Deep and large enclosed space image and deformation information intelligent acquisition device and method

Abstract

The invention belongs to the technical field of deep and large confined space intelligent monitoring, and provides a deep and large confined space image and deformation information intelligent acquisition device and method.The device is characterized in that a top fixing mechanism and a bottom fixing mechanism are oppositely mounted at the top and the bottom of a deep and large confined space up and down; the vertical guide mechanism is connected between the top fixing mechanism and the bottom fixing mechanism; the multi-source information acquisition mechanism comprises an acquisition support and an intelligent acquisition module, the acquisition support is slidably connected to the vertical guide mechanism, and the intelligent acquisition module is mounted on the acquisition support; and the ground centralized control mechanism is connected with the multi-source information acquisition mechanism. The method comprises the following steps of: driving the multi-source information acquisition mechanism to lift along the stable rope at a constant speed by recovering the armored cable, acquiring image data and deformation point cloud data by the multi-source information acquisition mechanism, and sending the image data and the deformation point cloud data to the ground centralized control mechanism through the armored cable; and the ground centralized control mechanism obtains deformation amplitude data based on the image and the deformation point cloud data. According to the invention, unmanned and automatic high-efficiency inspection operation in a deep and large closed space can be realized.

Description

Technical Field

[0001] This invention belongs to the field of intelligent monitoring technology for large and enclosed spaces, specifically an intelligent acquisition device and method for images and deformation information of large and enclosed spaces. Background Technology

[0002] Natural or man-made deep and large buildings / structures (such as natural caves, deep mine shafts, coal mine shafts, etc.) will inevitably experience various durability problems as their service life increases, manifesting as deformation of their outer contours or even a certain degree of damage. Regular inspections are crucial for effectively maintaining the safe and stable operation of these existing spaces. However, due to the limitations of the deep and enclosed environment, there may be risks such as oxygen deficiency, toxic gases, or falling objects from heights, and personnel are generally prohibited from entering deep spaces. Therefore, guided by the safety production concept of "safety without human intervention," seeking alternative methods for image inspection and even deformation detection of existing spaces is an urgent technical problem to be solved. Although drones integrating inspection and scanning of enclosed spaces have emerged, their signal transmission and endurance limit their application in deep and enclosed spaces. Therefore, to achieve safe and effective inspection operations in deep and enclosed spaces, there is an urgent need for an intelligent acquisition device and method for image and deformation information in deep and enclosed spaces. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides an intelligent acquisition device and method for images and deformation information of deep, enclosed spaces. The device has a simple structure and low manufacturing cost, enabling unmanned and automated high-efficiency inspection of deep, enclosed spaces. It can also achieve real-time and accurate analysis of deformation in deep, enclosed spaces based on multi-source monitoring data. The method is simple to implement, low in cost, highly automated, and efficient. It enables automatic inspection of deep, enclosed spaces, accurately sensing the deformation at different depths through simultaneous acquisition and analysis of image data and deformation point cloud data. Furthermore, by conducting multiple inspections and comparing the relative deformation development before and after, it can accurately assess the stability of the deep, enclosed space, the reliability of the support structure, and the safety during long-term service.

[0004] To achieve the above objectives, the present invention provides an intelligent acquisition device for images and deformation information in deep, enclosed spaces, comprising a multi-source information acquisition mechanism, a bottom fixing mechanism, a top fixing mechanism, a vertical guiding mechanism, and a ground control mechanism; The top fixing mechanism and the bottom fixing mechanism are fixedly installed at the top and bottom of the deep, enclosed space, respectively, with their top and bottom facing each other. The vertical guide mechanism is connected between the top fixing mechanism and the bottom fixing mechanism; The multi-source information acquisition mechanism includes an acquisition bracket and an intelligent acquisition module. The acquisition bracket is slidably connected to a vertical guide mechanism, and the intelligent acquisition module is installed on the acquisition bracket for acquiring multi-source monitoring data in deep, enclosed spaces. The ground-based centralized control mechanism is installed on the ground and connected to the multi-source information acquisition mechanism. It is used to change the position of the multi-source information acquisition mechanism on the vertical guide mechanism. At the same time, it is used to receive multi-source monitoring data and analyze and evaluate the deformation of the deep and enclosed space based on the multi-source monitoring data.

[0005] In this invention, a top fixing mechanism and a bottom fixing mechanism are installed opposite each other at the top and bottom of a deep, enclosed space, and connected by a vertical guide mechanism. Simultaneously, the acquisition bracket of the multi-source information acquisition mechanism is slidably connected to the vertical guide mechanism. This provides a stable and reliable guide track for the multi-source information acquisition mechanism, allowing it to perform top-down or bottom-up inspection operations within the deep, enclosed space along the vertical guide mechanism. The intelligent acquisition module facilitates the acquisition of multi-source monitoring data within the deep, enclosed space. The ground-based control mechanism allows for easy repositioning of the multi-source information acquisition mechanism on the vertical guide mechanism, enabling inspection operations at different depths. Furthermore, the ground-based control mechanism facilitates precise real-time analysis of deformation at different locations within the deep, enclosed space based on real-time multi-source monitoring data, thereby accurately assessing the stability of the deep, enclosed space, the reliability of the support structure, and the safety of long-term service.

[0006] This device has a simple structure and low manufacturing cost. It can realize unmanned and automated high-efficiency inspection operations in deep and enclosed spaces, and can realize real-time and accurate analysis of deformation in deep and enclosed spaces based on multi-source monitoring data. It is especially suitable for inspection operations in deep and enclosed spaces where personnel are prohibited from entering, which significantly improves the safety factor of inspection operations in deep and enclosed spaces and can effectively ensure the long-term safe and stable operation of deep and enclosed spaces.

[0007] Furthermore, in order to provide a stable support for the intelligent acquisition module, the top fixing mechanism includes an upper rigid frame, guide pulleys and upper transverse support rods. The upper rigid frame is located in the central area of ​​the top of the deep and enclosed space. The guide pulleys are installed on the upper rigid frame. Multiple upper transverse support rods are circumferentially distributed around the upper rigid frame. The inner end of the upper transverse support rod is fixedly connected to the upper rigid frame, and its outer end is fixedly connected to the inner wall of the deep and enclosed space. The bottom fixing mechanism includes a lower fixing component and a lower rigid frame. The lower rigid frame is distributed opposite to the upper rigid frame and is fixedly installed in the central area at the bottom of the deep, enclosed space by the lower fixing component. The vertical guide mechanism includes end fixings and vertical guides; multiple pairs of end fixings are fixedly connected to the upper rigid frame and the lower rigid frame respectively; multiple vertical guides are arranged in one-to-one correspondence with multiple pairs of end fixings, and the upper and lower ends of each vertical guide are respectively connected to a pair of end fixings.

[0008] Furthermore, in order to provide an installation foundation for the intelligent acquisition module and to effectively protect the intelligent acquisition module, the acquisition bracket includes a support body and guide connectors. The support body includes a central support column, an upper protective plate, and a lower protective plate. The upper and lower protective plates are fixedly connected to the upper and lower ends of the central support column, respectively, with the upper and lower protective plates being vertically opposite to each other. Multiple guide connectors are fixedly connected to the periphery of the support body and are slidably connected to multiple vertical guide members.

[0009] In this technical solution, the upper protective plate effectively blocks falling water or fixed objects from above, ensuring the safe and stable operation of the intelligent data acquisition module. The lower protective plate provides a mounting base for the intelligent data acquisition module and also effectively protects the module installed between the upper and lower protective plates. The central support column provides a mounting base for the supplementary lighting and increases the height of the space between the upper and lower protective plates, allowing for the installation of more data acquisition modules between them.

[0010] Furthermore, to facilitate reliable inspection of deep, enclosed spaces, both the upper and lower rigid frames are triangular rigid frames. There are three upper transverse support rods, each corresponding to one of the three corner points of the upper rigid frame. Each upper transverse support rod includes a telescopic support rod and a frame fixing plate. The inner end of the telescopic support rod is fixedly connected to one of the corner points of the upper rigid frame, and the frame fixing plate is fixedly connected to the outer end of the telescopic support rod and to the inner wall of the deep, enclosed space via anchor bolts. There are three pairs of end fasteners, each fixedly connected to one of the three opposite corner points of the upper and lower rigid frames. The vertical guide is a stabilizing rope, and there are three stabilizing ropes. The guide connector is a hollow sleeve, with its upper and lower parts fixedly connected to the upper and lower protective plates, respectively. Simultaneously, the hollow sleeve slides around the outside of the stabilizing rope. The lower fixing component is a counterweight or an anchor bolt.

[0011] In this technical solution, both the upper and lower rigid frames are triangular frames, which fully utilizes the self-stabilizing principle of triangles to ensure the stability of the support. The upper horizontal support rod includes a telescopic support rod, allowing it to adapt to different sizes of deep, enclosed spaces through telescopic movement, while also facilitating convenient adjustment of the specific installation position at the top. The frame fixing plate facilitates a reliable connection between the telescopic support rod and the deep, enclosed space via anchor bolts or other anchoring connectors. The vertical guide mechanism, formed by three pairs of end fixings and three stabilizing ropes, not only simplifies the structure and facilitates the installation process but also provides a stable support and guiding foundation for the multi-source information acquisition mechanism. This allows the multi-source information acquisition mechanism to be smoothly lifted, suspended, or lowered on the vertical guide mechanism, ensuring the inspection quality and overall stable operation of the device during mobile inspections. By employing a hollow sleeve as a guide connector, it can slide and engage with the stabilizing rope in a fitted manner. This ensures convenient connection while leveraging the rigidity of the hollow sleeve to overcome the local flexibility of the stabilizing rope. This allows the multi-source information acquisition mechanism to hover and slide stably on the vertical guide mechanism without lateral displacement. Therefore, this invention provides radial and axial stabilization support and guidance for the intelligent acquisition module with dual "image + scanning" functions through a flexible stabilizing rope and hollow sleeve. This ensures stability during axial movement, facilitating the accurate acquisition of image data and deformed point cloud data, and ultimately enabling accurate assessment of the safety and stability of deep, enclosed spaces.

[0012] Furthermore, in order to clearly, accurately and comprehensively collect deformation-related data of deep and enclosed spaces, the intelligent acquisition module includes a supplementary light, a camera, a three-dimensional laser scanning probe, a communication module, a storage module, a battery pack and a processor; Multiple sets of supplementary lights are evenly installed in a ring around the central support or lower protective plate; multiple cameras are evenly distributed around the central support and fixedly installed on the central support or lower protective plate; the three-dimensional laser scanning probe is fixedly installed in the central area at the lower end of the lower protective plate; the first communication module is installed on the central support, lower protective plate, or upper protective plate; the storage module, battery pack, and processor are all installed inside the central support; the processor is connected to the supplementary lights, cameras, three-dimensional laser scanning probe, first communication module, storage module, and battery pack respectively.

[0013] In this technical solution, by uniformly arranging multiple sets of supplementary lights in a circumferential direction, both illumination for the camera's image acquisition process and ambient light compensation for the 3D laser scanning probe's point cloud acquisition process are provided, thus addressing dual illumination needs. The distribution of multiple cameras around the central support pillar facilitates omnidirectional acquisition of image data from the deep, enclosed space, enabling accurate analysis of its deformation from all angles. Installing the 3D laser scanning probe in the central area at the lower end of the lower protective plate facilitates the acquisition of deformation point cloud data from the deep, enclosed space below, allowing for precise deformation analysis of the space using both image data and deformation point cloud data. The communication module facilitates communication with external devices. The storage module allows for real-time storage of multi-source monitoring data. The battery pack provides offline power to the intelligent acquisition module. The processor facilitates noise reduction and spatiotemporal alignment preprocessing of the multi-source monitoring data, enabling the ground control center to more accurately analyze and evaluate the deformation of the deep, enclosed space based on the preprocessed multi-source monitoring data. In this way, by integrating a camera and a 3D laser scanning probe into the intelligent acquisition module, the multi-source information acquisition mechanism can have real-time endoscopic and scanning functions. It can then acquire inspection image data in real time through endoscopic means, and obtain deformation point cloud data in real time through scanning.

[0014] Furthermore, to facilitate real-time sensing of environmental parameters, the intelligent acquisition module also includes a multi-component gas analyzer and a temperature and humidity sensor. The multi-component gas analyzer is installed on the central support or the lower protective plate to detect gas composition and concentration data; the temperature and humidity sensor is installed on the central support or the lower protective plate to collect temperature and humidity data.

[0015] In this technical solution, by integrating a multi-component gas analyzer and a temperature and humidity sensor into the intelligent acquisition module, it is possible to simultaneously acquire gas composition information, gas concentration data, and temperature and humidity data at corresponding locations while acquiring image data and deformation point cloud data. This allows for the comprehensive acquisition of environmental parameters at different depths. This not only helps in determining the environmental safety conditions of deep, large, and enclosed spaces based on environmental parameters, providing reliable technical support for subsequent personnel exploration or entry into construction, but also helps in analyzing the deformation causes of deep, large, and enclosed spaces based on environmental parameters. This facilitates the coupled analysis of appearance and causes, thereby enabling a more accurate assessment of the stability and reliability of deep, large, and enclosed spaces.

[0016] As a preferred embodiment, the ground-based centralized control mechanism includes a centralized control box, a speed-regulating winch, a rope-carrying winch, an armored cable, and a main control unit. Both the speed-regulating winch and the rope-carrying winch are installed in the centralized control box, with the speed-regulating winch connected to the rope-carrying winch via a transmission mechanism. The armored cable is wound around the rope-carrying winch, and its connecting end passes over a guide pulley and connects to the center of the upper end of the data acquisition bracket. The main control unit is located in the centralized control box and is connected to the speed-regulating winch. Simultaneously, it is connected to the intelligent data acquisition module via the armored cable.

[0017] In this technical solution, the cable winch in the ground control mechanism is connected to the acquisition bracket via an armored cable. Simultaneously, the main control unit is connected to the intelligent acquisition module via the armored cable. This allows for easy adjustment of the intelligent acquisition module's position on the vertical guide mechanism by driving the cable winch with a speed-regulating winch, enabling inspection operations at different depths. Furthermore, the armored cable facilitates the establishment of a real-time communication link between the intelligent acquisition module and the main control unit. This allows the intelligent acquisition module to transmit image data and deformation point cloud data to the main control unit in real time, enabling the main control unit to process the image data and deformation point cloud data and obtain deformation amplitude data in real time, thus facilitating real-time assessment of deformation at different depths.

[0018] Furthermore, to comprehensively perceive the inspection conditions, the main control unit includes an encoder, an instrument panel, a display screen, an emergency stop button, control buttons, a second communication module, and a data processing terminal. The encoder is connected to the rope winch and is used to collect data on the release / retrieval speed and release / retrieval length of the armored cable. The instrument panel is used to display the speed and depth information of the multi-source information acquisition mechanism. The data processing terminal is connected to the speed-regulating winch, encoder, instrument panel, display screen, emergency stop button, control buttons, and second communication module. The second communication module is connected to the first communication module via the armored cable.

[0019] In this technical solution, the encoder facilitates real-time acquisition of speed and length signals from the armored cable. This allows the data processing terminal to easily perceive the inspection speed and depth data of the multi-source information acquisition mechanism in real time, and display this data on the instrument panel, enabling ground personnel to intuitively observe the operation of the mechanism. The display screen shows real-time image data, deformation point cloud data, and deformation amplitude data at different depths, further facilitating ground personnel's observation of the inspection process. The emergency stop button allows ground personnel to manually send an emergency stop signal to the data processing terminal in emergency situations. Upon receiving the signal, the terminal can promptly control the speed-regulating winch to stop, thus enabling emergency stop control of the multi-source information acquisition mechanism. The control buttons allow ground personnel to manually send corresponding control signals to the data processing terminal, which then controls the actuators to perform the appropriate actions. By setting up communication module two, it is easy to establish a wired communication link with communication module one via armored cable. This allows the image data and deformed point cloud data collected by the intelligent acquisition module to be transmitted to the data processing terminal in the main control unit in real time. At the same time, it also allows the data processing terminal to send control signals to the intelligent acquisition module in real time.

[0020] This invention also provides an intelligent acquisition method for images and deformation information of deep, large, and enclosed spaces, employing an intelligent acquisition device for images and deformation information of deep, large, and enclosed spaces, comprising the following steps: Step 1: Assemble the intelligent acquisition device for images and deformation information in deep, enclosed spaces; Step 2: Use the ground control mechanism to start the speed-regulating winch, and release the armored cable to lower the multi-source information acquisition mechanism until it reaches the predetermined position at the bottom of the deep and enclosed space and stops. Step 3: The ground control unit issues an inspection start command and controls the speed-regulating winch to start working. The armored cable is retrieved by the rope winch, which drives the multi-source information acquisition mechanism to be lifted at a constant speed along the stabilizing rope. At the same time, after receiving the inspection start command, the multi-source information acquisition mechanism controls the supplementary light to provide illumination, controls the camera to collect image data at different depth positions in real time, and controls the 3D laser scanning probe to collect deformation point cloud data at different depth positions in real time. After preprocessing, the data is sent to the ground control unit through the armored cable. The data processing terminal obtains real-time deformation amplitude data based on image data and deformation point cloud data. For defect areas where the real-time deformation amplitude data exceeds the upper limit threshold, the terminal controls the speed-regulating winch to stop for a set time and sends an encrypted scanning command to the multi-source information acquisition agency. The multi-source information acquisition agency, hovering in the defect area, increases the scanning frequency of the defect area according to the encrypted scanning command and sends the image data and deformation point cloud data obtained by the encrypted scanning to the ground control agency. For normal areas where the real-time deformation amplitude data is lower than the lower limit threshold, the terminal controls the speed-regulating winch to increase the lifting speed and sends a sparse scanning command to the multi-source information acquisition agency. The multi-source information acquisition agency reduces the scanning frequency of the normal area according to the sparse scanning command and sends the image data and deformation point cloud data obtained by the sparse scanning to the ground control agency. Step 4: When the multi-source information acquisition mechanism moves to the top of the deep and large enclosed space, the ground control mechanism controls the speed-regulating winch to stop, completing the inspection operation of the deep and large enclosed space. Step 5: Sequentially remove the bottom fixing mechanism and the top fixing mechanism, and then recover the top fixing mechanism, the vertical guide mechanism, the multi-source information acquisition mechanism, and the bottom fixing mechanism.

[0021] Furthermore, in order to better ensure the long-term stable operation of the deep and large enclosed space, in step three, while the multi-source information acquisition mechanism collects image data and deformed point cloud data at different depth locations through cameras and three-dimensional laser scanning probes, it simultaneously uses a multi-component gas analyzer to detect gas composition and gas concentration data, uses temperature and humidity sensors to collect temperature and humidity data, and sends the gas composition and gas concentration data, temperature and humidity data to the ground control mechanism through armored cables. Meanwhile, while combining image data and deformed point cloud data to analyze the deformation amplitude of deep and enclosed spaces, the data processing terminal simultaneously introduces gas composition and concentration data, temperature and humidity data for auxiliary analysis, revealing the causal mechanism of deformation and realizing the coupled analysis of appearance and cause.

[0022] This invention provides an intelligent method for acquiring images and deformation information in deep, enclosed spaces. A ground-based centralized control mechanism controls a speed-regulating winch, which in turn lowers and retrieves armored cables via the rotation of a rope-carrying winch. This drives a multi-source information acquisition mechanism to descend and ascend along a stabilizing rope, facilitating unmanned, automated inspection operations at different depths. During the inspection, image data is simultaneously acquired via endoscopy, and deformation point cloud data is obtained through scanning. After preprocessing, the data is transmitted in real-time to the ground-based centralized control mechanism. The data processing terminal in the main control unit analyzes and processes the image data and deformation point cloud data in real-time, obtaining real-time deformation amplitude data, enabling accurate perception of deformation at different depths. For defect areas where the deformation amplitude exceeds the upper limit threshold, image data and deformation point cloud data are obtained through encrypted scanning, facilitating more accurate deformation analysis and stability assessment of the defect area. For normal areas where the deformation amplitude is below the lower limit threshold, image data and deformation point cloud data are obtained through sparse scanning, improving overall inspection efficiency.

[0023] This method is simple to implement, low in cost, highly automated, and efficient in inspection. It can automatically inspect deep and enclosed spaces, accurately perceive the deformation of deep and enclosed spaces at different depths by simultaneously collecting and analyzing image data and deformation point cloud data. It can also accurately assess the stability of deep and enclosed spaces, the reliability of support structures, and the safety of long-term service by conducting multiple inspections and comparing the relative deformation development before and after. For the production entity, it can retain valuable basic data, providing effective data support for the long-term stable, safe, and reliable operation of deep and enclosed spaces. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the device portion of the present invention; Figure 2 This is an assembly diagram of the ground control mechanism and the top fixing mechanism in this invention; Figure 3 This is an assembly diagram of the upper rigid frame, lower rigid frame, and vertical guide mechanism in this invention; Figure 4 This is a schematic diagram of the multi-source information acquisition mechanism in this invention; Figure 5 This is an assembly diagram of the lower rigid frame and the end fixing parts in this invention; Figure 6 This is a block diagram of the control section in this invention.

[0025] In the diagram: 1. Multi-source information acquisition mechanism; 2. Bottom fixing mechanism; 3. Top fixing mechanism; 4. Vertical guide mechanism; 5. Ground control mechanism; 6. 3D laser scanning probe; 7. Frame fixing plate; 8. Upper rigid frame; 9. Guide pulley; 10. Upper horizontal support rod; 11. Deep and enclosed space; 12. Lower rigid frame; 13. End fixing component; 14. Vertical guide component; 15. Support body; 16. Guide connector; 17. Central support column; 18. Upper protective plate; 19. Lower protective plate; 20. Fill light; 21. Camera; 22. Telescopic support rod; 23. Control box; 24. Rope winch; 25. Armored cable; 26. Display screen; 27. Emergency stop button; 28. Instrument panel; 29. ​​Control button. Detailed Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] like Figures 1 to 6 As shown, the present invention provides an intelligent acquisition device for images and deformation information in deep and enclosed spaces, including a multi-source information acquisition mechanism 1, a bottom fixing mechanism 2, a top fixing mechanism 3, a vertical guiding mechanism 4, and a ground control mechanism 5; The top fixing mechanism 3 and the bottom fixing mechanism 2 are fixedly installed at the top and bottom of the deep and enclosed space 11, respectively, with their top and bottom facing each other. The vertical guide mechanism 4 is connected between the top fixing mechanism 3 and the bottom fixing mechanism 2; The multi-source information acquisition mechanism 1 includes an acquisition bracket and an intelligent acquisition module. The acquisition bracket is slidably connected to the vertical guide mechanism 4, and the intelligent acquisition module is installed on the acquisition bracket for acquiring multi-source monitoring data in the deep and enclosed space 11. The ground control mechanism 5 is installed on the ground and connected to the multi-source information acquisition mechanism 1. It is used to change the position of the multi-source information acquisition mechanism 1 on the vertical guide mechanism 4. At the same time, it is used to receive multi-source monitoring data and analyze and evaluate the deformation of the deep and enclosed space 11 based on the multi-source monitoring data.

[0028] In order to provide a stable support for the intelligent acquisition module, the top fixing mechanism 3 includes an upper rigid frame 8, a guide pulley 9 and an upper transverse support rod 10. The upper rigid frame 8 is located in the central area of ​​the top of the deep and enclosed space 11. The guide pulley 9 is installed on the upper rigid frame 8. Multiple upper transverse support rods 10 are circumferentially distributed around the upper rigid frame 8. The inner end of the upper transverse support rod 10 is fixedly connected to the upper rigid frame 8, and its outer end is fixedly connected to the inner wall of the deep and enclosed space 11. More preferably, multiple upper transverse support rods 10 are evenly distributed around the upper rigid frame 8. The bottom fixing mechanism 2 includes a lower fixing component and a lower rigid frame 12. The lower rigid frame 12 is distributed opposite to the upper rigid frame 8 and is fixedly installed in the central area of ​​the bottom of the deep and enclosed space 11 by the lower fixing component. Preferably, the lower fixing component is a counterweight or an anchor rod to achieve reliable and stable installation of the lower rigid frame 12. In cases where personnel cannot reach the bottom through a passage, such as natural caves or deep mines, a counterweight can be used to stabilize the lower rigid frame 12 at a certain height in the bottom space of the deep and enclosed space 11. In cases where personnel can reach the bottom, an anchor rod can be used to fix the lower rigid frame 12 at the bottom of the deep and enclosed space 11.

[0029] The vertical guide mechanism 4 includes end fixings 13 and vertical guides 14; multiple pairs of end fixings 13 are fixedly connected to the upper rigid frame 8 and the lower rigid frame 12 respectively; multiple vertical guides 14 are arranged in one-to-one correspondence with multiple pairs of end fixings 13, and the upper and lower ends of each vertical guide 14 are respectively connected to a pair of end fixings 13.

[0030] In this invention, a top fixing mechanism and a bottom fixing mechanism are installed opposite each other at the top and bottom of a deep, enclosed space, and connected by a vertical guide mechanism. Simultaneously, the acquisition bracket of the multi-source information acquisition mechanism is slidably connected to the vertical guide mechanism. This provides a stable and reliable guide track for the multi-source information acquisition mechanism, allowing it to perform top-down or bottom-up inspection operations within the deep, enclosed space along the vertical guide mechanism. The intelligent acquisition module facilitates the acquisition of multi-source monitoring data within the deep, enclosed space. The ground-based control mechanism allows for easy repositioning of the multi-source information acquisition mechanism on the vertical guide mechanism, enabling inspection operations at different depths. Furthermore, the ground-based control mechanism facilitates precise real-time analysis of deformation at different locations within the deep, enclosed space based on real-time multi-source monitoring data, thereby accurately assessing the stability of the deep, enclosed space, the reliability of the support structure, and the safety of long-term service.

[0031] This device has a simple structure and low manufacturing cost. It can realize unmanned and automated high-efficiency inspection operations in deep and enclosed spaces, and can realize real-time and accurate analysis of deformation in deep and enclosed spaces based on multi-source monitoring data. It is especially suitable for inspection operations in deep and enclosed spaces where personnel are prohibited from entering, which significantly improves the safety factor of inspection operations in deep and enclosed spaces and can effectively ensure the long-term safe and stable operation of deep and enclosed spaces.

[0032] To provide an installation foundation for the intelligent acquisition module and to effectively protect it, the acquisition bracket includes a support body 15 and guide connectors 16. The support body 15 includes a central support column 17, an upper protective plate 18, and a lower protective plate 19. The upper protective plate 18 and the lower protective plate 19 are fixedly connected to the upper and lower ends of the central support column 17, respectively. Multiple guide connectors 16 are fixedly connected to the periphery of the support body 15 and are slidably connected to multiple vertical guides 14.

[0033] Preferably, the support body 15 is made of aluminum alloy, which is lightweight but has high support strength. More preferably, the central support column 17 is hollow to further reduce the overall weight. In this technical solution, the upper protective plate effectively blocks falling water or fixed objects from above, preventing damage to the intelligent data acquisition module from falling objects and ensuring its safe and stable operation. The lower protective plate provides a mounting base for the intelligent data acquisition module and also effectively protects the module installed between the upper and lower protective plates. The central support column provides a mounting base for the supplementary lighting and increases the height of the space between the upper and lower protective plates, allowing for the installation of more data acquisition modules.

[0034] In order to facilitate reliable inspection of deep and enclosed spaces, both the upper rigid frame 8 and the lower rigid frame 12 are triangular rigid frames. Since both the upper rigid frame 8 and the lower rigid frame 12 are triangular frames, the self-stabilizing principle of triangles can be used to ensure the stability of the support. The number of upper transverse support rods 10 is three, and they are distributed corresponding to the three corner points of the upper rigid frame 8. Preferably, the upper transverse support rods 10 are distributed radially along the deep and enclosed space 11. Each upper transverse support rod 10 includes a telescopic support rod 22 and a frame fixing plate 7. The inner end of the telescopic support rod 22 is fixedly connected to the corner point of the upper rigid frame 8, and the frame fixing plate 7 is fixedly connected to the outer end of the telescopic support rod 22 and fixedly connected to the inner wall of the deep and enclosed space 11 by anchor rods. The telescopic support rod 22 is provided in the upper transverse support rod 10, so that it can be adapted to the deep and enclosed space 11 with different clearance sizes by telescopic means. This allows for convenient adjustment of the specific installation position of the top fixing mechanism 3 at the top of the deep and enclosed space 11, which is beneficial for adjusting the upper limit of the travel of the intelligent acquisition module in the deep and enclosed space 11. The frame fixing plate 7 facilitates a reliable connection between the telescopic support rod and the deep and enclosed space 11 by anchor rods or other anchoring connectors.

[0035] The number of end fixing members 13 is three pairs, and the three pairs of end fixing members 13 are respectively fixedly connected to the three opposite corners of the upper rigid frame 8 and the lower rigid frame 12; the vertical guide member 14 is a stabilizing rope, and the number of stabilizing ropes is three. Correspondingly, the end fixing members 13 are clamping members for clamping and fixing the stabilizing ropes. Of course, counterweights or tensioning members can also be used to firmly and reliably fix the stabilizing ropes to the upper rigid frame 8 and the lower rigid frame 12. After the stabilizing ropes are fixedly connected between the upper rigid frame 8 and the lower rigid frame 12 through the end fixing members 13, it is necessary to ensure that the stabilizing ropes are in a taut state to ensure that the stabilizing ropes can provide reliable support and guidance for the multi-source information acquisition mechanism 1. The vertical guide mechanism formed by the three pairs of end fixing members and the three stabilizing ropes not only effectively simplifies the structure, but also facilitates installation. During the installation process, it provides stable support and guidance for the multi-source information acquisition mechanism 1, allowing it to be lifted, suspended, or lowered smoothly on the vertical guide mechanism 4. This helps ensure the inspection quality and overall stable operation of the device during mobile inspections. The guide connector 16 is a hollow sleeve, preferably a rigid sleeve, with its upper and lower parts fixedly connected to the upper protective plate 18 and lower protective plate 19, respectively. By using a hollow sleeve as a guide connector, it can slide and cooperate with the stabilizing rope through a sleeve, ensuring convenient connection and overcoming the local flexibility of the stabilizing rope with the rigidity of the hollow sleeve. This allows the multi-source information acquisition mechanism to be suspended and slid stably on the vertical guide mechanism without lateral displacement. Therefore, this invention can provide radial and axial stability support and guidance for the intelligent acquisition module with dual functions of "image + scanning" by using a flexible stabilizing rope and a hollow sleeve. This ensures stability during axial movement, which is beneficial for accurately acquiring image data and deformed point cloud data, and thus can accurately assess the safety and stability of deep and enclosed spaces.

[0036] In order to collect deformation-related data of deep, large, and enclosed spaces clearly, accurately, and comprehensively, the intelligent acquisition module includes a supplementary light 20, a camera 21, a three-dimensional laser scanning probe 6, a communication module 1, a storage module, a battery pack, and a processor; Multiple sets of supplementary lights 20 are evenly installed in a circumferential manner on the central support 17 or the lower protective plate 19; multiple cameras 21 are evenly distributed around the central support 17 and are fixedly installed on the central support 17 or the lower protective plate 19; the three-dimensional laser scanning probe 6 is fixedly installed in the central area at the lower end of the lower protective plate 19; the first communication module is installed on the central support 17, the lower protective plate 19, or the upper protective plate 18; the storage module, the battery pack, and the processor are all installed inside the central support 17; the processor is connected to the supplementary lights 20, the cameras 21, the three-dimensional laser scanning probe 6, the first communication module, the storage module, and the battery pack, respectively.

[0037] As a preferred option, the battery pack uses UPS batteries to provide a reliable power supply for the electrical components in the intelligent acquisition module.

[0038] As a preferred option, the supplementary light 20 is an array of high-lumen supplementary lights and is placed in a downward tilted manner to provide illumination for the surrounding area and the space below the acquisition bracket, thus meeting the dual illumination requirements of clear acquisition of surrounding inspection images and accurate collection of point cloud data in the lower space. The intelligent acquisition module can conduct a comprehensive inspection of the deep and large enclosed space 11, and simultaneously generate inspection image data and deformation point cloud data. Based on SLAM technology, it can achieve dense point cloud acquisition of deformation information of the deep and large enclosed space 11 during movement. The processor can preprocess the inspection image data and deformation point cloud data, specifically denoising and spatiotemporal alignment. At the same time, it can transmit the preprocessed inspection image data and deformation point cloud data to the ground control unit 5 through the communication module 1 and the armored cable. It can also store the preprocessed inspection image data and deformation point cloud data in the storage module. In this technical solution, by uniformly arranging multiple sets of supplementary lights in a circumferential direction, both illumination for the camera's image acquisition process and ambient light compensation for the 3D laser scanning probe's point cloud acquisition process are provided, thus addressing dual illumination needs. The distribution of multiple cameras around the central support pillar facilitates omnidirectional acquisition of image data from the deep, enclosed space, enabling accurate analysis of its deformation from all angles. Installing the 3D laser scanning probe in the central area at the lower end of the lower protective plate facilitates the acquisition of deformation point cloud data from the deep, enclosed space below, allowing for precise deformation analysis of the space using both image data and deformation point cloud data. The communication module facilitates communication with external devices. The storage module allows for real-time storage of multi-source monitoring data. The battery pack provides offline power to the intelligent acquisition module. The processor facilitates noise reduction and spatiotemporal alignment preprocessing of the multi-source monitoring data, enabling the ground control center to more accurately analyze and evaluate the deformation of the deep, enclosed space based on the preprocessed multi-source monitoring data. In this way, by integrating a camera and a 3D laser scanning probe into the intelligent acquisition module, the multi-source information acquisition mechanism can have real-time endoscopic and scanning functions. It can then acquire inspection image data in real time through endoscopic means, and obtain deformation point cloud data in real time through scanning.

[0039] To facilitate real-time sensing of environmental parameters, the intelligent acquisition module also includes a multi-component gas analyzer and a temperature and humidity sensor. The multi-component gas analyzer is installed on the central support 17 or the lower protective plate 19 to detect gas composition and gas concentration data; the temperature and humidity sensor is installed on the central support 17 or the lower protective plate 19 to collect temperature and humidity data.

[0040] In this technical solution, by integrating a multi-component gas analyzer and a temperature and humidity sensor into the intelligent acquisition module, it is possible to simultaneously acquire gas composition information, gas concentration data, and temperature and humidity data at corresponding locations while acquiring image data and deformation point cloud data. This allows for the comprehensive acquisition of environmental parameters at different depths. This not only helps in determining the environmental safety conditions of deep, large, and enclosed spaces based on environmental parameters, providing reliable technical support for subsequent personnel exploration or entry into construction, but also helps in analyzing the deformation causes of deep, large, and enclosed spaces based on environmental parameters. This facilitates the coupled analysis of appearance and causes, thereby enabling a more accurate assessment of the stability and reliability of deep, large, and enclosed spaces.

[0041] To ensure normal inspection operations in wet and dusty environments, a transparent enclosure is also included. This enclosure is sealed around the support body 15, and the intelligent data acquisition module is housed within its interior space. This transparent enclosure prevents water and dust from entering the intelligent data acquisition module, avoiding damage and ensuring reliable inspection operations even under harsh conditions.

[0042] As a preferred embodiment, the ground-based centralized control mechanism 5 includes a centralized control box 23, a speed-regulating winch, a rope-carrying winch 24, an armored cable 25, and a main control unit. Both the speed-regulating winch and the rope-carrying winch 24 are installed in the centralized control box 23. The speed-regulating winch is connected to the rope-carrying winch 24 via a transmission mechanism, used to drive the rotation and start / stop actions of the rope-carrying winch 24. The armored cable 25 is wound around the rope-carrying winch 24, and its connecting end passes over the guide pulley 9 and connects to the center of the upper end of the acquisition bracket in the multi-source information acquisition mechanism 1. The main control unit is located in the centralized control box 23, connected to the speed-regulating winch, and simultaneously connected to the intelligent acquisition module via the armored cable 25.

[0043] In this technical solution, the cable winch in the ground control mechanism is connected to the acquisition bracket via an armored cable. Simultaneously, the main control unit is connected to the intelligent acquisition module via the armored cable. This allows for easy adjustment of the intelligent acquisition module's position on the vertical guide mechanism by driving the cable winch with a speed-regulating winch, enabling inspection operations at different depths. Furthermore, the armored cable facilitates the establishment of a real-time communication link between the intelligent acquisition module and the main control unit. This allows the intelligent acquisition module to transmit image data and deformation point cloud data to the main control unit in real time, enabling the main control unit to process the image data and deformation point cloud data and obtain deformation amplitude data in real time, thus facilitating real-time assessment of deformation at different depths.

[0044] To comprehensively perceive the inspection status, the main control unit includes an encoder, an instrument panel 28, a display screen 26, an emergency stop button 27, control buttons 29, a second communication module, and a data processing terminal. The encoder is connected to the rope winch 24 and is used to collect data on the release / retrieval speed and release / retrieval length of the armored cable 25, thereby avoiding damage to the intelligent acquisition module due to over-release or over-retrieval. The instrument panel 28 is used to display the speed and depth information of the multi-source information acquisition mechanism 1. The data processing terminal is connected to the speed regulating winch, encoder, instrument panel 28, display screen 26, emergency stop button 27, control buttons 29, and second communication module. The second communication module is connected to the first communication module via the armored cable.

[0045] Therefore, the ground control mechanism 5 can be used to control the speed regulating winch to achieve convenient control of the lifting speed, hovering speed and lowering speed of the multi-source information acquisition mechanism 1. At the same time, it is also convenient to display the inspection image data and deformation point cloud data in real time on the display screen 26, as well as the deformation amplitude data obtained by analysis. The lifting or lowering speed and depth information of the multi-source information acquisition mechanism 1 can also be displayed in real time on the instrument panel 28.

[0046] In this technical solution, the encoder facilitates real-time acquisition of speed and length signals from the armored cable. This allows the data processing terminal to easily perceive the inspection speed and depth data of the multi-source information acquisition mechanism in real time, and display this data on the instrument panel, enabling ground personnel to intuitively observe the operation of the mechanism. The display screen shows real-time image data, deformation point cloud data, and deformation amplitude data at different depths, further facilitating ground personnel's observation of the inspection process. The emergency stop button allows ground personnel to manually send an emergency stop signal to the data processing terminal in emergency situations. Upon receiving the signal, the terminal can promptly control the speed-regulating winch to stop, thus enabling emergency stop control of the multi-source information acquisition mechanism. The control buttons allow ground personnel to manually send corresponding control signals to the data processing terminal, which then controls the actuators to perform the appropriate actions. By setting up communication module two, it is easy to establish a wired communication link with communication module one via armored cable. This allows the image data and deformed point cloud data collected by the intelligent acquisition module to be transmitted to the data processing terminal in the main control unit in real time. At the same time, it also allows the data processing terminal to send control signals to the intelligent acquisition module in real time.

[0047] Further optimization involves installing an optical fiber inside the armored cable 25; data transmission via the optical fiber ensures timely transmission and effectively reduces transmission delay. This invention also provides an intelligent acquisition method for images and deformation information of deep, large, and enclosed spaces, employing an intelligent acquisition device for images and deformation information of deep, large, and enclosed spaces, comprising the following steps: Step 1: Assemble the intelligent acquisition device for images and deformation information in deep, enclosed spaces; The lower rigid frame 12 is fixedly installed in the central area of ​​the bottom of the deep and enclosed space 11 using the lower fixing member, and multiple end fixing members 13 are installed on the lower rigid frame 12; the guide pulley 9 is installed on the upper rigid frame 8, and multiple upper transverse support rods 10 are used to fix the upper rigid frame 8 in the central area of ​​the top of the deep and enclosed space 11, and multiple end fixing members 13 are installed on the upper rigid frame 8; at the same time, it is ensured that the multiple end fixing members 13 on the upper rigid frame 8 and the multiple end fixing members 13 on the lower rigid frame 12 are paired up and matched one by one. Multiple hollow sleeves on the outside of the collection bracket are slidably fitted onto the outside of multiple stabilizing ropes, and then the multiple stabilizing ropes are connected to multiple pairs of end fixing parts 13, ensuring that each stabilizing rope is in a taut state. The connecting end of the armored cable 25 is wound around the guide pulley 9 and then connected to the data acquisition bracket. Step 2: Use the ground control mechanism 5 to control the speed-regulating winch to start working, and release the armored cable 25 to lower the multi-source information acquisition mechanism 1 until it reaches the predetermined position at the bottom of the deep and enclosed space 11 and stops. Step 3: The ground control unit 5 sends an inspection start command to the multi-source information acquisition unit 1 and controls the speed-regulating winch to start working. The armored cable 25 is retrieved through the rope winch 24, which drives the multi-source information acquisition unit 1 to be lifted at a constant speed along the stabilizing rope. At the same time, after receiving the inspection start command, the multi-source information acquisition unit 1 controls the supplementary light 20 to provide illumination, controls the camera 21 to collect image data at different depth positions in real time, and controls the three-dimensional laser scanning probe 6 to collect deformation point cloud data at different depth positions in real time. After preprocessing, the data is sent to the ground control unit 5 through the armored cable 25. The data processing terminal obtains real-time deformation amplitude data based on image data and deformation point cloud data. For defect areas where the real-time deformation amplitude data exceeds the upper limit threshold of deformation amplitude, the speed-regulating winch is stopped for a set time, and an encrypted scanning command is sent to the multi-source information acquisition unit 1. The multi-source information acquisition unit 1, hovering in the defect area, increases the scanning frequency of the defect area according to the encrypted scanning command, and sends the image data and deformation point cloud data obtained by the encrypted scanning to the ground control unit 5. For normal areas where the real-time deformation amplitude data is lower than the lower limit threshold of deformation amplitude, the speed-regulating winch is accelerated, and a sparse scanning command is sent to the multi-source information acquisition unit 1. The multi-source information acquisition unit 1 reduces the scanning frequency of the normal area according to the sparse scanning command, and sends the image data and deformation point cloud data obtained by the sparse scanning to the ground control unit 5. Step 4: When the multi-source information acquisition mechanism 1 moves to the top of the deep and enclosed space, the ground control mechanism 5 controls the speed-regulating winch to stop, completing the inspection operation of the deep and enclosed space. Step 5: Sequentially remove the bottom fixing mechanism 2 and the top fixing mechanism 3, and retrieve the top fixing mechanism 3, the vertical guide mechanism 4, the multi-source information acquisition mechanism 1, and the bottom fixing mechanism 2.

[0048] Of course, the above process can also be used to implement automated inspection of the deep and large enclosed space 11 by adopting a top-down inspection method.

[0049] As a preferred embodiment, in step two, after reaching the predetermined position, the ground control unit 5 sends a debugging signal to the multi-source information acquisition unit 1. After receiving the debugging signal, the multi-source information acquisition unit 1 starts the camera 21, the three-dimensional laser scanning probe 6 and the supplementary light 20 to perform debugging operations, ensuring the normal acquisition and reliable transmission of image data and deformed point cloud data.

[0050] To better ensure the long-term stable operation of the enclosed space of Shenzhen University, in step three, while the multi-source information acquisition mechanism 1 acquires image data and deformed point cloud data at different depth positions through the camera 21 and the three-dimensional laser scanning probe 6, it simultaneously uses a multi-component gas analyzer to detect gas composition and gas concentration data, uses a temperature and humidity sensor to acquire temperature and humidity data, and sends the gas composition and gas concentration data, temperature and humidity data to the ground control mechanism 5 through the armored cable 25. Meanwhile, while analyzing the deformation amplitude of the deep and enclosed space 11 by combining image data and deformation point cloud data, the data processing terminal simultaneously introduces gas composition and concentration data, temperature and humidity data for auxiliary analysis, revealing the cause mechanism of deformation and realizing the coupling analysis of appearance and cause.

[0051] This invention provides an intelligent method for acquiring images and deformation information in deep, enclosed spaces. A ground-based centralized control mechanism controls a speed-regulating winch, which in turn lowers and retrieves armored cables via the rotation of a rope-carrying winch. This drives a multi-source information acquisition mechanism to descend and ascend along a stabilizing rope, facilitating unmanned, automated inspection operations at different depths. During the inspection, image data is simultaneously acquired via endoscopy, and deformation point cloud data is obtained through scanning. After preprocessing, the data is transmitted in real-time to the ground-based centralized control mechanism. The data processing terminal in the main control unit analyzes and processes the image data and deformation point cloud data in real-time, obtaining real-time deformation amplitude data, enabling accurate perception of deformation at different depths. For defect areas where the deformation amplitude exceeds the upper limit threshold, image data and deformation point cloud data are obtained through encrypted scanning, facilitating more accurate deformation analysis and stability assessment of the defect area. For normal areas where the deformation amplitude is below the lower limit threshold, image data and deformation point cloud data are obtained through sparse scanning, improving overall inspection efficiency.

[0052] This method is simple to implement, low in cost, highly automated, and efficient in inspection. It can automatically inspect deep and enclosed spaces, accurately perceive the deformation of deep and enclosed spaces at different depths by simultaneously collecting and analyzing image data and deformation point cloud data. It can also accurately assess the stability of deep and enclosed spaces, the reliability of support structures, and the safety of long-term service by conducting multiple inspections and comparing the relative deformation development before and after. For the production entity, it can retain valuable basic data, providing effective data support for the long-term stable, safe, and reliable operation of deep and enclosed spaces.

Claims

1. A smart acquisition device for images and deformation information in a deep, enclosed space, comprising a multi-source information acquisition mechanism (1), characterized in that, It also includes a bottom fixing mechanism (2), a top fixing mechanism (3), a vertical guiding mechanism (4), and a ground control mechanism (5); The top fixing mechanism (3) and the bottom fixing mechanism (2) are fixedly installed at the top and bottom of the deep enclosed space (11) in a vertically opposite manner; The vertical guide mechanism (4) is connected between the top fixing mechanism (3) and the bottom fixing mechanism (2); The multi-source information acquisition mechanism (1) includes an acquisition bracket and an intelligent acquisition module. The acquisition bracket is slidably connected to the vertical guide mechanism (4). The intelligent acquisition module is installed on the acquisition bracket and is used to acquire multi-source monitoring data in the deep and enclosed space (11). The ground control mechanism (5) is installed on the ground and connected to the multi-source information acquisition mechanism (1). It is used to change the position of the multi-source information acquisition mechanism (1) on the vertical guide mechanism (4). At the same time, it is used to receive multi-source monitoring data and analyze and evaluate the deformation of the deep and enclosed space (11) based on the multi-source monitoring data.

2. The intelligent acquisition device for images and deformation information in deep, enclosed spaces according to claim 1, characterized in that, The top fixing mechanism (3) includes an upper rigid frame (8), a guide pulley (9) and an upper transverse support rod (10). The upper rigid frame (8) is located in the central area of ​​the top of the deep and enclosed space (11). The guide pulley (9) is installed on the upper rigid frame (8). Multiple upper transverse support rods (10) are distributed circumferentially around the upper rigid frame (8). The inner end of the upper transverse support rod (10) is fixedly connected to the upper rigid frame (8), and its outer end is fixedly connected to the inner wall of the deep and enclosed space (11). The bottom fixing mechanism (2) includes a lower fixing member and a lower rigid frame (12). The lower rigid frame (12) is distributed opposite to the upper rigid frame (8) and is fixedly installed in the central area at the bottom of the deep enclosed space (11) by the lower fixing member. The vertical guide mechanism (4) includes end fixings (13) and vertical guides (14); multiple pairs of end fixings (13) are fixedly connected to the upper rigid frame (8) and the lower rigid frame (12) respectively; multiple vertical guides (14) are arranged one-to-one with multiple pairs of end fixings (13), and the upper and lower ends of each vertical guide (14) are respectively connected to a pair of end fixings (13).

3. The intelligent acquisition device for images and deformation information in deep, enclosed spaces according to claim 2, characterized in that, The acquisition bracket includes a support body (15) and guide connectors (16). The support body (15) includes a central support column (17), an upper protective plate (18), and a lower protective plate (19). The upper protective plate (18) and the lower protective plate (19) are fixedly connected to the upper and lower ends of the central support column (17) respectively. Multiple guide connectors (16) are fixedly connected to the periphery of the support body (15) and are slidably connected to multiple vertical guides (14).

4. The intelligent acquisition device for images and deformation information in a deep, enclosed space according to claim 3, characterized in that, Both the upper rigid frame (8) and the lower rigid frame (12) are triangular rigid frames; The number of the upper transverse support rods (10) is three, and they are distributed corresponding to the three corner points of the upper rigid frame (8). The upper transverse support rods (10) include telescopic support rods (22) and frame fixing plates (7). The inner end of the telescopic support rods (22) is fixedly connected to the corner points of the upper rigid frame (8), and the frame fixing plates (7) are fixedly connected to the outer end of the telescopic support rods (22) and fixedly connected to the inner wall of the deep enclosed space (11) through anchor rods. The number of the end fasteners (13) is three pairs, and the three pairs of end fasteners (13) are respectively fixedly connected to the three opposite corners of the upper rigid frame (8) and the lower rigid frame (12); the vertical guide (14) is a stabilizing rope, and the number of stabilizing ropes is three. The guide connector (16) is a hollow sleeve, and the upper and lower parts of the hollow sleeve are fixedly connected to the upper protective plate (18) and the lower protective plate (19) respectively. Meanwhile, the hollow sleeve is slidably sleeved on the outside of the stabilizing rope. The lower fixing component is either a counterweight or an anchor rod.

5. The intelligent acquisition device for images and deformation information in a deep, enclosed space according to claim 4, characterized in that, The intelligent acquisition module includes a fill light (20), a camera (21), a three-dimensional laser scanning probe (6), a communication module, a storage module, a battery pack, and a processor; Multiple sets of supplementary lights (20) are evenly installed in a ring around the central support (17) or the lower protective plate (19); multiple cameras (21) are evenly distributed around the central support (17) and fixedly installed on the central support (17) or the lower protective plate (19); the three-dimensional laser scanning probe (6) is fixedly installed in the central area at the lower end of the lower protective plate (19); the communication module is installed on the central support (17), the lower protective plate (19), or the upper protective plate (18); the storage module, the battery pack, and the processor are all installed inside the central support (17); The processor is connected to the fill light (20), camera (21), three-dimensional laser scanning probe (6), communication module 1, storage module and battery pack respectively.

6. The intelligent acquisition device for images and deformation information in a deep, enclosed space according to claim 5, characterized in that, The intelligent acquisition module also includes a multi-component gas analyzer and a temperature and humidity sensor. The multi-component gas analyzer is installed on the central support (17) or the lower protective plate (19) to detect gas composition and gas concentration data. The temperature and humidity sensor is installed on the central support (17) or the lower protective plate (19) to collect temperature and humidity data.

7. The intelligent acquisition device for images and deformation information in a deep, enclosed space according to claim 6, characterized in that, The ground control unit (5) includes a control box (23), a speed regulating winch, a rope winch (24), armored cables (25), and a main control unit; The speed-regulating winch and the rope-holding winch (24) are both installed in the central control box (23). The speed-regulating winch is connected to the rope-holding winch (24) through a transmission mechanism. The armored cable (25) is wound around the rope-holding winch (24), and its connecting end passes around the guide pulley (9) and is connected to the center of the upper end of the collection bracket. The main control unit is located on the central control box (23). The main control unit is connected to the speed regulating winch and is also connected to the intelligent acquisition module through the armored cable (25).

8. The intelligent acquisition device for images and deformation information in a deep, enclosed space according to claim 7, characterized in that, The main control unit includes an encoder, an instrument panel (28), a display screen (26), an emergency stop button (27), control buttons (29), a second communication module, and a data processing terminal. The encoder is connected to the rope winch (24) and is used to collect the release / retrieval speed and release / retrieval length data of the armored cable (25). The instrument panel (28) is used to display the speed and depth information of the multi-source information acquisition mechanism (1). The data processing terminal is connected to the speed regulating winch, the encoder, the instrument panel (28), the display screen (26), the emergency stop button (27), the control buttons (29), and the second communication module. The second communication module is connected to the first communication module through the armored cable (25).

9. A method for intelligent acquisition of images and deformation information in deep, enclosed spaces, employing the intelligent acquisition device for images and deformation information in deep, enclosed spaces as described in claim 8, characterized in that... Includes the following steps: Step 1: Assemble the intelligent acquisition device for images and deformation information in deep, enclosed spaces; Step 2: Use the ground control mechanism (5) to control the speed-regulating winch to start working, and release the armored cable (25) to lower the multi-source information acquisition mechanism (1) until it reaches the predetermined position at the bottom of the deep and large enclosed space (11) and stops. Step 3: The ground control mechanism (5) issues an inspection start command and controls the speed-regulating winch to start working. The armored cable (25) is retrieved through the rope winch (24) to drive the multi-source information acquisition mechanism (1) to lift at a constant speed along the stabilizing rope. At the same time, after receiving the inspection start command, the multi-source information acquisition mechanism (1) controls the supplementary light (20) to provide illumination, controls the camera (21) to collect image data at different depth positions in real time, controls the three-dimensional laser scanning probe (6) to collect deformation point cloud data at different depth positions in real time, and sends the pre-processed data to the ground control mechanism (5) through the armored cable (25). The data processing terminal obtains real-time deformation amplitude data based on image data and deformation point cloud data. For defect areas where the real-time deformation amplitude data exceeds the upper limit threshold of deformation amplitude, the speed-regulating winch is stopped for a set time, and an encrypted scanning command is sent to the multi-source information acquisition mechanism (1). The multi-source information acquisition mechanism (1) hovering in the defect area increases the scanning frequency of the defect area according to the encrypted scanning command, and sends the image data and deformation point cloud data obtained by the encrypted scanning to the ground control mechanism (5). For normal areas where the real-time deformation amplitude data is lower than the lower limit threshold of deformation amplitude, the speed-regulating winch is accelerated, and a sparse scanning command is sent to the multi-source information acquisition mechanism (1). The multi-source information acquisition mechanism (1) reduces the scanning frequency of the normal area according to the sparse scanning command, and sends the image data and deformation point cloud data obtained by the sparse scanning to the ground control mechanism (5). Step 4: When the multi-source information acquisition mechanism (1) moves to the top of the deep and large enclosed space (11), the ground control mechanism (5) controls the speed-regulating winch to stop, and completes the inspection operation of the deep and large enclosed space (11). Step 5: Remove the bottom fixing mechanism (2) and the top fixing mechanism (3) in sequence, and retrieve the top fixing mechanism (3), the vertical guide mechanism (4), the multi-source information acquisition mechanism (1) and the bottom fixing mechanism (2).

10. The intelligent acquisition method for images and deformation information in deep, enclosed spaces according to claim 9, characterized in that, In step three, while the multi-source information acquisition mechanism (1) acquires image data and deformed point cloud data at different depth positions through the camera (21) and the three-dimensional laser scanning probe (6), it simultaneously uses a multi-component gas analyzer to detect gas composition and gas concentration data, uses a temperature and humidity sensor to acquire temperature and humidity data, and sends the gas composition and gas concentration data, temperature and humidity data to the ground control mechanism (5) through the armored cable (25). Meanwhile, while combining image data and deformed point cloud data to analyze the deformation amplitude of the deep and enclosed space (11), the data processing terminal simultaneously introduces gas composition and gas concentration data, temperature and humidity data for auxiliary analysis, revealing the cause mechanism of deformation and realizing the coupling analysis of appearance and cause.

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