CN111502635A - Coal mine underground explosion-proof gyro inclinometer and application method thereof - Google Patents
Coal mine underground explosion-proof gyro inclinometer and application method thereof Download PDFInfo
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Abstract
The invention provides an explosion-proof gyro inclinometer for a coal mine underground and a using method thereof, wherein in the inclinometer, a drilling detection assembly enters the bottom of a drill hole along with a drill rod, and a water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to a controller in the drilling detection assembly; the controller controls the attitude sensor to start when the drilling water pressure value/the drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value; after the attitude sensor is started, detecting attitude data of the front end drill rod and sending the attitude data to the controller; the controller correlates the attitude data with the receiving time of the attitude data, and sends the attitude data to the synchronous machine after the drilling detection assembly is taken out after the measurement is completed; the synchronous machine determines the depth of the drilling detection assembly according to the number of the drill rods and the length of a single drill rod, and obtains a drilling track according to the change rule of the posture and the depth in a continuous time period. The above scheme is not affected by magnetic interference caused by ferromagnetic substances near the drill hole or the ferromagnetic casing of the drill hole, and the use condition is not limited.
Description
Technical Field
The invention belongs to the field of mine drilling measurement, and particularly relates to an underground coal mine explosion-proof gyro inclinometer and a using method thereof.
Background
In the measurement of underground coal mine drilling, the currently used drilling inclinometers are all inclinometers based on geomagnetic measurement, and include conventional storage type drilling inclinometers, storage-while-drilling type drilling inclinometers, measurement-while-drilling systems and the like, and are used for measuring various drilling tracks. The azimuth angle measured by the magnetic inclinometer is a magnetic azimuth angle, and the true azimuth angle can be obtained only by adding a local magnetic declination. The magnetic inclinometer has the obvious defects that the interference on the surrounding ferromagnetic substances cannot be eliminated, and the measurement error is large. In order to reduce the influence of the ferromagnetic drilling tool on the magnetic inclinometer, the magnetic inclinometer shell is made of a non-magnetic material, and the non-magnetic drilling tool with a certain length needs to be additionally arranged at the front and the back of the shell. Therefore, the cost of the magnetic inclinometer is increased, and the risk of falling and blocking the drill in the hole of the inclinometer is increased. Furthermore, magnetic inclinometers cannot measure at all in a surrounding ferromagnetic-containing borehole or in a borehole of an iron casing.
Disclosure of Invention
The embodiment of the invention aims to provide an underground coal mine explosion-proof gyro inclinometer and a using method thereof, and solves the technical problem that in the prior art, the inclinometer based on geomagnetic measurement is influenced by external magnetic interference to cause inaccurate measurement results.
Therefore, the invention provides an underground coal mine explosion-proof gyro inclinometer, which comprises a drilling detection assembly and a synchronizer, wherein:
the drilling detection assembly is arranged in the top end of the front-end drill rod to enter the bottom of a drilled hole along with the drill rod and comprises an attitude sensor, a water pressure/vibration sensor and a controller; the water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to the controller; the controller controls the attitude sensor to be started when the drilling water pressure value/drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value; after the attitude sensor is started, detecting attitude data of the front end drill rod and sending the attitude data to the controller; the controller associates the attitude data with the receiving time of the attitude data and then sends the attitude data to the synchronous machine;
the synchronous machine receives the attitude data and the receiving time sent by the controller, the depth of the drilling detection assembly is determined according to the number of the drill rods and the length of a single drill rod, the attitude data and the depth of nodes at the same time are determined according to the receiving time, and a drilling track is obtained according to the change rule of the attitude and the depth in a continuous time period.
Optionally, in the above coal mine underground explosion-proof gyro inclinometer:
the attitude sensor comprises an MEMS gyroscope and an MEMS acceleration sensor;
the attitude sensor starts the MEMS gyroscope and the MEMS acceleration sensor according to the control signal of the controller, and attitude data of the front end drill rod is obtained according to the detection results of the MEMS gyroscope and the MEMS acceleration sensor.
Optionally, in the above coal mine underground explosion-proof gyro inclinometer:
the attitude sensor also comprises a servo motor, and a controlled end of the servo motor receives a control signal of the controller; the servo motor drives the MEMS gyroscope to move to four different detection positions according to the control signal of the controller, and the MEMS gyroscope detects the rotational angular velocity component of the earth according to the four detection positions so as to determine the azimuth angle of the front-end drill rod;
the number of the MEMS acceleration sensors in the attitude sensors is three, the three MEMS acceleration sensors are mutually orthogonal, and the inclination angle and the tool face angle of the front-end drill rod are determined according to the earth gravitational field component detected by the three mutually orthogonal MEMS acceleration sensors.
Optionally, in the above coal mine underground explosion-proof gyro inclinometer:
the synchronous machine is provided with a display screen, obtains the track curve of the attitude data and the depth changing along with the time by an equal angle full distance method and displays the track curve by the display screen.
Optionally, in the above coal mine underground explosion-proof gyro inclinometer:
the drilling detection assembly also comprises a power management module, and the power management module is connected with the controller and the attitude sensor;
the controller controls the power supply management module to supply power to the attitude sensor to start the attitude sensor when the drilling water pressure value/the drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value;
and the controller controls the power supply management module to stop supplying power to the attitude sensor to stop the attitude sensor when the drilling water pressure value/drill rod vibration value is greater than or equal to a set water pressure threshold value/vibration threshold value.
Optionally, in the above coal mine underground explosion-proof gyro inclinometer:
the drilling detection assembly further comprises a pipe body, and the pipe body is used for being sleeved outside the attitude sensor, the water pressure/vibration sensor and the controller; the outer diameter of the pipe body is matched with the inner diameter of the front end drill rod, and the pipe body is in interference contact with the front end drill rod.
The invention also provides a using method of the underground coal mine explosion-proof gyro inclinometer, which is used for measuring a drilling track and comprises the following steps:
1) setting time synchronization of a drilling detection assembly and a synchronizer;
2) mounting a drilling detection assembly in the top end of a front-end drill rod and placing the drilling detection assembly behind a drill bit, wherein the rear surface is a surface deviating from the drilling direction;
3) in the drilling process, the water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to the controller, and if the drilling water pressure value/the drill rod vibration value is smaller than a set water pressure threshold value/a set vibration threshold value, the controller starts the attitude sensor to obtain attitude data; the controller receives attitude data sent by the attitude sensor and stores the attitude data in association with the receiving time of the attitude data; if the drilling water pressure value/the drill rod vibration value is larger than or equal to the set water pressure threshold value/the set vibration threshold value, the controller shuts down the attitude sensor; repeating the above process until the drilling process is finished, and entering the step 4);
4) lifting the drill and taking out the drilling detection assembly, and importing the attitude data stored in the controller and the receiving time of the attitude data into a synchronous machine;
5) the synchronous machine determines the depth of the drilling detection assembly according to the number of the drill rods and the length of a single drill rod, determines the attitude data and the depth of the same time node according to the receiving time, and obtains a drilling track according to the change rule of the attitude and the depth in a continuous time period.
Optionally, in the method for using the coal mine underground explosion-proof gyro inclinometer, the attitude sensor includes a servo motor, an MEMS gyroscope, and three mutually orthogonal MEMS acceleration sensors, and the attitude data is obtained in step 3) through the following steps:
setting the direction of a z-axis MEMS acceleration sensor to be consistent with the direction of the central axis of the drill rod, wherein the direction of an x-axis MEMS acceleration sensor is vertical to the direction of a y-axis MEMS acceleration sensor and keeps consistent with the radial direction of the drill rod;
when the attitude sensor is started, the servo motor drives the MEMS gyroscope to the forward position of the x axis, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the forward position of the x axis and continuously sets time; the servo motor drives the MEMS gyroscope to move to a y-axis forward position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis forward position for a set time; the servo motor drives the MEMS gyroscope to an x-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the x-axis negative position for a set time; the servo motor drives the MEMS gyroscope to move to a y-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis negative position for a set time; meanwhile, the triaxial MEMS acceleration sensor continuously measures the earth gravity field component;
and performing azimuth calculation by using a four-position method according to four groups of earth rotation angular rate components measured at four positions, and obtaining attitude data, namely azimuth angles, inclination angles and tool face angles, by combining the gravity field components measured by the accelerometer sensor.
Optionally, in the method for using the underground coal mine explosion-proof gyro inclinometer, the drilling detection assembly further comprises a pipe body:
the servo motor in the step 3) drives the tube body to rotate along the radial direction or rotate along the axial direction so as to change the position of the MEMS gyroscope.
Optionally, in the using method of the coal mine underground explosion-proof gyro inclinometer, in step 5), the drilling track is obtained by using a uniform angle full distance method, and the method specifically includes the following steps:
the main design azimuth direction displacement X, the up-down displacement Z and the left-right displacement Y of each detection position are calculated through the hole depth delta L, the inclination angle β and the azimuth α of the space form of the standard drilling axis, and the specific mathematical model is as follows:
in the above formula: xnIs to detect the position MnIs displaced in the direction of (Y)nIs to detect the position MnLeft and right displacement of (Z)nIs to detect the position Mnβi-1,βiRespectively, the detected position Mi-1、MiAngle of inclination of αi-1,αiRespectively, the detected position Mi-1、Miα0Design azimuth of dominance, Δ LiFor detecting position Mi-1、MiThe distance between them.
Compared with the prior art, the technical scheme provided by the embodiment of the invention at least has the following beneficial effects:
the coal mine underground explosion-proof gyro inclinometer and the using method thereof provided by the invention have the advantages of high precision, simplicity in operation and capability of being used while drilling by using the inertial sensor to measure the drilling attitude and track. Compared with the existing method for determining the direction of the drilled hole by measuring the geomagnetic component by adopting the magnetic sensor, the method has the advantages of being free from the influence of magnetic interference caused by ferromagnetic substances near the drilled hole or the ferromagnetic casing pipe of the drilled hole and being unlimited in use conditions.
Drawings
FIG. 1 is a structural composition block diagram of an underground coal mine explosion-proof gyro inclinometer according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a complete electrical circuit connection of a portion of the borehole detection assembly in accordance with one embodiment of the present invention;
FIG. 3 is a schematic diagram of the circuit connection of the synchronous machine part according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of the coal mine underground explosion-proof gyro inclinometer for measuring a drilling track according to one embodiment of the invention;
FIG. 5a is a schematic diagram of a vertical projection of the spatial position relationship of the drilling trajectory in the present embodiment;
fig. 5b is a schematic horizontal plane projection diagram of the spatial position relationship of the drilling track in this embodiment.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or assembly referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
The embodiment provides an explosion-proof gyro inclinometer for a coal mine underground, which comprises a drilling detection assembly 100 and a synchronizer 200 as shown in fig. 1. The drilling detection assembly 100 is arranged inside the top end of a front-end drill rod to follow the drill rod to enter the bottom of a drill hole and comprises an attitude sensor 101, a water pressure/vibration sensor 102 and a controller 103; the water pressure/vibration sensor 102 detects a drilling water pressure value/drill rod vibration value and then sends the drilling water pressure value/drill rod vibration value to the controller 103; the controller controls the attitude sensor 101 to be started when the drilling water pressure value/drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value; after the attitude sensor 101 is started, attitude data of the front end drill rod is detected and sent to the controller 103; the controller 103 stores the attitude data and the receiving time of the attitude data in a correlation manner, and sends all the attitude data and the receiving time to the synchronizer 200 after the drilling detection assembly is taken out after the whole drilling measurement is finished; the synchronous machine 200 receives the attitude data and the receiving time sent by the controller 103, determines the depth of the drilling detection assembly according to the number of drill rods and the length of a single drill rod, determines the attitude data and the depth of nodes at the same time according to the receiving time, and obtains a drilling track according to the change rule of the attitude and the depth in a continuous time period. Specifically, every drill rod is drilled outside a drill hole, a current measuring time is recorded on the synchronizer 200 at the interval of additionally installing the drill rod, the synchronizer 200 automatically records the current measuring time and the current drill rod depth, the drill rod and the drill hole detection assembly are taken out after the whole drilling track is measured, the recording time and the attitude data in the drill hole detection assembly are matched with the measuring time recorded on the synchronizer, the attitude data corresponding to the measuring time recorded on the synchronizer is found, and the measuring time recorded on the synchronizer corresponds to the accurate depth of the drilled drill rod, so that the accurate matching of different drilling depths and the drilling attitude data of the different drilling depths is realized, and the subsequent track graph drawing is facilitated.
According to the scheme, the inertial sensor is used for measuring the drilling attitude and track, and the device has the advantages of high precision, simplicity in operation and capability of being used while drilling. Compared with the existing method for determining the direction of the drilled hole by measuring the geomagnetic component by adopting the magnetic sensor, the method has the advantages of being free from the influence of magnetic interference caused by ferromagnetic substances near the drilled hole or the ferromagnetic casing pipe of the drilled hole and being unlimited in use conditions.
In the above scheme, the attitude sensor 101 includes an MEMS gyroscope and an MEMS acceleration sensor; referring to fig. 2, the MEMS gyroscope is a single-axis MEMS gyroscope 1011, the MEMS acceleration sensor is a three-axis MEMS accelerometer 1012, the controller is implemented by a single-chip microcomputer U1 and U2, the attitude sensor 101 starts the MEMS gyroscope and the MEMS acceleration sensor according to a control signal of the controller, and attitude data of the front-end drill rod is obtained according to detection results of the MEMS gyroscope and the MEMS acceleration sensor. Further, the attitude sensor further comprises a servo motor SD, and a controlled end of the servo motor receives a control signal of the controller 103; the servo motor SD drives the MEMS gyroscope to move to four different detection positions according to the control signal of the controller 103, and the MEMS gyroscope detects the rotational angular velocity component of the earth according to the four detection positions so as to determine the azimuth angle of the front-end drill rod; the number of the MEMS acceleration sensors in the attitude sensors is three, the three MEMS acceleration sensors are mutually orthogonal, and the inclination angle and the tool face angle of the front-end drill rod are determined according to the earth gravitational field component detected by the three mutually orthogonal MEMS acceleration sensors.
The drilling detection assembly 100 further comprises other circuits for assisting signal processing according to the diagram shown in fig. 2, specifically, the circuit comprises four parts, namely a signal conditioning module, a power management module, a calculation and control module and a communication module, wherein the power management module is respectively connected with a data acquisition module, a signal conditioning module, a calculation and control module and a communication module, the data acquisition module is connected with the signal conditioning module, the signal conditioning module is connected with the calculation and control module, and the calculation and control module is connected with the communication module, wherein the signal conditioning module comprises a servo motor, a single-axis MEMS gyroscope, a three-axis MEMS accelerometer, an operation amplification module A1 and A2, a low-pass filtering module D1 and D2, an A/D sampling module 1013, the calculation and control module comprises an FPGA processing circuit 1014, the DSP processor 1015, a1 and a F L ASH storage 1017, the communication module is realized by calculation and calculation of the calculation and calculation, the power management module comprises a single-chip microcomputer U2, a water pressure/vibration detection sensor 102, a lithium ion battery voltage detection circuit 1018, a power supply voltage stabilizing circuit, a power supply voltage processing circuit, a power supply voltage stabilizing circuit, a voltage processing circuit, a voltage stabilizing circuit, a voltage processing module, a voltage processing circuit, a voltage stabilizing circuit, a voltage processing circuit, a voltage stabilizing circuit, a voltage processing module, a voltage stabilizing circuit, a voltage processing module, a voltage stabilizing module, a voltage processing module, a voltage stabilizing module, a voltage.
Referring to fig. 2, the power management module is connected to the signal conditioning module; the controller (the single chip microcomputer U2) controls the power supply management module to supply power to the attitude sensor to start the attitude sensor when the drilling water pressure value/drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value; and the controller controls the power supply management module to stop supplying power to the attitude sensor to stop the attitude sensor when the drilling water pressure value/drill rod vibration value is greater than or equal to a set water pressure threshold value/vibration threshold value. The drilling water pressure value/drill rod vibration value smaller than the set water pressure threshold value/vibration threshold value can be considered as a drilling stopping stage, for example, when the drill rod needs to be replaced, the drill rod always advances in the drilling hole during drilling, vibration and water pressure change are necessarily caused, the vibration and water pressure change result is theoretically close to zero when the drilling is stopped, but the set water pressure threshold value and the set vibration threshold value can be selected to be slightly larger than zero data.
Referring to fig. 3, the synchronous machine 200 includes an industrial personal computer module, a communication module, a power module, a keyboard and a display module, the power module is connected with the industrial personal computer module, the communication module, the keyboard and the display module respectively, the industrial personal computer is connected with the communication module, the keyboard and the display module respectively, the power module includes a lithium ion battery pack 205 and a voltage stabilizing current limiting circuit 204 to form a synchronous machine power supply to supply power to the display module and the industrial personal computer module, the display module includes a display driving circuit 202 and a display screen 201, the industrial personal computer module includes an industrial personal computer 203 and an F L ASH storage, a USB interface, a serial communication circuit 400 is still adopted in a communication part, and the serial communication circuit 400 and the serial communication circuit 300 can be.
In the above scheme, the synchronizer 200 obtains the trajectory curve of the attitude data and the depth changing with time by the equal angle full distance method and displays the trajectory curve through the display screen 201.
In the above scheme, preferably, the drilling detection assembly further comprises a pipe body, and the pipe body is used for being sleeved outside the attitude sensor, the water pressure/vibration sensor and the controller; the outer diameter of the pipe body is matched with the inner diameter of the front end drill rod, and the pipe body is in interference contact with the front end drill rod. The stability of the drilling detection assembly can be ensured through the interference fit mode of the pipe body and the drill rod, and the drilling detection assembly cannot fall off in the drilling process of the drill rod. Moreover, wires, cables and the like connected between different modules can be contained in the tube body through the tube body, and the connecting wire harness is protected.
In the above solution, the synchroniser is located at the surface, where it is recorded that the drilling device has installed several drill rods, each having its length value, so that the total length of all drill rods can be determined, from which the depth of the drilled hole can be deduced.
Example 2
The embodiment provides a using method of an underground coal mine explosion-proof gyro inclinometer, which is used for measuring a drilling track, and comprises the following steps with reference to fig. 4:
the method comprises the following steps: time synchronization of the borehole detection assembly and the synchronization machine is set. Before the drilling measurement starts, the drilling detection assembly performs time synchronization with the synchronizer by means of the serial port communication module, and time information is sent to the drilling measurement probe pipe by operating the synchronizer display control software.
Step two: and mounting the drilling detection assembly in the top end of the front-end drill rod and placing the drilling detection assembly behind the drill bit, wherein the rear surface is the surface deviating from the drilling direction.
Step three: in the drilling process, the water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to the controller, whether the drilling water pressure value/the drill rod vibration value is lower than a set water pressure threshold value/a set vibration threshold value or not is judged, if yes, the step four is carried out, and if not, the step eight is carried out;
step four: the controller starts an attitude sensor to acquire attitude data;
step five: the controller receives attitude data sent by the attitude sensor and stores the attitude data in association with the receiving time of the attitude data;
step six: and lifting the drill and taking out the drilling detection assembly, and importing the attitude data stored in the controller and the receiving time of the attitude data into the synchronous machine.
Step seven: the synchronous machine determines the depth of the drilling detection assembly according to the number of the drill rods and the length of a single drill rod, determines the attitude data and the depth of the same time node according to the receiving time, and obtains a drilling track according to the change rule of the attitude and the depth in a continuous time period.
Step eight: the controller shuts down the attitude sensor, and the data acquisition module, the signal conditioning module, the control module and the synchronous machine all enter a standby state.
In the above scheme, the attitude sensor includes a servo motor, an MEMS gyroscope, and three mutually orthogonal MEMS acceleration sensors, and attitude data is obtained through the following steps:
301, setting the direction of a z-axis MEMS acceleration sensor to be consistent with the central axis direction of the drill rod, wherein the direction of an x-axis MEMS acceleration sensor is vertical to the direction of a y-axis MEMS acceleration sensor and keeps consistent with the radial direction of the drill rod;
when the attitude sensor is started, the servo motor drives the MEMS gyroscope to the forward position of the x axis, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the forward position of the x axis for a set time; the servo motor drives the MEMS gyroscope to move to a y-axis forward position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis forward position for a set time; the servo motor drives the MEMS gyroscope to an x-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the x-axis negative position for a set time; the servo motor drives the MEMS gyroscope to move to a y-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis negative position for a set time; meanwhile, the triaxial MEMS acceleration sensor continuously measures the earth gravity field component. The set time may be selected to be 40 seconds.
And 303, carrying out azimuth calculation by using a four-position method according to four groups of rotation angular rate components of the earth measured at four positions, and obtaining attitude data, namely an azimuth angle, an inclination angle and a tool face angle by combining the gravity field components measured by the accelerometer sensor.
In the above scheme, with reference to fig. 2 and 3, in the drilling process, when the drilling detection assembly detects that the drilling water pressure or the drill rod vibration is lower than the threshold value (i.e., the drilling and the drill rod installation are stopped), the power management module supplies power to the data acquisition module and the signal conditioning module, the data acquisition module starts the gyroscope and the accelerometer to start self north finding, and after the data is processed by the signal conditioning module, the resolving and control module obtains attitude data and stores the current time and the attitude data; meanwhile, the current time and the drilling depth are recorded and stored through display control software of a manual operation synchronous machine. When the drilling detection assembly detects that the water pressure of a drill hole or the vibration of a drill rod is higher than a threshold value (namely, drilling is started), the power supply of the data acquisition module and the signal conditioning module is cut off by the power supply management module, and the resolving and controlling module is in a standby state; at the same time, the synchronous machine is also in a standby state. After the drilling measurement is finished, the drilling measurement probe guides the attitude data into the synchronizer for matching and storage by means of the serial port communication module, and the storage and display of the drilling attitude data and the measurement track curve are realized on the synchronizer.
The average angle full-range method is a method for calculating the hole depth, the inclination angle and the azimuth angle of a measuring point of a drill hole to obtain a space three-dimensional coordinate value of the measuring point, and further determining the space position of the axis of the drill hole, wherein the calculation method is based on a calculation model that (1) the axis of the drill hole between two adjacent measuring points is a straight line, (2) the inclination angle and the azimuth angle of the straight line are respectively the average values of the inclination angle and the azimuth angle of two measuring points in front and back, (3) the whole axis of the drill hole is a space broken line connecting the straight line and approaches to a real drill hole track, and the main design azimuth direction displacement X, the up-down displacement Z and the left-right displacement Y of each measuring point can be calculated through three main parameters of the hole depth delta L inclination angle β and the azimuth angle α of the:
in the above formula: xnIs to detect the position MnIs displaced in the direction of (Y)nIs to detect the position MnLeft and right displacement of (Z)nIs to detect the position Mnβi-1,βiRespectively, the detected position Mi-1、MiAngle of inclination of αi-1,αiRespectively, the detected position Mi-1、Miα0Design azimuth of dominance, Δ LiFor detecting position Mi-1、MiThe distance between them.
The calculation method has the following characteristics: (1) the method is slightly more complicated than the full-angle full-distance method, but is simpler than the full-angle half-distance method, and is a method frequently adopted by field manual calculation. (2) The average value of the dip angle azimuth angles of the upper detection position and the lower detection position is used as the calculation angle of the axis, so that the calculation errors of the horizontal displacement and the vertical depth of the inclination increasing section and the inclination reducing section are reduced. (3) When the distance between the detection positions is large and the curvature radius is small, a certain error exists.
The trajectory measurement method provided by the embodiment utilizes the inertial sensor to measure the drilling attitude and trajectory, and has the advantages of high precision, simplicity in operation and capability of being used while drilling. Due to the adoption of the gyro self-north-seeking technology, the measurement datum is not required to be given from the outside, and the inclined drilling track under the coal mine can be automatically measured. Compared with the existing method for determining the direction of the drilled hole by measuring the geomagnetic component by using the magnetic sensor, the method for determining the direction of the drilled hole by measuring the rotational angular rate component of the earth by using the MEMS gyro sensor has the advantages that the method is not influenced by magnetic interference caused by ferromagnetic substances near the drilled hole or a ferromagnetic sleeve of the drilled hole, and the use condition is not limited. Compared with the existing fiber optic gyro inclinometer which can be used for measuring the drilling track on the coal field ground, the anti-vibration performance of the MEMS gyro sensor is better, the size is smaller (compared with the fiber optic gyro sensor), the anti-vibration performance of the anti-explosion inclinometer is better, measurement while drilling can be realized, the measurement probe is thinner and more suitable for measuring the drilling track with a small aperture, and the fiber optic gyro inclinometer can be used underground in a coal mine through coal mine safety certification. Through practical application, the measured azimuth angle error of the measurement result obtained by the scheme is less than 2.0 degrees, and the measured inclination angle error is less than 0.2 degrees. The method can be suitable for measuring the drilling track with the hole diameter of 63.5mm or more under the coal mine.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an explosion-proof type gyro inclinometer in colliery in pit which characterized in that, surveys subassembly and synchronous machine including drilling, wherein:
the drilling detection assembly is arranged in the top end of the front-end drill rod to enter the bottom of a drilled hole along with the drill rod and comprises an attitude sensor, a water pressure/vibration sensor and a controller; the water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to the controller; the controller controls the attitude sensor to be started when the drilling water pressure value/drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value; after the attitude sensor is started, detecting attitude data of the front end drill rod and sending the attitude data to the controller; the controller stores the attitude data and the receiving time of the attitude data in a correlation manner, and sends all the attitude data and the receiving time to the synchronous machine after drilling is finished and the drilling detection assembly is taken out;
the synchronous machine receives the attitude data and the receiving time sent by the controller, the depth of the drilling detection assembly is determined according to the number of the drill rods and the length of a single drill rod, the attitude data and the depth of nodes at the same time are determined according to the receiving time, and a drilling track is obtained according to the change rule of the attitude and the depth in a continuous time period.
2. The coal mine underground explosion-proof gyro inclinometer as claimed in claim 1, characterized in that:
the attitude sensor comprises an MEMS gyroscope and an MEMS acceleration sensor;
the attitude sensor starts the MEMS gyroscope and the MEMS acceleration sensor according to the control signal of the controller, and attitude data of the front end drill rod is obtained according to the detection results of the MEMS gyroscope and the MEMS acceleration sensor.
3. The coal mine underground explosion-proof gyro inclinometer as claimed in claim 2, characterized in that:
the attitude sensor also comprises a servo motor, and a controlled end of the servo motor receives a control signal of the controller; the servo motor drives the MEMS gyroscope to move to four different detection positions according to the control signal of the controller, and the MEMS gyroscope detects the rotational angular velocity component of the earth according to the four detection positions so as to determine the azimuth angle of the front-end drill rod;
the number of the MEMS acceleration sensors in the attitude sensors is three, the three MEMS acceleration sensors are mutually orthogonal, and the inclination angle and the tool face angle of the front-end drill rod are determined according to the earth gravitational field component detected by the three mutually orthogonal MEMS acceleration sensors.
4. The coal mine underground explosion-proof gyro inclinometer as claimed in any one of claims 1 to 3, characterized in that:
the synchronous machine is provided with a display screen, obtains the track curve of the attitude data and the depth changing along with the time by an equal angle full distance method and displays the track curve by the display screen.
5. The coal mine underground explosion-proof gyro inclinometer as claimed in any one of claims 1 to 3, characterized in that:
the drilling detection assembly also comprises a power management module, and the power management module is connected with the controller and the attitude sensor;
the controller controls the power supply management module to supply power to the attitude sensor to start the attitude sensor when the drilling water pressure value/the drill rod vibration value is smaller than a set water pressure threshold value/vibration threshold value;
and the controller controls the power supply management module to stop supplying power to the attitude sensor to stop the attitude sensor when the drilling water pressure value/drill rod vibration value is greater than or equal to a set water pressure threshold value/vibration threshold value.
6. The coal mine underground explosion-proof gyro inclinometer as claimed in claim 5, characterized in that:
the drilling detection assembly further comprises a pipe body, and the pipe body is used for being sleeved outside the attitude sensor, the water pressure/vibration sensor and the controller; the outer diameter of the pipe body is matched with the inner diameter of the front end drill rod, and the pipe body is in interference contact with the front end drill rod.
7. The use method of the underground coal mine explosion-proof gyro inclinometer disclosed by any one of claims 1 to 6 for measuring a drilling track is characterized by comprising the following steps of:
1) setting time synchronization of a drilling detection assembly and a synchronizer;
2) mounting a drilling detection assembly in the top end of a front-end drill rod and placing the drilling detection assembly behind a drill bit, wherein the rear surface is a surface deviating from the drilling direction;
3) in the drilling process, the water pressure/vibration sensor detects a drilling water pressure value/a drill rod vibration value and then sends the drilling water pressure value/the drill rod vibration value to the controller, and if the drilling water pressure value/the drill rod vibration value is smaller than a set water pressure threshold value/a set vibration threshold value, the controller starts the attitude sensor to obtain attitude data; the controller receives attitude data sent by the attitude sensor and stores the attitude data in association with the receiving time of the attitude data; if the drilling water pressure value/the drill rod vibration value is larger than or equal to the set water pressure threshold value/the set vibration threshold value, the controller shuts down the attitude sensor; repeating the above process until the drilling process is finished, and entering the step 4);
4) lifting the drill and taking out the drilling detection assembly, and importing the attitude data stored in the controller and the receiving time of the attitude data into a synchronous machine;
5) the synchronous machine determines the depth of the drilling detection assembly according to the number of the drill rods and the length of a single drill rod, determines the attitude data and the depth of the same time node according to the receiving time, and obtains a drilling track according to the change rule of the attitude and the depth in a continuous time period.
8. The use method of the coal mine underground explosion-proof gyro inclinometer as claimed in claim 7, wherein the attitude sensor comprises a servo motor, a single-axis MEMS gyroscope and three mutually orthogonal MEMS acceleration sensors, and the attitude data is obtained in the step 3) through the following steps:
setting the direction of a z-axis MEMS acceleration sensor to be consistent with the direction of the central axis of the drill rod, and enabling the directions of an x-axis MEMS acceleration sensor and a y-axis MEMS acceleration sensor to be perpendicular to each other and to be consistent with the radial direction of the drill rod;
when the attitude sensor is started, the servo motor drives the MEMS gyroscope to the forward position of the x axis, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the forward position of the x axis and continuously sets time; the servo motor drives the MEMS gyroscope to move to a y-axis forward position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis forward position for a set time; the servo motor drives the MEMS gyroscope to an x-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the x-axis negative position for a set time; the servo motor drives the MEMS gyroscope to move to a y-axis negative position, and the MEMS gyroscope continuously measures the rotation angular rate component of the earth at the y-axis negative position for a set time; meanwhile, the triaxial MEMS acceleration sensor continuously measures the earth gravity field component;
and performing azimuth calculation by using a four-position method according to four groups of earth rotation angular rate components measured at four positions, and obtaining attitude data, namely azimuth angles, inclination angles and tool face angles, by combining the gravity field components measured by the accelerometer sensor.
9. The use method of the coal mine underground explosion-proof gyro inclinometer as claimed in claim 8, wherein the drilling detection assembly further comprises a pipe body:
the servo motor in the step 3) drives the tube body to rotate along the radial direction or rotate along the axial direction so as to change the position of the MEMS gyroscope.
10. The use method of the coal mine underground explosion-proof gyro inclinometer as claimed in claim 8 or 9, characterized in that in the step 5), the drilling track is obtained by using a uniform angle full distance method, and the method specifically comprises the following steps:
the main design azimuth direction displacement X, the up-down displacement Z and the left-right displacement Y of each detection position are calculated through the hole depth delta L, the inclination angle β and the azimuth α of the space form of the standard drilling axis, and the specific mathematical model is as follows:
in the above formula: xnIs to detect the position MnIs displaced in the direction of (Y)nIs to detect the position MnLeft and right displacement of (Z)nIs to detect the position Mnβi-1,βiRespectively, the detected position Mi-1、MiAngle of inclination of αi-1,αiRespectively, the detected position Mi-1、Miα0Design azimuth of dominance, Δ LiFor detecting position Mi-1、MiThe distance between them.
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