CN104793265A - Fine detection device and method of horizontal rock-salt cavity - Google Patents

Abstract

The invention discloses a fine detection device of a horizontal rock-salt cavity. The fine detection device comprises a shell, a 3D (three-dimensional) sonic cavity measurer, a power pump water pipe unit, a power magnetic-drive pump unit, a floating pump water pipe unit, a floating magnetic-drive pump unit, an underwater high-definition camera, an underwater searchlight, an underwater high-precision GPS (global positioning system), a central processing unit and a surface console. The invention further discloses a fine detection method of the horizontal rock-salt cavity. The magnetic-drive pumps never contact saline water, the sealing and saline water corrosion problems of a tail shaft of an underwater propeller are avoided, the deice is available for detection during moving, and efficient detection is ensured for the horizontal rock-salt cavity; sonic ranging is available for the sidewall of the horizontal rock-salt cavity, and 3D form of the horizontal rock-salt cavity is generated according to coordinates of the device; the use of manual control to avoid obstacles ensures better safety; detailed observation and recording is available for a specific part, and greater guidance on scientific research is brought to underground problems, difficult to verify due to invisibility, such as mechanism of interlayer collapse, mechanism of well and pipe blocking and deposition law of insoluble substances.

Description

The device and method of the meticulous detection in the molten chamber of rock salt level

Technical field

The present invention relates to rock salt solution mining technical field, be specifically related to the device of the meticulous detection in the molten chamber of rock salt level, also relate to the method for the meticulous detection in the molten chamber of rock salt level, be applicable to the detection for the shape of underground rock salt cavern, size, local detail.

Technical background

Rock salt has the characteristics such as permeability is extremely low, damage self-regeneration, and becomes the best medium being suitable for oil gas underground storage and Waste disposal, utilizes at present obtain pay attention to day by day to the oil-gas storage of rock salt cavern.Newly make in the process of salt chamber and need regularly to detect salt chamber macroscopic form and corrosion details and observe; Consider newly to make rock salt cavern efficiency in addition comparatively slow, to the utilization in traditional water dissolving method of salt mining left salt chamber, there is higher cost performance, but the water-soluble salt of adopting of tradition is not considered and the stability problem of cavity, therefore must detect thus Optimizing Reconstruction the form of rock salt cavern yet.

Present industrial extensive employing sonar range finding imaging method detects salt chamber macroscopic form, but this detection instrument is difficult to accurate description for the salt chamber form of complexity, and traditional sonar method is only only applicable to vertical-type salt chamber, effectively cannot detect horizontal type Rock-salt Cavity.

In addition, the corrosion change of the inner interlayer in molten chamber, collapse rule, the dissolving of large scale rock salt, disintegration form, the depositional configuration rule of insolubles bottom molten chamber, and the research of the pipe plug that may exist, pipeline damaged phenomenon etc. to the morphology Control of Rock-salt Cavity, to make full use of and safe and efficient exploitation has great significance, but the exploration of the overwhelming majority all also stops at the experimental phase now, there is no the means directly can observed in Underground Dissolved Cavity.

Summary of the invention

The present invention is directed to shortcomings and deficiencies of the prior art, object is to provide the device of the meticulous detection in the molten chamber of rock salt level, the method of the meticulous detection in the molten chamber of rock salt level also can be provided, can meet underground deep waste water flat pattern rock salt cavern macroscopic view cavity morphometry and thin portion directly observe advanced person, efficiently, intuitively, reliably detect.

The object of the invention is realized by following technical proposals:

The device of the meticulous detection in the molten chamber of rock salt level, comprises housing, also comprises

3D sonar surveys chamber instrument, for detecting the interior shape in molten chamber and generating ranging information;

Power pump water pipe group, for carrying out horizontal power driving to housing sidepiece jet water course;

Power magnetic power-driven pump group, sealing is arranged on housing, for driving power pump water pipe group;

Buoyancy pump water pipe group, for above housing or below jet water course carry out vertical direction power drive;

Buoyancy magnetic force driving pump group, sealing is arranged on housing, for driving buoyancy pump water pipe group;

High-definition camera under water, for providing high definition underwater camera and generating underwater picture information;

Searchlight under water, for providing underwater lighting;

Water-system control hi-Fix navigational system, for providing geographic position and generating positioning information;

Central processing unit, receives and stores ranging information, underwater picture information and locating information, and ranging information and locating information are sent to ground control cabinet;

Ground control cabinet, for synthesizing 3D salt chamber aspect graph by ranging information and locating information and surveying chamber instrument, power magnetic power-driven pump group, buoyancy magnetic force driving pump group, under water high-definition camera, under water searchlight, the work of water-system control hi-Fix navigational system by central processing unit control 3D sonar.

Power pump water pipe group as above comprises the water pipe group that moves ahead, rear row water pipe group, left steering water pipe group and right turn water pipe group; Buoyancy pump water pipe group comprises rising main group and descending water pipe group.

The device of the meticulous detection in the molten chamber of rock salt level, also comprises the buoyant equilibrium air bag being arranged on case top.

The method of the meticulous detection in the molten chamber of rock salt level, comprises the following steps:

Step 1, the selected horizontal type rock salt cavern be detected;

Step 2, the perpendicular hole left in the process of chamber is made to horizontal type rock salt cavern and inclined shaft does well-repairing work;

If be not full of bittern in step 3 horizontal type rock salt cavern, then by perpendicular hole or inclined shaft, water filling or moisturizing operation are implemented to horizontal type rock salt cavern;

Step 4, from perpendicular hole, vertically transfer in the middle part of karst cave detecting test device to horizontal type rock salt cavern;

Step 5, to transfer to after in horizontal type rock salt cavern, open 3D sonar and survey chamber instrument, under water high-definition camera, under water searchlight, water-system control hi-Fix navigational system, power magnetic power-driven pump group and buoyancy magnetic force driving pump group is started according to predetermined power, the running of each pump of real-time motivation of adjustment magnetic force driving pump group and buoyancy magnetic force driving pump group, makes device reach static balancing;

After step 6, static balancing, strengthen horizontal direction power magnetic power-driven pump group, device is advanced, and according to the real-time adjusting gear migratory direction of cam feedback information, avoid obstacle, and carry out comprehensive measurement by 3D sonar survey chamber instrument, complete patrolling completely of horizontal segment and go through, the locating information of collecting the ranging information and water-system control hi-Fix navigational system that 3D sonar surveys chamber instrument feeds back to ground control cabinet, and locating information and ranging information are formed 3D salt chamber aspect graph by ground control cabinet;

Step 7, complete and patrol go through completely after, close 3D sonar and survey chamber instrument, operating means turns around, by formed 3D salt chamber aspect graph and water-system control hi-Fix navigational system directive property operation is carried out to device, carry out realtime graphic monitoring to selected privileged site to observe and record, and finally get back to inclined shaft;

Step 8, recall sniffer from inclined shaft, process the detection data obtained, the details obtaining true shape size and the local measuring molten chamber affects data.

The invention has the advantages that:

1, the pit shaft that this sniffer is greater than 120mm by diameter is transferred to the dark molten chamber of underground water flat pattern of 1000 ~ 2000m, and migrate in the solution of water-filled molten chamber, magnetic force driving pump not with saline contacts, by the type of drive of electromagnetic field pumping water under high pressure, avoid a difficult problem for underwater propeller tail stalk seal and brine corrosion, device can detect on migration limit, limit, the efficient detection in the molten chamber of safeguard level;

2, this device can pass through the position of high-precision GPS positioning system Real-time Feedback oneself under water, and detection data is more reliable;

3, this device can be surveyed Yi Duirong chamber, chamber sidewall by 3D sonar and carry out sonar range finding, and in conjunction with the 3D form in self Coordinate generation salt chamber;

4, can to introduce manual control avoiding obstacles by real-time video monitoring system safer for this device;

5, this device can carry out details observation and record by camera real-time video monitoring to privileged site, to the mechanism that interlayer collapses, well blocks up, the mechanism of pipe plug, insolubles deposition rule and many invisible with cause and down-hole problem that is that be difficult to verify more has scientific research directive significance.

Accompanying drawing explanation

Fig. 1 is the meticulous sniffer schematic diagram in the molten chamber of rock salt level.

In figure: 1-cable; 2-3D sonar surveys chamber instrument; 3-power pump water pipe group; 4-power magnetic power-driven pump group; 5-buoyancy pump water pipe group; 6-buoyancy magnetic force driving pump group; 7-electric battery; 8-central processing unit; 9-buoyant equilibrium air bag; 10-is high-definition camera under water; 11-is searchlight under water; 12-water-system control hi-Fix navigational system; 13-housing.

Fig. 2 is karst cave detecting test schematic diagram.

In figure: 14-perpendicular hole; 15-horizontal type rock salt cavern; 16-underground karst cavity macroscopic form and micro details sniffer; 17-inclined shaft; 18-ground control cabinet.

Embodiment

Below in conjunction with accompanying drawing and exemplifying embodiment, the invention will be further described.

embodiment 1:

The invention provides the device of the meticulous detection in the molten chamber of rock salt level, be a kind of according to 3D Imaging sonar, underwater camera, water-system control location, fiber optic conduction and control technology design can the device that detects of ground Long-distance Control guiding, the macroscopic form in molten chamber can be obtained by sonar stadimeter, and carry out local detail observation by camera and illuminator, to the interlayer of the local of the form in molten chamber, collapse, block form and have great importance.

This device comprises cable 1,3D sonar surveys chamber instrument (can adopt: Scaner 2000) 2, power pump water pipe group 3, power magnetic power-driven pump group (can adopt: MP-15R model) 4, buoyancy pump water pipe group 5, buoyancy magnetic force driving pump group (can adopt: MP-15R model) 6, electric battery 7, central processing unit 8, buoyant equilibrium air bag 9, under water high-definition camera 10, under water searchlight 11, water-system control hi-Fix navigational system 12 and housing 13.

The cylindrical shell 13 that 3D sonar surveys the main body of chamber instrument 2, power magnetic power-driven pump group 4, buoyancy magnetic force driving pump group 6, electric battery 7, central processing unit 8, buoyant equilibrium air bag 9, under water high-definition camera 10, under water searchlight 11, water-system control hi-Fix navigational system 12 are all placed in closed pressure resistant is inner; Be hung on outside cable 1 bottom housing 13, and be connected with control desk with ground power supply; 3D sonar surveys the afterbody that chamber instrument 2 is placed in housing, and the probe that 3D sonar surveys chamber instrument 2 exposes to housing 13 outside, can carry out independent rotated detection and data are transferred to ground control cabinet through central processing unit signal transacting by cable 1.

Power pump water pipe group 3 is placed on housing 13 outer horizontal direction, and buoyancy pump water pipe group 5 is placed on the outside vertical direction of housing 13; Power magnetic power-driven pump group 4 is connected with power pump water pipe group 3, power pump water pipe group 3 comprises the water pipe group that moves ahead, rear row water pipe group, left steering water pipe group and right turn water pipe group, make to move ahead water pipe group/rear row water pipe group backward/front-seat water extraction water supply horizontal sliding force driving device is forward/backward, and completes steering operation by the manipulation respectively of left steering pump group and right turn pump group; Buoyancy magnetic force driving pump group 6 is connected with buoyancy pump water pipe group 5, buoyancy pump water pipe group 5 comprises rising main group and descending water pipe group, make rising main group/descending water pipe group downwards/upwards draining normal thrust drive unit uplink/downlink is provided, complete the operation of adjustment direction up and down; Water-system control hi-Fix navigational system 12 is positioned at the inner middle part of housing 13, and being connected with central processing unit provides positional information through signal conversion earthward in real time by cable; Buoyant equilibrium air bag 9 is placed on case top, provides extra buoyancy, and makes device lightness sensation in the upper and heaviness in the lower, and anti-locking apparatus rolling is even inverted, and aid-device can float on a liquid stably.Under water high-definition camera 10 and under water searchlight 11 be positioned at housing 13 leading portion, high definition Underwater Imaging and illumination are provided, and are connected with central processing unit and change by cable control desk real-time Transmission earthward through signal.Central processing unit is positioned in the middle part of device, be made up of single-chip microcomputer, photoelectric conversion module, information and transport module, mainly complete the video image information of high-definition camera 10 under water, the positional information of GPS of water-system control hi-Fix navigational system 12, the acquisition process of the feedback information of 3D sonar survey chamber instrument 2 and transmission, produce the drive singal of power magnetic power-driven pump group 4 and buoyancy magnetic force driving pump group 6 motor, produce 3D sonar and survey the functions such as the control signal of chamber instrument 2, under water high-definition camera 10, water-system control hi-Fix navigational system 12.

This device can meet the macroscopic form in the molten chamber of the dark level of 1000m and the detection demand of local detail; This device is greater than the vertical bore of 120mm from diameter puts into the molten chamber of water-filled level, the machinery migration finishing device of ground controller's control device under video monitoring feedback goes through sonar contact imaging and the detection of thin portion directive property video to patrolling of whole horizontal cavity section, and by central processing unit and data transmission system by information feed back to ground control cabinet, concrete measuring process is as follows:

The method of the meticulous detection in the molten chamber of rock salt level,

1) according to rock salt deposit geologic information and region salt well accident history, determine that the detection of a target meeting geologic condition basic demand selection is: in Underground Salt mineral deposit, diameter is greater than 10 meters, the horizontal type rock salt cavern 15 that length is less than 400 meters;

2) 1) selected in horizontal type rock salt cavern make the perpendicular hole 14 and inclined shaft 17 left in the process of chamber, do well-repairing work and transfer smoothly to meet sniffer of the present invention;

3) as not being full of bittern in salt chamber, then implementing water filling or moisturizing operation by perpendicular hole 14 or inclined shaft 17 pairs of horizontal type rock salt cavern 15, ensureing in cavity and being full of solution;

4) from the inclined shaft 17 of horizontal type rock salt cavern, transfer in the middle part of karst cave detecting test device to molten chamber, shaft bottom, as the magnetic force driving pump group 4 that can turn on the power when need accelerate is accelerated;

5) transfer to after in salt chamber, open 3D sonar and survey chamber instrument 2, under water high-definition camera 10, under water searchlight 11, water-system control hi-Fix navigational system 12, power magnetic power-driven pump group 4 and buoyancy magnetic force driving pump group 6 is started according to predetermined power, ground controller, according to the running of each pump of cam feedback information real-time motivation of adjustment magnetic force driving pump group 4 and buoyancy magnetic force driving pump group 6, makes device reach static balancing.

6) after static balancing, strengthen horizontal direction power magnetic power-driven pump group 4, device is advanced, and according to the real-time adjusting gear migratory direction of cam feedback information, avoid obstacle, complete patrolling completely of horizontal segment and go through arrival straight well 14, and carry out comprehensive measurement by 3D sonar survey chamber instrument 2, and the locating information of collecting the ranging information and water-system control hi-Fix navigational system 12 that 3D sonar surveys chamber instrument 2 feeds back to ground control cabinet, coupling apparatus locating information and ranging information form 3D salt chamber aspect graph;

7) complete after patrolling go through completely, close 3D sonar and survey chamber instrument 2, operating means turns around, by formed 3D salt chamber aspect graph and water-system control hi-Fix navigational system 12 pairs of devices carry out directive property operation, carry out realtime graphic monitoring to selected privileged site to observe and record, and finally get back to inclined shaft 17;

8) recall sniffer by cable from inclined shaft, process the detection data obtained, the details obtaining true shape size and the local measuring molten chamber affects data, and this karst cave detecting test completes.

The method of the meticulous detection in the molten chamber of rock salt level, a kind of according to 3D sonar ranging, underwater camera, GPS locates, fiber optic conduction and machine control techniques design, also freely can be migrated by self power system in balance in the horizontal rock salt cavern solution of underground deep, combined by device location and the range finding of salt chamber and accurately detecting is carried out to rock salt cavern macroscopic form, by underwater camera and transmission of video to the underground local form of rock salt cavern complexity, the interlayer form of local, the choking portion that may exist is graded and is carried out details monitoring, and metrical information is fed back in time ground can the detection method of sniffer of manual control migration: the method is according to rock salt cavern geology occurrence condition, the molten chamber of level meeting Main Geological Conditions is selected to measure, before implementing to measure to the molten chamber of level, first need molten for level chamber to fill water, by the special sniffer of development, transfer in molten chamber, shaft bottom from the perpendicular hole well head in the molten chamber of connection level, start sniffer, can by the feedback manual shift kinetic control system of image real-time transmission system, to advance according to the route set and by water-system control hi-Fix navigational system Real-time Feedback self-position, 3D sonar imager locality descends the geography information in the molten chamber of large-scale level, ground monitoring system is reached by photoelectric conversion interface and communication optical fiber, and on the basis of the accurate device coordinate information of GPS positioning system feedback, in conjunction with the ranging information of sonar instrument, the display screen of ground control cabinet explicitly descends three-dimensional appearance and the characteristic parameter in the molten chamber of large-scale level in real time, availability for molten chamber bank is passed judgment on and stability analysis, under water high-definition camera can under the machinery migration of human controllable dissolving form to Rock-salt Cavity, interlayer dissolves and the form that collapses, cavity bottom sediment form and the cavity that may exist, the details such as line clogging carry out close-ups, and reach ground monitoring system by photoelectric conversion interface and communication optical fiber, show in real time on a display screen and record.

embodiment 2:

This sniffer can meet the total content control detection requirement in the molten chamber of the dark level of 2000m; This sniffer is greater than the vertical bore of 120mm from diameter transfers the molten chamber of the level of entering, along tangential movement in the middle part of cavity in the molten chamber of water-filled deep horizontal, the shape characteristic in the molten chamber of 150m is of a size of to radial direction and interrelated geometrical parameters is measured simultaneously, the detection of directive property video is carried out to detail section, metrical information is fed back to ground in time by cable, and other is with embodiment 1.

In sum, the present invention, mainly through the operation of controllable visual, detects the cavity geometry of underground horizontal type rock salt cavern, size and local detail and observes.

Above embodiment is only in order to illustrate technical scheme of the present invention but not limiting the scope of the invention; although be explained in detail the present invention with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify to technical scheme of the present invention or equivalent replacement, and not depart from essence and the scope of technical solution of the present invention.

Claims (4)

1. the device of the meticulous detection in the molten chamber of rock salt level, comprises housing (13), it is characterized in that, also comprise

3D sonar surveys chamber instrument (2), for detecting the interior shape in molten chamber and generating ranging information;

Power pump water pipe group (3), for carrying out horizontal power driving to housing (13) sidepiece jet water course;

Power magnetic power-driven pump group (4), sealing is arranged on housing (13), for driving power pump water pipe group (3);

Buoyancy pump water pipe group (5), for carrying out vertical direction power drive to housing (13) top or below jet water course;

Buoyancy magnetic force driving pump group (6), sealing is arranged on housing (13), for driving buoyancy pump water pipe group (5);

High-definition camera (10) under water, for providing high definition underwater camera and generating underwater picture information;

Searchlight (11) under water, for providing underwater lighting;

Water-system control hi-Fix navigational system (12), for providing geographic position and generating positioning information;

Central processing unit (8), receives and stores ranging information, underwater picture information and locating information, and ranging information and locating information are sent to ground control cabinet;

Ground control cabinet (18), for synthesizing 3D salt chamber aspect graph by ranging information and locating information and surveying chamber instrument (2), power magnetic power-driven pump group (4), buoyancy magnetic force driving pump group (6), under water high-definition camera (10), under water searchlight (11), water-system control hi-Fix navigational system (12) work by central processing unit (8) control 3D sonar.

2. the device of the meticulous detection in the molten chamber of rock salt level according to claim 1, is characterized in that, described power pump water pipe group (3) comprises the water pipe group that moves ahead, rear row water pipe group, left steering water pipe group and right turn water pipe group; Buoyancy pump water pipe group (5) comprises rising main group and descending water pipe group.

3. the device of the meticulous detection in the molten chamber of rock salt level according to claim 1, is characterized in that, also comprises the buoyant equilibrium air bag (9) being arranged on housing (13) top.

4. utilize device described in claim 1 to carry out a method for the meticulous detection in the molten chamber of rock salt level, it is characterized in that, comprise the following steps:

Step 1, the selected horizontal type rock salt cavern (15) be detected;

Step 2, the perpendicular hole (14) left over is made to horizontal type rock salt cavern do well-repairing work with inclined shaft (17) in the process of chamber;

If be not full of bittern in step 3 horizontal type rock salt cavern, then by perpendicular hole (14) or inclined shaft (17), water filling or moisturizing operation are implemented to horizontal type rock salt cavern (15);

Step 4, from perpendicular hole (14), vertically transfer in the middle part of karst cave detecting test device to horizontal type rock salt cavern;

Step 5, to transfer to after in horizontal type rock salt cavern, open 3D sonar and survey chamber instrument (2), under water high-definition camera (10), under water searchlight (11), water-system control hi-Fix navigational system (12), power magnetic power-driven pump group (4) and buoyancy magnetic force driving pump group (6) is started according to predetermined power, the running of each pump of real-time motivation of adjustment magnetic force driving pump group (4) and buoyancy magnetic force driving pump group (6), makes device reach static balancing;

After step 6, static balancing, strengthen horizontal direction power magnetic power-driven pump group (4), device is advanced, and according to the real-time adjusting gear migratory direction of cam feedback information, avoid obstacle, and carry out comprehensive measurement by 3D sonar survey chamber instrument (2), complete patrolling completely of horizontal segment to go through, the locating information of collecting the ranging information and water-system control hi-Fix navigational system (12) that 3D sonar surveys chamber instrument (2) feeds back to ground control cabinet (18), and locating information and ranging information are formed 3D salt chamber aspect graph by ground control cabinet;

Step 7, complete and patrol go through completely after, close 3D sonar and survey chamber instrument (2), operating means turns around, by formed 3D salt chamber aspect graph and water-system control hi-Fix navigational system (12) directive property operation is carried out to device, carry out realtime graphic monitoring to selected privileged site to observe and record, and finally get back to inclined shaft (17);

Step 8, recall sniffer from inclined shaft, process the detection data obtained, the details obtaining true shape size and the local measuring molten chamber affects data.