A shaft surrounding rock multispectral image acquisition device

Abstract

This application discloses a multispectral image acquisition device for surrounding rock in a vertical shaft, relating to the field of vertical shaft monitoring and measurement technology. The device includes: a lifting device, a base, a rotating seat, multiple cameras, and a stabilizing mechanism. The lifting device is connected to a ring beam at the upper end of the vertical shaft; the base is connected to the lifting device and can move vertically under the drive of the lifting device, and the base is equipped with a first driving component; the rotating seat is rotatably mounted on the base and is connected to the first driving component, with its rotation axis vertically positioned; cameras are located around the rotating seat and are used to capture images of the inner wall of the vertical shaft, with each camera capturing images within a different wavelength range; the stabilizing mechanism is connected to the bottom of the rotating seat and has an open state and a retracted state. When the stabilizing mechanism is in the open state, it abuts against the inner wall of the vertical shaft; when the stabilizing mechanism is in the retracted state, it separates from the inner wall of the vertical shaft. This application can improve image acquisition accuracy.

Description

Technical Field

[0001] This application relates to the field of vertical shaft monitoring and measurement technology, and in particular to a multispectral image acquisition device for the surrounding rock of a vertical shaft. Background Technology

[0002] Vertical shafts are important vertical passage structures in mining engineering, construction engineering, and underground space development, primarily used for the vertical transportation of personnel, materials, and equipment, while also serving auxiliary functions such as ventilation, drainage, and pipeline laying. Traditional methods for detecting the surrounding rock conditions of shafts often face two major challenges in image acquisition: first, ensuring image accuracy is difficult, mainly due to equipment swaying within the shaft causing image blurring, and inconsistent camera positions leading to inconsistent image scales and stitching difficulties; second, low automation, often relying on manual entry into the shaft or simple suspended baskets carrying single cameras for localized imaging, which is not only inefficient and poses safety risks but also makes it difficult to obtain complete and consistent multispectral data. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a multispectral image acquisition device for surrounding rock in vertical shafts, which can improve image acquisition accuracy.

[0004] A multispectral image acquisition device for surrounding rock of a vertical shaft according to a first aspect of this application includes: a lifting device, a base, a rotating seat, multiple cameras, and a stabilizing mechanism. The lifting device is connected to a ring beam at the upper end of the vertical shaft; the base is connected to the lifting device and can move vertically under the drive of the lifting device, and the base is provided with a first driving member; the rotating seat is rotatably mounted on the base and is connected to the first driving member, and the rotation axis of the rotating seat is vertically arranged; the cameras are disposed around the rotating seat and are used to capture images of the inner wall of the vertical shaft, each camera capturing images within a different wavelength range; the stabilizing mechanism is connected to the bottom of the rotating seat and has an open state and a retracted state. When the stabilizing mechanism is in the open state, it abuts against the inner wall of the vertical shaft; when the stabilizing mechanism is in the retracted state, it separates from the inner wall of the vertical shaft.

[0005] A multispectral image acquisition device for surrounding rock in a vertical shaft, according to an embodiment of this application, has at least the following advantages: the lifting equipment is responsible for vertical movement, the rotating base is responsible for horizontal scanning, multiple cameras work simultaneously, and image acquisition of the entire shaft wall in multiple spectral dimensions can be completed in a single lifting process, greatly improving work efficiency and avoiding the hassle of repeatedly lifting and lowering the equipment to obtain different data. The stabilizing mechanism fixes the rotating base while the camera is capturing images, preventing camera shaking from affecting image capture and ensuring clear, unblurred images, providing a reliable data foundation for subsequent accurate analysis and measurement.

[0006] According to some embodiments of this application, a plurality of lifting rings are detachably connected to the base, the plurality of lifting rings are symmetrically arranged, a plurality of lifting devices are symmetrically arranged, and the lifting devices are connected to the corresponding lifting rings by lifting ropes.

[0007] According to some embodiments of this application, the output shaft of the first drive member is connected to a gear, and a toothed ring is arranged around the upper end of the rotating seat. The center of the toothed ring coincides with the rotation axis of the rotating seat, and the gear meshes with the toothed ring.

[0008] According to some embodiments of this application, the rotating seat has a mounting hole at its center, the base is located in the mounting hole, a thrust bearing is provided in the mounting hole, an upper boss is provided around the side wall of the mounting hole, a lower boss is provided on the outer side wall of the base, the upper end of the lower boss abuts against the lower end of the thrust bearing, and the lower end of the upper boss abuts against the upper end of the thrust bearing.

[0009] According to some embodiments of this application, the stabilizing mechanism includes a plurality of guide portions and a plurality of support rods. The plurality of guide portions are symmetrically arranged on the rotating seat. The guide portions are slidably connected to the support rods. The guide portions are used to radially limit the support rods. The support rods are connected to a second driving member. The second driving member is used to drive the support rods to move closer to or away from the inner wall of the shaft.

[0010] According to some embodiments of this application, the second driving member includes a driving wheel, a driven wheel, and a timing belt. The driving wheel and the driven wheel are rotatably mounted on the rotating base. The timing belt is arranged around the driving wheel and the driven wheel. A drive motor is connected to the rotating base. The drive motor is drively connected to the driving wheel. The timing belt is connected to the support rod.

[0011] According to some embodiments of this application, the drive wheel is connected to a drive wheel shaft, the drive wheel shaft passes vertically through the rotating seat, and the drive wheel shaft is connected to the drive motor via a coupling.

[0012] According to some embodiments of this application, the support rod is connected to a fixed seat, the fixed seat is bolted to a clamping plate, and the timing belt is clamped between the clamping plate and the fixed seat.

[0013] According to some embodiments of this application, the strut is connected to the fixed base in an adjustable position.

[0014] According to some embodiments of this application, four sets of guide parts and support rods are symmetrically arranged, and two second driving members are provided, each of which is used to drive two mutually parallel support rods.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of a lifting device and a shaft according to one embodiment of this application; Figure 2 This is a schematic diagram of the installation of the base and rotating seat according to one embodiment of this application; Figure 3 This is a schematic diagram of the stabilizing mechanism in a contracted state according to an embodiment of this application; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a cross-sectional schematic diagram of the base and rotating seat according to one embodiment of this application; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 This is a schematic diagram of the stabilizing mechanism in the open state according to an embodiment of this application; Figure 8 This is a schematic diagram of a rotary seat according to an embodiment of this application.

[0017] Icon labels: Lifting equipment 100, lifting rope 101; Shaft 200, ring beam 210; Base 300, lifting ring 310, lower boss 320, thrust bearing 330; First driving component 400, gear 410; Rotary seat 500, mounting hole 501, upper boss 502, gear ring 510, drive motor 520, coupling 521; Camera 600; Stabilizing mechanism 700, guide part 710, strut 720, fixing seat 721, clamping plate 722; Second drive component 800, drive wheel 810, drive wheel shaft 811, driven wheel 820, and timing belt 830. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0021] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0022] Reference Figures 1 to 4As shown in the figure, an embodiment of this application discloses a multispectral image acquisition device for surrounding rock in a vertical shaft, comprising: a lifting device 100, a base 300, a rotating seat 500, multiple cameras 600, and a stabilizing mechanism 700. The lifting device 100 is connected to a ring beam 210 at the upper end of the vertical shaft 200; the lifting device 100 is a common winch or electric hoist. The base 300 is connected to the lifting device 100 and can move vertically under the drive of the lifting device 100. Since the vertical shaft 200 is typically vertically positioned, the lifting device 100 can drive the base 300 to move in the extending direction of the vertical shaft 200. The base 300 is provided with a first driving member 400; the rotating seat 500 is rotatably mounted on the base 300 and is connected to the first driving member 400 via a transmission connection. The rotation axis of the rotating seat 500 is vertically positioned; the rotatable design of the rotating seat 500 allows the cameras 600 to capture 360° images of the shaft wall without blind spots, ensuring data integrity. Cameras 600 are positioned around the rotating base 500 and are used to capture images of the inner wall of the shaft 200. Each camera 600 captures images within a different wavelength range; multiple cameras 600 capturing different wavelength ranges are integrated on the rotating base 500, enabling simultaneous capture of images in both visible and non-visible light bands. Cameras 600 can be replaced or added / removed according to detection needs, flexibly configured with different bands to adapt to different engineering or geological survey purposes. This allows it to detect surrounding rock features invisible to the human eye. Different minerals have unique reflective properties in different bands, thus allowing identification of the mineral composition of the surrounding rock of the shaft 200. Moisture has distinct characteristics in thermal infrared or specific near-infrared bands, thus allowing identification of water-bearing areas and seepage points. Multiple cameras 600 operate simultaneously, and a single lifting and lowering process can complete image acquisition of the entire shaft 200 wall in multiple spectral dimensions, greatly improving operational efficiency and avoiding the hassle of repeatedly lifting and lowering equipment to obtain different data. The stabilizing mechanism 700 is connected to the bottom of the rotating base 500. The stabilizing mechanism 700 has an open state and a retracted state. When the stabilizing mechanism 700 is in the open state, it abuts against the inner wall of the shaft 200. When the stabilizing mechanism 700 is in the retracted state, it separates from the inner wall of the shaft 200. The function of the stabilizing mechanism 700 is to fix the rotating base 500 when the camera 600 is capturing images, preventing the camera 600 from shaking and affecting image capture, ensuring clear and unblurred images, and providing a reliable data foundation for subsequent accurate analysis and measurement.

[0023] Reference Figure 1 and Figure 2As shown, in some embodiments, four lifting rings 310 are detachably connected to the base 300. These four lifting rings 310 are symmetrically arranged around the center of gravity of the base 300. Four lifting devices 100 are symmetrically arranged, and each lifting device 100 is connected to its corresponding lifting ring 310 via a lifting rope 101. The four lifting devices 100 operate synchronously to control the lifting and lowering of the base 300. Single-point lifting of the base 300 easily leads to rotation and swaying in the air. With symmetrical four-point lifting, the force is evenly distributed in four directions, ensuring the base 300 remains stable in both vertical and horizontal directions, reducing swaying and tilting. If the base 300 is suspended from a single point, uncontrollable rotation around the rope can easily occur. Symmetrical four-point lifting effectively locks the circumferential angle of the device, allowing operators to precisely control the starting angle and rotation range of the rotating seat 500, thereby achieving precise meshing of the well wall scanning.

[0024] Reference Figure 2 and Figure 8 As shown, in some embodiments, the first drive unit 400 is a servo motor. The servo motor has the advantage of closed-loop control, enabling precise control of the rotation angle of the rotating base 500. The output shaft of the first drive unit 400 is connected to a gear 410. A gear ring 510 is arranged around the upper end of the rotating base 500, with the center of the gear ring 510 coinciding with the rotation axis of the rotating base 500. The gear 410 meshes with the gear ring 510. The gear 410 and gear ring 510 are made of metal, ensuring a robust and reliable transmission system capable of withstanding continuous loads and repeated forward and reverse operations. The servo motor itself has a large holding torque when energized. Combined with the gear 410 transmission system, accidental rotation of the rotating base 500 is prevented, maintaining the accuracy of the shooting position.

[0025] Reference Figure 5 , Figure 6 and Figure 8 As shown, in some embodiments, the rotating base 500 has a mounting hole 501 at its center, the base 300 is located in the mounting hole 501, the mounting hole 501 is provided with a thrust bearing 330, the side wall of the mounting hole 501 is surrounded by an upper boss 502, the outer side wall of the base 300 is provided with a lower boss 320, the upper end of the lower boss 320 abuts against the lower end of the thrust bearing 330, and the lower end of the upper boss 502 abuts against the upper end of the thrust bearing 330.

[0026] Reference Figure 3 and Figure 7As shown, in some embodiments, the stabilizing mechanism 700 includes four guide portions 710 and four support rods 720. The four guide portions 710 are symmetrically arranged on the rotating seat 500, and the guide portions 710 are slidably connected to the support rods 720 and bolted to the bottom of the rotating seat 500. Each guide portion 710 has a guide hole through which the support rods 720 pass. The guide portions 710 are used to radially limit the support rods 720, which can move along the extension direction of the guide hole. A second driving member 800 is connected to the support rods 720, which drives the support rods 720 to move closer to or further away from the inner wall of the shaft 200. When the stabilizing mechanism 700 is in the open state, the four symmetrically distributed support rods 720 form a four-point support structure. Under the drive of the second driving member 800, the four support rods 720 simultaneously contract towards the center or expand outward, automatically and accurately positioning the entire device on the central axis of the shaft 200. This ensures that the distance from the camera 600 to all points on the well wall is consistent, resulting in uniform image scale and avoiding image distortion or proportion misalignment caused by device eccentricity. This greatly facilitates subsequent image stitching and measurement. The strut 720 has a large stroke, allowing the same device to adapt to vertical shafts 200 of different diameters, demonstrating strong versatility.

[0027] Reference Figure 3 , Figure 4 and Figure 7 As shown, in some embodiments, the second driving component 800 includes a driving pulley 810, a driven pulley 820, and a timing belt 830. Both the driving pulley 810 and the driven pulley 820 are rotatably mounted on a rotating base 500. The timing belt 830 is arranged around the driving pulley 810 and the driven pulley 820. A drive motor 520, which is a servo motor, is bolted to the rotating base 500. The drive motor 520 is connected to the driving pulley 810 for transmission. The timing belt 830 is connected to the support rod 720. The timing belt 830 transmits power through the meshing of its teeth with the pulley teeth, eliminating slippage and ensuring transmission accuracy. The timing belt 830 is a standard component, resulting in relatively low cost.

[0028] Reference Figure 3 , Figure 4 and Figure 6As shown, in some embodiments, the driving wheel 810 is connected to a driving wheel shaft 811, which vertically passes through the rotary seat 500. The driven wheel 820 is connected to a driven wheel shaft, which also vertically passes through the rotary seat 500. The driving wheel shaft 811 is connected to the drive motor 520 via a coupling 521. The coupling 521 is either a threaded coupling or a diaphragm coupling to compensate for unavoidable minor installation errors between the output shaft of the drive motor 520 and the driving wheel shaft 811. By separating the drive motor 520 and the driving wheel 810, when the drive motor 520 needs maintenance or replacement, the operator only needs to loosen the coupling 521 to remove the drive motor 520 from above. The driving wheel shaft 811 passes through the rotary seat 500, which enhances the bending stiffness of the driving wheel shaft 811, making it less prone to bending deformation under the tension of the synchronous belt 830.

[0029] Reference Figures 4 to 8 As shown, in some embodiments, the strut 720 is connected to a fixed seat 721, and the fixed seat 721 is bolted to a clamping plate 722. The timing belt 830 is clamped between the clamping plate 722 and the fixed seat 721. The clamping plate 722 and the fixed seat 721 have a large contact area, and when the bolts are tightened, the pressure is evenly distributed on a section of the timing belt 830. This generates static friction, reliably transmitting all the thrust required to drive the strut 720, effectively preventing relative slippage between the timing belt 830 and the connecting parts, and ensuring transmission accuracy. If holes are drilled directly into the timing belt 830 or screws are used to penetrate it, the tensile strength of the timing belt 830 will decrease. The clamping plate 722 and the fixed seat 721 clamp the timing belt 830, transmitting power through friction, thus preserving the strength and service life of the timing belt 830.

[0030] Reference Figure 3 , Figure 4 and Figure 7 As shown, in some embodiments, the support rod 720 is connected to the fixed base 721 in an adjustable position. The support rod 720 uses an optical axis, and the fixed base 721 uses a common optical axis fixed base 721 to reduce costs. By adjusting the extension length of each support rod 720 on the fixed base 721, it is ensured that the ends of the four support rods 720 are strictly on the same circumference. This ensures that the four support rods 720 can simultaneously contact the inner wall of the shaft 200. For shafts 200 whose inner walls are not perfectly circular, the length of each support rod 720 can be fine-tuned to find the optimal stable support point, enhancing the applicability of the support rod 720.

[0031] Reference Figure 3 and Figure 7As shown, in some embodiments, four sets of guide parts 710 and support rods 720 are symmetrically arranged, and two second drive members 800 are provided, each second drive member 800 driving two parallel support rods 720. Since the parallel support rods 720 move in opposite directions, and the timing belt 830 itself is a closed loop with opposite directions of movement on its adjacent sides, two parallel support rods 720 are respectively connected to opposite sides of a timing belt 830. The opposite movements are directly distributed to the support rods 720 that need to move in the opposite direction, eliminating the need for an additional direction conversion mechanism. Originally requiring four independent drive members, now only two drive motors 520 and two sets of timing belt 830 systems are needed to drive all four support rods 720, reducing the number of drive motors 520 and their control systems by two, thus saving costs.

[0032] Operating steps: Fix the lifting equipment 100 to the ring beam 210 at the upper end of the shaft 200; then start the lifting equipment 100 to slowly lower the base 300 and the rotating seat 500 to the predetermined acquisition starting position inside the shaft 200; after reaching the specified depth, pause the descent, start the drive motor 520 of the second drive unit 800, and the two drive motors 520 transmit power through the synchronous belt 830 to make the four support rods 720 extend outward in a radial direction under the guidance of the guide part 710 until the support rods 720 are tightly pressed against the inner wall of the shaft 200 to achieve fixation. Multiple cameras 600 with different wavelength ranges acquire multispectral images of the shaft wall. Then the second drive unit 800 reverses to cause the support rods 720 to retract and detach from the shaft wall. The servo motor of the first drive unit 400 is started and drives the rotating base 500 through the meshing of the gear 410 and the ring gear 510, which in turn drives the four cameras 600 with different wavelength ranges around it to rotate 90 degrees, and then collect multispectral images of the well wall again. After each camera 600 has collected 360-degree images, the lifting equipment 100 is operated to lower the base 300 to the next acquisition position and repeat the above stabilization and shooting process. This cycle is repeated until the image acquisition of the entire vertical shaft 200 is completed, and finally the device is lifted to the wellhead to complete the operation.

[0033] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A multispectral image acquisition device for surrounding rock in a vertical shaft, characterized in that, include: Lifting equipment (100), connected to the ring beam (210) at the upper end of the shaft (200); The base (300) is connected to the lifting equipment (100), and the base (300) can move vertically under the drive of the lifting equipment (100). The base (300) is provided with a first driving member (400). A rotating seat (500) is rotatably mounted on the base (300). The rotating seat (500) is connected to the first driving member (400) in a transmission manner. The rotation axis of the rotating seat (500) is vertically arranged. Multiple cameras (600) are arranged around the rotating base (500) and are used to capture images of the inner wall of the shaft (200). Each camera (600) captures images of a different wavelength range. A stabilizing mechanism (700) is connected to the bottom of the rotating seat (500). The stabilizing mechanism (700) has an open state and a retracted state. When the stabilizing mechanism (700) is in the open state, it abuts against the inner wall of the shaft (200). When the stabilizing mechanism (700) is in the retracted state, it separates from the inner wall of the shaft (200).

2. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 1, characterized in that: Multiple lifting rings (310) are detachably connected to the base (300). The multiple lifting rings (310) are symmetrically arranged. Multiple lifting devices (100) are symmetrically arranged. The lifting devices (100) are connected to the corresponding lifting rings (310) through lifting ropes (101).

3. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 1, characterized in that: The output shaft of the first driving member (400) is connected to a gear (410), and a toothed ring (510) is arranged around the upper end of the rotating seat (500). The center of the toothed ring (510) coincides with the rotation axis of the rotating seat (500), and the gear (410) meshes with the toothed ring (510).

4. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 1, characterized in that: The rotating seat (500) has a mounting hole (501) at its center. The base (300) is located in the mounting hole (501). A thrust bearing (330) is provided in the mounting hole (501). An upper boss (502) is provided around the side wall of the mounting hole (501). A lower boss (320) is provided on the outer side wall of the base (300). The upper end of the lower boss (320) abuts against the lower end of the thrust bearing (330). The lower end of the upper boss (502) abuts against the upper end of the thrust bearing (330).

5. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 1, characterized in that: The stabilizing mechanism (700) includes multiple guide parts (710) and multiple support rods (720). The multiple guide parts (710) are symmetrically arranged on the rotating seat (500). The guide parts (710) are slidably connected to the support rods (720). The guide parts (710) are used to radially limit the support rods (720). The support rods (720) are connected to a second driving member (800). The second driving member (800) is used to drive the support rods (720) to approach or move away from the inner wall of the shaft (200).

6. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 5, characterized in that: The second driving component (800) includes a driving wheel (810), a driven wheel (820), and a timing belt (830). The driving wheel (810) and the driven wheel (820) are rotatably mounted on the rotating base (500). The timing belt (830) is arranged around the driving wheel (810) and the driven wheel (820). A drive motor (520) is connected to the rotating base (500). The drive motor (520) is connected to the driving wheel (810) in a transmission manner. The timing belt (830) is connected to the support rod (720).

7. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 6, characterized in that: The drive wheel (810) is connected to a drive wheel shaft (811), which passes vertically through the rotating seat (500). The drive wheel shaft (811) is connected to the drive motor (520) via a coupling (521).

8. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 6, characterized in that: The support rod (720) is connected to a fixed seat (721), and the fixed seat (721) is bolted to a clamping plate (722). The synchronous belt (830) is clamped between the clamping plate (722) and the fixed seat (721).

9. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 8, characterized in that: The strut (720) is connected to the fixed base (721) in an adjustable position.

10. The multispectral image acquisition device for surrounding rock of a vertical shaft according to claim 5, characterized in that: The guide part (710) and the support rod (720) are symmetrically arranged in four groups, and two second drive members (800) are provided. Each second drive member (800) is used to drive two mutually parallel support rods (720).

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