JCIPRNET
Movement-synchronized wellbore inspection system and movement synchronization control method thereof
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.
China University of Mining and Technology
B G G G G E E F F
B25J G01M G01M G01M G01M E21B E21B F16L F16L
inventional inventional inventional inventional inventional inventional inventional additional additional
Zhenzhi Fan Gang Chaoquan Hongwei Gongbo Wei
He Jiang Zhang Tang Tang Zhou Li