CN110230487A - A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment - Google Patents
A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment Download PDFInfo
- Publication number
- CN110230487A CN110230487A CN201910642726.8A CN201910642726A CN110230487A CN 110230487 A CN110230487 A CN 110230487A CN 201910642726 A CN201910642726 A CN 201910642726A CN 110230487 A CN110230487 A CN 110230487A
- Authority
- CN
- China
- Prior art keywords
- vertical shaft
- data
- detection components
- inertial navigation
- drilling rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 165
- 238000005553 drilling Methods 0.000 claims abstract description 112
- 238000005259 measurement Methods 0.000 claims abstract description 37
- 238000013500 data storage Methods 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 33
- 238000010276 construction Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000012360 testing method Methods 0.000 description 9
- 238000009412 basement excavation Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 239000007788 liquid Substances 0.000 description 7
- 238000007789 sealing Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/04—Measuring depth or liquid level
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
- E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
Abstract
The present invention provides a kind of vertical shaft detection device and a kind of vertical shaft excavating equipments, including measurement equipment to be checked and control device, comprising: detection components, detection components along the extending direction of measurement equipment to be checked for moving；Pulling apparatus is connected with detection components, and pulling apparatus is used to provide pulling force to detection components；Detection components include: inertial navigation device, for obtaining inertial navigation data of the detection components relative to drilling rod when mobile, this programme is based on inertial navigation principle and detects to vertical shaft posture, the detection components for being built-in with inertial navigation device can acquire the inertial navigation data of measurement equipment to be checked, to calculate the verticality and driving distance of vertical shaft, and 3-D image can be carried out to vertical shaft posture and shown.
Description
Technical field
The present invention relates to posture detection devices, more specifically, are related to a kind of vertical shaft posture detection device and a kind of vertical shaft
Excavating equipment.
Background technique
In recent years, ventilation, material fortune as the construction of Tunnel Engineering develops, when vertical shaft is constructed as tunnel, coal mine etc.
Defeated channel a, it has also become importance in construction.The arrangement and method for construction such as previous boring method, blasting procedure have been unable to satisfy
Modern Construction quickly, effectively, the requirement of safety, product of the shaft sinking equipment as the new era, can high speed, it is effective in fact
The excavation of existing vertical shaft and supporting need to tunnel heading equipment by designed lines using vertical shaft Attitute detecting device
Vertical shaft posture is detected.And existing vertical shaft Attitute detecting device utilizes laser source to emit laser straight down, makes into
As the center of plate is overlapped with laser substantially, it is formed by laser image on CCD camera shooting imaging plate, recycles computer graphic
As identification technology analyzes image, to obtain the posture of vertical shaft.This detection mode is affected by environment big, and imaging plate is long
Time uses rear adhesive dust or water droplet, influences the shooting of camera, so that the accuracy of system is influenced, existing attitude detection dress
The waterproof seal set is poor, when hydraulically full in vertical shaft, then can not carry out attitude detection, and the irradiation distance of laser source
It is limited, it not can guarantee the detection accuracy to the biggish vertical shaft of depth.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
The first aspect of the invention provides a kind of vertical shaft posture detection device.
The second aspect of the invention provides a kind of vertical shaft excavating equipment.
In view of above-mentioned, according to the first aspect of the invention, a kind of vertical shaft posture detection device provided is dug for vertical shaft
Dig equipment, vertical shaft excavating equipment includes measurement equipment and control device to be checked, comprising: detection components, detection components be used for along to
The extending direction of detection device is mobile；Pulling apparatus is connected with detection components, and pulling apparatus is used to provide drawing to detection components
Power；Detection components include: inertial navigation device, for obtaining inertial navigation number of the detection components relative to measurement equipment to be checked when mobile
According to.
Vertical shaft posture detection device provided by the invention including detection components, provides detection components the lifting dress of pulling force
It sets, for being detected to the vertical shaft posture in excavation, using the drilling rod of vertical shaft excavating equipment as measurement equipment to be checked, due to vertical shaft
The drilling rod and drill bit of excavating equipment are rigid connections, and are detected to the vertical shaft in excavation, the brill connected using drilling rod
Head is excavated, in the measurements will not mobile drilling rod position, therefore it is centainly identical as the vertical shaft being mined in the posture of drilling rod,
The posture of drilling rod is detected, the posture of you can get it vertical shaft.It is provided with inertial navigation device in detection components, can will examine
It surveys component to be sent into measurement equipment to be checked, the outer wall of detection components is bonded with measurement equipment to be checked and detection components can be relatively to be detected
Equipment moves up and down, and since vertical shaft is substantially to be opened in underground vertically, detection components can be affected by gravity to be set along to be detected
Received shipment is dynamic, and pulling apparatus provides pulling force, when detection components are moved downward along measurement equipment to be checked, pulling apparatus to detection components
Detection components can be made at the uniform velocity to move downward, when detection components move to the bottom of measurement equipment to be checked, pulling apparatus can be to
On at the uniform velocity lift detection components, make detection components about equipment moving one oscillation cycle at the uniform velocity relatively to be detected, make inertia
The data of navigational material acquisition are more accurate, and this programme is based on inertial navigation principle and detects to vertical shaft posture, are built-in with used
The detection components of property navigational material can acquire the inertial navigation data of measurement equipment to be checked, thus calculate the verticality of vertical shaft with
And driving distance, and 3-D image can be carried out to vertical shaft posture and shown.
In addition, the vertical shaft Attitute detecting device that above-mentioned technical proposal provides according to the present invention also has following supplementary technology special
Sign:
In any of the above-described technical solution, it is preferable that encoder is connected with pulling apparatus, for obtaining detection components
Moving distance data；Encoder includes: first data transmission interface, and first data transmission interface is for passing moving distance data
Transport to control device.
In the technical scheme, encoder can be converted into angular displacement or straight-line displacement electric signal, realize to it is mobile away from
It is acquired from data, is connected with pulling apparatus, may be mounted at the output end of pulling apparatus, in pulling apparatus to detection components
The angular displacement or straight-line displacement of the output end of pulling apparatus are measured when being lifted, so that it is opposite to obtain detection components
The moving distance of measurement equipment to be checked.
In any of the above-described technical solution, it is preferable that pulling apparatus includes: connector, one end of connector and detection group
Part is connected；Power device, the output end of power device are connected with the other end of connector, folding and unfolding of the power device to connector
Power is provided.
In the technical scheme, pulling apparatus includes providing the power device of power and providing lifting power to detection components
Connector, connector can select the soft traction device such as hawser, it is ensured that not to detection components measurement equipment relatively to be checked
Mobile to generate interference, hawser can pass through encoder, and the range data for facilitating encoder mobile to hawser is acquired, and also
It is provided with power device, power device can select motor, one end of the connector of the output end and hawser form of motor
It is connected, realizes motor by the folding and unfolding to connector to drive detection components relative to the movement of measurement equipment to be checked, encoder
It can also connect with the output end of motor, be detected by the output end to the motor as power device, thus real
Now to the acquisition of detection components measurement equipment moving distance data relatively to be checked.
In any of the above-described technical solution, it is preferable that further include: data storage device, data storage device are led with inertia
Device electric of navigating connection, data storage device store the collected inertial navigation data of inertial navigation device；Charger
Part, power supply device are connect with data storage device and inertial navigation device electric, and power supply device is data storage device and inertia
Navigational material power supply.
In the technical scheme, data storage device and power supply device are additionally provided with inside detection components, power supply device can
To select battery, data storage device and inertial navigation device are powered, data storage device is to inertial navigation device
Collected data are stored, in detection components be arranged data storage device may be implemented detection and data storage simultaneously into
Collected data are first transmitted the technical solution stored again by external memory unit by row compared to the prior art,
With the non-damageable technical effect of data.
In any of the above-described technical solution, it is preferable that detection components further include: seal casinghousing, the inner wall of seal casinghousing with
Inertial navigation device, data storage device are connected with power supply device；Pulley blocks, pulley blocks are connected with seal casinghousing, reduce detection
The frictional force of component and drilling rod contact surface.
In the technical scheme, seal casinghousing can be used as the shell of detection components, and wherein inertial navigation device, data are deposited
Memory device and this kind of electronic device of power supply device are installed in seal casinghousing, when in measurement equipment to be checked in liquid when using inspection
When surveying component and treating detection device and examined, it can prevent liquid from entering in seal casinghousing the electronics device caused in detection components
Part Damage by Short Circuit is additionally provided with clump weight in seal casinghousing, and detection components is made to have enough self weights along equipment moving to be detected, close
Capsule body can also be by upper and lower or left and right two housing sections component, and such as rubber ring sealing structure is equipped between two housing sections
And be connected by securing member and realize sealing, so that seal casinghousing is formed demountable structure, facilitates staff to sealing
The intracorporal electronic device of shell is safeguarded.Pulley blocks are made of multiple pulleys, and multiple pulleys are evenly distributed in seal casinghousing
All side walls, when detection components move in measurement equipment to be checked, pulley makes to examine between seal casinghousing and measurement equipment to be checked
Surveying component will not shake measurement equipment to be checked relatively, allow detection components when mobile relative to measurement equipment to be checked completely along to be checked
The track of measurement equipment is mobile.
In any of the above-described technical solution, it is preferable that detection components further include: hermatic door, hermatic door are arranged in capsul
On body；Second data transmission interface, the second data transmission interface is located in hermatic door, and is connected with data storage, and data pass
Defeated interface is used to inertial navigation data being transmitted to control device, so that control device is according to inertial navigation data and moving distance
Drilling rod attitude data is calculated in data.
In the technical scheme, the second data transmission interface is arranged in hermatic door, and detection components are in measurement equipment to be checked
Hermatic door is closed when mobile, prevents liquid from entering in the second data transmission interface, since the second data transmission interface is deposited with data
Memory device is connected, and after the completion of detection components treat detection device detection, can open hermatic door and be connect by the transmission of the second data
Mouth carries out output transmission with control device, will test to obtain and be stored in the data in data storage device and passes through the second data biography
Defeated interface is transferred in control device.
In any of the above-described technical solution, it is preferable that inertial navigation device includes: accelerometer and at least one gyroscope.
In the technical scheme, accelerometer is used to detect acceleration when detection components move in measurement equipment to be checked, top
Spiral shell instrument is used to detect angular speed when detection components move in measurement equipment to be checked, can set in the different location in detection components
Two or three gyroscopes are set, such as are respectively provided with gyroscope at the intracorporal upper, middle and lower three of capsul of detection components, can be made
The angular speed detected is more accurate.
According to the second aspect of the invention, a kind of vertical shaft excavating equipment is provided, including appointing in first aspect present invention
One vertical shaft posture detection device；Wherein, measurement equipment to be checked is drilling rod；Driving device, one end phase of driving device and drilling rod
Even, power is provided for drilling rod；Heading equipment, heading equipment are connected with the other end of drilling rod, and heading equipment is run with drilling rod, use
In the digging to vertical shaft；Support construction, support construction are connected with power device, and support construction is set to Shaft bank, with branch
Support driving device；Control device, control device are used to carry out driving control and to inertial navigation data and moving distance data
Calculating analysis.
In the technical scheme, a kind of vertical shaft excavating equipment is provided, the vertical shaft appearance provided including first aspect present invention
State detection device, drilling rod, driving device, support construction and heading equipment, heading equipment are the bit part for excavating vertical shaft,
The both ends of drilling rod are connected with heading equipment and driving device respectively, and the output end of driving device is connected with drilling rod, and driving device is logical
Electricity work drives mole work by drilling rod, and the well head of vertical shaft is arranged in by propping up driving device in support construction
Support, plays the supporting role to excavating equipment entirety, control device is usually the control room for being provided separately within Shaft bank
Interior computer is equipped with data processing software and equipment control software in computer, carries out posture inspection to vertical shaft excavating equipment
When survey, using drilling rod as the measurement equipment to be checked of vertical shaft posture detection device, it is placed in drilling rod by will test component, to drilling rod
Posture is detected, and since drilling rod is rigidly connected with heading equipment, and is detected to the vertical shaft in excavation, is utilized
Drilling rod connection heading equipment excavated, in the measurements will not mobile drilling rod position, therefore the posture of drilling rod centainly with
The vertical shaft being mined is identical, detects to the posture of drilling rod, the posture of you can get it vertical shaft.
In any of the above-described technical solution, it is preferable that control device includes: control unit, for control power device and
Driving device work；Transmission unit, for obtaining inertial navigation data and moving distance data；Computing unit, for inertia
Navigation data and moving distance data are calculated, and obtain the attitude data of drilling rod, and drilling rod is identical as vertical shaft posture, to obtain
The attitude data of vertical shaft.
In the technical scheme, it works to realize control by control power device and driving device by control unit
Whether vertical shaft excavating equipment works with whether vertical shaft posture detection device works, and control device receives encoder by transmission unit
The moving distance data and inertial navigation data transmitted with detection components, computing unit can be according to inertial navigation datas and movement
Attitude data is calculated in range data.
Specifically, the step of detecting to vertical shaft posture is that connector selects hawser, is controlled and is driven by control device
Device stops working, and does not continue to provide drilling rod power and then moves heading equipment no longer, will test component at this time and be placed on
Inside drilling rod, pulley blocks are close to drilling rod inner wall and can be slided up and down with respect to drilling rod, control power device work at this time,
At the uniform velocity put down hawser, detection components made to be influenced at the uniform velocity to glide along drilling rod by self gravity, at this time encoder to distance of glide into
Row record, and moving distance data is transmitted in control device by the first data-interface, when detection components move down,
Inertial navigation device is started to work, and is acquired and is stored in data storage device to inertial navigation data, works as detection components
When sliding into drilling rod bottom, determine that detection components have run a cycle, control power device recycles hawser, works as detection
Component returns to well head, determines that detection components have run second period, using first data transmission interface by data storage device
The inertial navigation data of middle storage is transferred in control device, due to being equipped with data processing software in control device, passes through number
Inertial navigation data and moving distance data are handled according to processing software, to obtain the attitude data of drilling rod, and then really
Determine the posture of vertical shaft.
In any of the above-described technical solution, it is preferable that attitude data includes: three-dimensional track, depth, azimuth and vertical
Degree.
In the technical scheme, the three-dimensional track that is calculated according to inertial navigation data and moving distance data, depth,
Azimuth and verticality can accurately reflect the posture of vertical shaft.
Additional aspect and advantage according to the present invention will provide in following description section, partially will be from following description
In become obvious, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of the vertical shaft excavating equipment of one embodiment of the present of invention offer；
Fig. 2 shows the schematic block diagrams for the control device that one embodiment of the present of invention provides.
110 detection components, 112 seal casinghousings, 114 pulley blocks, 120 pulling apparatus, 122 connectors, 130 encoders, 210
Drilling rod, 220 driving devices, 230 support constructions, 240 heading equipments, 250 control devices, 252 control units, 254 transmission units,
256 computing units.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
A kind of vertical shaft posture detection device provided according to some embodiments of the present invention is described referring to Fig. 1.
As shown in Figure 1, the embodiment of the first aspect of the present invention provides a kind of vertical shaft posture detection device, comprising: inspection
Component 110 is surveyed, detection components 110 along the extending direction of measurement equipment to be checked for moving；Pulling apparatus 120, with detection components
110 are connected, and pulling apparatus 120 is used to provide pulling force to detection components 110；Detection components 110 include: inertial navigation device,
For obtaining inertial navigation data of the detection components relative to drilling rod when mobile.
Vertical shaft posture detection device provided by the invention, wherein measurement equipment to be checked be drilling rod 210, including detection components 110,
The pulling apparatus 120 of pulling force is provided to detection components 110, for detecting to the vertical shaft posture in excavation, since vertical shaft is dug
The drilling rod 210 and drill bit for digging equipment are rigid connections, and are detected to the vertical shaft in excavation, are connected using drilling rod 210
Drill bit excavated, in the measurements will not mobile drilling rod 210 position, therefore the posture of drilling rod 210 centainly be mined
Vertical shaft it is identical, the posture of drilling rod 210 is detected, the posture of you can get it vertical shaft.Inertia is provided in detection components 110
Navigational material can will test component 110 and be sent into drilling rod, and the outer wall of detection components 110 is bonded with drilling rod 210 and detection components
110 can move up and down with respect to drilling rod, and since vertical shaft is to be opened in underground vertically, detection components 110 can be affected by gravity
It is moved along drilling rod, pulling apparatus 120 provides pulling force to detection components 110, moves downward in detection components 110 along drilling rod
When, pulling apparatus 120 can be such that detection components 110 at the uniform velocity move downward, when detection components 110 move to the bottom of drilling rod 210
When, pulling apparatus 120 can at the uniform velocity lift detection components 110 upwards, make detection components 110 at the uniform velocity with respect to the movement of drilling rod 210 one
Oscillation cycle above and below a, the data for acquiring inertial navigation device are more accurate, and this programme is based on inertial navigation principle to perpendicular
Well posture is detected, and the detection components for being built-in with inertial navigation device can acquire the inertial navigation data of drilling rod 210, thus
The verticality and driving distance of vertical shaft are calculated, and 3-D image can be carried out to vertical shaft posture and shown.
Specific detection method is that will test component 110 to be put into drilling rod 210, and detection components 110 are filled by gravity and lifting
The effect for setting 120 pulling force is moved to the terminal of drilling rod 210 along the extending direction of drilling rod 210 relative to drilling rod uniform motion
For a cycle, in one cycle, inertial navigation device in detection components 110 to the inertial navigation datas of detection components into
Row acquisition, then will test component 110 by the pulling force of pulling apparatus 120 and is reset to initial position, be second period, and from
In drilling rod take out detection components 110, complete the acquisition of inertial navigation data, by collected inertial navigation data it can be concluded that
The attitude parameter of drilling rod 210.
As shown in Figure 1, in one embodiment of the invention, it is preferable that further include: encoder 130, with pulling apparatus
120 are connected, for obtaining the moving distance data of detection components 110；Encoder 130 includes: first data transmission interface, and first
Data transmission interface is used to moving distance data being transmitted to control device 250.
In this embodiment, encoder 130 can be converted into angular displacement or straight-line displacement electric signal, realize to it is mobile away from
It is acquired from data, is connected with pulling apparatus 120, may be mounted at the output end of pulling apparatus 120, in pulling apparatus 120
The angular displacement or straight-line displacement of the output end of pulling apparatus 120 are measured when being lifted to detection components 110, thus
Obtain moving distance of the detection components 110 with respect to drilling rod 210.
As shown in Figure 1, in one embodiment of the invention, it is preferable that pulling apparatus 120 includes: connector 122, even
One end of fitting is connected with detection components；Power device (not shown), the output end of power device and connector it is another
One end is connected, and power device provides power to the folding and unfolding of connector.
In this embodiment, pulling apparatus 120 includes providing the power device of power and providing lifting power to detection components
Connector 122, connector 122 can select the soft traction device such as hawser, it is ensured that not opposite to detection components 110 to bore
The mobile generation of bar 210 is interfered, and hawser can pass through encoder 130, facilitate encoder 130 to the mobile range data of hawser into
Row acquisition, and it is additionally provided with power device, power device can select motor, output end and the hawser form of motor
One end of connector is connected, and realizes motor by the folding and unfolding to connector 122 to drive detection components 110 with respect to drilling rod
210 movement, encoder 130 are connect with the output end of motor, pass through the output end to the motor as power device
Angular displacement is detected, to realize the acquisition to detection components with respect to 210 moving distance data of drilling rod.
As shown in Figure 1, in one embodiment of the invention, it is preferable that further include: data storage device, data storage
Device is connect with inertial navigation device electric, and data storage device carries out the collected inertial navigation data of inertial navigation device
Storage；Power supply device, power supply device are connect with data storage device and inertial navigation device electric, and power supply device is data storage
Device and the power supply of inertial navigation device.
In this embodiment, it is additionally provided with data storage device and power supply device inside detection components 110, power supply device can
To select battery, data storage device and inertial navigation device are powered, data storage device is to inertial navigation device
Collected data are stored, and data storage device is arranged in detection components 110 may be implemented detection and data storage together
Shi Jinhang is first transmitted the technical side stored again by external memory unit to collected data compared to the prior art
Case, the technical effect with data damage not easy to lose.
As shown in Figure 1, in one embodiment of the invention, it is preferable that detection components 110 further include: seal casinghousing
112, the inner wall of seal casinghousing 112 is connected with inertial navigation device, data storage device and power supply device；Pulley blocks 114, pulley
Group 114 is connected with seal casinghousing 112, reduces the frictional force of detection components 110 and drilling rod contact surface.
In this embodiment, seal casinghousing 112 can be used as the shell of detection components 110, wherein inertial navigation device, number
It is installed in seal casinghousing 112 according to memory device and this kind of electronic device of power supply device, vertical shaft excavation is selected as due to drilling rod and is set
The mud of probing is often transported to bit location, therefore be frequently present of in drilling rod in practical application scene by standby drilling rod
Liquid, when in drilling rod in liquid when drilling rod is examined using detection components 110 when, can prevent liquid from entering capsul
Lead to the electronic device Damage by Short Circuit in detection components 110 in body 112, is additionally provided with clump weight in seal casinghousing 112, makes detection group
Part 110 has enough self weights to move along drilling rod, and seal casinghousing 112 can also be by upper and lower or left and right two housing sections component,
It is equipped with such as rubber ring sealing structure between two housing sections and is connected by securing member and realizes sealing, makes the capsul bodily form
At demountable structure, staff is facilitated to safeguard the intracorporal electronic device of capsul.Pulley blocks 114 are by multiple cunnings
Wheel composition, multiple pulleys are evenly distributed in all side walls of seal casinghousing, when detection components 110 move in drilling rod, pulley position
It between seal casinghousing 112 and drilling rod, and shake detection components 110 will not with respect to drilling rod, make detection components 110 opposite
Drilling rod can be mobile completely along the track of drilling rod when mobile.
As shown in Figure 1, in one embodiment of the invention, it is preferable that detection components 110 further include: hermatic door, sealing
Door is arranged on seal casinghousing 112；Second data transmission interface, the second data transmission interface is located in hermatic door, and and data
Memory is connected, and data transmission interface is used to inertial navigation data being transmitted to control device, so that control device is according to inertia
Drilling rod attitude data is calculated in navigation data and moving distance data.
In this embodiment, the second data transmission interface is arranged in hermatic door, close when detection components move in drilling rod
Closure door is closed, and prevents liquid from entering in the second data transmission interface, due to the second data transmission interface and data storage device phase
Connection, after the completion of detection components detect drilling rod, can open hermatic door by the second data transmission interface and control device into
Row output transmission, will test to obtain and be stored in the data in data storage device and is transferred to control by the second data transmission interface
In device processed.
As shown in Figure 1, in one embodiment of the invention, it is preferable that inertial navigation device includes: accelerometer and at least
One gyroscope.
In this embodiment, accelerometer is used to detect acceleration when detection components 110 move in drilling rod, and gyroscope is used
Angular speed when detecting detection components 110 and moving in drilling rod can be arranged two in the different location in detection components 110
Or three gyroscopes, such as it is respectively provided with gyroscope at the upper, middle and lower three in the seal casinghousing 112 of detection components 110, it can make
The angular speed detected is more accurate.
As shown in Figure 1, the embodiment of the second aspect of the present invention provides a kind of vertical shaft excavating equipment, including the present invention the
The vertical shaft posture detection device of any one of one side；Wherein, measurement equipment to be checked is drilling rod 210；Driving device 220, driving
Device 220 is connected with one end of drilling rod 210, provides power for drilling rod 210；Heading equipment 240, heading equipment 240 and drilling rod 210
The other end be connected, heading equipment 240 with drilling rod 210 run, for the digging to vertical shaft；Support construction 230, support construction
230 are connected with power device, and support construction 230 is set to Shaft bank, to support driving device 220；Control device 250,
Control device 250 is used to carry out driving control and analyze the calculating of inertial navigation data and moving distance data.
Vertical shaft excavating equipment provided by the invention, the vertical shaft posture detection device provided including first aspect present invention bore
Bar 210, driving device 220, support construction 230 and heading equipment 240, drilling rod of the drilling rod 210 as first aspect present invention, pick
Be bit part for excavating vertical shaft into equipment 240, the both ends of drilling rod 210 respectively with heading equipment 240 and driving device 220
It is connected, the output end of driving device 220 is connected with drilling rod 210, and driving device 220 is powered on to drive by drilling rod 210 and tunnel
Device 240 works, and the well head of vertical shaft is arranged in by being supported to driving device 220 in support construction 230, plays and digs to vertical shaft
The supporting role of equipment entirety is dug, control device 250 is usually the indoor calculating of control for being provided separately within Shaft bank
Machine is equipped with data processing software and equipment control software in computer, when carrying out attitude detection to vertical shaft excavating equipment, will bore
Drilling rod of the bar 210 as vertical shaft posture detection device is placed in drilling rod 210, to the appearance of drilling rod 210 by will test component 110
State is detected, and since drilling rod 210 and heading equipment 240 are rigidly connected, and is detected to the vertical shaft in excavation,
Excavated using the heading equipment 240 that drilling rod 210 connects, in the measurements will not mobile drilling rod 210 position, therefore in drilling rod
210 posture is centainly identical as the vertical shaft being mined, and detects to the posture of drilling rod 210, the posture of you can get it vertical shaft.
The step of carrying out attitude detection to the vertical shaft that vertical shaft excavating equipment is excavating is that connector 122 selects hawser, is bored
Bar 210 is used as drilling rod, controls driving device 220 by control device 250 and stops working, and does not continue to provide power to drilling rod 210
And then move heading equipment 240 no longer, and it will test component 110 at this time and be placed on inside drilling rod 210, pulley blocks 114 and brill
210 inner wall of bar is close to and can be slided up and down with respect to drilling rod 210, controls power device work at this time, at the uniform velocity puts down hawser, make
Detection components are influenced at the uniform velocity to glide along drilling rod 210 by self gravity, and encoder 130 records distance of glide at this time, and
Moving distance data is transmitted in control device 250 by the first data-interface, when detection components 110 move down, is used to
Property navigational material start to work, inertial navigation data is acquired and is stored in data storage device, when detection components are sliding
When moving drilling rod bottom, determine that detection components have run a cycle, control power device recycles hawser, when detection group
Part returns to well head, determines that detection components have run second period, will be in data storage device using first data transmission interface
The inertial navigation data of storage is transferred in control device 250, due to being equipped with data processing software in control device 250, is led to
Data processing software is crossed to handle inertial navigation data and moving distance data, so that the attitude data of drilling rod is obtained, into
And determine the posture of vertical shaft.
As shown in Fig. 2, in one embodiment of the invention, it is preferable that control device 250 includes: control unit 252,
It works for controlling power device and driving device 220；Transmission unit 254, for obtaining inertial navigation data and moving distance
Data；Computing unit 256 obtains the attitude data of drilling rod for calculating inertial navigation data and moving distance data,
Drilling rod is identical as vertical shaft posture, to obtain the attitude data of vertical shaft.
In this embodiment, control unit 252 is by control power device and the work of driving device 220 to realize control
Whether vertical shaft excavating equipment works with whether vertical shaft posture detection device works, and control device 250 is received by transmission unit 254
The moving distance data and inertial navigation data that encoder 130 and detection components 110 transmit, computing unit 256 can be according to used
Attitude data is calculated in property navigation data and moving distance data.
As shown in Figure 1, in one embodiment of the invention, it is preferable that attitude data includes: three-dimensional track, depth, side
Parallactic angle and verticality.
In this embodiment, the three-dimensional track that is calculated according to inertial navigation data and moving distance data, depth, side
Parallactic angle and verticality can accurately reflect the posture of vertical shaft.
In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even
Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in
Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vertical shaft posture detection device, for vertical shaft excavating equipment it is characterized in that, the vertical shaft excavating equipment include to
Detection device and control device, comprising:
Detection components, the detection components along the extending direction of the measurement equipment to be checked for moving；
Pulling apparatus is connected with the detection components, and the pulling apparatus is used to provide pulling force to the detection components；
The detection components include:
Inertial navigation device, for obtaining inertial navigation data of the detection components relative to the measurement equipment to be checked when mobile.
2. vertical shaft posture detection device according to claim 1, which is characterized in that further include:
Encoder is connected with the pulling apparatus, for obtaining the moving distance data of the detection components；
The encoder includes:
First data transmission interface, the first data transmission interface are used to for the moving distance data to be transmitted to control dress
It sets.
3. vertical shaft posture detection device according to claim 2, which is characterized in that the pulling apparatus includes:
Connector, one end of the connector are connected with the detection components；
Power device, the output end of the power device are connected with the other end of the connector, and the power device is to described
The folding and unfolding of connector provides power.
4. vertical shaft posture detection device according to claim 3, which is characterized in that the detection components further include:
Data storage device, the data storage device are connect with the inertial navigation device electric, the data storage device
The collected inertial navigation data of inertial navigation device is stored；
Power supply device, the power supply device are connect with the data storage device and inertial navigation device electric, the charger
Part is that the data storage device and the inertial navigation device are powered.
5. vertical shaft posture detection device according to claim 4, which is characterized in that the detection components further include:
Seal casinghousing, the inner wall of the seal casinghousing and the inertial navigation device, the data storage device and the power supply
Device is connected；
Pulley blocks, the pulley blocks are connected with the seal casinghousing, reduce the detection components and contact with the measurement equipment to be checked
The frictional force in face.
6. vertical shaft posture detection device according to claim 5, which is characterized in that the detection components further include:
Hermatic door, the hermatic door are arranged on seal casinghousing；
Second data transmission interface, second data transmission interface are located in the hermatic door, and with the data storage
It is connected, the data transmission interface is used to the inertial navigation data being transmitted to the control device, for control dress
It sets and drilling rod attitude data is calculated according to the inertial navigation data and the moving distance data.
7. vertical shaft posture detection device according to any one of claim 1 to 6, which is characterized in that the inertial navigation
Device includes:
Accelerometer and at least one gyroscope.
8. a kind of vertical shaft excavating equipment characterized by comprising
Vertical shaft posture detection device as described in any one of claims 1 to 7；Wherein, the measurement equipment to be checked is drilling rod；
Driving device, the driving device are connected with one end of the drilling rod, provide power for the drilling rod；
Heading equipment, the heading equipment are connected with the other end of the drilling rod, and the heading equipment is run with the drilling rod,
For the digging to vertical shaft；
Support construction, the support construction are connected with the power device, and the support construction is set to Shaft bank, with branch
Support the driving device；
Control device, the control device by driving carry out control and to inertial navigation data and moving distance data based on
Point counting analysis.
9. a kind of vertical shaft excavating equipment according to claim 8, which is characterized in that the control device includes:
Control unit, for controlling the power device and driving device work；
Transmission unit, for obtaining the inertial navigation data and the moving distance data；
Computing unit obtains the drilling rod for calculating the inertial navigation data and the moving distance data
Attitude data, the drilling rod is identical as vertical shaft posture, to obtain the attitude data of the vertical shaft.
10. a kind of vertical shaft excavating equipment according to claim 9, which is characterized in that
The attitude data includes:
Three-dimensional track, depth, azimuth and verticality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642726.8A CN110230487A (en) | 2019-07-16 | 2019-07-16 | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642726.8A CN110230487A (en) | 2019-07-16 | 2019-07-16 | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110230487A true CN110230487A (en) | 2019-09-13 |
Family
ID=67855088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910642726.8A Pending CN110230487A (en) | 2019-07-16 | 2019-07-16 | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110230487A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272156A (en) * | 2020-05-07 | 2020-06-12 | 中国铁建重工集团股份有限公司 | Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine |
| CN111307133A (en) * | 2020-03-04 | 2020-06-19 | 中国铁建重工集团股份有限公司 | Vertical shaft verticality measuring method, vertical shaft posture detecting equipment and storage medium |
| CN112924463A (en) * | 2021-01-26 | 2021-06-08 | 中国矿业大学 | Coal mine shaft inspection device and laser scanning defect detection method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2250483A1 (en) * | 1997-10-27 | 1999-04-27 | Halliburton Energy Services, Inc. | Well system |
| JP2003262521A (en) * | 2002-03-08 | 2003-09-19 | Kidoh Construction Co Ltd | Surveying apparatus for pipe jacking method, surveying method, and the pipe jacking method |
| CN200978671Y (en) * | 2006-09-30 | 2007-11-21 | 北京航天万新科技有限公司 | Peg-top continuous inclinometer |
| CN101482008A (en) * | 2008-11-24 | 2009-07-15 | 杜志刚 | Use method of down-hole hole drilling quality check equipment |
| JP2010150810A (en) * | 2008-12-25 | 2010-07-08 | Nishimatsu Constr Co Ltd | Implement and method for measuring inclination |
| KR101020125B1 (en) * | 2010-10-26 | 2011-03-08 | (주)테스콤엔지니어링 | Measurment sensor apparatus for auto ground inclinometer |
| US20140174727A1 (en) * | 2011-05-24 | 2014-06-26 | Jan Arie Aldo Huizer | Wireline apparatus |
| CN104220697A (en) * | 2012-01-07 | 2014-12-17 | 默林科技股份有限公司 | Horizontal directional drilling area network and methods |
| CN204827427U (en) * | 2015-04-17 | 2015-12-02 | 成都理工大学 | Mining drilling orbit is along with boring measurement system |
| US20180112521A1 (en) * | 2015-05-04 | 2018-04-26 | Lkab Wassara Ab | Gyro-based surveying tool and method for surveying |
| CN108784545A (en) * | 2018-07-25 | 2018-11-13 | 苏州精源创智能科技有限公司 | A kind of inertial navigation system and method applied to sweeping robot |
| US20190169979A1 (en) * | 2017-12-04 | 2019-06-06 | Hrl Laboratories, Llc | Continuous Trajectory Calculation for Directional Drilling |
| CN109989774A (en) * | 2019-05-16 | 2019-07-09 | 中国铁建重工集团股份有限公司 | A kind of extension splash guard tunnel laying trolley |
| CN210460636U (en) * | 2019-07-16 | 2020-05-05 | 中国铁建重工集团股份有限公司 | Shaft attitude detection equipment and shaft excavating equipment |
-
2019
- 2019-07-16 CN CN201910642726.8A patent/CN110230487A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2250483A1 (en) * | 1997-10-27 | 1999-04-27 | Halliburton Energy Services, Inc. | Well system |
| JP2003262521A (en) * | 2002-03-08 | 2003-09-19 | Kidoh Construction Co Ltd | Surveying apparatus for pipe jacking method, surveying method, and the pipe jacking method |
| CN200978671Y (en) * | 2006-09-30 | 2007-11-21 | 北京航天万新科技有限公司 | Peg-top continuous inclinometer |
| CN101482008A (en) * | 2008-11-24 | 2009-07-15 | 杜志刚 | Use method of down-hole hole drilling quality check equipment |
| JP2010150810A (en) * | 2008-12-25 | 2010-07-08 | Nishimatsu Constr Co Ltd | Implement and method for measuring inclination |
| KR101020125B1 (en) * | 2010-10-26 | 2011-03-08 | (주)테스콤엔지니어링 | Measurment sensor apparatus for auto ground inclinometer |
| US20140174727A1 (en) * | 2011-05-24 | 2014-06-26 | Jan Arie Aldo Huizer | Wireline apparatus |
| CN104220697A (en) * | 2012-01-07 | 2014-12-17 | 默林科技股份有限公司 | Horizontal directional drilling area network and methods |
| CN204827427U (en) * | 2015-04-17 | 2015-12-02 | 成都理工大学 | Mining drilling orbit is along with boring measurement system |
| US20180112521A1 (en) * | 2015-05-04 | 2018-04-26 | Lkab Wassara Ab | Gyro-based surveying tool and method for surveying |
| US20190169979A1 (en) * | 2017-12-04 | 2019-06-06 | Hrl Laboratories, Llc | Continuous Trajectory Calculation for Directional Drilling |
| CN108784545A (en) * | 2018-07-25 | 2018-11-13 | 苏州精源创智能科技有限公司 | A kind of inertial navigation system and method applied to sweeping robot |
| CN109989774A (en) * | 2019-05-16 | 2019-07-09 | 中国铁建重工集团股份有限公司 | A kind of extension splash guard tunnel laying trolley |
| CN210460636U (en) * | 2019-07-16 | 2020-05-05 | 中国铁建重工集团股份有限公司 | Shaft attitude detection equipment and shaft excavating equipment |
Non-Patent Citations (1)
| Title |
|---|
| 王宁;王永: "基于模糊不确定观测器的四旋翼飞行器自适应动态面轨迹跟踪控制", 自动化学报, vol. 44, no. 004, 30 April 2018 (2018-04-30), pages 685 - 695 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111307133A (en) * | 2020-03-04 | 2020-06-19 | 中国铁建重工集团股份有限公司 | Vertical shaft verticality measuring method, vertical shaft posture detecting equipment and storage medium |
| CN111272156A (en) * | 2020-05-07 | 2020-06-12 | 中国铁建重工集团股份有限公司 | Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine |
| CN112924463A (en) * | 2021-01-26 | 2021-06-08 | 中国矿业大学 | Coal mine shaft inspection device and laser scanning defect detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108350734B (en) | Borehole test device | |
| US9482782B2 (en) | Systems, methods, transmitter assemblies, and associated power supplies and charging stations to explore and analyze subterranean geophysical formations | |
| CN110230487A (en) | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment | |
| US8061047B2 (en) | Active positioning of downhole devices using spherical motors | |
| CN105339579A (en) | Arrangement for controlling percussive drilling process | |
| CA2089105A1 (en) | Borehole laser cavity monitoring system | |
| WO2010150196A2 (en) | Method for determining the position or situation of installation components in mineral mining installations and mining installation | |
| EP3109400B1 (en) | Drill sensor system and method | |
| CN103711487B (en) | Rock drilling rig and method of positioning rock drilling unit | |
| CN210460636U (en) | Shaft attitude detection equipment and shaft excavating equipment | |
| CN110219663A (en) | Drill configuration and engineering truck | |
| KR20150049207A (en) | Three-dimensional shaping device in underground region | |
| CN104343437A (en) | Hole drilling track measuring device and method based on laser gyroscope | |
| KR101039834B1 (en) | Apparatus and method for investigating joint exploitation of three-dimensional underground | |
| CN109707372A (en) | A kind of perforation of boring machine orientation survey device based on six axis MEMS sensors | |
| WO2022007365A1 (en) | Tbm-mounted mineral component detection method and advanced geological forecasting method and system | |
| JP2020144067A (en) | Tunnel working face forward survey system and survey method of tunnel working face forward natural ground | |
| US20120084050A1 (en) | Method and System for Azimuth Measurements Using a Gyroscope Unit | |
| CN209586362U (en) | A kind of perforation of boring machine orientation survey device based on six axis MEMS sensors | |
| CN111305823A (en) | Mining drilling cableless detection system | |
| CN212583683U (en) | Mining drilling cableless detection system | |
| KR102258271B1 (en) | An apparatus for tracing drilling route and method for tracing drilling route using the same | |
| RU2626740C1 (en) | Cognitive mobile complex for geological exploration | |
| Binder et al. | MEMS-based downhole tool incorporated in mobile inclinometric station for trajectory survey of grouped wellbores | |
| CN113866773A (en) | Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |