CN114739311B - Multi-sensor-based rapid deformation monitoring equipment and method for shaft - Google Patents

Multi-sensor-based rapid deformation monitoring equipment and method for shaft Download PDF

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CN114739311B
CN114739311B CN202210671748.9A CN202210671748A CN114739311B CN 114739311 B CN114739311 B CN 114739311B CN 202210671748 A CN202210671748 A CN 202210671748A CN 114739311 B CN114739311 B CN 114739311B
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laser radar
shaft
measurement unit
data
vector
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CN114739311A (en
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朱晓峻
程桦
朱朋星
陈亚鑫
杨晓玉
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Anhui University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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Abstract

The invention is suitable for monitoring the rapid deformation of the mine shaft; the device adopts multiple sensors to measure the initial coordinates of the 2D laser radar, and then the 2D laser radar is gradually placed in the shaft; recording data at different moments; preprocessing data recorded by the wheel type odometer and the inertia measurement unit, and calculating steel wire lowering distances and pose data of the inertia measurement unit at different moments; interpolating the lowering distance data calculated by the wheel type odometer and the pose data calculated by the inertia measuring unit according to the time stamps to acquire the pose of the 2D laser radar under each time stamp; calculating accurate coordinates of the shaft walls at different depths, establishing a three-dimensional grid model of the shaft, and acquiring deformation data of the shaft; the method is safe, high in precision, low in cost, low in labor intensity and large in measurement data volume, reduces and avoids the injury of measurement personnel caused by complex environment in the shaft measurement process, and greatly improves the shaft monitoring efficiency.

Description

Multi-sensor-based rapid deformation monitoring equipment and method for shaft
Technical Field
The invention relates to the technical field of optical detection, in particular to a multi-sensor-based device and a method for monitoring rapid deformation of a shaft.
Background
The shaft passage of the vertical shaft is used as an important transportation passage and a traffic main passage for safe production of a mine, is an important main passage for carrying out operation and underground activities in the mine, and ensures the safety of the shaft of the vertical shaft of the coal mine, namely the safety of the production of the mine. Because of the influence of mining, the vertical shaft with longer service life can deform, the safety accidents of the shaft can happen, and the auxiliary equipment such as the well wall, the cage guide, the cage beam and the like can deform, so that the safety production of the mine is influenced. In order to ensure the normal operation of the shaft, an accurate three-dimensional model of the shaft must be obtained firstly, and then the deformation conditions before and after comparison and analysis are carried out, so that the fault can be eliminated in time;
although the method for deforming the well bore has been developed for many years, the existing method has the disadvantages of low efficiency, high danger, dependence on manual work, insufficient precision and the like.
Disclosure of Invention
Technical problem to be solved
The invention aims to overcome the defects in the prior art and provides a multi-sensor-based device and a method for monitoring rapid deformation of a shaft.
(II) technical scheme
A shaft rapid deformation monitoring device based on multiple sensors comprises a winch, a fixed pulley, a wheel type odometer, a 2D laser radar and an inertia measurement unit;
the steel wire is led out of the winch; the steel wire is wound around a fixed pulley positioned above the shaft, and the fixed pulley is provided with a wheel type odometer; the steel wire stretches into the shaft and is provided with a 2D laser radar and an inertia measurement unit.
A rapid deformation monitoring method of a shaft uses the rapid deformation monitoring equipment of the shaft based on multiple sensors, and comprises the following steps:
s1, measuring the initial coordinates of the 2D laser radar, starting a winch, gradually lowering the 2D laser radar in the shaft, and enabling the roller of the wheel type odometer to synchronously roll with the fixed pulley;
s2, recording the number of turns of the wheel type odometer at different moments, the horizontal scanning angle and distance during scanning of the 2D laser radar, and the acceleration value and angular velocity value data of the inertia measurement unit;
s3, preprocessing data recorded by the wheel-type odometer and the inertia measurement unit, and calculating the lowering distance of the steel wire and the pose data of the inertia measurement unit at different moments;
s4, interpolating the lowering distance data calculated by the wheel type odometer and the pose data calculated by the inertia measurement unit according to the time stamps, and acquiring the pose data of the 2D laser radar under each time stamp;
and S5, calculating accurate coordinates of the shaft walls at different depths, establishing a three-dimensional grid model of the shaft, and acquiring deformation data of the shaft.
Further, the pose data of the inertial measurement unit comprises a pose vector, a velocity vector and a displacement vector; and the pose data of the 2D laser radar comprises a pose vector and a displacement vector of the 2D laser radar.
(III) advantageous effects
The invention is suitable for monitoring the rapid deformation of a mine shaft, and the equipment comprises a winch, a steel wire, a fixed pulley, a 2D laser radar, an inertia measurement unit and a wheel type odometer. The device adopts multiple sensors to measure the initial coordinates of the 2D laser radar, and then the 2D laser radar is gradually placed in a shaft; recording data at different moments; preprocessing data recorded by the wheel type odometer and the inertia measurement unit, and calculating steel wire lowering distances and pose data of the inertia measurement unit at different moments; interpolating the lowering distance data calculated by the wheel type odometer and the pose data calculated by the inertia measurement unit according to the time stamps to acquire the pose data of the 2D laser radar under each time stamp; calculating accurate coordinates of the shaft walls at different depths, establishing a three-dimensional grid model of the shaft, and acquiring deformation data of the shaft; the method is safe, high in precision, low in cost, low in labor intensity and large in measurement data volume, reduces and avoids the injury of measurement personnel caused by complex environment in the shaft measurement process, and greatly improves the shaft monitoring efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a multi-sensor based wellbore rapid deformation monitoring apparatus;
FIG. 2 is a flow chart of a multi-sensor based wellbore rapid deformation monitoring method;
FIG. 3 is a coordinate system of a 2D lidar;
in the drawings, the components represented by the respective reference numerals are listed below:
1-a winch, 2-a steel wire, 3-a fixed pulley, 4-a wheel type odometer, 5-2D laser radar and 6-an inertia measurement unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the attached figure 1, the multi-sensor-based shaft rapid deformation monitoring equipment comprises a winch 1, a fixed pulley 3, a wheel type odometer 4, a 2D laser radar 5 and an inertia measurement unit 6;
a steel wire 2 is led out of the winch 1; the steel wire 2 is wound around a fixed pulley 3 positioned above the shaft, and the fixed pulley 3 is provided with a wheel type odometer 4; the steel wire 2 extends into a shaft and is provided with a 2D laser radar 5 and an inertia measurement unit 6.
Referring to fig. 2, the following steps are briefly described:
measuring the initial coordinate of the 2D laser radar 5, starting the winch 1, gradually lowering the 2D laser radar 5 in the shaft, and synchronously rolling the roller of the wheel type odometer 4 and the fixed pulley 3;
recording the number of turns of the wheel-type odometer 4 at different moments, the horizontal scanning angle and distance of the 2D laser radar 5 during scanning, and the acceleration value and angular velocity value data of the inertia measurement unit 6;
preprocessing data recorded by the wheel type odometer 4 and the inertia measurement unit 6, and calculating the lowering distance of the steel wire 2 and pose data of the inertia measurement unit 6 at different moments;
the pose data of the inertial measurement unit 6 comprise a pose vector, a velocity vector and a displacement vector;
interpolating the lowering distance data calculated by the wheel type odometer 4 and the pose data calculated by the inertia measurement unit 6 according to the timestamps, and acquiring the pose data of the 2D laser radar 5 under each timestamp;
the pose data of the 2D laser radar 5 include its pose vector and displacement vector.
And calculating accurate coordinates of the shaft walls at different depths, establishing a three-dimensional grid model of the shaft, and acquiring deformation data of the shaft.
The following steps are described in more detail:
the first step is as follows: the steel wire 2 is wound on the winch 1, and the other end of the steel wire penetrates through the fixed pulley 3 and is bound with the 2D laser radar 5. Suspending and standing the 2D laser radar 5 at the center of a shaft opening, and measuring and acquiring by an inertia measurement unit 6x、y、zInitial attitude vector in direction
Figure DEST_PATH_IMAGE001
And measuring the initial coordinate of the 2D laser radar 5 by jointly measuring the initial position of the 2D laser radar 5 and the ground fixed control point
Figure 100002_DEST_PATH_IMAGE002
(ii) a Wherein the content of the first and second substances,La superscript characterizing the 2D lidar 5 measurement;x、y、hthree-dimensional coordinates are characterized.
The winch 1 is started, the steel wire 2 is lowered, the steel wire 2 penetrates through the fixed pulley 3, the roller of the wheel type odometer 4 rolls synchronously with the fixed pulley 3, the 2D laser radar 5 and the inertia measurement unit 6 are lowered gradually and slowly in the shaft, and the winch 1 stops when the 2D laser radar 5 is lowered to the bottom of the shaft.
The second step is that: in the process of lowering the steel wire 2, time stamps at different moments are recorded
Figure DEST_PATH_IMAGE003
And the number of turns of the wheel type odometer 4 at that moment
Figure 100002_DEST_PATH_IMAGE004
(ii) a The 2D laser radar 5 scans the wall of the wellbore in 360-degree rotation and records time stamps at different moments
Figure DEST_PATH_IMAGE005
And the horizontal scanning angle during the scanning of the 2D laser radar 5 at the moment
Figure 100002_DEST_PATH_IMAGE006
Distance from the wall of the wellbore
Figure DEST_PATH_IMAGE007
See fig. 3.
Simultaneously because 2D laser radar 5 transfers the in-process along with steel wire 2, can rock, lead to the point cloud of scanning to have the distortion, in order to correct the distortion of 2D laser radar 5 scanning point cloud, record different time stamps
Figure 100002_DEST_PATH_IMAGE008
And the acceleration value vector of the 2D laser radar 5 measured by the inertia measuring unit 6 at the moment
Figure DEST_PATH_IMAGE009
Angular velocity vector
Figure 100002_DEST_PATH_IMAGE010
A tilted attitude;
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE011
a time stamp recorded for the wheel odometer 4,Oa superscript representing the measured value of the wheel type odometer 4;
Figure 100002_DEST_PATH_IMAGE012
for the recording time stamp of the inertial measurement unit 6,Ia superscript characterizing the inertial measurement unit 6 measurement.
The third step: and preprocessing the data recorded by the wheel type odometer 4 and the inertia measurement unit 6.
Figure DEST_PATH_IMAGE013
The lowering distance of the steel wire 2 at the moment is equal to the rolling linear distance of the fixed pulley 3 and also equal to the lowering distance of the 2D laser radar 5, and the distance is
Figure 100002_DEST_PATH_IMAGE014
Wherein
Figure DEST_PATH_IMAGE015
Wheel perimeter of the wheel odometer 4.
Because the inertia measurement unit 6 can not directly measure the attitude, the speed and the displacement, the data of the inertia measurement unit 6 is subjected to numerical value pre-integration by adopting a median method to obtain the data of the inertia measurement unit 6 at different moments, and the reference system of the inertia measurement unit 6 is calculated according to the following formula (1)x、y、zAttitude vector in direction
Figure 100002_DEST_PATH_IMAGE016
Velocity vector
Figure DEST_PATH_IMAGE017
And a displacement vector
Figure 100002_DEST_PATH_IMAGE018
。
Figure 100002_DEST_PATH_IMAGE020
（1）；
Wherein the content of the first and second substances,i、jis composed of
Figure 100002_DEST_PATH_IMAGE022
And
Figure DEST_PATH_IMAGE023
subscripts of the time symbols;
Figure 537487DEST_PATH_IMAGE023
the moment at which the inertial measurement unit 6 is to be solved;
Figure 923469DEST_PATH_IMAGE022
the moment of initial lowering of the inertia measurement unit 6;
Figure 100002_DEST_PATH_IMAGE024
and
Figure DEST_PATH_IMAGE025
are respectively as
Figure 358999DEST_PATH_IMAGE022
Attitude vectors, velocity vectors and displacement vectors at the moment;
Figure 100002_DEST_PATH_IMAGE026
is composed of
Figure 878842DEST_PATH_IMAGE022
And
Figure 21110DEST_PATH_IMAGE023
the separation time between two timestamps;
Figure DEST_PATH_IMAGE027
is composed of
Figure 100002_DEST_PATH_IMAGE028
The vector of acceleration values at the moment in time,
Figure DEST_PATH_IMAGE029
。
since the inertial measurement unit 6 is bound to the 2D lidar 5, the attitude vector, the velocity vector, and the displacement vector of the inertial measurement unit 6 are the same as those of the 2D lidar 5.
The fourth step: because the wheel-type odometer 4, the 2D laser radar 5 and the inertia measurement unit 6 have different measurement frequencies, the data of the 2D laser radar 5 is used as a reference, the distance data calculated by the wheel-type odometer 4 and the pose data calculated by the inertia measurement unit 6 are interpolated according to the time stamps, and the pose data of the 2D laser radar 5 under each time stamp is acquired.
The interpolation process is as follows: time for searching 2D laser radar 5 to record data
Figure 100002_DEST_PATH_IMAGE030
Time with wheel type odometer 4 data in front and at back
Figure DEST_PATH_IMAGE031
And also ensureCertificate (certificate)
Figure 100002_DEST_PATH_IMAGE032
Performing linear interpolation on the lowering distance of the 2D laser radar 5 according to the formula (2) to obtain
Figure DEST_PATH_IMAGE033
2D laser radar 5 lowering distance at time
Figure 100002_DEST_PATH_IMAGE034
。
Figure DEST_PATH_IMAGE035
（2）；
Figure 100002_DEST_PATH_IMAGE036
Are respectively as
Figure DEST_PATH_IMAGE037
And
Figure DEST_PATH_IMAGE038
the 2D laser radar is lowered at a moment;
also, to the time of day
Figure DEST_PATH_IMAGE039
The inertia measurement unit 6 calculates data to perform linear interpolation to obtain time
Figure 100002_DEST_PATH_IMAGE040
Lower 2D lidar 5 attitude vector
Figure DEST_PATH_IMAGE041
And a displacement vector
Figure DEST_PATH_IMAGE042
。
Because the z-axis direction inertia measurement unit 6 has larger measurement error, the coordinates of the 2D laser radar 5 z-axis adopt the lowering distance calculated by the wheel type odometer 4
Figure DEST_PATH_IMAGE043
Then the displacement vector of the 2D laser radar 5 is
Figure 100002_DEST_PATH_IMAGE044
。
The fifth step: the motion distortion of the 2D laser radar 5 is removed through the lowering distance, the posture and the displacement of the 2D laser radar 5, and the accurate coordinates of the wellbore wall with different depths are obtained according to the formula (3)
Figure DEST_PATH_IMAGE045
And generating TIN grids from the point cloud data of the high-precision shaft wall, and establishing a three-dimensional grid model of the shaft.
Wherein, the first and the second end of the pipe are connected with each other,Wa superscript representing the borehole wall;x、y、zrepresenting a three-dimensional coordinate;
and comparing the subsequent multi-stage three-dimensional model with the first-stage three-dimensional model by taking the first-stage three-dimensional model of the shaft as a reference to obtain deformation data of the shaft.
Figure 100002_DEST_PATH_IMAGE046
（3）；
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE047
in order to calculate the matrix in the process,
Figure 100002_DEST_PATH_IMAGE048
，
Figure DEST_PATH_IMAGE049
and
Figure 100002_DEST_PATH_IMAGE050
are respectively as
Figure DEST_PATH_IMAGE051
The horizontal scanning angle of the 2D lidar 5 scanning at time, the distance from the wellbore wall.
Figure 100002_DEST_PATH_IMAGE052
Rotation matrix of time of day
Figure DEST_PATH_IMAGE053
Comprises the following steps:
Figure 100002_DEST_PATH_IMAGE054
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE055
is composed of
Figure 100002_DEST_PATH_IMAGE056
Attitude vector of time 2D laser radar 5
Figure DEST_PATH_IMAGE057
Three values of (c).
With the above arrangement and method, the inventors compare with prior art methods to prove that it has advantages in use:
(1) comparison with the suspended-rope measurement
The suspension rope measurement method adopts two drooping steel wires as a base line, and then adopts a distance meter to measure the distance between the steel wires and a shaft to obtain a three-dimensional model of the shaft, so that the deformation of the shaft is monitored. The method has the problems of complicated operation steps, long time consumption, large danger, low data density and the like because an operator needs to stand on the shaft. Compared with the method for monitoring by the 2D laser radar 5 and other sensors, the method has the advantages of short time, no need of personnel to go into the well, large data volume and the like.
(2) Contrast fiber grating sensor measuring method
The fiber grating sensor measuring method is high in equipment cost, a contact type measuring method is adopted, the fiber grating sensor needs to be installed on a shaft, the shaft is damaged to a certain extent, and the problems of shaft radial deformation, shaft inclination and the like are difficult to monitor. Compared with the method, the cost is low, non-contact measurement is realized, and no damage is caused to the shaft.
(3) Contrast station-measuring type three-dimensional laser scanner
The station-measuring type three-dimensional laser scanner obtains point cloud data through multiple scanning in a shaft, and then is spliced through feature points at the later stage to obtain an accurate three-dimensional model of the shaft. Station-measuring three-dimensional laser scanners are expensive, targets need to be pasted on the wall of the well bore due to the fact that the surface features of the wall of the well bore are few, multi-station point cloud data are difficult to splice, and the fact that three-dimensional data of the whole well bore cannot be obtained is caused. Compared with the method, the method has the advantages that the 2D laser radar 5 is adopted, the cost is low, the data of the inertial measurement unit 6 (IMU) and the wheel type odometer 4 are fused, the attitude and the position of the 2D laser radar 5 are estimated, and the point cloud splicing is guaranteed.
(4) Contrast visual synchronous positioning and drawing SLAM method
The visual SLAM method obtains the coordinates of peripheral objects by taking a camera as a sensor, but the light in a shaft is poor, characteristic points are not obvious, and the visual SLAM is not suitable for monitoring in the shaft. According to the method, the 2D laser radar 5 is used as a sensor, so that the monitoring failure caused by light sensitivity is avoided.
(5) Contrast laser synchronous positioning and drawing SLAM method
According to the laser SLAM method, a 2D laser radar is used as a sensor to acquire coordinates of peripheral objects, the existing laser SLAM algorithm is provided aiming at the movement of equipment on a plane, a shaft is a vertical structure, and the existing algorithm and equipment are not completely used for shaft measurement and are not high in precision. The method belongs to a laser SLAM method, and improves equipment and a monitoring algorithm aiming at the characteristics of a vertical structure of a shaft, so that the method is more suitable for scanning the vertical structure of the shaft.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (1)

1. A multi-sensor-based shaft rapid deformation monitoring method is characterized in that a multi-sensor-based shaft rapid deformation monitoring device is used in the method, and the device comprises a winch, a fixed pulley, a wheel type odometer, a 2D laser radar and an inertia measurement unit; the method comprises the following steps:
s1, measuring the initial coordinates of the 2D laser radar, starting a winch, gradually lowering the 2D laser radar in the shaft, and enabling the roller of the wheel type odometer to synchronously roll with the fixed pulley;
s2, recording the number of turns of the wheel type odometer at different moments, the horizontal scanning angle and distance during scanning of the 2D laser radar, and the acceleration value and angular velocity value data of the inertia measurement unit;
the steel wire is wound on the winch, and the other end of the steel wire penetrates through the fixed pulley to bind the 2D laser radar; suspending and standing the 2D laser radar at the center of a shaft opening, and measuring and acquiring by an inertia measurement unitx、y、zInitial attitude vector in direction
Figure DEST_PATH_IMAGE002
And measuring the initial coordinate of the 2D laser radar by jointly measuring the initial position of the ground fixed control point and the 2D laser radar
Figure DEST_PATH_IMAGE004
(ii) a Wherein the content of the first and second substances,La superscript characterizing the 2D lidar measurement;x、y、hrepresenting a three-dimensional coordinate;
starting a winch, lowering a steel wire, enabling the steel wire to pass through a fixed pulley, enabling a roller of the wheel type odometer to roll synchronously with the fixed pulley, gradually and slowly lowering the 2D laser radar and the inertia measurement unit in a shaft until the 2D laser radar is lowered to the bottom of the shaft, and stopping the winch;
recording time stamps at different moments in the process of lowering the steel wire
Figure DEST_PATH_IMAGE006
And the number of turns of the wheel type odometer at the moment
Figure DEST_PATH_IMAGE008
(ii) a The 2D laser radar scans the wall of the wellbore in 360-degree rotation mode and records time stamps at different moments
Figure DEST_PATH_IMAGE010
And the horizontal scanning angle during the 2D laser radar scanning at the moment
Figure DEST_PATH_IMAGE012
Distance from the wall of the wellbore
Figure DEST_PATH_IMAGE014
；
Recording timestamps at different times
Figure DEST_PATH_IMAGE016
And the acceleration value vector of the 2D laser radar measured by the inertia measurement unit at the moment
Figure DEST_PATH_IMAGE018
Angular velocity vector
Figure DEST_PATH_IMAGE020
A tilted attitude;
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE022
a time stamp recorded for the wheel odometer,Othe upper scale represents the measurement value of the wheel type odometer;
Figure DEST_PATH_IMAGE024
is the recording time stamp of the inertial measurement unit,Ia superscript characterizing the inertial measurement unit measurement;
s3, preprocessing data recorded by the wheel-type odometer and the inertia measurement unit, and calculating the lowering distance of the steel wire and the pose data of the inertia measurement unit at different moments; the pose data of the inertial measurement unit comprises a pose vector, a velocity vector and a displacement vector;
Figure DEST_PATH_IMAGE026
the steel wire lowering distance at the moment is equal to the rolling linear distance of the fixed pulley and also equal to the lowering distance of the 2D laser radar, and the lowering distance is
Figure DEST_PATH_IMAGE028
Wherein
Figure DEST_PATH_IMAGE030
The wheel perimeter of the wheel type odometer is adopted;
performing numerical value pre-integration on the data of the inertial measurement unit by adopting a median method to obtain the data of the inertial measurement unit at different moments, and calculating the reference system of the inertial measurement unit according to the following formula (1)x、y、zAttitude vector in direction
Figure DEST_PATH_IMAGE032
Velocity vector
Figure DEST_PATH_IMAGE034
And a displacement vector
Figure DEST_PATH_IMAGE036
；
Figure DEST_PATH_IMAGE040
（1）；
Wherein the content of the first and second substances,i、jis composed of
Figure DEST_PATH_IMAGE044
And
Figure DEST_PATH_IMAGE046
subscripts of time symbols;
Figure DEST_PATH_IMAGE046A
the moment of the inertia measurement unit to be solved;
Figure DEST_PATH_IMAGE044A
the moment of initial lowering of the inertia measurement unit;
Figure DEST_PATH_IMAGE048
and
Figure DEST_PATH_IMAGE050
are respectively as
Figure DEST_PATH_IMAGE052
Attitude vectors, velocity vectors and displacement vectors at the moment;
Figure DEST_PATH_IMAGE054
is composed of
Figure DEST_PATH_IMAGE052A
And
Figure DEST_PATH_IMAGE056
the separation time between two timestamps;
Figure DEST_PATH_IMAGE058
is composed of
Figure DEST_PATH_IMAGE060
The vector of acceleration values at a time of day,
Figure DEST_PATH_IMAGE062
；
the inertial measurement unit is the same as the attitude vector, the velocity vector and the displacement vector of the 2D laser radar;
s4, interpolating the lowering distance data calculated by the wheel type odometer and the pose data calculated by the inertia measurement unit according to the time stamps, and acquiring the pose data of the 2D laser radar under each time stamp; the pose data of the 2D laser radar comprises a pose vector and a displacement vector; taking the 2D laser radar data as a reference, interpolating distance data calculated by the wheel type odometer and pose data calculated by the inertial measurement unit according to the time stamps, and acquiring the pose data of the 2D laser radar under each time stamp;
the interpolation process is as follows: time for searching 2D laser radar recorded data
Figure DEST_PATH_IMAGE064
Time with wheeled odometer data in front and at back
Figure DEST_PATH_IMAGE066
、
Figure DEST_PATH_IMAGE068
And ensure
Figure DEST_PATH_IMAGE070
Performing linear interpolation on the lowering distance of the 2D laser radar according to the formula (2) to obtain
Figure DEST_PATH_IMAGE072
2D laser radar lowering distance at time
Figure DEST_PATH_IMAGE074
；
Figure DEST_PATH_IMAGE076
（2）；
Figure DEST_PATH_IMAGE078
Are respectively as
Figure DEST_PATH_IMAGE080
And
Figure DEST_PATH_IMAGE082
the 2D laser radar is lowered at a moment;
also, to the time of day
Figure DEST_PATH_IMAGE084
The inertia measurement unit calculates data to perform linear interpolation to obtain time
Figure DEST_PATH_IMAGE086
Lower 2D lidar attitude vector
Figure DEST_PATH_IMAGE088
And a displacement vector
Figure DEST_PATH_IMAGE090
；
Lowering distance calculated by wheel type odometer according to coordinates of z axis of 2D laser radar
Figure DEST_PATH_IMAGE092
Then the displacement vector of the 2D laser radar is
Figure DEST_PATH_IMAGE094
；
S5, calculating accurate coordinates of the shaft walls at different depths, establishing a three-dimensional grid model of the shaft, and acquiring deformation data of the shaft; removing motion distortion of the 2D laser radar through the lowering distance, the posture and the displacement of the 2D laser radar, and obtaining the motion distortion according to a formula (3)Obtaining precise coordinates of wellbore wall at different depths
Figure DEST_PATH_IMAGE096
Generating TIN (triangulated irregular network) grids from the point cloud data of the high-precision shaft wall, and establishing a three-dimensional grid model of the shaft;
wherein the content of the first and second substances,Wa superscript representing the borehole wall;x、y、zrepresenting a three-dimensional coordinate;
comparing the subsequent multi-stage three-dimensional model with the first-stage three-dimensional model by taking the first-stage three-dimensional model of the shaft as a reference to obtain deformation data of the shaft;
Figure DEST_PATH_IMAGE098
（3）；
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE100
in order to calculate the matrix in the process,
Figure DEST_PATH_IMAGE102
，
Figure DEST_PATH_IMAGE104
and
Figure DEST_PATH_IMAGE106
are respectively as
Figure DEST_PATH_IMAGE108
The horizontal scanning angle and the distance from the wall of the well bore of the 2D laser radar at the moment;
Figure DEST_PATH_IMAGE110
rotation matrix of time of day
Figure DEST_PATH_IMAGE112
Comprises the following steps:
Figure DEST_PATH_IMAGE114
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE116
is composed of
Figure DEST_PATH_IMAGE118
Attitude vector of time 2D laser radar
Figure DEST_PATH_IMAGE120
Three values of (d).
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