CN111364975A - A direction finding positioner for drilling on underground collecting space area ground - Google Patents
A direction finding positioner for drilling on underground collecting space area ground Download PDFInfo
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- CN111364975A CN111364975A CN202010115168.2A CN202010115168A CN111364975A CN 111364975 A CN111364975 A CN 111364975A CN 202010115168 A CN202010115168 A CN 202010115168A CN 111364975 A CN111364975 A CN 111364975A
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- control circuit
- rod
- angle sensor
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- 238000005553 drilling Methods 0.000 title claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 239000000835 fiber Substances 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
Abstract
The invention discloses a direction-finding positioning device for underground goaf ground drilling, which is in a rod-shaped structure and comprises a rotary reversing device, a vertical angle sensor, a vertical rotary motor, a vertical rotary control circuit, a horizontal rotary shaft, a horizontal angle sensor, a horizontal rotary motor and a horizontal rotary control circuit. The rotation range of the rotary reversing device in the horizontal direction is 0-360 degrees, the rotation range in the vertical direction is-90 degrees to +90 degrees, and an optical fiber gyroscope camera, a laser ranging module, an optical pointing device and other sensors are carried. The rod-type structure can be placed in a narrow space through an external extension rod; or the rod-type structure is placed into a narrow space along the drill hole in a drilling mode. The internal conditions of a narrow space can be observed and measured, and technical support is provided for work such as emergency rescue, fire command, engineering management of a mine goaf and a ground subsidence area.
Description
Technical Field
The invention relates to a measuring device for an underground goaf, in particular to a direction-finding positioning device for ground drilling of the underground goaf.
Background
Collapse or people falling accidents often occur in places such as mine goafs, urban inspection wells or collapse holes formed by engineering construction, and due to the fact that space-limited people cannot directly enter the interior of the mine goafs to observe and measure the field conditions, many problems are brought to rescue, collapse area and collapse area engineering management, and secondary accidents or secondary disasters are possibly caused when the rescue or management is improper.
In the prior art, no device capable of measuring the underground goaf exists.
Disclosure of Invention
The invention aims to provide a direction-finding positioning device for underground goaf ground drilling.
The direction-finding positioning device for underground goaf ground drilling comprises a rotary reversing device, wherein the rotary reversing device is connected with a vertical rotary component, and the vertical rotary component is connected to a horizontal rotary component;
the vertical rotating assembly comprises a vertical angle sensor, a vertical rotating motor and a vertical rotating control circuit, and the lower part of the rotating reversing device is connected with an output shaft of the vertical rotating motor;
the horizontal rotating assembly comprises a horizontal angle sensor, a horizontal rotating motor and a horizontal rotating control circuit, and the lower part of the vertical rotating assembly is connected with the horizontal rotating motor through a horizontal rotating shaft;
the vertical angle sensor and the vertical rotating motor are electrically connected with the vertical rotating control circuit, the horizontal angle sensor and the horizontal rotating motor are electrically connected with the horizontal rotating control circuit, the vertical rotating control circuit is electrically connected with the horizontal rotating control circuit, and the horizontal rotating control circuit is connected with an upper computer or a control computer.
According to the technical scheme provided by the invention, the direction-finding positioning device for underground goaf ground drilling can be used for realizing direction-finding positioning of the space of the underground goaf by placing the drilling hole into a narrow space, observing and measuring the internal condition of the narrow space, and providing technical support for emergency rescue, fire command, engineering management of the mine goaf and the ground subsidence area and the like.
Drawings
Fig. 1 is a schematic structural diagram of a direction-finding positioning device for underground goaf ground drilling according to an embodiment of the present invention.
In the figure:
1. a rotary reversing device; 2. a vertical angle sensor; 3. a vertical rotation motor; 4. a vertical rotation control circuit; 5. a horizontal rotation axis; 6. a horizontal angle sensor; 7. a horizontal rotation motor; 8. a horizontal rotation control circuit.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention discloses a direction-finding positioning device for underground goaf ground drilling, which has the preferred specific implementation mode that:
the device comprises a rotary reversing device, wherein the rotary reversing device is connected with a vertical rotating assembly, and the vertical rotating assembly is connected with a horizontal rotating assembly;
the vertical rotating assembly comprises a vertical angle sensor, a vertical rotating motor and a vertical rotating control circuit, and the lower part of the rotating reversing device is connected with an output shaft of the vertical rotating motor;
the horizontal rotating assembly comprises a horizontal angle sensor, a horizontal rotating motor and a horizontal rotating control circuit, and the lower part of the vertical rotating assembly is connected with the horizontal rotating motor through a horizontal rotating shaft;
the vertical angle sensor and the vertical rotating motor are electrically connected with the vertical rotating control circuit, the horizontal angle sensor and the horizontal rotating motor are electrically connected with the horizontal rotating control circuit, the vertical rotating control circuit is electrically connected with the horizontal rotating control circuit, and the horizontal rotating control circuit is connected with an upper computer or a control computer.
The rotation range of the rotary reversing device in the horizontal direction is 0-360 degrees, and the rotation range in the vertical direction is-90 degrees- +90 degrees.
The rotary reversing device is provided with a fiber gyroscope camera, a laser ranging module, an optical pointing device and a sensor.
The appearance structure of the whole device is a rod-type structure.
The rod-type structure is 5-8 cm in diameter and 100-150 cm in length.
The rod-type structure is placed in a narrow space through an external extension rod; or the rod-type structure is placed into a narrow space along the drill hole in a drilling mode.
The invention relates to a direction-finding positioning device for underground goaf ground drilling, which is used for a detection rod extending into an underground goaf along a ground drilling hole, an optical fiber gyroscope used for calculating the rotation angle measurement of the detection rod, a laser scanner used for measuring the underground goaf shape, a cable used for supplying power, communicating and controlling the operation of the scanner and the optical fiber gyroscope, and a meter counter used for automatic measurement of the drilling depth. Its overall mechanical structure is a diameter and is not more than 50 mm's gauge rod, at the inside integrated fiber gyroscope of gauge rod, communication power supply control board, at the integrated laser scanner of the front end of gauge rod, optical pointing device and be used for the camera that the inside condition of drilling observed.
The device can realize the free rotation of 0 ~ 360 degrees, perpendicular 90- +90 degrees (being 0 along the horizontal rotation axial direction) of level under the control system effect, can carry on camera, laser rangefinder module, optical pointing device and various different sensors at the vertical rotation end and observe and measure the internal conditions in narrow and small space, provides guidance for work such as emergency rescue, fire control commander, mine collecting space area and ground subsidence district engineering administration. The internal conditions of a narrow space can be observed and measured, and technical support is provided for work such as emergency rescue, fire command, engineering management of a mine goaf and a ground subsidence area.
The specific embodiment is as follows:
as shown in fig. 1, the structural schematic diagram of a rod-type three-dimensional servo-controlled rotating device of a direction-finding positioning device for underground goaf ground drilling provided by the present invention is a rod-type structure, comprising: the device comprises a rotary reversing device 1, a vertical angle sensor 2, a vertical rotating motor 3, a vertical rotating control circuit 4, a horizontal rotating shaft 5, a horizontal angle sensor 6, a horizontal rotating motor 7 and a horizontal rotating control circuit 8, wherein the connection relationship of the components is as follows:
the rotary reversing device 1, the vertical angle sensor 2 and the vertical rotating motor 3 are connected to a vertical rotating control circuit 4;
the horizontal rotating shaft 5, the horizontal angle sensor 6 and the horizontal rotating motor 7 are connected to a horizontal rotating control circuit 8;
the vertical rotation control circuit 4 and the horizontal rotation control circuit 8 are connected through a wire, and the horizontal rotation control circuit 8 is connected with an upper computer or a control computer for communication.
In the concrete realization, the device can freely rotate in the horizontal direction of 0-360 degrees and in the vertical direction of-90 degrees to +90 degrees. The method specifically utilizes a singlechip program combined with a photoelectric encoder to realize free rotation of 0-360 degrees in the horizontal direction and-90 degrees to +90 degrees (0 degree along the horizontal rotation axial direction) in the vertical direction through the rotation control of the two motors.
Meanwhile, a camera, a laser ranging module, an optical pointing device and other different sensors can be carried at the vertical rotating end of the device according to requirements; then will through external extension rod inside the device is put into narrow and small space, perhaps when the space seals, adopt to beat the brill mode along drilling with the device is put into inside the narrow and small space to the realization is to the inside observation and the measurement of narrow and small space, provides the guidance for work such as emergency rescue, fire control commander, mine collecting space area and ground collapse district engineering improvement.
In addition, in the specific implementation process, the horizontal rotation and the vertical rotation of the device are respectively completed by two parts of control circuits, and the two parts of control circuits are communicated by TTL (transistor-transistor logic) and are used for carrying out data transmission of angle information and interaction of control commands; the control circuit for controlling the vertical rotation is reserved and comprises but is not limited to an RS232 data communication interface, and can be externally connected with sensors such as a laser ranging module and the like when necessary; the direct current servo motor used for realizing the rotation in the vertical direction is arranged along the horizontal rotating shaft, and the horizontal rotation is converted into the vertical direction through the direction conversion device; the main chip used for the control circuit is an 8051 series or STM32 series single chip microcomputer, and the motor driving chip is TD340I or LN 298.
The diameter range of the device is 5-8 cm, the length of the device can be processed into 100-150 cm, the tail end of the device is connected with a power supply and communication cable, the rotation of the horizontal and vertical rotating parts of the device is realized through upper computer control, and the typical working flow of the device is as follows:
the upper computer control program sets the range and the step angle of horizontal and vertical rotation, and after the horizontal motor rotates by a unit step angle, the horizontal control circuit sends an instruction to the vertical rotation control circuit to inform the vertical rotation control circuit that the position is reached and the rotation is started;
and then after the vertical rotating motor rotates for a stepping angle, the horizontal control circuit is informed that the horizontal control circuit is in place and can be communicated with an externally-connected extended sensor, and the vertical rotating motor rotates in sequence.
To sum up, this patent the device can observe and measure the internal conditions in narrow and small space, provides technical support for work such as engineering management in emergency rescue, fire control commander, mine collecting space area and the ground district of caving in.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A direction-finding positioning device for underground goaf ground drilling is characterized by comprising a rotary reversing device, wherein the rotary reversing device is connected with a vertical rotating assembly, and the vertical rotating assembly is connected with a horizontal rotating assembly;
the vertical rotating assembly comprises a vertical angle sensor, a vertical rotating motor and a vertical rotating control circuit, and the lower part of the rotating reversing device is connected with an output shaft of the vertical rotating motor;
the horizontal rotating assembly comprises a horizontal angle sensor, a horizontal rotating motor and a horizontal rotating control circuit, and the lower part of the vertical rotating assembly is connected with the horizontal rotating motor through a horizontal rotating shaft;
the vertical angle sensor and the vertical rotating motor are electrically connected with the vertical rotating control circuit, the horizontal angle sensor and the horizontal rotating motor are electrically connected with the horizontal rotating control circuit, the vertical rotating control circuit is electrically connected with the horizontal rotating control circuit, and the horizontal rotating control circuit is connected with an upper computer or a control computer.
2. The direction-finding positioning device for underground gob ground drilling according to claim 1, wherein the rotation range of the rotary direction-changing device in the horizontal direction is 0-360 ° and the rotation range in the vertical direction is-90 °.
3. The direction-finding positioning device for underground goaf ground drilling according to claim 2, wherein the rotary reversing device is equipped with a fiber optic gyroscope, a camera, a laser ranging module, an optical pointing device and a sensor.
4. The direction-finding positioning device for underground goaf ground drilling according to claim 3, characterized in that the overall device is a rod-type structure.
5. The direction-finding positioning device for underground goaf ground drilling is characterized in that the rod-type structure has a diameter of 5-8 cm and a length of 100-150 cm.
6. The direction-finding positioning device for underground goaf ground drilling according to claim 4 or 5, characterized in that the rod-type structure is placed in a narrow space through an external extension rod; or the rod-type structure is placed into a narrow space along the drill hole in a drilling mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010115168.2A CN111364975A (en) | 2020-02-25 | 2020-02-25 | A direction finding positioner for drilling on underground collecting space area ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010115168.2A CN111364975A (en) | 2020-02-25 | 2020-02-25 | A direction finding positioner for drilling on underground collecting space area ground |
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| Publication Number | Publication Date |
|---|---|
| CN111364975A true CN111364975A (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010115168.2A Pending CN111364975A (en) | 2020-02-25 | 2020-02-25 | A direction finding positioner for drilling on underground collecting space area ground |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1228824A (en) * | 1996-06-25 | 1999-09-15 | 伊安·格雷 | System for directional control of drilling |
| CN1299915A (en) * | 1998-02-05 | 2001-06-20 | 施卢默格控股有限公司 | Automatically controlled rotation-controllable drilling system and drilling method |
| CN202467828U (en) * | 2012-01-16 | 2012-10-03 | 魏华昌 | Laser drilling and locating instrument |
| CN105089611A (en) * | 2015-09-18 | 2015-11-25 | 中国地质大学（北京） | Continuous measuring device for space attitude of bottom drilling tool |
| CN205349326U (en) * | 2016-01-30 | 2016-06-29 | 马叶青 | Pipe is visited to underground mine clinograph |
| CN105804721A (en) * | 2016-04-25 | 2016-07-27 | 长沙理工大学 | Karst cave probing system and using method thereof |
-
2020
- 2020-02-25 CN CN202010115168.2A patent/CN111364975A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1228824A (en) * | 1996-06-25 | 1999-09-15 | 伊安·格雷 | System for directional control of drilling |
| CN1299915A (en) * | 1998-02-05 | 2001-06-20 | 施卢默格控股有限公司 | Automatically controlled rotation-controllable drilling system and drilling method |
| CN202467828U (en) * | 2012-01-16 | 2012-10-03 | 魏华昌 | Laser drilling and locating instrument |
| CN105089611A (en) * | 2015-09-18 | 2015-11-25 | 中国地质大学（北京） | Continuous measuring device for space attitude of bottom drilling tool |
| CN205349326U (en) * | 2016-01-30 | 2016-06-29 | 马叶青 | Pipe is visited to underground mine clinograph |
| CN105804721A (en) * | 2016-04-25 | 2016-07-27 | 长沙理工大学 | Karst cave probing system and using method thereof |
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Application publication date: 20200703 |
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