Intelligent vertical shaft defect inspection system and method

Abstract

The invention relates to the technical field of coal mine safety inspection, in particular to an intelligent vertical shaft defect inspection system and method.The intelligent vertical shaft defect inspection system comprises the ground, a movable lower frame, a rotating block and an inspection lower part, a cage guide is formed in the ground, a line pipe and a ladder compartment are installed in the cage guide, a tunnel is arranged at the bottom of the side of the cage guide, and a base is arranged at the bottom of the cage guide; a bottom motor hole is formed in the base, a supporting table is installed on the ground, a circular groove is formed in the supporting table, a square groove is formed in the circular groove, a first motor is installed in the square groove, an annular groove is formed in the outer side of the square groove, a first motor installation hole is formed in one side of the square groove, and a second motor is installed in the first motor installation hole. The intelligent vertical shaft defect inspection system is controlled through the intelligent vertical shaft defect inspection method, comprehensive and careful detection and detection are carried out, it is guaranteed that images of walls behind ladder compartments and pipelines are clear, and the detection effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety inspection, and in particular to an intelligent vertical shaft defect inspection system and method. Background Art

[0002] Most coal mining in my country is done underground. However, underground coal mines often face complex geological conditions and harsh operating environments, making accidents very likely to occur. The vertical shaft is the throat of the mine, responsible for connecting underground mineral resources with the surface production system. Currently, problems such as deformation, spalling, and cracks in the shaft have seriously affected coal mine production safety, hindered the normal mining of mineral resources, and caused huge economic losses to the country and society.

[0003] Currently, wellbore inspection tasks mainly rely on manual labor, but manual inspection has problems such as poor accuracy, low efficiency, and easy omissions, and has gradually become unable to meet the requirements of deep wellbore inspections.

[0004] Domestic coal mine safety monitoring robots have gradually been put into use. Intelligent inspection robots are also very suitable for shaft inspection operations due to their advantages such as low application difficulty, high inspection efficiency, and flexible equipment. Currently developed inspection robots mainly use equipment such as ordinary cameras, infrared cameras, and cross-sectional scanners to detect shaft defects. However, the detection accuracy of these detection methods is generally unsatisfactory. There is still a lack of effective detection methods for common defects such as shaft deformation, wall spalling, and shaft surface cracks.

[0005] Based on the actual coal mine application environment, the application of robotic technology to specific environments such as coal tunnels and vertical shafts is being improved. The application of health monitoring technology in coal mine environments is being improved, and the safe, efficient, intelligent, and unmanned coal mining is gradually being realized. At the same time, the status of coal mine infrastructure and equipment is being monitored and early warning is being provided to provide safety guarantees for efficient production. This is a major trend in coal mine development.

[0006] Therefore, developing an intelligent unmanned inspection system for deep wells and implementing regular unmanned inspections of vertical shafts through emerging scientific and technological means can ensure passage safety, improve risk prevention and control capabilities, and provide accurate information for maintaining shaft passage safety. This is of great significance to the safe production and digital transformation of mining areas.

[0007] When faced with ultra-deep vertical shafts, the presence of ladder rooms and line pipes will hinder the detection effect of air-coupled radar, resulting in unclear images and an inability to clearly understand the wall conditions. Further detection is required by the intelligent inspection robot, so a patrol method and system are needed. Summary of the Invention

[0008] Therefore, the present invention is made in view of the above problems. The purpose of the present invention is to use an intelligent vertical shaft defect inspection method to control an intelligent vertical shaft defect inspection system, adopt a motor-driven traction wire rope to enable the inspection system to move up and down, and move with components such as ground penetrating radar, three-dimensional laser scanner, CCD camera, etc., use a motor to drive multiple groups of rotating blocks to perform different rotations, a hydraulic system to drive multiple groups of moving blocks to move different distances, and detection blocks to rotate at different angles, so as to realize multiple detection modes to solve the above problems; the present invention achieves the above purpose through the following technical solutions:

[0009] An intelligent vertical shaft defect inspection system includes: a ground, a mobile lower frame, a rotating block, and an inspection lower part. A tank channel is opened on the ground, a line pipe and a ladder room are installed in the tank channel, the tank channel side has a bottom with a tunnel, the tank channel bottom has a base, the base has a bottom motor hole, a support platform is installed on the ground, a circular groove is opened in the support platform, a square groove is opened inside the circular groove, a motor is installed in the square groove, an annular groove is provided on the outside of the square groove, a motor mounting hole 1 is provided on one side of the square groove, a motor second is installed in the motor mounting hole 1, and a motor second is provided on the motor second. There is a gear, a gear ring is provided on the movable lower frame, and the gear is meshed with the gear ring, an upper ring is provided on the upper part of the gear ring, a center hole is opened at the center of the gear ring, a positioning wire rope is provided at the lower part of the gear ring, the lower end of the positioning wire rope is connected to the lower circular plate, a mounting hole 1 is provided at the center of the bottom of the lower circular plate, a motor 3 is installed in the bottom motor hole, a movable upper frame is provided above the movable lower frame, a load-bearing shaft is provided at the end of the rotating block, a movable hole is provided inside the rotating block, the movable block is located inside the movable hole, a detection block is provided at the other end of the movable block, and the inspection lower part is installed at the lower end of the movable lower frame.

[0010] Preferably, a plurality of outward extension arms are provided on the side of the movable lower frame, and the outward extension arms are provided with a motor shaft through hole and a steel wire through hole.

[0011] Preferably, a plurality of outward extension arms 2 are provided on the side of the movable upper frame, two steel wire through holes are opened on the outward extension arms 2, support plates are provided at the bottom of the outward extension arms 2, and the top of the movable upper frame is connected to the traction wire rope.

[0012] Preferably, the end of the moving block has a moving head, the moving head is provided with a second motor mounting hole, a stepping motor is installed in the second motor mounting hole, and the stepping motor is used to drive the rotation of the detection block.

[0013] Preferably, the detection block is a quarter semi-cylinder, and is provided with two sets of side walls, one set of side walls is provided with an electromagnet, and the other set of side walls is provided with an electromagnet mounting hole. The top of the detection block is provided with a ground penetrating radar, and the bottom of the detection block is provided with a motor shaft mounting hole.

[0014] Preferably, a control module and a communication module are installed inside the lower part of the inspection, the control module controls the movement of the entire device, and the communication module transmits data to a receiving end on the ground.

[0015] Preferably, multiple groups of outward extension arms three are provided on the side of the inspection lower part, and each group of outward extension arms three has vertical plate one and vertical plate two. The bottom of the inspection lower part is provided with a three-dimensional laser scanner and an external support plate. The bottom end of the external support plate is installed with a bottom support plate, and the bottom support plate is installed with multiple groups of CCD cameras and light sources. The battery pack is installed on the outward extension arm three, and the motor four is installed between the vertical plate one and the vertical plate two.

[0016] The present invention also provides an intelligent shaft defect inspection method, including an intelligent shaft defect inspection system, and further comprising the following steps:

[0017] Step S1: The inspection system is initialized. When an inspection instruction is received, the ground penetrating radar detection is started, the three-dimensional scanning program is started, the image acquisition program is started, the first working state is started, global defect detection is performed, and the movement continues;

[0018] Step S2: When it is found that there is an unidentified defect, the movement program is stopped, the locking device is started, the second working state is started, and directional detection is performed. After the detection, the first working state is restored and the movement is continued;

[0019] Step S3: When reaching the bottom of the well, start the reverse procedure and move upward. If there is still a detection area with unclear image, start the third working state and continue to move upward.

[0020] Step S4: When the top of the wellbore is reached, acquisition stops.

[0021] Beneficial effects of the present invention:

[0022] 1. The present invention uses an intelligent shaft defect inspection method to control the intelligent shaft defect inspection system, and conducts comprehensive and detailed detection and testing to ensure that the images of walls such as ladder rooms and behind pipelines are clear and the detection effect is good.

[0023] 2. The present invention utilizes intelligent cruise, real-time communication, Internet and other technologies to build an end-to-end (surface to underground) collaborative platform and application system based on multiple sensors, and combines intelligent data extraction and analysis to achieve remote and real-time discovery and recording of ventilation shaft faults.

[0024] 3. The present invention utilizes a motor-driven traction wire rope to enable the inspection system to move up and down, and to move with components such as ground penetrating radar, three-dimensional laser scanner, and CCD camera. The motor drives multiple groups of rotating blocks to perform different rotations, and the hydraulic system drives multiple groups of moving blocks to move different distances. The detection blocks rotate at different angles to achieve multiple detection modes, so that complex defects in the vertical shaft can be comprehensively detected, and subtle defects can also be detected in real time. On the basis of ensuring personnel safety, the work efficiency and effect of detection are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is an overall schematic diagram of the vertical shaft provided by the present invention.

[0026] Figure 2 This is a schematic diagram of the overall interior of the vertical shaft provided by the present invention.

[0027] Figure 3 This is a schematic diagram of the inspection system provided by the present invention.

[0028] Figure 4 This is a schematic diagram of the first state of the vertical shaft internal inspection system provided by the present invention.

[0029] Figure 5 This is a schematic diagram of the first state of the inspection system provided by the present invention.

[0030] Figure 6 This is a schematic diagram of the second state of the vertical shaft internal inspection system provided by the present invention.

[0031] Figure 7 This is a schematic diagram of the second state of the inspection system provided by the present invention.

[0032] Figure 8 This is a schematic diagram of the third state of the vertical shaft internal inspection system provided by the present invention.

[0033] Figure 9 This is a schematic diagram of the third state of the inspection system provided by the present invention.

[0034] Figure 10 This is a schematic diagram of the wellbore provided by the present invention from a first perspective.

[0035] Figure 11 This is a schematic diagram of the wellbore from a second perspective provided by the present invention.

[0036] Figure 12 Schematic diagram of the support platform provided by the present invention.

[0037] Figure 13 This is a schematic diagram of the first perspective of the positioning wire group provided by the present invention.

[0038] Figure 14This is a schematic diagram of the positioning wire group provided by the present invention from a second perspective.

[0039] Figure 15 This is a schematic diagram of the mobile unloading provided by the present invention.

[0040] Figure 16 This is a schematic diagram of the mobile racking provided by the present invention.

[0041] Figure 17 This is a schematic diagram of the rotating block provided by the present invention.

[0042] Figure 18 This is a schematic diagram of the moving block provided by the present invention.

[0043] Figure 19 This is a schematic diagram of the detection block provided by the present invention.

[0044] Figure 20 This is a schematic diagram of the lower part of the inspection provided by the present invention.

[0045] Figure 21 This is a control flow chart of the intelligent vertical shaft defect inspection method provided by the present invention.

[0046] Description of reference numerals:

[0047] 10. Ground; 11. Tankway; 111. Line pipe; 112. Ladder room; 113. Bottom motor hole; 114. Tunnel; 115. Base; 12. Support platform; 121. Circular groove; 122. Square groove; 123. Annular groove; 124. Motor mounting hole 1; 125. Motor 1; 126. Motor 2; 127. Gear; 13. Ring gear; 131. Upper ring; 132. Center hole; 133. Positioning wire rope; 134. Lower circular plate; 135. Mounting hole 1; 136. Motor 3; 20. Mobile lower frame; 201. Extension arm 1; 202. Motor shaft through hole; 203. Wire through hole 1; 21. Mobile upper frame; 211. Outward extension arm two; 212, wire through hole two; 213, support plate; 214, traction wire rope; 30, rotating block; 31, load-bearing shaft; 32, moving hole; 33, moving block; 331, moving head; 332, motor mounting hole two; 34, detection block; 341, side wall; 342, electromagnet; 343, ground penetrating radar; 344, motor shaft mounting hole; 345, electromagnet mounting hole; 40, inspection lower part; 41, outward extension arm three; 411, vertical plate one; 412, vertical plate two; 42, three-dimensional laser scanner; 421, outer support plate; 43, bottom support plate; 44, CCD camera; 45, light source; 46, battery pack; 47, motor four. DETAILED DESCRIPTION

[0048] The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that it is easy for a person skilled in the art to 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, parts that are not connected to the present invention will be omitted from the accompanying drawings.

[0049] Example 1

[0050] like Figure 5 As shown, an intelligent vertical shaft defect inspection system includes: a ground 10, a movable lower frame 20, a rotating block 30, and an inspection lower part 40;

[0051] like Figure 1 、 Figure 2 、 Figure 3 As shown, the support platform 12 is installed on the ground 10, the motor 125 is installed in the square groove 122, the motor 2 126 is installed in the motor mounting hole 124, the motor 2 126 has a gear 127, the gear 127 is engaged with the ring gear 13, and the motor 125 is wound with a traction wire rope 214;

[0052] Motor three 136 is installed in the bottom motor hole 113, and the shaft of motor three 136 is installed in mounting hole one 135;

[0053] like Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the movable lower frame 20 is mounted on four sets of positioning steel wire ropes 133 through four sets of steel wire through holes 203, and can move up and down along the four sets of positioning steel wire ropes 133. The movable upper frame 21 is fixed to the movable lower frame 20 through four sets of support plates 213 on the one hand, and is mounted on the four sets of positioning steel wire ropes 133 on the other hand through four sets of steel wire through holes 212;

[0054] There are four groups of rotating blocks 30, which are installed between the outward extension arm 1 201 and the outward extension arm 211. The bottom end of the rotating block 30 is connected to the shaft of the motor 47. The moving block 33 is installed in the moving hole 32. The motor mounting hole 2 332 is installed with a motor, which can drive the detection block 34 to rotate. The inspection lower part 40 is installed at the lower end of the mobile lower frame 20. The battery pack 46 is installed on the outward extension arm 3 41. The motor 47 is installed between the vertical plate 1 411 and the vertical plate 2 412.

[0055] like Figure 10 、 Figure 11As shown, the ground 10 has a tank tunnel 11, and the tank tunnel 11 has a line pipe 111 and a ladder room 112. The side of the tank tunnel 11 has a tunnel 114 at the bottom, and the bottom of the tank tunnel 11 has a base 115, and the base 115 has a bottom motor hole 113.

[0056] like Figure 12 As shown, the bottom of the support platform 12 has a circular groove 121, a square groove 122 is provided at the center of the circular groove 121, an annular groove 123 is provided outside the square groove 122, and a motor mounting hole 124 is provided next to the annular groove 123;

[0057] like Figure 13 、 Figure 14 As shown, the movable lower frame 20 is provided with a gear ring 13, the upper portion of the gear ring 13 has an upper ring 131, the center of the gear ring 13 has a center hole 132, the lower portion of the gear ring 13 has a positioning wire rope 133, the positioning wire rope 133 is connected to the lower circular plate 134, and the positioning wire rope 133 is tensioned by tensioning the gear ring 13 and the lower circular plate 134. The lower circular plate 134 has a mounting hole 135 at the center of the bottom.

[0058] like Figure 15 As shown, the side of the movable lower frame 20 has multiple groups of outward extension arms 201, and each group of outward extension arms 201 has a motor shaft through hole 202 and a steel wire through hole 203;

[0059] like Figure 16 As shown, the side of the movable upper frame 21 has multiple groups of outward extension arms 211, each group of outward extension arms 211 has a second steel wire through hole 212, and the bottom of each group of outward extension arms 211 has a support plate 213. The top of the movable upper frame 21 has a traction wire rope 214;

[0060] like Figure 17 As shown, the end of the rotating block 30 has a bearing shaft 31, and the interior of the rotating block 30 has a moving hole 32, and the moving hole 32 has a hydraulic system;

[0061] like Figure 18 As shown, the end of the moving block 33 has a moving head 331, and the moving head 331 has a motor mounting hole 332. A stepper motor is installed in the motor mounting hole 332, and the other end of the stepper motor is installed in the motor shaft mounting hole 344 for driving the detection block 34 to rotate;

[0062] like Figure 19 As shown, the detection block 34 is a quarter semi-cylinder with two sets of side walls 341. One set of side walls 341 has an electromagnet 342, and the other set of side walls 341 has an electromagnet mounting hole 345. The top of the detection block 34 has a ground penetrating radar 343 arranged in an arc track, and the bottom of the detection block 34 has a motor shaft mounting hole 344.

[0063] like Figure 20 As shown, a control module and a communication module are installed inside the inspection lower part 40. The control module controls the movement of the entire device, and the communication module transmits data to the receiving end on the ground. The side of the inspection lower part 40 is provided with multiple groups of outward extension arms 41, and each group of outward extension arms 41 has a vertical plate 1 411 and a vertical plate 2 412. The bottom of the inspection lower part 40 is provided with a three-dimensional laser scanner 42 and multiple groups of external support plates 421. The bottom end of the external support plate 421 is provided with a bottom support plate 43, and the bottom support plate 43 is provided with multiple groups of CCD cameras 44 and light sources 45.

[0064] Working principle of the present invention:

[0065] First, start the system. After the system is initialized and the inspection command is received, the four detection blocks 34 are located in the center position. The motor 125 starts to lower the traction wire rope 214. The mobile upper frame 21 moves the mobile lower frame 20 downward along the positioning wire rope 133. Multiple ground penetrating radars 343 cooperate to perform circular line detection. At the same time, the three-dimensional laser scanner 42, light source 45, and CCD camera 44 work synchronously to perform three-dimensional scanning and image acquisition program detection. This is the first working state. Figure 4 、 Figure 5 As shown;

[0066] When a defect is detected but not found, the motor 125 stops moving. On the one hand, the multiple motors 47 drive the multiple groups of rotating blocks 30 divided into two groups to rotate in different forms, so that the four detection blocks 34 are divided into two groups. The motors in the motor mounting holes 232 drive the four detection blocks 34 to rotate at different angles, so that the detection blocks 34 extend outward. On the other hand, the motors 2 126 and 3 136 synchronously drive the gear ring 13 and the lower circular plate 134 to rotate, and then the positioning wire rope 133 is used to rotate the lower movable frame 20 and the upper movable frame 21 together, so that the detection blocks 34 divided into two groups can be close to the point to be detected, which is the second working state. Figure 6 、 Figure 7 As shown;

[0067] When the shaft reaches the bottom, the reverse program is started, and the motor 125 drives in the reverse direction, driving the lower movable frame 20 and the upper movable frame 21 to move upward;

[0068] When the detection location with unclear image is analyzed, such as the line pipe 111 and the ladder room 112, the multiple motors 47 drive the multiple rotating blocks 30 to rotate, and at the same time, the motors in the motor mounting holes 332 drive the four detection blocks 34 to rotate at different angles, so as to get closer to the detection location with unclear image, which is the third working state. Figure 8 、 Figure 9 As shown;

[0069] When the top of the wellbore is reached, acquisition stops.

[0070] Example 2

[0071] This embodiment provides an intelligent vertical shaft defect inspection method as described in Embodiment 1.

[0072] Step S1: Inspection system is initialized. When an inspection instruction is received, ground penetrating radar detection is started, a three-dimensional scanning program is started, an image acquisition program is started, the first working state is started, global defect detection is started, and movement continues;

[0073] Step S2: When it is found that there is an unidentified defect, the movement program is stopped, the locking device is started, the second working state is started, and directional detection is performed. After the detection, the first working state is restored and the movement is continued;

[0074] Step S3: When reaching the bottom of the well, start the reverse procedure and move upward. If there is still a detection area with unclear image, start the third working state and continue to move upward.

[0075] Step S4: When the top of the wellbore is reached, acquisition stops.

Claims

1. An intelligent shaft defect inspection system, comprising: The invention comprises a ground (10), a movable lower frame (20), a rotating block (30), and an inspection lower part (40); the invention is characterized in that: a tank passage (11) is provided on the ground (10), a line pipe (111) and a ladder room (112) are installed in the tank passage (11), a tunnel (114) is provided at the bottom of the tank passage (11), a base (115) is provided at the bottom of the tank passage (11), and a motor hole (113) is provided at the bottom of the base (115), and the ground (10 ) is mounted on a support platform (12), a circular groove (121) is provided in the support platform (12), a square groove (122) is provided inside the circular groove (121), a motor (125) is mounted in the square groove (122), an annular groove (123) is provided outside the square groove (122), a motor mounting hole (124) is provided on one side of the square groove (122), a motor (126) is mounted in the motor mounting hole (124), and a motor (126) is provided on the motor (126). There is a gear (127), a gear ring (13) is provided on the movable lower frame (20), and the gear (127) is meshed with the gear ring (13), an upper ring (131) is provided on the upper part of the gear ring (13), a center hole (132) is opened at the center of the gear ring (13), a positioning wire rope (133) is provided at the lower part of the gear ring (13), the lower end of the positioning wire rope (133) is connected to the lower circular plate (134), and the bottom center of the lower circular plate (134) has a mounting hole ( 135), a motor three (136) is installed in the bottom motor hole (113), a movable upper frame (21) is provided above the movable lower frame (20), a bearing shaft (31) is provided at the end of the rotating block (30), a movable hole (32) is provided inside the rotating block (30), a movable block (33) is located inside the movable hole (32), a detection block (34) is provided at the other end of the movable block (33), and the inspection lower part (40) is installed at the lower end of the movable lower frame (20).

2. The intelligent shaft defect inspection system according to claim 1 is characterized by: A plurality of outward extension arms (201) are provided on the side of the movable lower frame (20), and the outward extension arms (201) are provided with motor shaft through holes (202) and steel wire through holes (203).

3. The intelligent shaft defect inspection system according to claim 1 is characterized by: The side of the movable upper frame (21) is provided with a plurality of outward extension arms (211), each of which is provided with two steel wire through holes (212). The bottom of each outward extension arm (211) is provided with a support plate (213), and the top of the movable upper frame (21) is connected to a traction steel wire rope (214).

4. The intelligent vertical shaft defect inspection system according to claim 1 is characterized by: The end of the moving block (33) is provided with a moving head (331), the moving head (331) is provided with a second motor mounting hole (332), a stepping motor is mounted in the second motor mounting hole (332), and the stepping motor is used to drive the rotation of the detection block (34).

5. The intelligent shaft defect inspection system according to claim 1 is characterized by: The detection block (34) is a quarter semi-cylinder. Two groups of side walls (341) are provided on the detection block (34), one group of side walls (341) is provided with an electromagnet (342), and the other group of side walls (341) is provided with an electromagnet mounting hole (345). The top of the detection block (34) is provided with a ground penetrating radar (343), and the bottom of the detection block (34) is provided with a motor shaft mounting hole (344).

6. The intelligent vertical shaft defect inspection system according to claim 1 is characterized by: A control module and a communication module are installed inside the inspection lower part (40). The control module controls the movement of the entire device, and the communication module transmits data to a receiving end on the ground.

7. The intelligent vertical shaft defect inspection system according to claim 1 is characterized by: The side of the inspection lower part (40) is provided with multiple groups of outward extension arms (41), each group of outward extension arms (41) has a vertical plate (411) and a vertical plate (412). The bottom of the inspection lower part (40) is provided with a three-dimensional laser scanner (42) and an outer support plate (421). The bottom end of the outer support plate (421) is provided with a bottom support plate (43). The bottom support plate (43) is provided with multiple groups of CCD cameras (44) and light sources (45). A battery pack (46) is provided on the outward extension arms (41), and a motor (47) is provided between the vertical plate (411) and the vertical plate (412).

8. An intelligent shaft defect inspection method, comprising the intelligent shaft defect inspection system according to any one of claims 1 to 7, characterized in that: The following steps are included Step S1: the inspection system is initialized. When an inspection instruction is received, the ground penetrating radar (343) is started for detection, the three-dimensional scanning program is started, the image acquisition program is started, the first working state is started, global defect detection is performed, and the movement continues; Step S2: When it is found that there is an unidentified defect, the movement program is stopped, the locking device is started, the second working state is started, and directional detection is performed. After the detection, the first working state is restored and the movement is continued; Step S3: When reaching the bottom of the well, start the reverse procedure and move upward. If there is still a detection area with unclear image, start the third working state and continue to move upward. Step S4: When the top of the wellbore is reached, acquisition stops.

Images