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公开(公告)号：US11215046B2
公开(公告)日：2022-01-04
申请号：US17043691
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Gongbo Zhou , Chaoquan Tang , Zhencai Zhu , Hongwei Tang , Zhenzhi He , Gang Zhang , Wei Li , Fan Jiang
Abstract: Disclosed are a wellbore inspection system and method for an ultra-deep vertical shaft. The wellbore inspection system includes a wire rope moving system, inspection robots, a visual image acquisition system, a wireless communication module, a central control system, and an image post-processing system of an upper computer. The wire rope moving system includes a surface wire rope guide rail, an underground wire rope guide rail, a surface wire rope moving device, an underground wire rope moving device, and a wire rope. The visual image acquisition system includes explosion-proof cameras. After image information acquired by the explosion-proof cameras is processed by a lower computer, the processed image is transmitted by a wireless image transmission module to the image post-processing system of the upper computer. The central control system is connected to the inspection robots and the wire rope moving system, and the inspection robots are connected to the central control system.
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2.发明授权公开(公告)号：US11125072B2
公开(公告)日：2021-09-21
申请号：US17040552
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Gongbo Zhou , Chaoquan Tang , Zhencai Zhu , Gang Zhang , Zhenzhi He , Hongwei Tang , Wei Li , Fan Jiang
Abstract: Disclosed are a synchronous movement apparatus of tracks in a wellbore inspection system and a control method thereof. The synchronous movement apparatus includes an upper moving track, a lower moving track, an upper wire rope moving device, a lower wire rope moving device, and a control device; the upper moving track and the lower moving track are correspondingly embedded into an inner wall of a wellbore, and the upper moving track is located above the lower moving track; the upper wire rope moving device is fitted in the upper moving track, and the lower wire rope moving device is fitted in the lower moving track; the upper moving track and the lower moving track have the same structure and each include a track body. A rolling face is arranged on the track body, and grooves are evenly distributed on the rolling face along the extending direction of the track body.
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3.发明授权公开(公告)号：US11155275B2
公开(公告)日：2021-10-26
申请号：US17043704
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Gongbo Zhou , Hongwei Tang , Chaoquan Tang , Zhencai Zhu , Zhenzhi He , Wei Li , Fan Jiang
Abstract: Disclosed in the present invention are a rope climbing robot capable of surmounting an obstacle and an obstacle surmounting method thereof. The rope climbing robot includes a robot body. The robot body includes a shell, a drive module and a guide module. The shell is longitudinally cut into an even number of shell segments, and is laterally cut into a corresponding drive housing segment and a corresponding guide housing segment according to mounting positions of the drive module and the guide module in the shell. There is at least one guide module and at least one guide housing segment, and a shell opening mechanism is further mounted in the shell. The shell opening mechanism includes a first shell opening mechanism configured to open/close the guide housing segment and a second shell opening mechanism configured to open/close the drive housing segment.
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4.发明授权公开(公告)号：US11136878B2
公开(公告)日：2021-10-05
申请号：US17043682
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Chaoquan Tang , Gongbo Zhou , Hongwei Tang , Zhenzhi He , Gang Zhang , Wei Li , Fan Jiang
Abstract: A movement-synchronized wellbore inspection system and a movement-synchronization control method thereof are disclosed. The wellbore inspection system comprises a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device. An upper end of the wire rope is connected to the ground wire rope moving device, and an lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device. The control device controls the underground and ground wire rope moving devices to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device.
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