System for digitalisation and risk diagnosis in vertical mining ventilation substructures
Patent Information
- Application Number
- PCT/PE2025/050006
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-25
- Publication Date
- 2026-09-03
Smart Images
Figure PE2025050006_03092026_PF_FP_ABST
Abstract
Description
[0001] DIGITALIZATION AND RISK DIAGNOSIS SYSTEM FOR VERTICAL MINING VENTILATION INFRASTRUCTURE TECHNOLOGICAL FIELD
[0002] The present invention falls within the field of technologies applied to the inspection and monitoring of critical infrastructure, with a particular focus on the digitization and diagnostics of vertical structures in mining environments, such as ventilation shafts. This invention integrates advanced sensor technologies, real-time data processing, and automation to optimize the safety and efficiency of inspecting infrastructure that is difficult to access.
[0003] Specifically, the developed system is of great relevance in underground mining operations, where accuracy and reliability in detecting structural failures are essential to prevent accidents and ensure operational continuity.
[0004] STATE OF THE ART
[0005] The state of the art reveals the existence of various technological solutions geared towards the automated inspection of vertical infrastructure. These solutions, documented in patents and scientific publications, employ technologies such as LiDAR sensors, high-resolution cameras, and industrial measurement units (IMUs) for data collection in structures like chimneys, tunnels, and shafts. While these developments represent significant advances in the ability to perform inspections without direct human intervention, improving safety and accuracy, they still have limitations, especially regarding the complete integration of real-time transmission processes for the results obtained.
[0006] Although some technologies, such as those described in patents JP2020076688A and US10093414B2, have advanced in automating inspection to improve safety and accuracy in fault detection, they still rely heavily on subsequent data processing stages, such as the generation of three-dimensional models and point clouds. This dependence on post-processing limits the applicability of these technologies in scenarios where the immediacy of obtaining results is critical for decision-making.
[0007] The conference publication titled “An Inspection and Surveying System for Vertical Shafts” presents a solution for the safe and reliable monitoring of vertical shafts in underground mining operations, which are difficult to access for inspection. VOIS integrates cameras, laser sensors (LIDAR), and inertial sensors into a rugged housing that can be deployed using a winch and cable. This article presents the development of the second prototype (VOIS mk II), the results of surveys conducted with the first prototype (VOIS mk I), and future plans for the inspection of more general spaces within underground mines.
[0008] The publication titled “Combined video and laser camera for inspection of old mine shafts” presents the development of a combined video and laser camera for characterizing underground shafts and cavities whose location is known but whose fundamental characteristics are unknown. This system allows for the capture of videos and images, as well as the performance of point manual measurements and automatic measurement cycles to generate cross-sections, profiles, contour lines, and volume estimates in dry or flooded cavities. The work focuses on the development of a second camera for flooded cavities and on improving the data analysis system to obtain georeferenced 3D cross-sections and point clouds, integrable into GIS systems, based on field tests in old shallow mines.
[0009] The journal article titled “Automatic elevator shaft inspection using a multi-sensor measuring system and computer vision techniques” presents a system capable of automatically measuring the dimensions of an elevator shaft using computer vision and optical sensors without human intervention. Errors in calculating the available volume could result in the manufacture of an unsuitable elevator car due to product customization. The proposed methodology employs a low-cost measuring system with a Jetson Nano, a LiDAR, laser sensors, and a Microprocessor Unit (MPU) that scans the shaft in a single pass and reconstructs it for evaluation. The system descends via a pulley system with ropes on each side and a weight at the end to improve stability and prevent rotation.Finally, validation experiments were conducted in a test elevator shaft, comparing the results with manual measurements on each floor to obtain a reference for accuracy.
[0010] The indexed journal article, “Defect Detection for a Vertical Shaft Surface Based on Multimodal Sensors,” describes a defect detection system for vertical shafts based on unmanned aerial vehicles (UAVs), integrating CCD panoramic cameras, 3D laser scanners, inertial measurement units (IMUs), barometric altimeters, light sensors, and control modules. The proposed method fuses multimodal image features to identify typical defects on concrete surfaces. Compared to machine learning methods, this approach achieves the highest overall accuracy, reaching 90.90% defect detection. The system was validated in the shafts of the Nuozhadu hydroelectric power plant, demonstrating its effectiveness in reducing the risk of collapse and improving safety.
[0011] The patent titled “Inspection device and inspection method,” publication number JP2020076688A, presents an automated system for inspecting vertical shafts or raises in mines, designed to improve safety and accuracy in these processes. This system employs a device equipped with cameras, sensors, and other measuring instruments that moves along the vertical structure, collecting real-time data on its condition. The device is capable of detecting cracks, deformations, and other structural damage that could compromise the integrity of the shaft or raise. Automating these inspections significantly reduces risks to workers and allows for more frequent and detailed monitoring, facilitating timely decision-making regarding the maintenance or repair of mining infrastructure.
[0012] The patent titled “Method and apparatus for remote, interior inspection of cavities using an unmanned aircraft system,” publication number US10093414B2, describes a method and system for inspecting vertical shafts and other similar structures using an unmanned aerial vehicle (UAV) equipped with various sensors and cameras. This system allows for autonomous or semi-autonomous navigation of the UAV within confined spaces, such as mine shafts, facilitating detailed inspection and data collection without requiring personnel to enter potentially hazardous environments. The UAV is capable of capturing high-resolution images, 3D models, and other relevant data, which can be used to assess the structural integrity of the shaft and identify potential problems. This innovation provides a safer, more efficient, and more accurate means of conducting inspections in challenging environments.
[0013] The patent entitled “Device for research of the internal surface of smoke pipes,” publication number RU137622U1, describes a system or device designed for the inspection and diagnosis of underground infrastructure, such as pipes or tunnels. This system uses a combination of sensors and imaging technology to detect and assess damage, deformation, or other anomalies within the inspected structures. The device is designed to operate in harsh conditions, facilitating the maintenance and repair of this infrastructure without the need for direct human intervention in hazardous environments. The innovation lies in its ability to perform accurate and efficient diagnoses, improving the safety and effectiveness of maintenance operations.
[0014] The patent titled “Chimney internal inspection method and device,” patent number JP2006292298A, describes a system and method for inspecting and maintaining underground structures, such as tunnels or pipelines. The system uses an autonomous or semi-autonomous vehicle equipped with cameras, sensors, and other measuring devices, which can travel along the structure to collect detailed data on its condition. This vehicle is capable of detecting anomalies such as cracks, corrosion, or deformations, and allows for safe and efficient inspections without direct human intervention in hazardous environments. The innovation lies in the system's ability to perform accurate, real-time inspections, significantly improving the safety and maintenance of underground infrastructure.
[0015] The patent titled “Vertical rope climbing inspection robot for ultras-deep vertical shat steel-rope guide,” publication number WO2017000520, presents a rope-climbing inspection robot designed for ultras-deep vertical shafts with steel-rope guides. The robot consists of an explosion-proof housing, a drive mechanism, a wheel mechanism, a clamping mechanism, a loading mechanism, and an electrical control device. Its design incorporates multiple traction and clamping components to ensure stability during ascent. Equipped with an intrinsically safe camera and a rotating head, the robot can meet safety requirements in coal mines, climb deep vertical shafts, and monitor the tension on the shaft walls and the structural condition of the tower in real time.
[0016] The Quickview 360 is a commercial product from Envirosight, a portable device designed for sewer inspection. It features two high-definition cameras that capture 360-degree video, enabling rapid condition assessment and on-site 3D modeling. Equipped with AI support for defect coding, it integrates seamlessly with mobile applications. Its design allows for single-person operation and is geared towards improving efficiency in underground infrastructure inspections. The SOLOPRO+ system, a commercial product from Minicam, is a pipe inspection unit designed for challenging environments. Its structure is made of welded tubular steel and powder-coated, making it resistant to corrosion and wear.The camera, constructed of stainless steel, features scratch-resistant sapphire glass and high-intensity LED lights to enhance visibility in dark environments. It has a push-through system with various cable lengths, making it suitable for a wide range of pipe diameters. It offers functions such as video recording, image capture, and detailed on-site reporting. Furthermore, it is designed for durability and ease of operation in extreme conditions, with applications in the inspection of underground infrastructure and hazardous environments.
[0017] The DMT Wireline-Shaft-Mapping system is a laser scanner designed for the geometric and photorealistic 3D documentation of well casings, installations, and well positions. This modular system includes a 2D laser scanner, an industrial measurement unit (IMU), and a panoramic camera, enabling comprehensive documentation of vertical boreholes. The collected data can be used for documentation, infrastructure planning, and monitoring of changes or damage, minimizing operational disruptions and improving safety.
[0018] BRIEF DESCRIPTION OF THE INVENTION
[0019] The present invention consists of a comprehensive system for the digitization and diagnosis of risks in vertical mining ventilation infrastructure, specifically designed to operate in harsh underground environments and at depths of up to 500 meters. The system focuses on the design of an active angular stabilization mechanism, composed of bidirectional brushless motors dynamically controlled by an integrated processor, which corrects cable twists in real time during descent. This mechanism ensures that the main sensor (LiDAR or camera) maintains its correct orientation, eliminating distortions in the collected data and guaranteeing the accuracy of the generated three-dimensional models.
[0020] The invention is designed to significantly improve the safety and efficiency of inspecting hard-to-reach vertical structures, minimizing the need for direct human intervention in hazardous environments. Furthermore, its modular design allows for the easy integration of future technological innovations, ensuring that the system remains adaptable and relevant in the evolving field of underground mining.
[0021] BRIEF DESCRIPTION OF THE FIGURES
[0022] Other features and advantages of the invention will become apparent from the description with reference to the accompanying drawings, in which:
[0023] Figure 1: Horizontal symmetrical view of the sensing subsystem showing the active angular stabilization mechanism with power and communication input (A) coupled to the cover (B) of the module (C), to which the stabilization mechanism (E) with motors (D) is coupled, which in turn is coupled to the camera support (F), lights (G) and LiDAR sensor (H), of the following invention. Figure 2: Vertical symmetrical view of the sensing subsystem showing the active angular stabilization mechanism with power and communication input (A) coupled to the cover (B) of the module (C), to which the stabilization mechanism (E) with motors (D) is coupled, which in turn is coupled to the camera support (F), lights (G) and LiDAR sensor (H), of the following invention.
[0024] Figure 3: Actual symmetrical view of the descent subsystem detailing important parts of the structure such as the motorized reel and the sensor deployment point, of the following invention.
[0025] Figure 4: Electronic diagram of the control and processing system, how it operates from the descent mechanism through the control stage to the communication stage that transmits the data to the sensing module, performing the control and monitoring that are recorded on the laptop computer that generates the post-processing of the data, of the following invention.
[0026] Figure 5: Isometric view of the sensing subsystem with the rotational turns for active angular compensation, where the black arrow indicates the rotation generated by the cable torsion during descent, the red arrow indicates the motor rotations, and the yellow arrow indicates the compensation rotation generated by the motor array and stabilizes the sensing module, of the following invention. Figure 6: Top view of the motor support coupling, where it has its support ring (1.3) and the supports (1.1) (1.2) for the motors, of the following invention.
[0027] Figure 7: 1 / 8" symmetrical view of the motor support coupling with the brushless motors (2.1) (2.2) placed at the support points (1.1) (1.2) respectively, of the following invention.
[0028] Figure 8: Top view of the motor support coupling with the brushless motors (2.1) (2.2) placed at the support points (1.1) (1.2) respectively, showing the horizontal positional offset of each motor, of the following invention.
[0029] Figure 9: Side view of the motor support coupling with the brushless motors (2.1) (2.2) placed at the support points (1.1) (1.2) respectively, showing the vertical positional alignment of each motor, of the following invention.
[0030] Figure 10: Isometric view of the encapsulation (3.3) with the active angular stabilization mechanism, showing how the motor coupling (1.3) fits into the encapsulation (3.3), of the following invention.
[0031] Figure 11: Front view of the encapsulation (3.3) with the active angular stabilization mechanism, showing how the motor coupling (1.3) fits into the encapsulation (3.3), allowing the coverage area of the propellers to be seen, of the following invention.
[0032] Figure 12: Isometological view of the encapsulation (3.3) showing the thread points for upper assembly (3.1) to which the cover with cable entry (4.2) is attached and the lower thread (3.2) to which the thread of the camera and lidar support (5.2) is attached, of the following invention.
[0033] Figure 13: Isometric view of the encapsulation cover (3.3), which has the thread (4.2) for coupling and the entry of communication and power cable (4.1), of the following invention.
[0034] Figure 14: Isometric view of the camera and LED support (6.1), which has a design focused on bolting the cameras into the slots (6.2.1) (6.2.2) (6.2.3) and bolting the LED boards (6.3.1) (6.3.2) (6.3.3), of the following invention.
[0035] Figure 15: Front view of the camera and LED support (6.1), which has a design focused on bolting the cameras into the slots (6.2.1) (6.2.2) (6.2.3) and bolting the LED boards (6.3.1) (6.3.2) (6.3.3), of the following invention.
[0036] Figure 16: Isometric view of the camera and LED support encapsulation, showing the structural support block (5.1) with its coupling thread (5.3) to the main encapsulation (3.3) and the LED outputs (5.4.1), (5.4.2), (5.4.3), (5.4.4), (5.4.5), (5.4.6) and camera outputs (5.5.1), (5.5.2), (5.5.3) of the following invention. Figure 17: Front view of the camera and LED support encapsulation, showing the structural support block (5.1) with its coupling thread (5.3) to the main encapsulation (3.3) and the LED outputs (5.4.1), (5.4.2), (5.4.3), (5.4.4), (5.4.5). (5.4.6) and the chambers (5.5.1), (5.5.2), (5.5.3), of the following invention.
[0037] Figure 18: Top view of the camera and LED support encapsulation visualizing the hexagonal distribution of its components, where the structural support block (5.1) with its coupling thread (5.3) to the main encapsulation (3.3) is located, and the outputs of the LEDs (5.4.1), (5.4.2), (5.4.3), (5.4.4), (5.4.5), (5.4.6) and of the cameras (5.5.1), (5.5.2), (5.5.3) of the following invention are located.
[0038] Figure 19: Isometric view of the camera and LED encapsulation with the LiDAR sensor, showing the LiDAR sensor (7.1) coupled to the support (5.3) by means of a cover (7.2) and where the physical elements of the cameras (8.1.1) and the LEDs (8.2.1) (8.2.2) (8.2.3) (8.2.4) of the following invention are also observed.
[0039] Figure 20: Vertical symmetrical view of the camera and LED encapsulation with the LiDAR sensor, showing the LiDAR sensor (7.1) coupled to the support (5.3) by means of a cover (7.2) and where the physical elements of the cameras (8.1.2) (8.1.3) and the LEDs (8.2.5) (8.2.6) of the following invention are also observed.
[0040] Figure 21: Top view of the fitting of the camera and LED support (6.1) to the sensor support (5.3), showing the fitting and 120° distribution, of the following invention.
[0041] DETAILED DESCRIPTION OF THE INVENTION
[0042] The present invention comprises a comprehensive system for the digitization and diagnosis of risks in vertical mining ventilation infrastructure, specifically designed to operate in harsh underground environments and at considerable depths. The main subsystem of the invention consists of an active angular stabilization mechanism, composed of motors with bidirectional propellers dynamically controlled by an integrated processor, which corrects cable twists in real time during descent. This mechanism ensures that the main sensor maintains its correct orientation, eliminating distortions in the collected data and guaranteeing the accuracy of the generated three-dimensional models. The innovation lies in its ability to maintain the correct orientation of the sensor in real time, regardless of external torsional forces.This sensor is deployed via a motorized reel with displacement control and monitoring of data acquired from the sensor. These two integrated subsystems correspond to the electronic connections of the overall system scheme.
[0043] The active angular stabilization mechanism is an essential component for ensuring that the sensing module maintains a fixed angular position during its descent through mine shafts, regardless of external torsional forces that may affect the cable. This system comprises two motors with bidirectional propellers, a set of brushless motors, a dedicated motor controller, and a processing unit that uses data from the inertial sensor to make real-time corrections. This mechanism not only improves the accuracy of LiDAR and camera measurements but also ensures that the module does not rotate, which could distort the captured data.
[0044] The two motors with bidirectional propellers (2.1) and (2.2) are the core of the angular stabilization system. These motors are mounted in opposite positions on the encapsulated module body by means of a coupling (1.3) attached to the main package, so as not to interfere with the field of view of the LiDAR or the cameras. Each motor is coupled to (1.3) by means of external supports (1.2) and (1.3), allowing for a proper fit of each motor and with a central hole for free rotation of the shaft. The arrangement of the motors (2.1) and (2.2) is geometrically referenced so that the propellers do not collide with the package (3.3) or obstruct the viewing area of the camera and LiDAR mount (5.3). This configuration of (1.3) with reverse displacement of (1.1) and (1.2) is also designed to maintain an adequate distance for the propulsion forces to generate the reverse compensation turns to the cable torsion.When the sensing module detects a spin outside the threshold, the main processor sends the corresponding control signals to each motor to compensate for the spin. Although part of the motor propellers (2.1) and (2.2) are at the same height as the housing (3.3), the propulsion centers are located at a distance that allows the necessary propulsion forces to be generated. This distance can even be altered by modifying the size of the propellers or motors according to the required propulsion force. The housing contains the electronics from the general component diagram, allowing top access (3.1) where the piece (4.2) is screwed in, through which the power and communication cable enters via (4.1). The other end of the housing (3.2) screws in the coupling (5.3), creating a watertight connection to protect the system's internal electronics. The support (5.3) encapsulates the piece (6).1) The cameras are placed in slots (6.2.1), (6.2.2), and (6.2.3), and the LEDs for illumination are placed in slots (6.3.1), (6.3.2), and (6.3.3). This bracket (6.1) is designed to achieve 360° visualization with three cameras by tilting them at -30°, allowing for better visual coverage of the area to be explored. The bracket (6.1) is inserted into the enclosure (5.3) from the bottom and sealed by the LiDAR cover with bolts and O-rings to maintain a hermetic seal. The internal distribution of cameras and LEDs fits properly with the encapsulation (5.3) through its different outlets to the outside, which are covered by transparent acrylic plates and ohng, allowing the outlets (5.4.1), (5.4.2), (5.4.3), (5.4.4), (5.4.5) and (5.4.6) for the LEDs and the outlets (5.5.1), (5.5.2) and (5.5.3) for the cameras.
[0045] The sensing subsystem includes a high-end processor that handles the processing of data from the angular stabilization mechanism, camera images, and data from the inertial and LiDAR sensors. This unit also receives real-time data from the inertial sensor integrated into the encapsulated module, which measures angular orientation, acceleration, and rotational speed. Using estimation algorithms such as the Extended Kalman Filter (EKF), the processing unit calculates the necessary corrections to counteract any cable twisting or external forces that could cause unwanted module rotation. These corrections are translated into control signals that are sent to the motor controllers (2.1) and (2.2), which adjust the motor speed and direction to maintain a fixed angular position. Data collection is the core of the overall system's diagnostic capabilities.The encapsulated module is an advanced monitoring and digitization system specifically designed to operate in challenging environments such as mine shafts. This device combines sensor technologies, cameras, and communication systems to create a digital twin of the environment and enable real-time monitoring of internal shaft conditions. Its robust design and ability to operate in extreme conditions make it an indispensable tool for inspection and predictive maintenance in the mining industry. At the heart of the system is a 2D LiDAR sensor located at the bottom of the module, as it is an encapsulated sensor with only a mounting base. This sensor uses laser pulses to measure distances and create detailed maps of the shaft's internal walls. It is capable of generating a high-resolution point cloud, allowing for the creation of an accurate three-dimensional model of the environment.Complementing the LiDAR, the module incorporates an array of three cameras spaced every 120°, providing 360° visual coverage. These cameras capture high-definition images, which are used to enrich the digital twin with detailed visual information, such as cracks, corrosion, or sediment buildup. Sensor fusion is also applied to add color detail to the digital twin and optimize the reconstruction generated from different data sources.
[0046] The system is powered by a 220V power supply that travels through the cable and enters at (4.1), ensuring a stable power supply for all its internal components. Among these components is a Raspberry Pi, which acts as the system's brain, processing data from the LiDAR and cameras and sending control commands to the motors (2.1) (2.2). Additionally, the module includes a kinetic sensor that provides information on the device's orientation and acceleration, crucial for correcting any unwanted movement during descent and for use in the three-dimensional model reconstruction algorithm. To illuminate the dark environment of the chimneys, the module is equipped with a set of high-power LEDs, powered by dedicated current sources.These lights not only improve the quality of the images captured by the cameras, but also allow operation in low or no natural light conditions. In addition, the system includes voltage regulators that ensure stable operation and protect the electronic components from potential power fluctuations.
[0047] The module communicates with the outside world via an ADSL connection, enabling data transmission over distances of up to 500 meters. This capability is essential for sending real-time information gathered by sensors and cameras to a remote control station, where operators can analyze the data and make informed decisions. The ADSL connection also allows the module to receive commands from the outside, such as system configuration adjustments and the activation of features like LEDs for ambient lighting.
[0048] The descent of the module through the mine shafts is carefully controlled to ensure safety and the accuracy of the measurements. As the device descends, the LiDAR and cameras continuously capture data, generating a detailed, real-time map of the shaft's interior. This data is integrated into a digital twin, which is an exact virtual representation of the physical environment. This digital twin can be used to identify areas of interest, such as zones with structural damage or material buildup, and to plan maintenance interventions.
[0049] The system is also designed to withstand the harsh conditions typical of mining chimneys, such as high temperatures, humidity, and the presence of dust or corrosive gases. The module's encapsulation protects the internal components from these factors, ensuring reliable and long-lasting operation. Furthermore, the system's modular design facilitates component maintenance and upgrades, extending its lifespan and reducing operating costs.
[0050] This system is complemented by a motorized reel, a control box with advanced electronics, and a set of microcontrollers that work together to ensure a smooth, precise, and safe descent of the encapsulated module. The integration of these components allows not only for control of the module's movement but also for synchronizing data capture with the device's exact position within the chimney. The motorized reel is the central mechanical component of the system and is designed to unwind and wind the cable that supports and connects to the encapsulated module. This reel is driven by a high-precision DC motor, which provides the necessary torque to handle the module's weight and the cable's length, which can reach up to 500 meters. The DC motor is controlled by a power driver, which regulates the motor's speed and direction based on signals received from a dedicated microcontroller.This precise motor control allows adjusting the descent or ascent speed of the encapsulated module, which is crucial to adapt to the specific conditions of each chimney.
[0051] The control box houses two main microcontrollers: one managing the power driver and the other dedicated to reading the reel's rotation encoder. This latter microcontroller processes the encoder signals, which measure the reel's rotation and, therefore, the length of unwound cable. This information is essential for determining the exact position of the encapsulated module within the chimney. This information translates into the depth at which the encapsulated module is located, allowing the data captured by the LiDAR and cameras to be correlated with its vertical position within the chimney. The microcontroller responsible for reading the encoder sends this data over a local network, where it is synchronized with the information coming from the encapsulated module.
[0052] Communication between the microcontrollers and the encapsulated module is via an ADSL connection, enabling data transmission over distances of up to 1000 meters. This connection is used not only to send control commands to the encapsulated module but also to receive data captured by the LiDAR and the three cameras. The two microcontrollers are connected to the same local network, facilitating operational synchronization and data integration on a central computer.
[0053] The central computer serves as the control and monitoring point for the entire system. From here, operators can monitor the descent of the encapsulated module, adjust the speed of the motorized reel, and view real-time data captured by the sensors. The computer receives information from the LiDAR, including the point cloud generated to create the digital twin, as well as images from the three cameras that provide a 360° view of the chimney's interior. This data is processed and displayed on a graphical interface, allowing operators to identify areas of interest, such as cracks, corrosion, or material buildup.
[0054] The system also includes safety measures to ensure reliable operation in the often harsh mining environments. For example, the DC motor is equipped with automatic brakes that activate in the event of a power loss or control system failure. Furthermore, the cable used for descent is designed to withstand heavy loads and extreme conditions, such as high temperatures and exposure to corrosive chemicals. These features ensure that the encapsulated module can operate safely even under the most adverse conditions.
Claims
CLAIMS 1. Digitization and diagnostic system for vertical mining ventilation infrastructures, comprising: • a motorized descent subsystem equipped with a direct current (DC) motor and reel, configured to allow controlled descent of the system to depths of up to 500 meters; and • a sensing and data collection subsystem that includes a LiDAR sensor that generates a point cloud, an industrial sensor, and cameras equipped with night vision technology; CHARACTERIZED IN THAT IT comprises: • an active angular stabilization mechanism, composed of bidirectional motors for stabilizing the sensing subsystem during the system's descent; • an embedded processor integrated into the active angular stabilization mechanism configured to run advanced artificial intelligence algorithms that enable real-time generation of three-dimensional point cloud models and 360° panoramic video capture; and • a remote control station for remote control of the system.
2. The system according to claim 1, CHARACTERIZED IN THAT the sensing and data collection subsystem includes high-intensity LED luminaires, configured to ensure visibility and data capture in low light conditions in underground environments.
3. The system according to any of the preceding claims, CHARACTERIZED IN THAT the stabilization mechanism comprises brushless motors that allow the generation of active angular compensation rotations of the sensing module according to the torsional rotations generated by the descent cable, allowing the generation of an opposite controlled rotation, enabling the sensing module to remain angularly stable with respect to the viewing points.
4. The system according to any of the preceding claims, CHARACTERIZED IN THAT the descent subsystem includes a balance compensation mechanism to maintain the stability of the system during operation, ensuring smooth and precise movement throughout the in-depth inspection process.