WO2020000790A1

WO2020000790A1 - Vertical mine shaft detection method and system

Info

Publication number: WO2020000790A1
Application number: PCT/CN2018/111001
Authority: WO
Inventors: 寇子明; 郭永存; 李腾宇; 高鑫宇; 寇少凯
Original assignee: 太原理工大学
Priority date: 2018-06-29
Filing date: 2018-10-19
Publication date: 2020-01-02
Also published as: CN109101039A

Abstract

Provided are a vertical mine shaft detection method and system. The vertical mine shaft detection method comprises: acquiring an inspection flight route generated on the basis of landmark information of a geographical target to be inspected by an unmanned aerial vehicle; the unmanned aerial vehicle flying along the inspection flight route; and during a flight process, the unmanned aerial vehicle collecting state information of a target to be inspected in a vertical mine shaft, wherein the state information of the target represents a state of the target.

Description

Vertical well detection method and system

Cross-reference to related applications

This application is based on a Chinese patent application with an application number of 201810715297.8 and an application date of June 29, 2018, and claims the priority of the Chinese patent application. The entire content of this Chinese patent application is incorporated herein by reference.

Technical field

The invention relates to the technical field of vertical well detection, in particular to a method and system for vertical well detection.

Background technique

The vertical shaft, also known as the vertical shaft, is the main exit from the underground to the ground. Therefore, the vertical shaft lifting system is also called the "throat" of mine production. The verticality or cracks of the shaft wall and the tank channel determine the safety of the shaft. Therefore, in order to avoid various safety problems such as landslides and to ensure the safety of the ground and underground, it is necessary to regularly or irregularly inspect the shaft.

In the related art, in general, the wellbore canal is inspected by a worker standing on the top of the lifting container and following the lifting container. On the other hand, in the manual detection process in related technologies, it is necessary to ensure personal safety through a safety cable, and the detection efficiency is low. In addition, even if a safety cable is provided, there are still some hidden safety hazards, and the problem of manual detection errors is prone to occur in long-term underground work. Therefore, how to improve the detection efficiency, safety, and accuracy of vertical wells is an urgent problem to be solved in the prior art.

Summary of the invention

In view of this, embodiments of the present invention are expected to provide a method and system for detecting a vertical well.

The technical solution of the present invention is implemented as follows:

In a first aspect, an embodiment of the present invention provides a method for detecting a vertical well, including:

Obtain the inspection track generated based on the landmark information of the geographic target of the drone inspection;

The drone is flying according to the inspection track;

The drone collects the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.

Optionally, the method further includes:

Controlling the information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system, wherein the first The information exchanged between the communication module and the second communication module includes: track optimization information, inspection target status information, inspection target failure information, obstacle information, obstacle avoidance information, drone status information, and drone failure At least one of an alarm message and an inspection target failure alarm message.

Optionally, according to the communication status of the first communication module of the drone and the second communication module of the ground control system, controlling information exchange between the first communication module and the second communication module, include:

If the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, sending the obstacle information to the ground control system;

Receiving obstacle avoidance information returned by the ground control system, wherein the obstacle avoidance information includes an obstacle avoidance path;

and / or,

The method further includes:

If the communication status of the first communication module of the drone and the second communication module of the ground control system does not satisfy the preset communication conditions, an inertial navigation system is used to generate an obstacle avoidance path based on the obstacle information.

Optionally, the method further includes at least one of the following:

Before the obstacle avoidance path is obtained, the drone hovering;

After obtaining the obstacle avoidance path, the drone flies according to the obstacle avoidance path, and resumes flight according to the inspection track after avoiding the obstacle avoidance path;

If the obstacle avoidance path generation fails, the drone returns.

Optionally, if the communication state between the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, it includes at least one of the following:

A distance between the first communication module and the second communication module is within a communicable range;

The transmission bandwidth between the first communication module and the second communication module is greater than the amount of data to be transmitted in a unit time.

If the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, sending the inspection target state information to the ground control system;

And / or, the method further comprises:

If it is outside the communicable range between the first communication module and the second communication module, the inspection target state information is stored.

If the communication distance between the first communication module and the second communication module is within a communicable range, the amount of data to be transmitted per unit time between the first communication module and the second communication module is not less than Transmission bandwidth, controlling information exchange between the first communication module and the second communication module according to a transmission priority;

The transmission priority of the drone fault alarm information is higher than the transmission priority of the drone status information; and / or, the transmission priority of the inspection target fault information is higher than the inspection target. Status information; and / or, the transmission priority of the obstacle information is higher than the inspection target status information; and / or, the transmission priority of the fault avoidance information is higher than the inspection target status information; and / Or, the transmission priority of the drone fault alarm information is higher than the transmission priority of the track optimization information; and / or, the transmission priority of the inspection target fault information is higher than the tracking optimization information And / or, the transmission priority of the obstacle information is higher than the transmission priority of the track optimization information; the transmission priority of the fault avoidance information is higher than the transmission priority of the track optimization information.

Optionally, the collection of the inspection target state information of the inspection target in the vertical shaft during the flight by the drone includes:

Start image acquisition auxiliary equipment according to the acquisition environment information;

With the assistance of an image acquisition auxiliary device, image information of the inspection target is collected, and the image information is used as the inspection target state information of the inspection target.

In a second aspect, an embodiment of the present invention provides a vertical well detection system, including:

An acquisition module configured to acquire an inspection track generated based on landmark information of a geographic target of the drone inspection;

A flight module configured to fly the drone according to the inspection track;

The acquisition module is configured to collect the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.

Optionally, the system further includes:

The control module is configured to control information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system. The information exchanged between the first communication module and the second communication module includes: track optimization information, inspection target status information, inspection target failure information, obstacle information, obstacle avoidance information, and drone status information , At least one of the drone fault alarm information and the inspection target fault alarm information.

The method and system for detecting a vertical well provided in the embodiments of the present invention provide an implementation manner of using a drone instead of a worker to detect the inspection target in the vertical well. Therefore, in the first aspect, the worker does not need to go deep into the vertical shaft for manual inspection. Obviously avoiding personal safety issues; secondly, because of the inspection target detection by the drone, compared with manual detection, the problem of inaccurate or missing detection caused by human error can be reduced; the third aspect; the drone's There are many types of models, for example, large models and small models. As long as you choose the right model, you can also test for narrow shafts or shafts that are not convenient for manual inspection. In this way, the problem that some shafts cannot be detected can be avoided. In the fourth aspect, once the drone is set up, it can repeatedly test the vertical well, instead of manually starting to test after wearing safety equipment such as cables, which improves the single-shot detection efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flowchart of a first vertical well detection method according to an embodiment of the present invention; FIG.

2 is a schematic flowchart of a second vertical well detection method according to an embodiment of the present invention;

3 is a schematic flowchart of a drone navigation method according to an embodiment of the present invention;

4 is a schematic structural diagram of a vertical well detection device according to an embodiment of the present invention;

5 is a schematic structural diagram of an unmanned aerial vehicle vertical shaft detection system according to an embodiment of the present invention;

6 is a schematic flowchart of a third vertical well detection method according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of another unmanned aerial vehicle vertical shaft detection system according to an embodiment of the present invention.

detailed description

The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments of the specification.

As shown in FIG. 1, this embodiment provides a method for detecting a vertical well, including:

Step S110: Obtain an inspection track generated based on the landmark information of the geographic target of the UAV inspection;

Step S120: the UAV performs flight according to the inspection track;

Step S130: The UAV collects the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.

The method for detecting a vertical well provided in this embodiment may be applied to a method in a drone, and may also be applied to a method in a drone detection system including a drone.

The inspection track in step S110 may be received by the drone from a ground control system, or may be automatically generated. The inspection track may be an initial inspection track generated in advance, or a temporary inspection track generated temporarily based on obstacle information and path optimization.

The inspection trajectory may include a flight trajectory of the drone and / or a point that the drone has to pass through. The drone is a hovering rotary wing drone, or a composite wing drone, wherein the composite wing may include a fixed wing plus a rotor at the same time.

In this embodiment, the inspection trajectory includes a movement path between the UAV moving from one inspection target to another inspection target, and further includes a detection path for the UAV to detect the inspection target. For example, for a vertical shaft, the camera mounted on the drone may have a specific acquisition direction, and a certain inspection target needs to be detected in all directions. At this time, the drone needs to fly along the detection path, so that the detection device such as the camera can detect Orientation faces all sides of the inspection target to achieve comprehensive detection. Therefore, in this embodiment, the patrol track not only simply includes the moving path of the drone between the two patrol targets, but also a detection path to assist in the collection of the status information of the patrol target.

In other embodiments, the method may further include:

Obtain the flight parameters of the drone. The flight parameters may include: flight speed, flight tilt angle, etc. These flight parameters need to ensure that the drone passes normally on the one hand, and the detection of the drone on the other hand, such as the camera. The device can successfully detect the inspection target. In addition to the camera, the detection device may be various detection devices such as an ultrasonic detection device or an infrared detection device, and is not limited to a camera.

In this embodiment, the unmanned aerial vehicle is equipped with various detection devices capable of collecting inspection targets in the vertical well, such as cameras, navigation devices of inertial navigation systems, and position sensors.

The inspection target described in this embodiment may include: a shaft wall of a vertical shaft, various equipment installed in the vertical shaft, for example, a sky wheel in the vertical shaft, a wire rope for lifting heavy objects, and a bucket.

In this embodiment, the inspection target state information of the inspection target may be collected, and the image information may be collected through a camera. The inspection target state information may be obtained through the collected static image and / or video, and infrared detection and laser detection may also be used. Wait to collect the inspection target to obtain the inspection target status information.

The target status information in this embodiment may include at least one of the following:

The verticality of the tank of the shaft;

Whether there are cracks on the surface of the shaft of the shaft;

The width of cracks on the surface of the shaft of the shaft;

The attitude of the installation equipment in the shaft of the vertical shaft, for example, whether the installation gap of the roller ears in the shaft of the vertical shaft deviates from a preset distance;

The operating status of the installation equipment on the derrick of the vertical well, for example, whether the current operation of the sky wheel device is normal, and for example, information such as the wear of the sky wheel rope groove.

In this embodiment, the use of a drone for vertical well testing eliminates the need for manual detection. Obviously, compared with manual detection, it has the characteristics of high detection safety, less human error in detection, and high detection efficiency.

If the inspection target is a skywheel: the main data that the drone can detect is the space deflection of the skywheel rim. First, the drone's airborne inspection system will establish the change relationship between the camera coordinate system, the world coordinate system, and the target coordinate system. The standard calibration method will be used to calibrate and correct the left and right cameras to eliminate the image distortion caused by the camera itself. Perform grayscale processing, image noise reduction, filtering and other processing on the left and right images, use a local matching algorithm based on sliding windows, calculate the weight coefficient based on the similarity of the color of the center point of the window and the proximity of the distance, and use the weight coefficient to obtain the target point Through the matching of the three-dimensional coordinate points before and after the movement of the target point of the sky wheel, and calculating its three-dimensional depth, the space swing displacement of the sky wheel rim, that is, the space deflection of the sky wheel rim can be obtained. Since the center of the wheel is fixed on the shaft, the wheel rim will sway left and right based on the axial direction. Therefore, the space yaw of the wheel rim refers to the outer edge of the wheel, that is, the axial displacement of the wheel rim. .

If the inspection target is a tank tunnel, the main hidden dangers that the drone can detect are tank tunnel verticality and tank tunnel cracks. Preprocess the channel image, and process it by gray level processing, image noise reduction, filtering, etc .; optimize the edge detection algorithm through neural network, make the significant target edges more clear, effectively improve the detection accuracy, and extract the location of the boundary line to determine whether it appears Crack; use image matching to get the verticality of the tank.

For example, as shown in FIG. 2, the detection of the inspection target may include:

Get the captured video;

Image processing system pre-processes video, such as noise reduction or interference removal;

Feature extraction, extracting features that are consistent with the features of the inspection target by contour comparison, etc., so as to determine the position of the inspection target in the image, and this part of the image area can be cut out for image matching;

Image matching

Judging the hidden troubles according to the matching results may include: judging the failure of the sky wheel and / or judging the failure of the tank tunnel;

If the sky wheel fails, store the fault information and alarm;

If there is no fault on the wheel, transmit a safety signal;

If the tank is faulty, store the fault information and alarm;

If the tank is not faulty, a safety signal is transmitted.

Optionally, the method further includes:

The first communication module and the second communication module in this embodiment may be wireless communication modules, and the wireless communication module may be various types of communication modules, such as an intercom communication module, a third generation mobile communication (3G), The fourth generation mobile communication (4G) mobile communication module, or WiFi communication module, Bluetooth communication module, etc. In some embodiments, the drone may be equipped with a communication relay module, and after flying a certain depth, the drone fixes the communication relay module carried by the drone at a predetermined position by means of vacuum suction combined with the operation of a mechanical arm. Position, to achieve the expansion of the communication range, so as to achieve the communication detection of deep wells. Among them, the communicable range refers to the range in which normal communication can be guaranteed.

In short, in this embodiment, the information between the first communication module and the second communication module is controlled according to the communication status of the first communication module of the drone and the second communication module of the ground control system. Interactions can include at least one of the following:

In the communicable range, perform information exchange between the first communication module and the second communication module;

Outside the communicable range, the drone stores the collected information and suspends the information exchange between the first communication module and the second communication module.

Further, the information that needs to be exchanged between the first communication module and the second communication module can be divided into:

The first type of information may include: real-time interactive information, for example, one or more of drone fault information and drone fault alarm information; usually the first type of information must be known in time by the ground control system Information, if the ground control system does not know in time, problems that may cause damage to the drone or failure to transmit the shaft in a timely manner;

The second type of information may include: non-real-time interactive information, for example, normal status information of the collected inspection target and the like.

In some embodiments, the method further includes:

If the first type of information is collected outside the communicable range, the drone returns and sends the first type of information to the ground control system when it reaches the communicable range.

Controlling information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system may include at least one of the following :

In the communicable range, if the transmission between the first communication module and the second communication module is busy, the information is exchanged in order according to the transmission priority. The transmission priority of the first type of information is higher than that of the second type of information. Transmission priority.

Receiving obstacle avoidance information returned by the ground control system, wherein the obstacle avoidance information includes the obstacle avoidance path.

In other embodiments, the method further includes:

If the communication status of the first communication module of the drone and the second communication module of the ground control system does not satisfy the preset communication conditions, the inertial navigation system is used to automatically generate the obstacle avoidance path based on the obstacle information.

The inertial navigation system is a navigation system mounted on the drone itself, and the inertial navigation system can complete path planning without the assistance of a ground control system to achieve obstacle avoidance. Obstacles can be a variety of information that prevents the drone from flying.

In some embodiments, if the communication status of the first communication module of the drone and the second communication module of the ground control system meets a preset communication condition, and if the inertial navigation system performs obstacle avoidance path generation, power consumption Greater than the power consumption of sending obstacle information and receiving obstacle avoidance information, the inertial navigation system is used to automatically generate the obstacle avoidance path based on the obstacle information; otherwise, the obstacle avoidance path sent by the ground control system is received; thus, the maximum Save the power consumption of the drone, reduce the multiple return detection of the drone due to insufficient energy storage.

In some embodiments, the drone is equipped with its own navigation system, and the inertial navigation system carried by the drone may be a component of the navigation system carried by the drone itself.

In some other embodiments, if the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, and if the record processor of the drone (including : If the load rate of the central processing unit, microprocessor, digital signal processor, programmable array, or application specific integrated circuit mounted on the drone does not reach a predetermined load rate, the inertial navigation system is used to automatically based on the obstacle information Generate the obstacle avoidance path; otherwise, receive the obstacle avoidance path sent by the ground control system; in this way, avoid the problem of low detection efficiency, such as excessive hover time caused by the UAV itself not being able to plan the fault avoidance path in time due to the high load.

Optionally, the method further includes:

Before the obstacle avoidance path is obtained, the drone is hovered; in this way, the problem of the collision between the drone and the obstacle caused by the drone's forced passage is avoided.

Optionally, the method further includes:

After the obstacle avoidance path is obtained, the drone flies according to the obstacle avoidance path, and resumes flight according to the inspection track after avoiding the obstacle avoidance path.

Generally, the patrol track is pre-generated by the ground control system or pre-generated by the drone before sailing. In general, the patrol track may be a complete or partial inspection of the drone. The flight trajectory of the vertical well, in this way, can reduce the power consumption generated by the UAV dynamically planning the flight trajectory in real time.

Optionally, the method further includes: if the obstacle avoidance path generation fails, the drone returns. If the failure avoidance path generation fails, it means that the drone cannot pass through at the moment of failure. If it is forced to pass, it may cause damage to the drone. In this way, the drone may need to return home to replace the smaller drone for detection.

The obstacle information may include at least one of the following:

Landmark information of the obstacle, the landmark information may indicate the geographic location of the obstacle;

The appearance information of the obstacle, and the appearance information may include: size information and shape information of the obstacle. If the size information reflects the area, height, thickness and other information of the obstacle; the shape information indicates the shape of the obstacle and so on.

In some embodiments, the method further includes:

The drone or ground control system collects the surrounding environment where the drone is flying, and then analyzes whether there is an obstacle based on the surrounding environment acquisition, and determines whether the obstacle constitutes a threat to the drone flight If there is a threat, fault avoidance is required. If there is no threat, the drone can continue to follow the inspection track. Judging whether an obstacle constitutes a threat to drone flight may include: judging whether the obstacle is on the patrol track of the drone. If the obstacle is on the patrol track of the drone, it will obviously hinder the drone. Flight.

The following combination provides a method for the UAV's own record processor or ground control system to control the UAV for obstacle avoidance, as shown in Figure 3, which can include:

UAV collects surrounding environment;

Determine whether there are obstacles, for example, by analyzing the collected images, extracting the contours of the graphic elements in the images, etc., and determining whether there are obstacles in the surrounding environment where the drone is currently located through processing such as grayscale histograms;

Determine the degree of threat to the drone, for example, determine whether the obstacle will hinder the drone's flight based on the position, shape, size, etc. of the obstacle;

If it is high, determine whether the obstacle avoidance path was successfully generated. If it is not successfully generated, the drone will hover and alarm and return to the ground. A high threat indicates that the obstacle will not be conducive to drone flight. For example, the drone cannot pass. If the force is passed, the drone's body may be damaged, etc .; otherwise, it will continue to fly; if it is low, the drone will continue to fly.

In some embodiments, the method further includes:

The drone returns obstacle information to the ground control system, for example, transmitting obstacle environment models; for example, the airborne processor module generates obstacle environment models through various modeling such as 3D modeling based on the obstacle information collected by itself, in order to reduce transmission The amount of data can return the obstacle environment model to the ground control system.

In some embodiments, if the ground control system receives the obstacle environment model, it will manually plan the path to avoid the corresponding obstacle, so as to obtain a re-planned inspection track and control the aircraft to restart.

In this embodiment, collecting the surrounding environment may be: the drone collects information about a space at a predetermined distance from itself. For example, the inertial navigation system of the drone may include one or more of an inertial measurement element including a three-axis gyroscope and a three-axis accelerometer, a laser rangefinder, a temperature sensor, and an altitude sensor. The inertial measurement element is configured to acquire its own attitude during the flight of the drone. The laser rangefinder is configured to measure the distance of the drone from the surrounding environment. It is mainly used to coordinate with the camera to quickly determine the spatial coordinate information of the obstacle, the approximate distance of the hovering position of the drone from the inspection target, and so on. The temperature sensor is configured to obtain the temperature change around the drone. The temperature in the wellbore varies greatly at different altitudes. The temperature can be used to estimate the flying height. The altitude sensor uses the air pressure to determine the altitude, which may be applied to the wellbore. Deviations may occur in the wellbore. The altitude sensor needs to be recalibrated in conjunction with the temperature sensor to enable the drone to obtain its approximate altitude position.

The wireless communication may have a maximum communication distance, and the maximum communication distance may be an upper limit of the communicable range. In some embodiments, the drone may be equipped with different types of wireless communication systems, and different wireless communication systems have different communication distances and different communication power consumptions. The drone may combine wireless signals according to its current depth into the underground. The communicable range and power consumption of the communication system, switch the wireless communication system. In short, the currently selected wireless communication system needs to ensure that the drone and the ground control system are within the communicable range. On the other hand, the communication is selected as much as possible. Wireless communication system with low power consumption.

If the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, sending the target status information to the ground control system;

Further optionally, the method further includes:

If the preset communication conditions are met, the target status information is sent to the ground control system. In this way, the ground control system can obtain the target status information currently collected by the drone in the first time.

If the preset communication conditions are not met, the target status information is stored in the drone. In this way, the subsequent acquisition of the drone can be unaffected. In this way, the depth of the drone flying in the well can be deeper.

In other embodiments, the method further includes:

If the communication status of the first communication module of the drone and the second communication module of the ground control system does not meet the preset communication conditions, the drone is based on at least one of its own energy storage information and the current depth in the underground. Determine return information. For example, the drone has penetrated A meters downhole. If the drone's own flight energy storage can only support b times A meters of flight, the drone is determined to return home. The b is a positive number that is not less than 1. Generally, the b may be a value of 1.2, 1.3, or 1.5 or 2.

In this embodiment, when the bandwidth is insufficient, information transmission is performed according to the transmission priority, which can ensure that the information with high priority for emergency transmission is transmitted to the ground control system first, which is convenient for more intelligent ground control systems or ground staff Make corresponding emergency treatment in time to ensure the safety, timeliness and stability of the drone's vertical well testing.

With the assistance of an image acquisition auxiliary device, image information of the inspection target is collected.

In some embodiments, the acquisition auxiliary device may include: a lighting lamp or the like to assist the camera to perform acquisition. In other embodiments, the acquisition assistance device may further include a camera's attitude stabilization system, which can stabilize the images collected by the camera by controlling the movement of the camera relative to the drone. For example, when the drone collects while flying, it may not be stable enough when it encounters airflow. In this way, the attitude stabilization system can control the movement of the camera to ensure that the captured image is clear. Of course, the above image acquisition auxiliary equipment is only an example, and the specific implementation is not limited to any one of the above examples.

As shown in FIG. 4, this embodiment provides a vertical well detection system, including:

The obtaining module 110 is configured to obtain an inspection track generated based on landmark information of a geographic target of the UAV inspection;

A flight module 120 configured to fly the drone according to the inspection track;

The acquisition module 130 is configured to collect the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.

The acquisition module 110, the flight module 120, and the acquisition module 130 can all be program modules. After being executed by the processor, the acquisition module can acquire the patrol inspection track, the drone flight, and the inspection target state information.

These modules may be provided on the drone. For example, the acquisition module 110 may receive the inspection track through a communication interface through execution of a program.

Optionally, the system further includes:

In this embodiment, the control module may correspond to an onboard controller of the drone, and may be configured to control information exchange between the first communication module mounted on the drone and the second communication module of the ground control system. Specifically, For how to control the information exchange between the two communication modules, reference may be made to the foregoing embodiment, which will not be repeated here.

The control module is specifically configured to execute at least one of the following:

Optionally, the control module is specifically configured to send the obstacle information to the first communication module if the communication status between the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition. Ground control system; receiving obstacle avoidance information returned by the ground control system, wherein the obstacle avoidance information includes the obstacle avoidance path.

In some embodiments, the control module is further configured to use an inertial navigation system based on the communication status of the inertial navigation system if the communication status of the first communication module of the drone and the second communication module of the ground control system does not meet the preset communication conditions. The obstacle information automatically generates the obstacle avoidance path.

Optionally, the control module is further configured to execute at least one of the following:

Before the obstacle avoidance path is obtained, the drone hovering;

If the obstacle avoidance path generation fails, the drone returns.

Optionally, if the communication state between the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, it includes at least one of the following: the first communication module and the The distance between the second communication modules is within a communicable range; the transmission bandwidth between the first communication module and the second communication module is greater than the amount of data to be transmitted in a unit time.

Optionally, the control module may be specifically configured to execute:

If the communication status of the first communication module of the UAV and the second communication module of the ground control system satisfies a preset communication condition, the target status information is sent to the ground control system.

The system further includes: a storage module configured to store the inspection target status information if the communication range between the first communication module and the second communication module is outside.

Optionally, the control module further includes:

Optionally, the acquisition module 130 may be specifically configured to start the image acquisition auxiliary device according to the acquisition environment information; with the assistance of the image acquisition auxiliary device, acquire the image information of the inspection target.

Several examples are provided below in combination with the above embodiments:

Example 1:

As shown in FIG. 5, the intelligent inspection and inspection drone system of the deep shaft lifting system of this example includes a rotary wing drone configured for inspection and a ground control system.

The rotor drone includes: a frame, an explosion-proof outer cover, an intrinsically safe power module, a propeller with a driving component, and the like. The rotor drone is provided with an image acquisition and processing module, wireless image transmission, and communication. Modules, on-board processor modules, navigation modules, power modules, drive components, etc. The power module, the driving module, the navigation module, the wireless image transmission and communication module, and the image acquisition and processing module are all connected to the onboard processor module.

The ground control system is configured to operate the drone, determine the drone inspection target, plan the drone cruise route and transmit it to the airborne processor module, receive the drone to collect data, carry the drone, and Man-machine charging.

Optionally, the ground control system may include a wireless receiving module, a drone landing point, and a drone control system. Among them, the wireless receiving module is configured to communicate between the drone and the ground control system; the drone landing bearing point is configured to carry the drone and to charge the drone; the drone control system is configured to operate the drone Aircraft, complete the inspection target, drone navigation mode and other settings.

The image acquisition and processing module is configured to collect the images obtained during the inspection, store and process them, and perform obstacle identification and fault hidden danger identification.

The image acquisition and processing module may further include a camera, an illumination lamp, and an image recognition system. Among them, the camera is configured to obtain the surrounding conditions of the drone during the inspection system of the lifting system, the state of the wheel and the image of the tank tunnel in the well; the lighting is configured to collect images in cooperation with the camera in the place where the light is insufficient; the image recognition system is configured to The collected images are processed, identified and stored, and the obstacles or landmarks in the images are identified, and the results are transmitted to the onboard processor module, which identifies and enhances the hidden dangers in the images and stores and transmits the results to the wireless image transmission and communication. The module sends.

The wireless image transmission and communication module includes a video wireless communication module and a signal wireless communication module, and is configured to perform video and signal communication between the drone and the ground control system.

The on-board processor module is configured to control the drone's movement. After receiving the set inspection target, it controls the drone to take off. It can fly in the signal area to the path planned by the ground control system. Inertial navigation and absolute landmark information are used for positioning, and the autonomous movement of the drone is controlled according to the established environmental model.

This example provides an autonomous control method of a rotor drone configured with a deep shaft hoisting system and a shaft. The signal collector can be used to implement the hoisting system environment model. The drone is positioned according to the navigation module, and finally it is planned by the airborne processor module. Reasonable path.

Set the coordinate points of the inspection target in advance and the absolute landmark position information, combine with the static environment model of the shaft, determine the flyable area and form a flight trajectory based on the key points established manually or automatically. Use the starting point of the flight as the world coordinate system origin to optimize the path Keep the trajectory line short; for the convenience of calculation, the x, y, and z directions of the inertial navigation system are consistent with the x, y, and z coordinates of the drone body; the visual navigation system and the inertial navigation system use a Kalman filter-based Data fusion method to obtain the drone displacement and speed estimates, use the absolute landmark information obtained from image acquisition to correct the drone position, and project the environmental data collected by the camera with the body as the coordinate system to the world coordinates through the transformation matrix In the system, improve the environment model; during the flight, the image acquisition processing module detects obstacles and judges the space coordinates of the obstacles. When there is a certain intersection between the obstacle and the trajectory, obstacle avoidance is required. If there is no intersection, the flight can continue on the path; no one After the camera reaches the preset inspection target point, it will capture video from the equipment in key areas. In the area with signal, the operator can modify the UAV parameters and set the inspection target data at any time. In the area without signal, the drone autonomously controls the flight.

In this example, the inspection of unmanned aerial vehicle in the hoisting system is mainly composed of a power module, a driving component, a ground control system, an image acquisition and processing module, a wireless image transmission and communication module (corresponding to the aforementioned first communication module), and an airborne processor module. And navigation modules.

Firstly, the absolute landmark information is arranged in the vertical well. The absolute landmark information is composed of easily identifiable and undisturbed images. The locations are the complex environment of the vertical well, the preset inspection target area, and the distance calibration area in the wellbore. UAVs can more accurately locate and avoid accidents based on landmark information in areas with complex environments; UAVs can more accurately determine whether to reach preset inspection targets and their relative positional relationship with preset inspection targets based on the landmark information; according to The length of the wellbore is arranged at a certain interval (for example, 50 meters or 100 meters) in the wellbore to arrange an absolute landmark information so that the drone can use it to calibrate its own descending height and achieve accurate positioning.

The ground part of the hoisting system has little interference with the surrounding environment at both the working and stopping stages, so the hoisting system can be regarded as a static environment even when the hoist is running; while the hoisting container of the hoisting part hoisting system runs up and down, Drones are very disruptive, so they must make sure that the hoisting system has stopped before entering the wellbore and will not start after entering the wellbore. There must be multiple emergency landing platforms in the wellbore to facilitate emergency landing when a drone fails. A preliminary static environment model for drone flight is established based on the absolute landmark information and the shaft environment, and a wellbore dynamic environment model is established based on the height information of the lifting container when the hoisting system is stopped. The combination of the two generates the entire shaft environment model.

When a UAV inspection is needed, first, the UAV inspection target is determined in the established environment model, and a preliminary inspection track is automatically or manually generated based on the landmark information, which is transmitted to the UAV On-board processor module. The drone performs a self-test to ensure that all components are functioning properly. If a component fails, an alarm is issued, and if the function is complete, it takes off according to the navigation path. During the flight, the navigation system is used to locate and collect information about the surrounding environment to improve the environmental model. When the image acquisition processing module collects obstacles around the track, it starts an automatic obstacle avoidance strategy. Avoid obstacles and return to the original track to continue the mission. When the drone arrives at the inspection target area, it collects the inspection target video. When it is within the communication range, it can return the image data in real time and the ground control system processes it to identify the hidden trouble. When it is outside the communication range, UAVs can use the processing system that comes with the image acquisition and processing module to process images. If the device has no hidden troubles, record the safety. If there are hidden troubles, record the category of the failure and save the corresponding pictures. When the onboard processor module is busy, The collected video data can be stored, and the video data is transmitted to the ground control system when returned to the communication range, and processed by the ground control system.

When the drone mission is completed or returned due to failure to avoid obstacles, the ground control system receives the surrounding environment data collected by the drone and updates the initial environment model. At this time, you can manually participate or automatically update the trajectory route and optimize it to make it safer to fly.

The specific functions that can be achieved are as follows:

Autonomous control of drones can include: video-inertial navigation mode can make drones less dependent on satellite signals, airborne processor modules can enable drones to autonomously implement navigation path planning and optimization, avoid obstacles and other functions, Realize the function of autonomous inspection in non-signal area according to the mission goal.

The identification of the hidden troubles of the sky wheel may include: detecting the amount of space deflection of the sky wheel rim during the operation of the lifting system, and comparing it with the deflection threshold of the sky wheel rim under the rated operating conditions. When the displacement is greater than the set yaw threshold, the drone will send a fault alert to the ground control system. The sound and light alarm indicator of the ground control system turns red, and an alarm sounds. The sound type can be set by the staff.

The identification of hidden troubles in the wellbore may include: detecting the verticality of the tank tunnel and the wall in the wellbore and whether there are cracks. When the identified fault scale is larger than a preset value, the drone continuously issues a fault alarm until the alarm transmission is completed. After the ground control system receives the signal, the sound and light alarm indicator turns red, and an alarm sound is issued. The sound type can be set by the staff.

The ground control system has other fault diagnosis system interfaces. A fault diagnosis image processing method can be designed for a specific device and the method can be uploaded to the onboard processor module of the drone. Absolute landmark information can be added at any time to facilitate the addition of new inspection targets.

The query of alarm records may include: each time the above-mentioned alarm occurs, the monitoring software automatically records the alarm information into the alarm database, and extracts a single frame of pictures at that moment for storage. Click the "Alarm Log" button on the right of the monitoring software to view the database.

The report generation can include: preliminary evaluation of the detection system of the lifting system based on the inspection of the drone inspection, and generating a report, which can be printed directly.

Figure 6 shows the workflow of drone detection in this example can include:

Start up

Set goals, for example, set inspection goals, etc .;

Initial environment model, for example, based on historical detection data of drones, construction data of vertical wells, and other data;

Fault self-test, including: UAV's own fault self-test;

route plan;

Perform tasks

The sensor works to improve the performance of vertical well detection;

Home landing, emergency landing can be carried out in an emergency; the emergency landing can be an emergency landing on the ground, or a landing point at a landing point in the shaft that can be temporarily landed;

Improve the environment model. The perfect environment model can be used as the initial environment model for the next drone detection.

As shown in FIG. 7, the drone-based vertical well detection system provided in this example may include:

Execution-level actuator, which is equipped with two major function modules: image acquisition and autonomous navigation flight;

Coordination-level control management, for example, organization-based inertial navigation and image acquisition can achieve data fusion and complete the improvement of the environmental model; realize path optimization through automatic obstacle avoidance and path planning;

Organization-level top decisions, such as inertial navigation and image acquisition based on the aircraft's environmental awareness; target setting and environmental model establishment through human-machine interfaces.

An embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores a computer program; after the computer program is executed by a processor, the method for detecting a vertical well provided by one or more of the foregoing technical solutions can be implemented, for example, FIG. 1. One or more of the methods shown in FIG. 2, FIG. 3, and FIG. The computer storage medium may be a non-transitory storage medium.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be another division manner, such as multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed components are coupled, or directly coupled, or communicated with each other through some interfaces. The indirect coupling or communication connection of the device or unit may be electrical, mechanical, or other forms. of.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, which may be located in one place or distributed across multiple network units; Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integration The unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

Persons of ordinary skill in the art may understand that all or part of the steps of the foregoing method embodiments may be implemented by a program instructing related hardware. The foregoing program may be stored in a computer-readable storage medium. When the program is executed, the execution includes The steps of the foregoing method embodiment; and the foregoing storage medium includes: various types of media that can store program codes, such as a mobile storage device, a read-only memory (ROM), a magnetic disk, or an optical disc.

The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present invention. It should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Industrial applicability

The method and system for detecting vertical shafts provided by the embodiments of the present invention provide a way to use a drone instead of a worker to detect the inspection target in the vertical shaft. Therefore, in the first aspect, the worker does not need to go deep into the vertical shaft for manual detection. , Obviously avoiding the problem of personal safety; secondly, because the inspection target is inspected by the drone, compared with manual detection, the problem of inaccurate or missing detection caused by human error can be reduced; the third aspect; the drone There can be many types of models, for example, large models and small models. As long as you choose the right model, you can also test for narrow shafts or shafts that are not convenient for manual testing. In this way, some vertical shafts cannot be detected. The fourth aspect is that once the drone is set up, it can repeatedly test the vertical well, instead of manually starting to test after wearing safety equipment such as cables, which improves the single detection efficiency.

Claims

A vertical well detection method includes:

Obtain the inspection track generated based on the landmark information of the geographic target of the drone inspection;

The drone is flying according to the inspection track;

The drone collects the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.
The method of claim 1, further comprising:

Controlling the information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system, wherein the first The information exchanged between the communication module and the second communication module includes: track optimization information, inspection target status information, inspection target failure information, obstacle information, obstacle avoidance information, drone status information, and drone failure At least one of an alarm message and an inspection target failure alarm message.
The method according to claim 2, wherein:

The controlling the information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system includes:

If the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, sending the obstacle information to the ground control system;

Receiving obstacle avoidance information returned by the ground control system, wherein the obstacle avoidance information includes an obstacle avoidance path;

and / or,

The method further includes:

If the communication status of the first communication module of the drone and the second communication module of the ground control system does not satisfy the preset communication conditions, an inertial navigation system is used to generate an obstacle avoidance path based on the obstacle information.
The method according to claim 3, wherein the method further comprises at least one of the following:

Before the obstacle avoidance path is obtained, the drone hovering;

After obtaining the obstacle avoidance path, the drone flies according to the obstacle avoidance path, and resumes flight according to the inspection track after avoiding the obstacle avoidance path;

If the obstacle avoidance path generation fails, the drone returns.
The method according to claim 3, wherein, if the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, including at least one of the following:

A distance between the first communication module and the second communication module is within a communicable range;

The transmission bandwidth between the first communication module and the second communication module is greater than the amount of data to be transmitted in a unit time.
The method according to claim 2, wherein the first communication module and the second communication are controlled according to a communication status of a first communication module of the drone and a second communication module of a ground control system. Information exchange between modules, including:

If the communication status of the first communication module of the drone and the second communication module of the ground control system satisfies a preset communication condition, sending the inspection target state information to the ground control system;

And / or, the method further comprises:

If it is outside the communicable range between the first communication module and the second communication module, the inspection target state information is stored.
The method according to any one of claims 2 to 6, wherein:

The controlling the information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system includes:

If the communication distance between the first communication module and the second communication module is within a communicable range, the amount of data to be transmitted per unit time between the first communication module and the second communication module is not less than Transmission bandwidth, controlling information exchange between the first communication module and the second communication module according to a transmission priority;

The transmission priority of the drone fault alarm information is higher than the transmission priority of the drone status information; and / or, the transmission priority of the inspection target fault information is higher than the inspection target. Status information; and / or, the transmission priority of the obstacle information is higher than the inspection target status information; and / or, the transmission priority of the fault avoidance information is higher than the inspection target status information; and / Or, the transmission priority of the drone fault alarm information is higher than the transmission priority of the track optimization information; and / or, the transmission priority of the inspection target fault information is higher than the tracking optimization information And / or, the transmission priority of the obstacle information is higher than the transmission priority of the track optimization information; the transmission priority of the fault avoidance information is higher than the transmission priority of the track optimization information.
The method according to any one of claims 1 to 6, wherein the acquisition of the inspection target state information of the inspection target in the vertical shaft by the drone during flight comprises:

Start image acquisition auxiliary equipment according to the acquisition environment information;

With the assistance of an image acquisition auxiliary device, image information of the inspection target is collected, and the image information is used as the inspection target state information of the inspection target.
A vertical well detection system includes:

An acquisition module configured to acquire an inspection track generated based on landmark information of a geographic target of the drone inspection;

A flight module configured to fly the drone according to the inspection track;

The acquisition module is configured to collect the inspection target state information of the inspection target in the vertical shaft during the flight, wherein the inspection target state information is used to characterize the state of the inspection target.
The system of claim 9, wherein the system further comprises:

The control module is configured to control information exchange between the first communication module and the second communication module according to the communication status of the first communication module of the drone and the second communication module of the ground control system. The information exchanged between the first communication module and the second communication module includes: track optimization information, inspection target status information, inspection target failure information, obstacle information, obstacle avoidance information, and drone status information , At least one of the drone fault alarm information and the inspection target fault alarm information.