CN104695944B - It is a kind of mining with brill trajectory measurement inserting tube control system - Google Patents
It is a kind of mining with brill trajectory measurement inserting tube control system Download PDFInfo
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- CN104695944B CN104695944B CN201310656030.3A CN201310656030A CN104695944B CN 104695944 B CN104695944 B CN 104695944B CN 201310656030 A CN201310656030 A CN 201310656030A CN 104695944 B CN104695944 B CN 104695944B
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- 238000005259 measurement Methods 0.000 title claims abstract description 31
- 241001074085 Scophthalmus aquosus Species 0.000 title claims abstract description 21
- 238000005065 mining Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000005553 drilling Methods 0.000 claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 230000002093 peripheral effect Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 5
- 238000000605 extraction Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 9
- 230000002123 temporal effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- DMFGNRRURHSENX-UHFFFAOYSA-N beryllium copper Chemical group [Be].[Cu] DMFGNRRURHSENX-UHFFFAOYSA-N 0.000 description 4
- 229910002027 silica gel Inorganic materials 0.000 description 4
- 239000000741 silica gel Substances 0.000 description 4
- 229960001866 silicon dioxide Drugs 0.000 description 4
- 239000000523 sample Substances 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000013068 control sample Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/26—Storing data down-hole, e.g. in a memory or on a record carrier
Landscapes
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
It is mining with brill trajectory measurement inserting tube control system, including power management module, central controller, 3-axis acceleration sensor, three axle magnetoresistive transducers, three axis angular rate sensors, memory and data communication interface module the invention discloses one kind, wherein：Power management module is each module for power supply；Central controller is connected by peripheral bus with 3-axis acceleration sensor, three axle magnetoresistive transducers, three axis angular rate sensors and memory, and central controller is connected with data communication interface module；The present invention has integrated level height, small volume and less weight, and measurement accuracy is high, and stability is good, function admirable, is maintained the leading position in like product, can be by detecting the measuring point information in coal mine gas extraction drilling, it is determined that the track of drilling.
Description
Technical field
The present invention is that one kind is used for coal mine gas extraction rig, is in particular a kind of mining with brill track
Measure inserting tube control system.
Background technology
Ordinary meaning by rig is promoted inserting tube in molded drilling to realize the survey of track with boring rail measuring instrument
Amount, causes the secondary waste of the resources such as human and material resources.Drilling for gas drainage under suction adds the extraction time, so as to reduce
Safety coefficient.
Secondly probe is mostly the requirement that the technical parameter such as copper material, hardness, torsion does not all reach common drilling rod, and inserting tube is only
It can be moved forward by thrust.Because can not realize rotation etc. operation, inserting tube control sample when cannot be distinguished by change drilling rod pause and
Accidental cause pauses, and can not more realize multi-functional control function.Simultaneously when running into drilling landslide, it can not be revolved by forward direction
Turn, the effective means such as counter-rotating promotes or exited inserting tube.
The content of the invention
In order to solve the problems existing in background technology, the present invention uses following technical scheme：It is a kind of mining with brill track
Inserting tube and its control system are measured, inserting tube is provided with annular seal space, is provided with battery case and main circuit board in annular seal space, is set in battery case
There is battery, be to communicate inside the inserting tube, one end of inserting tube is provided with external screw thread, and the inserting tube other end is provided with internal thread, described close
Envelope chamber edge is provided with silicagel pad, and board slot is additionally provided with by annular seal space, USB board is set in board slot；
The control system includes power management module, central controller, 3-axis acceleration sensor, three axle magneto-resistive transducings
Device, three axis angular rate sensors, memory and data communication interface module, wherein：Power management module is each module for power supply；
Central controller by peripheral bus and 3-axis acceleration sensor, three axle magnetoresistive transducers, three axis angular rate sensors and
Memory connects；Central controller is connected with data communication interface module；Data communication interface module with bore trajectory measurement instrument
Main frame connects, and realizes mining with brill trajectory measurement inserting tube and with the data communication bored between trajectory measurement instrument main frame；
3-axis acceleration sensor is used to detect the current inclination angle of inserting tube and flip angle posture；Central controller collection should
Attitude information；
Three axle magnetoresistive transducers are used to detect the current bearing data information of inserting tube；Central controller collection party digit
According to.Central controller carries out three axle amendments to obtain current inserting tube according to the inclination angle and upset angle information other side position data of acquisition
Correct azimuth information；
Three axis angular rate sensors are used to detect inserting tube angular velocity information；Central controller gathers the angular velocity information and is used in combination
To judge the current rotation status of inserting tube；
When inserting tube single clockwise swing circle was more than 30 seconds, central controller starts the frequency collection inserting tube with 10Hz
100 points of attitude information in the period of motion, after inserting tube stopped the rotation more than 5 seconds, complete data acquisition and the preservation in a cycle
Into memory；In gatherer process after inserting tube stopped the rotation more than 15 seconds, central controller starts to gather next section of cycle
Attitude information, and make mean filter to current pose information and handle attitude information as the period of motion；If inserting tube stops rotation
Turn not less than 15 seconds, central controller abandons recording the attitude information of the inserting tube period of motion；If inserting tube inverse clock rotates, in
Entreat controller without any processing, central controller is waited to collect the posture letter in next section of cycle after inserting tube stopped more than 15 seconds
Breath, with this circle collection process；
For memory to preserve the point attitude information of drilling and sampling instant, maximum can preserve the posture of 6000 boring points
Information and sampling instant.
Described power management module can provide three-way power VDD, V3V and+3V is respectively central controller, the acceleration of three axles
Degree sensor, three axle magnetoresistive transducers, three axis angular rate sensors, memory and data communication interface module are individually supplied
Electricity, wherein V3V and+3V realize controllable output by central controller, and whether central controller is according to being currently in starting state
And whether current battery level intelligent control V3V and+3V are exported to realize the power managed of power supply.
The peripheral bus is I2C buses, and the data communication interface module is controlled by serial communication interface and center
Device is connected, and the data communication interface module is connected by RS485 interfaces with brill trajectory measurement instrument main frame.
The memory space of the memory is 512K, and the sampling instant that the memory preserves drilling is relative instant, i.e.,
When starting relative to inserting tube at the time of synchronous point.
The attitude information be inserting tube inclination angle, flip angle and azimuth, described rotation status be clockwise rotation,
Inverse clock rotates or stopped the rotation.
Described internal thread and/or external screw thread are engaged with being connected the drill bit of inserting tube.
Matched plug is additionally provided with described board slot.
The material of the inserting tube is beryllium copper.
Described attitude information is that 3-axis acceleration sensor detects the current inclination angle of inserting tube and roll angle；
The current bearing data of three axle magnetoresistive transducers detection inserting tube；
Three axis angular rate sensors detect inserting tube angular speed and the current rotation status of inserting tube.
Operation principle of the present invention is as follows：It is a kind of mining with trajectory measurement inserting tube and its control system is bored, after host-initiated, visit
Pipe measures with brill, causes measurement error, inserting tube in order to avoid drilling rod normally promotes failure or changes drilling rod and the reason such as rock
After recording certain point information, meet to rotate forward it is accumulative more than 30 seconds, wherein once it is positive continuously rotate more than 5 seconds after, stopping
Subsequent point information can be recorded again after rotating more than 15 seconds, after inserting tube stopped the rotation more than 5 seconds in gatherer process, start to adopt
The attitude information of the current inserting tube of sample, frequency 10Hz, after stopping the rotation more than 15 seconds, to the inserting tube attitude information gathered before
Mean filter is carried out to obtain the attitude information of the point.
Inserting tube start and with drilling is drilled into after, can not human intervention inserting tube measuring point data message, the point posture of record
Information can exceed that actual point attitude information.It is useful to be quickly and accurately found out in numerous attitude informations of record
Point attitude information, when starting inserting tube with hand-held set, hand-held set carries out time synchronized by synchronic command and inserting tube.Inserting tube is in appearance
Sampled point temporal information is added after state information, the time for changing drilling rod during hand-held set is drilled by manual operation record believes
Breath, when reading certain drilling track information with hand-held set, sampled point temporal information is issued to inserting tube by hand-held set, and inserting tube is under
The temporal information of hair, available point is extracted in numerous point attitude informations, and hand-held set, hand-held set are sent to after organizing in order
The trace information of the drilling is drawn by the point attitude information reported.
Inserting tube avoids material from being done in itself to the magnetic of magnetosensitive original paper using beryllium copper material on the premise of it ensure that inserting tube hardness
Disturb；To reduce inserting tube in the course of the work because with palisades or coal seam frictional heating and to the interference of electronic device works stability,
Electronic equipment to increase the distance with inserting tube top layer, and makes full use of rig by being embedded in after sealing heat-insulated processing inside inserting tube
Working method, make electronic equipment insulating surface can with inside drill pipe flow current or air-flow fully contact, have to reach
The purpose of radiating is imitated, elliptic expansion is carried out to the tube wall for embedding module side face, to reduce the crushing of hydraulic pressure or air pressure, inserting tube is adopted
With formula collection point attitude information is more time saving convenient with boring, while the device is drawn by the long-term experiment in scene and discussion
A set of practicable system mode, it can effectively improve the precision of attitude information and the applicability of equipment.
In summary, advantage of the present invention is as follows：With the design of formula inserting tube is bored traditional secondary propulsion can be avoided to measure, to reduce
The waste of the limited resources such as human and material resources；The speed of extraction is more importantly advanced, so as to indirectly improve safety in production
Coefficient, the helicitic texture at inserting tube both ends allows inserting tube directly to be connected with drill bit, and can be according to the depth actually drilled
To be continuously increased the quantity of drilling rod, so as to reach optimal Checking on effect so that the data of detection are more accurate, stably, inserting tube
The processing of silicagel pad and sealing structure make it that waterproof and dustproof effect is more preferable, make its performance more preferable.
Brief description of the drawings
Fig. 1 is circuit block diagram of the present invention；
Fig. 2 is central controller circuit；
Fig. 3 is 3-axis acceleration sensor circuit diagram；
Fig. 4 is three axle magnetoresistive transducer circuit diagrams；
Fig. 5 is three axis angular rate sensor circuit diagrams；
Fig. 6 is memory circuitry figure；
Fig. 7 is data communication interface module circuit diagram；
Fig. 8 is electric power management circuit figure；
Fig. 9 is inserting tube structural representation.
Wherein, 1,3-axis acceleration sensor；2nd, three axle magnetoresistive transducer；3rd, three axis angular rate sensor；4th, center control
Device processed；5th, memory；6th, data communication interface module；7th, power management module；8th, with brill trajectory measurement instrument main frame；9th, seal
Chamber；10th, battery case；11st, circuit board；12nd, external screw thread；13rd, internal thread；14th, silicagel pad；15th, board slot；16th, USB board；17th, block up
Head；18th, battery.
Embodiment
Referring to the drawings, one kind is mining is provided with annular seal space, annular seal space with brill trajectory measurement inserting tube and its control system, inserting tube
It is interior to be provided with battery case and main circuit board, battery is provided with battery case, is to communicate inside the inserting tube, one end of inserting tube is provided with outer spiral shell
Line, and the inserting tube other end is provided with internal thread, the annular seal space edge is provided with silicagel pad, is additionally provided with board slot by annular seal space, in board slot
If USB board；
The control system includes power management module, central controller, 3-axis acceleration sensor, three axle magneto-resistive transducings
Device, three axis angular rate sensors, memory and data communication interface module, wherein：Power management module is each module for power supply；
Central controller by peripheral bus and 3-axis acceleration sensor, three axle magnetoresistive transducers, three axis angular rate sensors and
Memory connects；Central controller is connected with data communication interface module；Data communication interface module with bore trajectory measurement instrument
Main frame connects, and realizes mining with brill trajectory measurement inserting tube and with the data communication bored between trajectory measurement instrument main frame；
3-axis acceleration sensor is used to detect the current inclination angle of inserting tube and roll angle posture；Central controller collection should
Attitude information；
Three axle magnetoresistive transducers are used to detect the current bearing data information of inserting tube；Central controller collection party digit
According to.Central controller carries out three axle amendments to obtain currently according to the inclination angle and flip angle attitude information of acquisition to bearing data
The correct azimuth information of inserting tube；
Three axis angular rate sensors are used to detect inserting tube angular velocity information；Central controller gathers the angular velocity information and is used in combination
To judge the current rotation status of inserting tube；
When inserting tube single clockwise swing circle was more than 30 seconds, central controller starts the frequency collection inserting tube with 10Hz
100 points of attitude information in the period of motion, after inserting tube stopped the rotation more than 5 seconds, complete data acquisition and the preservation in a cycle
Into memory；In gatherer process after inserting tube stopped the rotation more than 15 seconds, central controller starts to gather next section of cycle
Attitude information, and make mean filter to current pose information and handle attitude information as the period of motion；If inserting tube stops rotation
Turn not less than 15 seconds, central controller abandons recording the attitude information of the inserting tube period of motion；If inserting tube inverse clock rotates, in
Entreat controller without any processing, central controller is waited to collect the posture letter in next section of cycle after inserting tube stopped more than 15 seconds
Breath, with this circle collection process；
For memory to preserve the point attitude information of drilling and sampling instant, maximum can preserve the posture of 6000 boring points
Information and sampling instant.
Described power management module can provide three-way power VDD, V3V and+3V is respectively central controller, the acceleration of three axles
Degree sensor, three axle magnetoresistive transducers, three axis angular rate sensors, memory and data communication interface module are individually supplied
Electricity, wherein V3V and+3V realize controllable output by central controller, and whether central controller is according to being currently in starting state
And whether current battery level intelligent control V3V and+3V are exported to realize the power managed of power supply.
The peripheral bus is 12C buses, and the data communication interface module is controlled by serial communication interface and center
Device is connected, and the data communication interface module is connected by RS485 interfaces with brill trajectory measurement instrument main frame.
The memory space of the memory is 512K, and the sampling instant that the memory preserves drilling is relative instant, i.e.,
When starting relative to inserting tube at the time of synchronous point.
The attitude information be inserting tube inclination angle, flip angle and azimuth, described rotation status be clockwise rotation,
Inverse clock rotates or stopped the rotation.
Described internal thread and/or external screw thread are engaged with being connected the drill bit of inserting tube.
Matched plug is additionally provided with described board slot.
The material of the inserting tube is beryllium copper.
Described attitude information is that 3-axis acceleration sensor detects the current inclination angle of inserting tube and roll angle；
The current bearing data of three axle magnetoresistive transducers detection inserting tube；
Three axis angular rate sensors detect inserting tube angular speed and the current rotation status of inserting tube.
It is a kind of it is mining with trajectory measurement inserting tube and its control system is bored, after host-initiated, inserting tube measures with brill, in order to
Avoid drilling rod from normally promoting failure or change drilling rod to rock etc. after reason causes measurement error, inserting tube to record certain point information, full
Foot rotate forward it is accumulative more than 30 seconds, wherein once it is positive continuously rotate more than 5 seconds after, can be again after stopping the rotation more than 15 seconds
Secondary record subsequent point information, after inserting tube stopped the rotation more than 5 seconds in gatherer process, start to sample the posture letter of current inserting tube
Breath, frequency 10Hz, after stopping the rotation more than 15 seconds, mean filter is carried out to obtain to the inserting tube attitude information gathered before
The attitude information of the point.
Inserting tube start and with drilling is drilled into after, can not human intervention inserting tube measuring point data message, the point posture of record
Information can exceed that actual point attitude information.It is useful to be quickly and accurately found out in numerous attitude informations of record
Point attitude information, when starting inserting tube with hand-held set, hand-held set carries out time synchronized by synchronic command and inserting tube.Inserting tube is in appearance
Sampled point temporal information is added after state information, the time for changing drilling rod during hand-held set is drilled by manual operation record believes
Breath, when reading certain drilling track information with hand-held set, sampled point temporal information is issued to inserting tube by hand-held set, and inserting tube is under
The temporal information of hair, available point is extracted in numerous point attitude informations, and hand-held set, hand-held set are sent to after organizing in order
The trace information of the drilling is drawn by the point attitude information reported.
Inserting tube avoids material from being done in itself to the magnetic of magnetosensitive original paper using beryllium copper material on the premise of it ensure that inserting tube hardness
Disturb；To reduce inserting tube in the course of the work because with palisades or coal seam frictional heating and to the interference of electronic device works stability,
Electronic equipment to increase the distance with inserting tube top layer, and makes full use of rig by being embedded in after sealing heat-insulated processing inside inserting tube
Working method, make electronic equipment insulating surface can with inside drill pipe flow current or air-flow fully contact, have to reach
The purpose of radiating is imitated, elliptic expansion is carried out to the tube wall for embedding module side face, to reduce the crushing of hydraulic pressure or air pressure, inserting tube is adopted
With formula collection point attitude information is more time saving convenient with boring, while the device is drawn by the long-term experiment in scene and discussion
A set of practicable system mode, it can effectively improve the precision of attitude information and the applicability of equipment.
It is mining to measure inserting tube orientation using three axle magneto sensors with brill trajectory measurement instrument inserting tube, and use three axis accelerometer
Calibration calculating is carried out to the inclination angle in the range of, flip angle etc. advanced hard iron and soft iron calibration algorithm so that extremely disliking
Also the accurate attitude information of carrier (inclination angle, flip angle and azimuth) can be provided under bad Minepit environment, both combine
A certain measuring point is accurately calculated in the position in space, inserting tube by RS485 buses with mining with brill trajectory measurement instrument main frame to be led to
News, the measuring point information that main frame detects inserting tube are drilled after carrying out software processing by the two-dimensional space figure shows such as level, section
Track, this instrument integration degree is high, small volume and less weight, and measurement accuracy is high, and stability is good, function admirable, is in like product
Leading position.Can be by detecting the measuring point information in coal mine gas extraction drilling, it is determined that the track of drilling.
Claims (6)
1. a kind of mining with trajectory measurement inserting tube control system is bored, the control system includes power management module (7), center control
Device (4) processed, 3-axis acceleration sensor (1), three axle magnetoresistive transducers (2), three axis angular rate sensors (3), memory (5) with
And data communication interface module (6), power management module (7) are each module for power supply；It is characterized in that：Central controller passes through outer
If bus and 3-axis acceleration sensor (1), three axle magnetoresistive transducers (2), three axis angular rate sensors (3) and memory
(5) connect；
Central controller (4) is connected with data communication interface module (6)；
Data communication interface module (6) with bore trajectory measurement instrument main frame (8) be connected, realize it is mining with bore trajectory measurement inserting tube with
With the data communication bored between trajectory measurement instrument main frame (8)；
3-axis acceleration sensor is used to detect the current inclination angle of inserting tube and flip angle posture；
Central controller (4) gathers the attitude information；Three axle magnetoresistive transducers are used to detect the current bearing data information of inserting tube；
Central controller (4) gathers the bearing data, inclination angle and flip angle attitude information of the central controller (4) according to acquisition
Three axle amendments are carried out to bearing data to obtain the correct azimuth information of current inserting tube；
Three axis angular rate sensors are used to detect inserting tube angular velocity information；
Central controller (4) gathers the angular velocity information and to judge the current rotation status of inserting tube；When inserting tube single clockwise
When swing circle was more than 30 seconds, central controller (4) starts with 100 points in the 10Hz frequency collection inserting tube period of motion of posture
Information, after inserting tube stopped the rotation more than 5 seconds, complete the data acquisition in a cycle and be saved in memory；In gatherer process
In after inserting tube stopped the rotation more than 15 seconds, central controller (4) starts to gather the attitude information in next section of cycle, and to current
Attitude information makees attitude information of the mean filter processing as the period of motion；If inserting tube stopped the rotation not less than 15 seconds, center control
Device processed abandons recording the attitude information of the inserting tube period of motion；If inserting tube inverse clock rotates, central controller (4) does not do any
Processing, central controller (4) is waited to collect the attitude information in next section of cycle after inserting tube stopped more than 15 seconds, with this circle collection
Process；For memory to preserve the point attitude information of drilling and sampling instant, maximum can preserve the posture letter of 6000 boring points
Breath and sampling instant.
It is 2. as claimed in claim 1 mining with brill trajectory measurement inserting tube control system, it is characterised in that：Described power management
Module (7) can provide three-way power VDD, V3V and+3V is respectively central controller (4), 3-axis acceleration sensor (1), three axles
Magnetoresistive transducer (2), three axis angular rate sensors (3), memory (5) and data communication interface module (6) are individually supplied
Electricity, wherein V3V and+3V realize controllable output by central controller (4), and central controller (4) opens according to current whether be in
Whether dynamic state and current battery level intelligent control V3V and+3V are exported to realize the power managed of power supply.
It is 3. as claimed in claim 1 mining with brill trajectory measurement inserting tube control system, it is characterised in that：The peripheral bus is
I2C buses, the data communication interface module (6) are connected by serial communication interface with central controller (4), and the data are led to
Communication interface module (6) is connected by RS485 interfaces with brill trajectory measurement instrument main frame (8).
It is 4. as claimed in claim 1 mining with brill trajectory measurement inserting tube control system, it is characterised in that：The memory is deposited
Storage space is 512K, at the time of the sampling instant that the memory preserves drilling is synchronous point when starting relative to inserting tube.
It is 5. as claimed in claim 1 mining with brill trajectory measurement inserting tube control system, it is characterised in that：The attitude information is
Inclination angle, flip angle and the azimuth of inserting tube, described rotation status are clockwise rotation, inverse clock rotation or stopped the rotation.
It is 6. as claimed in claim 1 mining with brill trajectory measurement inserting tube control system, it is characterised in that：Described attitude information
The current inclination angle of inserting tube and roll angle are detected for 3-axis acceleration sensor；The current side of three axle magnetoresistive transducers detection inserting tube
Position data；Three axis angular rate sensors detect inserting tube angular speed and the current rotation status of inserting tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656030.3A CN104695944B (en) | 2013-12-09 | 2013-12-09 | It is a kind of mining with brill trajectory measurement inserting tube control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310656030.3A CN104695944B (en) | 2013-12-09 | 2013-12-09 | It is a kind of mining with brill trajectory measurement inserting tube control system |
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| CN104695944A CN104695944A (en) | 2015-06-10 |
| CN104695944B true CN104695944B (en) | 2018-03-06 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350952B (en) * | 2015-11-10 | 2018-05-04 | 中煤科工集团西安研究院有限公司 | Intelligent drilling track measuring device and method |
| CN105863608A (en) * | 2016-05-16 | 2016-08-17 | 陕西太合科技有限公司 | Mining online measurement while drilling device with specialist diagnosis function |
| CN107664777A (en) * | 2017-11-20 | 2018-02-06 | 中国地质科学院岩溶地质研究所 | A kind of subterranean stream pipeline three-dimensional track detector |
| CN109059985A (en) * | 2018-05-08 | 2018-12-21 | 中国石油集团渤海钻探工程有限公司 | A kind of orientation exploring tube sensor parameter acquisition and automatic storage system |
| CN109736782A (en) * | 2019-03-01 | 2019-05-10 | 冀凯河北机电科技有限公司 | A kind of mining electromagnetic wave while-drilling trajectory measurement control system and control method |
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