Wellbore inspection system and method for ultra-deep vertical shaft

A wellbore inspection system for an ultra-deep vertical shaft, comprising 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, wherein

• the wire rope moving system comprises:
• a surface wire rope guide rail on a ground, an underground wire rope guide rail, a surface wire rope moving device fitted into the surface wire rope guide rail, an underground wire rope moving device fitted into the underground wire rope guide rail, and a wire rope of which an upper end is connected to the surface wire rope moving device and a lower end is connected to the underground wire rope moving device;
• and a plurality of inspection robots are arranged along the wire rope;
• the wireless communication module comprises a wireless data transmission module, a wireless image transmission module, and a GPS positioning module;
• the visual image acquisition system comprises a lower computer and explosion-proof cameras;
• after an image information acquired by the explosion-proof cameras is processed by the lower computer, a processed image is transmitted by the 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 via the wireless data transmission module, and the inspection robots are connected to the central control system via the GPS positioning module;
• the central control system comprises an inspection robot control module for controlling working conditions of the inspection robots;
• a wire rope moving device control module for controlling movement of the surface wire rope moving device and the underground wire rope moving device in the wire rope moving system;
• and a wireless communication control module for controlling communication between the central control system, the inspection robots, and the wire rope moving system;
• and
• when it is required to longitudinally monitor the wellbore, the central control system halts the wire rope moving system and starts the inspection robots to longitudinally climb on the wire rope, to acquire longitudinal images of the wellbore with the explosion-proof cameras;
• when it is required to monitor the circumference of the wellbore, the central control system halts the inspection robots to suspend the inspection robots on the wire rope;
• and starts the wire rope moving system to drive the inspection robots on the wire rope to acquire circumferential images of the wellbore;
• and when it is required to monitor specific positions in the wellbore, the central control system controls the inspection robots and the wire rope moving system simultaneously until the inspection robots reach target positions, and then the explosion-proof cameras are used to acquire images of the target positions in the wellbore.