Wellbore safety inspection robot

Abstract

The invention provides a shaft safety inspection robot which comprises a robot body, the top of the robot body is provided with an environment monitoring assembly, and the bottom of the robot body is provided with a driving assembly. The driving assembly comprises an action crawler belt and a hydraulic driving structure electrically connected with the action crawler belt, and a magnetic adsorption structure is arranged on the action crawler belt; a recognition assembly is arranged at the advancing end of the robot main body; a safety assembly, an early warning assembly and a control assembly are arranged in the robot body. The environment monitoring assembly, the driving assembly, the recognition assembly, the safety assembly and the early warning assembly are connected with the control assembly in a wired or wireless mode. Through the structural design of the inspection robot, the inspection robot has the functions of autonomous movement, multi-parameter fusion detection, intelligent diagnosis and early warning at the same time, and the safety guarantee capacity of the whole life cycle of a shaft is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of wellbore inspection and relates to a wellbore safety inspection robot. Background Art

[0002] As critical infrastructure in mining, tunneling, oil and gas extraction, and other fields, the structural safety of wellbores directly impacts the stability of production operations and the safety of personnel. However, during construction and service, wellbores are subjected to complex geological stresses, water erosion, and mechanical vibration, making them prone to safety hazards such as wellbore cracking, support structure deformation, and leakage. Traditional wellbore safety inspections rely primarily on manual inspections or fixed sensor monitoring, but these methods suffer from low efficiency, high risk, and discontinuous data, making them difficult to meet the safety management needs of modern projects.

[0003] Manual inspections usually require inspectors to enter the wellbore with the help of a hanging basket or lifting equipment, and measure the condition of the wellbore wall through visual inspection or simple instruments. This method is not only inefficient and has limited coverage, but also has a harsh underground environment (such as high humidity, toxic gases, and the risk of falling), posing a great threat to the safety of inspectors. In addition, manual inspections are highly subjective, making it difficult to accurately quantify the extent of wellbore damage, resulting in delayed discovery of hidden dangers and even sudden collapse accidents. Although fixed sensor monitoring can provide continuous data, its installation position is fixed and it cannot fully cover all sections of the wellbore. It also has high maintenance costs and is prone to failure under complex geological conditions.

[0004] In recent years, some projects have attempted to use drones or cable robots for wellbore inspections, but these technologies still have obvious limitations. For example, drones have poor flight stability in narrow wellbores, are easily disturbed by airflow, and have short flight times, making it difficult to complete full coverage inspections of deep wellbores. Cable robots rely on external traction and lack mobility, making them unable to adapt to the complex environment of uneven well walls or partial collapses, and the cables are easily entangled, increasing operational risks. In addition, existing inspection equipment has a single function, and most of them can only collect images or simple environmental parameters (such as temperature and humidity). They lack the ability to intelligently evaluate the mechanical state of the wellbore structure (such as crack propagation trends and loosening of support anchors), making it difficult to provide effective early warning decision support.

[0005] During the shaft construction phase, the quality of concrete lining pouring and the installation accuracy of the support structure directly impact safety in later service. However, traditional inspection methods struggle to detect hidden defects (such as internal cavities and steel corrosion) in a timely manner. During service, shafts are subject to mining pressure, groundwater infiltration, and other factors. Damage often begins with tiny cracks and gradually expands. Failure to identify and intervene early can lead to cascading structural damage. Therefore, a shaft safety inspection robot is urgently needed to overcome the shortcomings of existing technologies and meet practical application needs. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a wellbore safety inspection robot. In the present invention, through the structural design of the inspection robot, it is enabled to have autonomous movement, multi-parameter fusion detection function, intelligent diagnosis function and early warning function, thereby improving the safety protection capability of the wellbore throughout its life cycle.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] The present invention provides a wellbore safety inspection robot, the wellbore safety inspection robot comprises a robot body, an environmental monitoring component is provided on the top of the robot body, and a driving component is provided on the bottom;

[0009] The driving assembly includes a moving track and a hydraulic driving structure electrically connected to the moving track, and the moving track is provided with a magnetic adsorption structure;

[0010] The forward end of the robot body is provided with an identification component;

[0011] The robot body is provided with a safety component, an early warning component and a control component;

[0012] The environmental monitoring component, the driving component, the identification component, the safety component and the early warning component are respectively connected to the control component via wired or wireless connections.

[0013] In the present invention, through the structural design of the inspection robot, it is enabled to have autonomous movement, multi-parameter fusion detection function, intelligent diagnosis function and early warning function, thereby improving the safety protection capability of the entire life cycle of the wellbore.

[0014] It should be noted that the control component in the present invention can have a built-in high-performance processor and autonomous navigation algorithm, support SLAM (Simultaneous Localization and Mapping) technology, realize autonomous navigation in a signal-free environment, be equipped with a path planning algorithm, dynamically plan the optimal transportation path according to task requirements, support multi-task scheduling, and realize on-time and on-demand transportation and crushing and cleaning of materials; adopt wireless and wired hybrid communication methods, support real-time data transmission and remote control, be equipped with data caching function, temporarily store data when the network is interrupted, and automatically upload it after recovery, support remote intervention function, and operators can view the robot status in real time through the monitoring platform and perform operations.

[0015] It should be noted that the present invention adopts a moving crawler as the walking structure of the robot body, which can make the walking of the entire robot more stable, and can adapt to complex terrains, thereby achieving efficient and safe crushing operations.

[0016] It should be noted that the hydraulic drive structure in the present invention is a system that primarily utilizes liquid (usually hydraulic oil) to transmit power and control, and is widely used in engineering machinery, aerospace, industrial automation, and other fields. Its core components include a power element, an actuator, a control element, auxiliary elements, and a working medium. The power element can be a hydraulic pump, the actuator can be a hydraulic cylinder, the control element can be a directional control valve, the auxiliary elements can be a fuel tank, a filter, a cooler, etc., and the working medium can be hydraulic oil or a water-based hydraulic fluid.

[0017] As a preferred technical solution of the present invention, the robot body also includes a grid recognition component arranged inside the robot body, the grid recognition component is electrically connected to the control component, and the grid recognition component uses a YOLOv5s model to monitor the environmental architecture in real time.

[0018] It should be noted that the grid recognition component in the present invention is electrically connected to the control component, and the use of the YOLOv5s model is a key design for realizing real-time detection of support grids (such as steel mesh, anchor rods, steel belts, etc.) through computer vision technology. Because the model is a lightweight design model with a small size (about 14MB) and low computational complexity (FLOPs = 7.2B), it is suitable for deployment on embedded devices (such as Jetson Xavier), with an inference speed of 140FPS (Tesla T4 GPU), which meets the real-time requirements of robots; the multi-target detection capability can simultaneously identify multiple grid types (such as steel mesh, steel belts, anchor trays), and supports multi-label classification; the detection accuracy (mAP@0.5) can reach more than 95%; the model robustness is improved through data enhancement (simulated dust, low light, occlusion), and supports dynamic adjustment of input resolution (default 640×640, which can be compressed to 320×320 to reduce latency).

[0019] As a preferred technical solution of the present invention, a laser rangefinder is further provided on the top of the robot body, the laser rangefinder is electrically connected to the control component, and the laser rangefinder is used to monitor the height of the robot reaching the well surface.

[0020] It should be noted that the present invention does not impose any special restrictions on the model and quantity of the laser rangefinder. As long as it can ensure stable detection of the height of the robot from the well surface, the robot's walking length can be independently known, and it can return autonomously when it is about to reach the well surface. Technical personnel in this field can make adaptive adjustments according to actual conditions.

[0021] As a preferred technical solution of the present invention, the environmental monitoring component includes a sensor module, and the sensor module includes a methane sensor, a temperature sensor, a humidity sensor and a wind speed sensor.

[0022] It should be noted that the present invention does not impose any special restrictions on the models and quantities of the methane sensor, temperature sensor, humidity sensor, and wind speed sensor, and those skilled in the art may make adaptive adjustments based on actual conditions.

[0023] As a preferred technical solution of the present invention, the magnetic adsorption structure is a permanent magnetic adsorption wheel set, which is used for the robot to crawl closely along the well wall.

[0024] It should be noted that the magnetic circuit design of the permanent magnetic adsorption wheel group in the present invention is a Halbach array permanent magnet, which adopts neodymium iron boron (N52 grade) magnets, arranged according to a specific polarity to form a unilateral strong magnetic field (magnetic induction intensity of the adsorption surface ≥ 0.8T), and the magnetic field on the non-working side is attenuated to <0.1T to reduce magnetic interference. Magnetic pole modularization: Each wheel group contains 8-12 independent magnetic pole units, which are encapsulated with epoxy resin to adapt to the curved surface of the well wall (curvature radius ≥ 0.5m). The mechanical transmission includes double-row angular contact bearings to support the rotation of the wheel body, with an axial load capacity of > 300kg, a radial load of > 500kg, a polyurethane tread, a thickness of 10mm, a Shore hardness of 80A, and an enhanced friction coefficient with the well wall (dry state μ ≥ 0.6). It also includes an emergency electromagnetic demagnetization device, which generates a reverse magnetic field after power is turned on, and the adsorption force is reduced to 50N within 5 seconds (for emergency separation). It also has a wear monitoring module and a Hall sensor that monitors the change in the magnet gap in real time (alarm when it is >0.3mm). The electromagnetic demagnetization can be quickly released when stuck to avoid secondary accidents.

[0025] As a preferred technical solution of the present invention, the identification component includes a camera, a laser scanner and an infrared thermal imager; the camera is used to observe cracks on the surface of the well wall, the laser scanner is used to measure the crack depth, and the infrared thermal imager is used to detect well wall leakage and internal cavities.

[0026] It should be noted that the camera in the present invention can be a centrally located high-resolution industrial camera (20 megapixels, f / 1.8 aperture) for wide-area imaging of cracks and spalling on the wellbore surface. A laser scanner (wavelength 650nm, scanning frequency 100Hz) is coaxially mounted with the camera to measure crack depth and contour in real time using laser triangulation. An infrared thermal imager (resolution 384×288, temperature range -20°C to +350°C) is tilted downward at 15° to detect abnormal wellbore wall temperatures (temperature difference in the seepage area of ±2°C or more). Multiple sensors operate in parallel, and a single inspection can simultaneously complete surface, depth, and temperature detection, reducing work time by 70% compared to traditional methods and lowering the missed detection rate. The complementary infrared and laser data increases the internal cavity recognition rate from 60% to 95%. A false alarm prevention mechanism triggers an alert only when the camera, laser, and infrared data are consistent (false alarm rate <3%).

[0027] As a preferred technical solution of the present invention, the safety component includes an emergency braking system, which is connected to the drive component via a hydraulic device, and the emergency braking system is used to ensure the safe operation of the robot body.

[0028] It should be noted that the emergency braking system in this invention is a safety device that is automatically triggered in the event of conventional braking failure or sudden danger. It is widely used in the automotive, rail transit, aviation, industrial machinery and other fields. It mainly includes a sensing and detection unit, a control unit, and an execution unit. The sensing and detection unit may include a radar / laser sensor, a visual camera, an inertial measurement unit, and a wheel speed sensor. The control unit may include an electronic control unit and a redundant control module. The execution unit may include a hydraulic braking system, electric motor braking (regenerative braking), and a mechanical backup brake.

[0029] As a preferred technical solution of the present invention, the early warning component includes at least one sound and light alarm, for example, it can be 1, 2, 3, etc., but it is not limited to the listed values, and other unlisted values within the numerical range are also applicable.

[0030] It should be noted that the sound and light alarm in the present invention is a key safety warning module of the inspection robot. It realizes a composite warning of abnormal conditions through high-frequency sound waves (80-120dB) and multi-color LED light signals (red / yellow / blue). It adopts an industrial-grade explosion-proof design and complies with the GB3836.1-2010 explosive environment equipment standard. It is suitable for high-risk places such as coal mines and ports.

[0031] As a preferred technical solution of the present invention, the robot body is a steel alloy body, and a shock-absorbing layer is provided on the inner wall of the robot body.

[0032] As a preferred technical solution of the present invention, the thickness of the shock-absorbing layer is 8mm to 10mm, for example, it can be 8mm, 8.5mm, 9mm, 9.5mm, 10mm, etc., but it is not limited to the listed values. Other unlisted values within this numerical range are also applicable.

[0033] It should be noted that the present invention adopts a shock-absorbing layer and selects steel alloy materials, which can be explosion-proof, heat-insulating and dust-proof, and greatly reduce shock, so that the robot runs stably and can adapt to the harsh environment of coal mines in all directions; the thickness of the shock-absorbing layer is 8mm to 10mm, which can maximize the shock-absorbing effect and greatly reduce the instability of the robot body operation.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In the present invention, through the structural design of the inspection robot, it is enabled to have autonomous movement, multi-parameter fusion detection function, intelligent diagnosis function and early warning function, thereby improving the safety protection capability of the entire life cycle of the wellbore. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a wellbore safety inspection robot provided in one embodiment of the present invention;

[0037] Among them, 1-robot body; 2-environmental monitoring component; 3-laser rangefinder; 4-safety component; 5-grid recognition component; 6-control component; 7-laser scanner; 8-camera; 9-infrared thermal imager; 10-early warning component; 11-action track. DETAILED DESCRIPTION

[0038] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0039] It should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] Those skilled in the art should understand that the present invention must include necessary pipelines, conventional valves and general pump equipment for realizing a complete process, but the above content does not belong to the main invention point of the present invention. Those skilled in the art can add layouts on their own based on the process flow and equipment structure selection, and the present invention does not make special requirements and specific limitations on this.

[0041] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0042] In a specific embodiment, the present invention provides a wellbore safety inspection robot, such as Figure 1 As shown, the wellbore safety inspection robot includes a robot body 1, an environmental monitoring component 2 is provided on the top of the robot body 1, and a driving component is provided on the bottom;

[0043] The driving assembly includes a moving track 11 and a hydraulic driving structure electrically connected to the moving track 11, and a magnetic adsorption structure is provided on the moving track 11;

[0044] The forward end of the robot body 1 is provided with an identification component;

[0045] The robot body 1 is provided with a safety component 4, an early warning component 10 and a control component 6;

[0046] The environmental monitoring component 2, the driving component, the identification component, the safety component 4 and the early warning component 10 are respectively connected to the control component 6 through wired or wireless connections.

[0047] It should be noted that the control component 6 in the present invention can have a built-in high-performance processor and autonomous navigation algorithm, support SLAM (Simultaneous Localization and Mapping) technology, realize autonomous navigation in a signal-free environment, be equipped with a path planning algorithm, dynamically plan the optimal transportation path according to task requirements, support multi-task scheduling, and realize on-time and on-demand transportation and crushing and cleaning of materials; adopt wireless and wired hybrid communication methods, support real-time data transmission and remote control, be equipped with data caching function, temporarily store data when the network is interrupted, and automatically upload it after recovery, support remote intervention function, and operators can view the robot status in real time through the monitoring platform and perform operations.

[0048] It should be noted that the present invention uses the moving crawler 11 as the walking structure of the robot body 1, which can make the walking of the entire robot more stable, and can adapt to complex terrains, thereby achieving efficient and safe crushing operations.

[0049] It should be noted that the hydraulic drive structure in the present invention is a system that primarily utilizes liquid (usually hydraulic oil) to transmit power and control, and is widely used in engineering machinery, aerospace, industrial automation, and other fields. Its core components include a power element, an actuator, a control element, auxiliary elements, and a working medium. The power element can be a hydraulic pump, the actuator can be a hydraulic cylinder, the control element can be a directional control valve, the auxiliary elements can be a fuel tank, a filter, a cooler, etc., and the working medium can be hydraulic oil or a water-based hydraulic fluid.

[0050] In one embodiment, the robot body 1 further includes a grid recognition component 5 disposed inside the robot body 1 , the grid recognition component 5 is electrically connected to the control component 6 , and the grid recognition component 5 uses a YOLOv5s model to perform real-time monitoring of the environmental architecture.

[0051] It should be noted that the grid recognition component 5 in the present invention is electrically connected to the control component 6, and the use of the YOLOv5s model is a key design for realizing real-time detection of support grids (such as steel mesh, anchor rods, steel belts, etc.) through computer vision technology. Because the model is a lightweight design model with a small size (about 14MB) and low computational complexity (FLOPs = 7.2B), it is suitable for deployment on embedded devices (such as Jetson Xavier), with an inference speed of 140FPS (Tesla T4 GPU), which meets the real-time requirements of robots; the multi-target detection capability can simultaneously identify multiple grid types (such as steel mesh, steel belts, anchor trays), and supports multi-label classification; the detection accuracy (mAP@0.5) can reach more than 95%; the model robustness is improved through data enhancement (simulated dust, low light, occlusion), and supports dynamic adjustment of input resolution (default 640×640, which can be compressed to 320×320 to reduce latency).

[0052] In one embodiment, a laser rangefinder 3 is further provided on the top of the robot body 1 . The laser rangefinder 3 is electrically connected to the control component 6 . The laser rangefinder 3 is used to monitor the height of the robot reaching the well surface.

[0053] It should be noted that the present invention does not impose any special restrictions on the model and quantity of the laser rangefinder 3. As long as it can ensure stable detection of the height of the robot from the well surface, it can autonomously know the walking length of the robot and return autonomously when it is about to reach the well surface. Technical personnel in this field can make adaptive adjustments according to actual conditions.

[0054] In one embodiment, the environment monitoring component 2 includes a sensor module, which includes a methane sensor, a temperature sensor, a humidity sensor, and a wind speed sensor.

[0055] It should be noted that the present invention does not impose any special restrictions on the models and quantities of the methane sensor, temperature sensor, humidity sensor, and wind speed sensor, and those skilled in the art may make adaptive adjustments based on actual conditions.

[0056] In one embodiment, the magnetic adsorption structure is a permanent magnetic adsorption wheel set, which is used for the robot to crawl closely along the well wall.

[0057] It should be noted that the magnetic circuit design of the permanent magnetic adsorption wheel group in the present invention is a Halbach array permanent magnet, which adopts neodymium iron boron (N52 grade) magnets, arranged according to a specific polarity to form a unilateral strong magnetic field (magnetic induction intensity of the adsorption surface ≥ 0.8T), and the magnetic field on the non-working side is attenuated to <0.1T to reduce magnetic interference. Magnetic pole modularization: Each wheel group contains 8-12 independent magnetic pole units, which are encapsulated with epoxy resin to adapt to the curved surface of the well wall (curvature radius ≥ 0.5m). The mechanical transmission includes double-row angular contact bearings to support the rotation of the wheel body, with an axial load capacity of > 300kg, a radial load of > 500kg, a polyurethane tread, a thickness of 10mm, a Shore hardness of 80A, and an enhanced friction coefficient with the well wall (dry state μ ≥ 0.6). It also includes an emergency electromagnetic demagnetization device, which generates a reverse magnetic field after power is turned on, and the adsorption force is reduced to 50N within 5 seconds (for emergency separation). It also has a wear monitoring module and a Hall sensor that monitors the change in the magnet gap in real time (alarm when it is >0.3mm). The electromagnetic demagnetization can be quickly released when stuck to avoid secondary accidents.

[0058] In one embodiment, the identification component includes a camera 8, a laser scanner 7 and an infrared thermal imager 9; the camera 8 is used to observe cracks on the well wall surface, the laser scanner 7 is used to measure the crack depth, and the infrared thermal imager 9 is used to detect well wall leakage and internal cavities.

[0059] It should be noted that the camera 8 in the present invention can be a centrally located high-resolution industrial camera 8 (20 megapixels, f / 1.8 aperture) for wide-area imaging of cracks and spalling on the wellbore surface. A laser scanner 7 (wavelength 650nm, scanning frequency 100Hz) is coaxially mounted with camera 8, using laser triangulation to measure crack depth and contour in real time. An infrared thermal imager 9 (resolution 384×288, temperature range -20°C to +350°C) is tilted downward at a 15° angle to detect abnormal wellbore wall temperatures (temperature differences of ±2°C or more in the seepage area). Multiple sensors operate in parallel, allowing a single inspection to simultaneously complete surface, depth, and temperature measurements. This reduces work time by 70% compared to traditional methods, reduces missed detection rates, and enhances internal cavity recognition from 60% to 95%. Furthermore, a false alarm prevention mechanism triggers an alert only when the data from camera 8, laser, and infrared are consistent (false alarm rate <3%).

[0060] In one embodiment, the safety component 4 includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body 1.

[0061] It should be noted that the emergency braking system in the present invention is a safety device that is automatically triggered in the event of conventional braking failure or sudden danger, and is widely used in the automotive, rail transportation, aviation, industrial machinery and other fields. It mainly includes a sensing and detection unit, a control unit, and an execution unit. The sensing and detection unit may include a radar / laser sensor, a visual camera 8, an inertial measurement unit, and a wheel speed sensor. The control unit may include an electronic control unit and a redundant control module. The execution unit may include a hydraulic braking system, electric motor braking (regenerative braking), and a mechanical backup brake.

[0062] In one embodiment, the warning component 10 includes at least one sound and light alarm, for example, 1, 2, 3, etc., but is not limited to the listed values, and other unlisted values within the numerical range are also applicable.

[0063] It should be noted that the sound and light alarm in the present invention is a key safety warning module of the inspection robot. It realizes a composite warning of abnormal conditions through high-frequency sound waves (80-120dB) and multi-color LED light signals (red / yellow / blue). It adopts an industrial-grade explosion-proof design and complies with the GB3836.1-2010 explosive environment equipment standard. It is suitable for high-risk places such as coal mines and ports.

[0064] In one embodiment, the robot body 1 is made of a steel alloy, and a shock-absorbing layer is provided on the inner wall of the robot body 1 .

[0065] In one embodiment, the thickness of the shock-absorbing layer is 8 mm to 10 mm, for example, 8 mm, 8.5 mm, 9 mm, 9.5 mm, 10 mm, etc., but is not limited to the listed values, and other unlisted values within the numerical range are also applicable.

[0066] It should be noted that the present invention adopts a shock-absorbing layer and selects steel alloy materials, which can be explosion-proof, heat-insulating and dust-proof, and greatly reduce shock, so that the robot runs stably and can adapt to the harsh environment of coal mines in all directions; the thickness of the shock-absorbing layer is 8mm~10mm, which can maximize the shock-absorbing effect and greatly reduce the unstable operation of the robot body 1.

[0067] Example 1

[0068] This embodiment provides a wellbore safety inspection robot, wherein:

[0069] The wellbore safety inspection robot includes a robot body 1, an environmental monitoring component 2 is provided on the top of the robot body 1, and a driving component is provided on the bottom; the driving component includes a moving track 11 and a hydraulic driving structure electrically connected to the moving track 11, and the moving track 11 is provided with a magnetic adsorption structure; an identification component is provided at the forward end of the robot body 1; a safety component 4, an early warning component 10 and a control component 6 are provided in the robot body 1; the environmental monitoring component 2, the driving component, the identification component, the safety component 4 and the early warning component 10 are respectively connected to the control component 6 through wired or wireless connections.

[0070] The robot body 1 also includes a grid recognition component 5 arranged inside the robot body 1. The grid recognition component 5 is electrically connected to the control component 6, and the grid recognition component 5 uses the YOLOv5s model to monitor the environmental architecture in real time.

[0071] A laser rangefinder 3 is also provided on the top of the robot body 1. The laser rangefinder 3 is electrically connected to the control component 6. The laser rangefinder 3 is used to monitor the height of the robot reaching the well surface.

[0072] The environmental monitoring component 2 includes a sensor module, which includes a methane sensor, a temperature sensor, a humidity sensor and a wind speed sensor.

[0073] The magnetic adsorption structure is a permanent magnetic adsorption wheel set, which is used for the robot to crawl closely along the well wall.

[0074] The identification component includes a camera 8, a laser scanner 7 and an infrared thermal imager 9; the camera 8 is used to observe cracks on the well wall surface, the laser scanner 7 is used to measure the crack depth, and the infrared thermal imager 9 is used to detect well wall leakage and internal cavities.

[0075] The safety component 4 includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body 1.

[0076] The early warning component 10 includes two sound and light alarms.

[0077] The robot body 1 is made of a steel alloy, and a shock-absorbing layer is provided on the inner wall of the robot body 1 , and the thickness of the shock-absorbing layer is 9 mm.

[0078] In summary, the present invention improves the safety assurance capability of the wellbore throughout its entire life cycle through the structural design of the inspection robot, enabling it to have autonomous movement, multi-parameter fusion detection, intelligent diagnosis and early warning functions.

[0079] The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention fall within the protection scope and disclosure scope of the present invention.

Claims

1. A wellbore safety inspection robot, characterized in that: The wellbore safety inspection robot includes a robot body, an environmental monitoring component is provided on the top of the robot body, and a driving component is provided on the bottom; The driving assembly includes a moving track and a hydraulic driving structure electrically connected to the moving track, and the moving track is provided with a magnetic adsorption structure; The forward end of the robot body is provided with an identification component; The robot body is provided with a safety component, an early warning component and a control component; The environmental monitoring component, the driving component, the identification component, the safety component and the early warning component are respectively connected to the control component via wired or wireless connections.

2. The wellbore safety inspection robot according to claim 1, characterized in that: The robot body also includes a grid recognition component arranged inside the robot body, the grid recognition component is electrically connected to the control component, and the grid recognition component uses a YOLOv5s model to monitor the environmental architecture in real time.

3. The wellbore safety inspection robot according to claim 1 or 2, characterized in that: A laser rangefinder is also provided on the top of the robot body. The laser rangefinder is electrically connected to the control component and is used to monitor the height at which the robot reaches the well surface.

4. The wellbore safety inspection robot according to any one of claims 1 to 3, characterized in that: The environmental monitoring component includes a sensor module, which includes a methane sensor, a temperature sensor, a humidity sensor and a wind speed sensor.

5. The wellbore safety inspection robot according to any one of claims 1 to 4, characterized in that: The magnetic adsorption structure is a permanent magnetic adsorption wheel set, which is used for the robot to crawl closely along the well wall.

6. The wellbore safety inspection robot according to any one of claims 1 to 5, characterized in that: The identification component includes a camera, a laser scanner and an infrared thermal imager; The camera is used to observe cracks on the well wall surface, the laser scanner is used to measure the crack depth, and the infrared thermal imager is used to detect well wall leakage and internal cavities.

7. The wellbore safety inspection robot according to any one of claims 1 to 6, characterized in that: The safety component includes an emergency braking system, which is connected to the driving component via a hydraulic device. The emergency braking system is used to ensure the safe operation of the robot body.

8. The wellbore safety inspection robot according to any one of claims 1 to 7, characterized in that: The early warning component includes at least one sound and light alarm.

9. The wellbore safety inspection robot according to any one of claims 1 to 8, characterized in that: The robot body is a steel alloy body, and a shock-absorbing layer is provided on the inner wall of the robot body.

10. The wellbore safety inspection robot according to claim 9, characterized in that: The thickness of the shock-absorbing layer is 8 mm to 10 mm.

Images