324. Bearing plate; 325. First through hole; 33. Second support rod; 331. Second friction head; 332. Second rack; 333. Second side plate; 334. Through hole; 335. Second through hole; 34. Third motor; 341. Screw; 342. Optical axis; 40. Moving block; 401. Chute; 402. Threaded hole; 403. Circular slideway; 404. Third motor mounting part; 41. Fourth motor; 42. Ground penetrating radar; 421. Pulley; 422. Control rod; 423. Third mounting hole; 50. Moving frame; 501. First square channel; 502. Front frame; 503. Second square channel; 504. Front extension plate; 51. Fifth motor; 52. Driving gear; 521. Transmission gear set; 522. Transfer gear set; 523. Moving friction belt; 53. Protection plate; 531. Third square channel. Detailed implementation mode

[0050] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those of ordinary skill in the art in the field to which the present invention belongs can easily implement these embodiments; however, the present invention can also be implemented in various different forms, so the present invention is not limited to the embodiments described below; in addition, in order to more clearly describe the present invention, components not connected to the present invention will be omitted from the drawings.

[0051] Embodiment 1

[0052] As Figure 4 、 Figure 5 shown, an intelligent inspection robot system for vertical shaft defects includes: a horizontal frame 20, a rotating block 30, a moving block 40, and a moving frame 50;

[0053] As Figure 1 shown, the ground 10 has an inner wall 11, and the inner wall 11 has two groups of oppositely arranged cage guides 12. The horizontal frame 20 contacts the cage guides 12 through the moving friction belts 523 of the moving frames 50 at both ends;

[0054] As Figure 2 、 Figure 3 、 Figure 4 、Figure 5 , Figure 6 As shown in Figure 6 , the first motor 23 is installed in the first motor installation part 21, the lower part of the inspection unit 24 is installed at the lower part of the first motor installation part 21, the battery pack 27 is installed in the battery installation part 22, there are two groups of electric push rods 26, which are respectively installed in the two long inner grooves 201, the electric push rod 26 is installed with a push rod 261, and the end of the push rod 261 has a fixed head 262;

[0055] The rotating block 30 is installed at the top of the first motor 23 through the second installation hole 302, the second motor 31 is installed in the second motor installation part 303, the top of the second motor 31 has a gear 311, the first support rod 32 and the second support rod 33 are installed in the installation groove 301, the first friction head 321 of the first support rod 32 passes through the second through hole 335, the second friction head 331 of the second support rod 33 passes through the first through hole 325, the first rack 322 and the second rack 332 are both engaged with the gear 311, the third motor 34 is installed on the bearing plate 324, and the third motor 34 has a screw rod 341, and the optical axis 342 is installed in the through hole 334;

[0056] The moving block 40 is installed at the tops of the first support rod 32 and the second support rod 33 through the bottom chute 401, the screw rod 341 is installed in the screw hole 402, the ground penetrating radar 42 is installed in the circular slideway 403 through the pulley 421, and the control rod 422 is installed at the top of the second motor 31 through the third installation hole 423;

[0057] There are two groups of moving frames 50, which are respectively installed at both ends of the cross frame 20, and the push rod 261 and the fixed head 262 can sequentially pass through the first square channel 501, the second square channel 503, and the third square channel 531 to contact the shaft guide 12;

[0058] As Figure 7 shown, the cross frame 20 has two long inner grooves 201, the center of the cross frame 20 has a first installation hole 202, the bottom of the center of the cross frame 20 has a first motor installation part 21, and both sides of the first motor installation part 21 have two groups of battery installation parts 22;

[0059] As Figure 8 shown, the lower part of the inspection unit 24 is internally installed with a control module and a communication module. The control module controls the movement of the overall device, and the communication module transmits data to the receiving end on the ground. The lower part of the inspection unit 24 has multiple groups of connecting plates 241, the center of the lower part of the inspection unit 24 has a three-dimensional laser scanner 242, there is a lower plate 25 below the connecting plates 241, and there are multiple groups of lighting devices 251 and CCD cameras 252 below the lower plate 25;

[0060] As Figure 9 , Figure 10As shown, the bottom of the rotating block 30 has a second mounting hole 302, the top of the rotating block 30 has a mounting groove 301, and the center of the top of the rotating block 30 has a second motor mounting part 303;

[0061] As Figure 11 shown, one end of the first support rod 32 has a first friction head 321, the other end has a first side plate 323, the middle section of the first support rod 32 has a first rack 322, and the first side plate 323 has a bearing plate 324 and a first through hole 325;

[0062] As Figure 12 shown, one end of the second support rod 33 has a second friction head 331, the other end has a second side plate 333, the middle section of the second support rod 33 has a second rack 332, and the second side plate 333 has a through hole 334 and a second through hole 335;

[0063] As Figure 13 、 Figure 14 shown, the bottom of the moving block 40 has two groups of sliding grooves 401, the moving block 40 has a through screw hole 402, the top of the moving block 40 has a circular slideway 403, and the center of the top of the moving block 40 has a third motor mounting part 404;

[0064] As Figure 15 shown, the bottom of the ground penetrating radar 42 has two groups of pulleys 421, the side of the ground penetrating radar 42 has a control rod 422, and the bottom of the control rod 422 has a third mounting hole 423;

[0065] As Figure 16 、 Figure 17 shown, there are two groups of motors five 51, which are installed between the moving frame 50 and the front frame 502. The motor five 51 is connected to the driving gear 52, the driving gear 52 meshes with the transmission gear set 521, the transmission gear set 521 meshes with the transmission gear set 522, the transmission gear set 522 meshes with the moving friction belt 523, and the protection plate 53 is installed on the end faces of the two front extension plates 504. The center of the protection plate 53 has a third square channel 531;

[0066] As Figure 18 shown, the center of the moving frame 50 has a first square channel 501, the moving frame 50 has two groups of front extension plates 504, and there is a front frame 502 between the middle positions of the two groups of front extension plates 504. The center of the front frame 502 has a second square channel 503.

[0067] Embodiment 2

[0068] This embodiment provides an inspection method for the vertical shaft defect intelligent inspection robot described in Embodiment 1.

[0069] As Figure 19 shown:

[0070] Step S1: First, start the system. After the system initialization, when a patrol inspection instruction is received, the moving block 40 is located at the central position. Motor four 41 starts to drive the control rod 422 to drive the ground penetrating radar 42 to rotate, so as to perform circular traverse detection. At the same time, the 3D laser scanner 242, the lighting device 251, and the CCD camera 252 work synchronously to perform 3D scanning and image acquisition program detection.

[0071] Step S2: Motor five 51 drives the driving gear 52 to rotate, and then through the transmission gear set 521, the transmission gear set 522 drives the moving friction belt 523 to move, so that the moving friction belt 523 drives the cross frame 20 to move downward by using the friction force with the guide rail 12.

[0072] Step S3: When it is detected that there are defects that have not been identified, motor five 51 stops moving. At the same time, the electric push rod 26 pushes the push rod 261 to drive the fixed head 262 to pass through the square channel one 501, the square channel two 503, and the square channel three 531 in sequence, and then abuts against the guide rail 12, so as to fix the cross frame 20.

[0073] Step S4: Motor one 23 drives the rotating block 30 to rotate, so that the rotating block 30 drives the first support rod 32 and the second support rod 33 to rotate together. When it rotates to an appropriate angle, then motor two 31 drives the gear 311 to rotate, and then the first support rod 32 and the second support rod 33 move in opposite directions, so that the first friction head 321 and the second friction head 331 abut against the inner wall 11 to be stabilized. Then motor three 34 drives the screw rod 341 to rotate, so that the moving block 40 moves to the position to be detected. Motor four 41 starts to drive the control rod 422 to drive the ground penetrating radar 42 to rotate, and rotates until the ground penetrating radar 42 faces the position where the detection is clear for detection.

[0074] Step S5: Motor one 23, motor two 31, and motor three 34 drive in the reverse direction to make the moving block 40, the first support rod 32, and the second support rod 33 return to the initial position. Motor five 51 drives to drive the cross frame 20 to continue moving downward.

[0075] Step S6: When reaching the bottom of the shaft, start the reverse program, and motor five 51 drives in the reverse direction to drive the cross frame 20 to move upward.

[0076] Step S7: When reaching the top of the shaft, the acquisition stops.

Claims

1. An intelligent inspection robot system for vertical shaft defects, comprising: Cross frame (20), rotating block (30), moving block (40), moving frame (50); characterized in that: the ground (10) has an inner wall (11), the inner wall (11) has two groups of opposing guideways (12), the cross frame (20) contacts the guideways (12) through the moving frames (50) at both ends, a first motor mounting part (21) is installed at the bottom of the center of the cross frame (20), two groups of battery mounting parts (22) are provided on both sides of the first motor mounting part (21), a first motor (23) is installed in the first motor mounting part (21), an inspection lower part (24) is installed below the first motor mounting part (21), a battery pack (27) is installed in the battery mounting part (22), the rotating block (30) has a second mounting hole (302) at the bottom, the rotating block (30) has a mounting groove (301) at the top, a second motor mounting part (303) is provided at the center of the top of the rotating block (30), the rotating block (30) is installed at the top end of the first motor (23) through the second mounting hole (302), a first support rod (32) and a second support rod (33) are installed in the mounting groove (301), the moving block (40) has two groups of sliding grooves (401) at the bottom, the moving block (40) has a through screw hole (402), the moving block (40) has a circular slideway (403) at the top, a third motor mounting part (404) is provided at the center of the top of the moving block (40), the moving block (40) is installed at the top of the first support rod (32) and the second support rod (33) through the sliding grooves (401) at the bottom, a fourth motor (41) is installed in the third motor mounting part (404), a ground penetrating radar (42) is installed in the circular slideway (403) through a pulley (421), a first square channel (501) is provided at the center of the moving frame (50), the moving frame (50) has two groups of front extension plates (504), a front frame (502) is provided between the middle positions of the two groups of front extension plates (504), a second square channel (503) is provided at the center of the front frame (502), there are two groups of fifth motors (51), which are installed between the moving frame (50) and the front frame (502), the fifth motors (51) are connected to drive gears (52), and a protection plate (53) is installed on the end faces of the two groups of front extension plates (504).

2. The intelligent inspection robot system for vertical shaft defects according to claim 1, wherein: Two groups of long inner grooves (201) are provided on the cross frame (20), a first mounting hole (202) is provided at the center of the cross frame (20), there are two groups of electric push rods (26), which are respectively installed in the two groups of long inner grooves (201), one end of the electric push rod (26) is installed with a push rod (261), and a fixed head (262) is provided at the end of the push rod (261).

3. The intelligent inspection robot system for vertical shaft defects according to claim 1, wherein: The bottom of the inspection lower part (24) is provided with a plurality of connecting plates (241), a three-dimensional laser scanner (242) is provided at the center of the bottom of the inspection lower part (24), a lower plate (25) is provided at the lower end of the connecting plate (241), and a plurality of lighting devices (251) and CCD cameras (252) are provided at the bottom of the lower plate (25).

4. The intelligent inspection robot system for vertical shaft defects according to claim 1, wherein: At the top of the second motor (31), there is a gear (311). One end of the first support rod (32) is provided with a first friction head (321), the other end is provided with a first side plate (323). At the middle position of the first support rod (32), there is a first rack (322). On one side of the first side plate (323), there is a bearing plate (324) and a first through hole (325). The third motor (34) is installed on the bearing plate (324).

5. The intelligent inspection robot system for vertical shaft defects according to claim 1, characterized in that: One end of the second support rod (33) is provided with a second friction head (331), the other end is provided with a second side plate (333). At the middle section of the second support rod (33), there is a second rack (332). On one side of the second side plate (333), there are a through hole (334) and a second through hole (335).

6. An intelligent inspection robot system for vertical shaft defects according to claim 4 or 5, characterized in that: The first friction head (321) passes through the second through hole (335), the second friction head (331) passes through the first through hole (325). The first rack (322) and the second rack (332) are both meshed with the gear (311). One end of the third motor (34) is provided with a screw rod (341). A smooth shaft (342) is installed in the through hole (334).

7. An intelligent inspection robot system for vertical shaft defects according to claim 1, characterized in that: At the bottom of the ground penetrating radar (42), there are two groups of pulleys (421). On the side of the ground penetrating radar (42), there is a control rod (422). At the bottom of the control rod (422), there is a mounting hole three (423).

8. The intelligent inspection robot system for vertical shaft defects according to claim 1, characterized in that: The driving gear (52) is meshed with one side of the transmission gear set (521). The other side of the transmission gear set (521) is meshed with the transmission gear set (522). The other side of the transmission gear set (522) is meshed with the moving friction belt (523). At the center of the protection plate (53), there is a square channel three (531).

9. A patrol inspection method for a vertical shaft defect intelligent patrol inspection robot, including the vertical shaft defect intelligent patrol inspection robot system according to any one of claims 1-8, characterized in that: It also includes the following steps: S1: First, start the system. After the system is initialized, after receiving the inspection instruction, the moving block (40) is located at the central position. The fourth motor (41) is started to drive the control rod (422) to drive the ground penetrating radar (42) to rotate, so as to perform circular traverse detection. At the same time, the three-dimensional laser scanner (242), the lighting device (251), and the CCD camera (252) work synchronously to perform three-dimensional scanning and image acquisition program detection; S2: The fifth motor (51) drives the driving gear (52) to rotate, and then through the transmission gear set (521), the transmission gear set (522) drives the moving friction belt (523) to move, so that the moving friction belt (523) drives the cross frame (20) to move downward by using the friction force with the shaft guide (12); S3: When it is detected that there are defects not identified, the fifth motor (51) stops moving. At the same time, the electric push rod (26) pushes the push rod (261) to drive the fixed head (262) to pass through the square channel one (501), the square channel two (503), and the square channel three (531) in sequence, and then abuts against the shaft guide (12), so as to fix the cross frame (20); S4: The first motor (23) drives the rotating block (30) to rotate, so that the rotating block (30) drives the first support rod (32) and the second support rod (33) to rotate together. When it rotates to an appropriate angle, then the second motor (31) drives the gear (311) to rotate, and further makes the first support rod (32) and the second support rod (33) move in opposite directions, so that the first friction head (321) and the second friction head (331) are in contact with the inner wall (11) for stability. Then the third motor (34) drives the screw rod (341) to rotate, so that the moving block (40) moves to the position to be detected. The fourth motor (41) starts to drive the control rod (422) to drive the ground penetrating radar (42) to rotate until the ground penetrating radar (42) faces the position where detection is clear for detection; S5: The first motor (23), the second motor (31), and the third motor (34) drive in the reverse direction to make the moving block (40), the first support rod (32), and the second support rod (33) return to the initial position. The fifth motor (51) drives to drive the cross frame (20) to continue moving downward; S6: When reaching the bottom of the wellbore, start the reverse program, and the fifth motor (51) drives in the reverse direction to drive the cross frame (20) to move upward; S7: When reaching the top of the wellbore, the acquisition stops.

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