CN113565438A - Wireless monitoring system and monitoring method for mine drilling track - Google Patents
Wireless monitoring system and monitoring method for mine drilling track Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 73
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 61
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
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- 230000008859 change Effects 0.000 description 8
- 239000003245 coal Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 230000002035 prolonged effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 239000011435 rock Substances 0.000 description 3
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—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
- E21B47/13—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 by electromagnetic energy, e.g. radio frequency
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/26—Storing data down-hole, e.g. in a memory or on a record carrier
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Abstract
The invention relates to the technical field of geological exploration, in particular to a mining drilling track wireless monitoring system and a monitoring method thereof, wherein the system comprises: the acquisition module is used for acquiring track data of the drill hole in real time; the encoding module is used for wirelessly transmitting track data through electromagnetic waves; the decoding module is used for extracting the track data after the coding modulation processing by adopting an impedance matching algorithm and decoding the track data after the coding modulation processing; and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the decoded track data in real time, sending an instruction for stopping the acquisition of the track data of the drilled hole to the acquisition module if the acquisition and transmission of the track data need to be stopped, and sending an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of the electromagnetic waves to the encoding module. The invention not only improves the transmission distance, but also prolongs the working time, and can transmit the track data in real time in the rotary drilling process even if a common drill rod is adopted.
Description
Technical Field
The invention relates to the technical field of geological exploration, in particular to a mining drilling track wireless monitoring system and a monitoring method thereof.
Background
The drilling construction is basic work of underground coal mine geological exploration, and due to the fact that the drilling construction can be influenced by factors such as geological structure, drilling machine performance, occurrence of coal and rock, manual measurement deviation and the like, the actual track of the drilling construction and the linear track of an ideal state have large deviation. Therefore, in order to effectively avoid the blind area, reduce misjudgment, eliminate potential safety hazards and better guarantee mine safety production, the drilling track of construction needs to be mastered.
At present, a rotary drilling process is mainly adopted for underground drilling of a coal mine, and a drilling track measuring instrument based on the process comprises a track measuring instrument after hole completion and a storage type track measuring instrument which is measured while drilling. After hole drilling is finished, a track measuring instrument needs field workers to push an inclinometer into a drill hole after a drill rod is withdrawn after drilling is finished, so that the measurement of the drill hole track is realized, and the effective measurement of the drill hole track is difficult to realize under the condition of hole collapse by the mode; the storage type measuring instrument is measured while drilling, the drilling track is measured through a sensor at the front end of a drill bit in the drilling process of a drilling machine, measured data are stored in the measuring device, the drilling track can be known only after the drill rod is retreated in the mode, the drilling track cannot be monitored in the drilling process, and whether drilling construction creeps according to a designed track area or not can be judged in time.
In order to realize the measurement while drilling of the drilling track, the track data needs to be transmitted in real time, the drilling rod needs to depend on a wired cable-through drilling rod, the drilling rod belongs to a special drilling rod, and compared with a common drilling rod, the drilling rod is high in use cost and difficult to maintain. Therefore, the drilling track can be measured while drilling, the common mining drill rod cannot be used as a signal transmission channel, and track data modulation signals are transmitted during drilling, namely, the drilling track cannot be monitored in real time in the rotary drilling process by the aid of the common mining drill rod in the prior art.
Disclosure of Invention
The invention provides a mining drilling track wireless monitoring system and a monitoring method thereof, and solves the technical problem that the drilling track cannot be monitored in real time in the rotary drilling process by using a common drill rod in the prior art.
The basic scheme provided by the invention is as follows: mining drilling track wireless monitoring system includes:
the acquisition module is used for acquiring track data of the drill hole in real time;
the encoding module is used for carrying out encoding modulation processing on the track data in real time and wirelessly transmitting the track data subjected to the encoding modulation processing through electromagnetic waves;
the decoding module is used for receiving the track data subjected to the coding modulation processing in real time, extracting the track data subjected to the coding modulation processing by adopting an impedance matching algorithm, amplifying and filtering the track data subjected to the coding modulation processing, and then decoding the track data to obtain decoded track data;
and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the decoded track data in real time, sending an instruction for stopping the acquisition of the track data of the drilled hole to the acquisition module if the acquisition and transmission of the track data need to be stopped, and sending an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of the electromagnetic waves to the encoding module.
The working principle and the advantages of the invention are as follows: firstly, an impedance matching algorithm is adopted to extract track data after code modulation processing, and the track data after code modulation processing is subjected to amplification filtering processing and then decoded, wherein the impedance matching algorithm is favorable for extracting weak electromagnetic wave signals, and the weak electromagnetic wave signals are decoded after amplification filtering processing, so that the transmission distance can be increased; and secondly, judging whether the acquisition and transmission of the track data need to be stopped or not in a self-adaptive manner according to the track data in real time, so that the working logic can achieve the effect of saving electricity and prolong the working time. By adopting the mode, the transmission distance is increased, the working time is prolonged, even if a common drill rod is adopted, the track data can be transmitted in real time in the rotary drilling process, and the real-time monitoring of the drilling track is realized; although the method is limited by the requirements of the underground construction site environment of the coal mine and the diameter of a drilled hole, long-distance wireless transmission and long-time work can be realized.
The invention not only improves the transmission distance, but also prolongs the working time, can transmit track data in real time in the rotary drilling process even if a common drill rod is adopted, and solves the technical problem that the prior art can not utilize the common drill rod to monitor the drilling track in real time in the rotary drilling process.
Further, the decoding module is used for adopting a gain amplification algorithm based on hierarchical control to amplify the track data after the coding modulation processing.
Has the advantages that: because the transmission channel is a coal rock medium, the geological condition is complex, the electromagnetic wave transmission condition is extremely complex, and a gain amplification algorithm based on hierarchical control is adopted, namely, the gain amplification adopts hierarchical control, the maximum amplification is 120dB, and the requirements of different media and transmission distances on signal amplification can be met.
Further, the decoding module determines a passband according to the frequency characteristic and the noise characteristic of the electromagnetic wave signal, and performs filtering processing on the track data after the coding modulation processing according to the passband.
Has the advantages that: according to the passband determined by the frequency characteristic and the noise characteristic of the electromagnetic wave signal, the filtering and receiving of the uv level weak signal can be well realized.
Further, the acquisition module comprises a three-axis acceleration sensor, and the three-axis acceleration sensor is used for acquiring the inclination angle data of the drill hole in real time; and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the inclination angle data.
Has the advantages that: vibration, rotation and static state of the drill rod in the drilling process are monitored uninterruptedly, whether data acquisition and transmission need to be stopped or not is judged in a self-adaptive mode according to the vibration, rotation and static state, and accordingly power timing sequence of acquisition and transmission is designed conveniently, and power saving work is achieved.
Further, the acquisition module comprises a high-precision magnetic sensor, and the high-precision magnetic sensor is used for acquiring three component values of the earth magnetic field in the drill hole in real time; the decoding module is used for receiving the three-component value of the earth magnetic field in real time and decoding the three-component value of the earth magnetic field into direction angle data; and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the direction angle data.
Has the advantages that: whether the track of the drill hole is bent or inclined or not can be easily judged through the direction angle data, and the change of the direction angle data can be reflected through the vibration condition of the drill rod, so that the vibration of the drill rod in the drilling process can be continuously monitored.
Furthermore, the decoding module is also used for storing and displaying the decoded track data.
Has the advantages that: storing the decoded track data for subsequent analysis and utilization; and displaying the decoded track data, so that the track data can be conveniently and visually checked.
Based on the mining drilling track wireless monitoring system, the invention also provides a mining drilling track wireless monitoring method, which comprises the following steps:
s1, acquiring track data of the drill holes in real time by an acquisition module;
s2, the encoding module carries out encoding modulation processing on the track data in real time and wirelessly transmits the encoded and modulated track data through electromagnetic waves;
s3, the decoding module receives the track data after the coding modulation processing in real time, the track data after the coding modulation processing is extracted by adopting an impedance matching algorithm, and the track data after the coding modulation processing is amplified, filtered and decoded to obtain the decoded track data;
and S4, the stopping module adaptively judges whether the acquisition and transmission of the track data need to be stopped according to the decoded track data in real time, sends an instruction for stopping the acquisition of the track data of the drilled hole to the acquiring module if the acquisition and transmission of the track data need to be stopped, and sends an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of electromagnetic waves to the encoding module.
The working principle and the advantages of the invention are as follows: the track data after the coding modulation processing is extracted by adopting an impedance matching algorithm, so that weak electromagnetic wave signals can be extracted, and the transmission distance can be increased; and self-adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the track data in real time, so that the working time can be prolonged. By the mode, the transmission distance is increased, the working time is prolonged, track data can be transmitted in real time in the rotary drilling process even if a common drill rod is adopted, and the drilling track can be monitored in real time.
Further, in S3, the decoding module performs amplification processing on the trajectory data after the code modulation processing by using a gain amplification algorithm based on hierarchical control.
Has the advantages that: and a gain amplification algorithm based on hierarchical control is adopted, namely, the gain amplification adopts hierarchical control, so that the requirements of different media and transmission distances on signal amplification can be met.
Further, in S3, the decoding module determines a passband according to the frequency characteristic and the noise characteristic of the electromagnetic wave signal, and performs a filtering process on the trajectory data after the code modulation process according to the passband.
Has the advantages that: the filtering reception of weak signals can be realized well according to the passband determined by the frequency characteristic and the noise characteristic of the electromagnetic wave signal.
Further, in S1, the acquisition module includes a three-axis acceleration sensor, and the three-axis acceleration sensor acquires inclination data of the drill hole in real time; in S4, the stop module adaptively determines whether to stop the acquisition and transmission of the trajectory data according to the tilt data in real time.
Has the advantages that: vibration, rotation and static states of the drill rod in the drilling process are monitored uninterruptedly, and whether data acquisition and transmission need to be stopped or not is judged in a self-adaptive mode according to the vibration, the rotation and the static states, so that power-saving work is facilitated.
Drawings
FIG. 1 is a block diagram of a system structure of an embodiment of a wireless monitoring system for a mine drilling trajectory.
Detailed Description
The following is further detailed by the specific embodiments:
example 1
An embodiment is substantially as shown in figure 1, comprising:
the acquisition module is used for acquiring track data of the drill hole in real time;
the encoding module is used for carrying out encoding modulation processing on the track data in real time and wirelessly transmitting the track data subjected to the encoding modulation processing through electromagnetic waves;
the decoding module is used for receiving the track data subjected to the coding modulation processing in real time, extracting the track data subjected to the coding modulation processing by adopting an impedance matching algorithm, amplifying and filtering the track data subjected to the coding modulation processing, and then decoding the track data to obtain decoded track data;
and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the decoded track data in real time, sending an instruction for stopping the acquisition of the track data of the drilled hole to the acquisition module if the acquisition and transmission of the track data need to be stopped, and sending an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of the electromagnetic waves to the encoding module.
In this embodiment, the acquisition module is a three-axis acceleration sensor, the encoding module, the decoding module and the judgment module are all integrated on a single chip microcomputer, the functions of the acquisition module, the decoding module and the judgment module are realized through software/programs/codes/computer instructions, the decoding module is further connected with a storage and a display, and the components need to be powered by storage batteries.
The specific implementation process is as follows:
and S1, the acquisition module acquires track data of the drill hole in real time. In this embodiment, the acquisition module is a three-axis acceleration sensor, and the trajectory data of the drill hole is the inclination data of the drill hole, that is, the three-axis acceleration sensor is adopted to acquire the inclination data of the drill hole in real time.
And S2, the coding module performs coding modulation processing on the track data in real time and wirelessly transmits the track data subjected to coding modulation processing through electromagnetic waves. In this embodiment, the track data may be encoded and modulated by using an existing method, and the encoded and modulated track data may be wirelessly transmitted by electromagnetic waves after the processing is completed.
S3, the decoding module receives the track data after the coding modulation processing in real time, the track data after the coding modulation processing is extracted by adopting an impedance matching algorithm, and the track data after the coding modulation processing is amplified, filtered and decoded to obtain the decoded track data. In this embodiment, firstly, since the impedance matching algorithm is very favorable for extracting weak electromagnetic wave signals, the impedance matching algorithm is adopted to extract track data after the code modulation processing, so that the transmission distance can be increased; then, as the transmission channel is a coal rock medium, the geological condition is complex, the transmission condition of electromagnetic waves is extremely complex, and a gain amplification algorithm based on hierarchical control is adopted, namely, the gain amplification adopts the hierarchical control to amplify the track data after the code modulation processing, so that the requirements of different media and transmission distances on signal amplification can be met; then, determining a passband according to the frequency characteristic and the noise characteristic of the electromagnetic wave signal, and performing filtering processing on the track data after the coding modulation processing according to the passband, so that filtering reception of the uv level weak signal can be well realized; and finally, decoding the track data subjected to amplification and filtering processing to obtain decoded track data. And after the decoding is finished, storing the decoded track data in a storage and displaying the decoded track data through a display.
And S4, the stopping module adaptively judges whether the acquisition and transmission of the track data need to be stopped according to the decoded track data in real time, sends an instruction for stopping the acquisition of the track data of the drilled hole to the acquiring module if the acquisition and transmission of the track data need to be stopped, and sends an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of electromagnetic waves to the encoding module. In this embodiment, because the orbit data of drilling is the inclination data of drilling, so judge whether need stop the collection and the transmission of orbit data according to inclination data self-adaptation, through incessant monitoring drilling rod vibrations, rotation and the quiescent condition at the drilling in-process, be convenient for design the power chronogenesis of collection and transmission according to this, realize the power saving work of battery, extension operating time.
Therefore, in the scheme, on one hand, the track data after the coding modulation processing is extracted by adopting an impedance matching algorithm, so that the weak electromagnetic wave signal can be extracted, and the transmission distance can be increased; on the other hand, whether the acquisition and transmission of the track data need to be stopped or not is judged in a self-adaptive mode according to the track data, so that electricity can be saved, and the working time can be prolonged. The two are combined, so that the transmission distance is increased, the working time is prolonged, even if a common drill rod is adopted, the track data can be transmitted in real time in the rotary drilling process, and the real-time monitoring of the drilling track is realized.
Example 2
The difference from the embodiment 1 is only that in the step S1, the acquisition module is a high-precision magnetic sensor, and the high-precision magnetic sensor acquires three component values of the earth magnetic field in the borehole in real time; in S3, the decoding module receives the three-component value of the earth magnetic field in real time and decodes the three-component value of the earth magnetic field into direction angle data; in S4, the stop module adaptively determines whether to stop the acquisition and transmission of the trajectory data according to the direction angle data in real time. Therefore, whether the track of the drill hole is bent or inclined or not can be easily judged through the direction angle data, and the change of the direction angle data can be reflected through the vibration condition of the drill rod, so that the vibration of the drill rod in the drilling process can be continuously monitored.
Example 3
The difference from embodiment 2 is only that after the trajectory data of the drill hole is acquired, the trajectory data of the drill hole is corrected. The track data needs to be collected by various sensors, most of the sensors are magnetic sensors, and the magnetic sensors convert the magnetic property change of a sensitive element caused by external factors such as magnetic field, current, temperature, light, stress strain and the like into electric signals to detect corresponding physical quantities, such as physical parameters such as current, position, direction and the like. Due to the fact that the magnetic material exists inside the sensor, demagnetization, such as an external magnetic field, heating, high temperature and impact, may occur under the action of external factors, so that the magnetic distance directions of magnetic domains in the magnetic material become inconsistent, magnetism is weakened or disappears, and track data of a drill hole acquired by the sensor is inaccurate.
In the embodiment, considering a specific application scenario, usually in an outdoor mine or a downhole, an external magnetic field exists more or less in these places, so that the correction needs to be performed according to the principle of magnetic field memory: firstly, acquiring inclination angle data of a drill hole in real time by using a three-axis acceleration sensor, and recording the inclination angle data as R1; then, covering a prepared shell on the triaxial acceleration sensor, shielding an external magnetic field by the shell, wherein due to the magnetic field memory effect, the external magnetic field effect on the triaxial acceleration sensor before and after shielding is different, the change of the external magnetic field can be reflected as the change of inclination angle data, and the change of the inclination angle data of the drill hole acquired by the triaxial acceleration sensor at the moment is recorded as delta R; finally, corrected inclination data, denoted as R2, may be obtained, and then the corrected inclination data R2 is R1+ Δ R. By the mode, if the interference of an external magnetic field exists, the relative change of the external magnetic field is reflected as the relative change of the inclination angle data, the acquired inclination angle data can be accurately corrected by utilizing the principle of magnetic field memory, and then whether the acquisition and transmission of the track data need to be stopped or not is accurately and adaptively judged, so that the occurrence of misjudgment is avoided.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. Mining drilling track wireless monitoring system, its characterized in that includes:
the acquisition module is used for acquiring track data of the drill hole in real time;
the encoding module is used for carrying out encoding modulation processing on the track data in real time and wirelessly transmitting the track data subjected to the encoding modulation processing through electromagnetic waves;
the decoding module is used for receiving the track data subjected to the coding modulation processing in real time, extracting the track data subjected to the coding modulation processing by adopting an impedance matching algorithm, amplifying and filtering the track data subjected to the coding modulation processing, and then decoding the track data to obtain decoded track data;
and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the decoded track data in real time, sending an instruction for stopping the acquisition of the track data of the drilled hole to the acquisition module if the acquisition and transmission of the track data need to be stopped, and sending an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of the electromagnetic waves to the encoding module.
2. The mining drilling trajectory wireless monitoring system of claim 1, wherein the decoding module is configured to perform amplification processing on the trajectory data after the code modulation processing by using a gain amplification algorithm based on hierarchical control.
3. The mining drilling trajectory wireless monitoring system of claim 2, wherein the decoding module determines a passband according to frequency characteristics and noise characteristics of the electromagnetic wave signal, and performs filtering processing on the trajectory data after the coding modulation processing according to the passband.
4. The wireless monitoring system for the mine drilling track according to claim 3, wherein the acquisition module comprises a three-axis acceleration sensor, and the three-axis acceleration sensor is used for acquiring inclination angle data of the drilling hole in real time; and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the inclination angle data.
5. The mining drilling track wireless monitoring system according to claim 4, wherein the acquisition module comprises a high-precision magnetic sensor, and the high-precision magnetic sensor is used for acquiring three-component values of the earth magnetic field in the drilling hole in real time; the decoding module is used for receiving the three-component value of the earth magnetic field in real time and decoding the three-component value of the earth magnetic field into direction angle data; and the stopping module is used for adaptively judging whether the acquisition and transmission of the track data need to be stopped or not according to the direction angle data.
6. The wireless monitoring system for mine drilling trajectories of claim 5, wherein the decoding module is further configured to store and display decoded trajectory data.
7. A mining drilling track wireless monitoring method is characterized by comprising the following steps:
s1, acquiring track data of the drill holes in real time by an acquisition module;
s2, the encoding module carries out encoding modulation processing on the track data in real time and wirelessly transmits the encoded and modulated track data through electromagnetic waves;
s3, the decoding module receives the track data after the coding modulation processing in real time, the track data after the coding modulation processing is extracted by adopting an impedance matching algorithm, and the track data after the coding modulation processing is amplified, filtered and decoded to obtain the decoded track data;
and S4, the stopping module adaptively judges whether the acquisition and transmission of the track data need to be stopped according to the decoded track data in real time, sends an instruction for stopping the acquisition of the track data of the drilled hole to the acquiring module if the acquisition and transmission of the track data need to be stopped, and sends an instruction for stopping the track data subjected to the encoding modulation processing through the wireless transmission of electromagnetic waves to the encoding module.
8. The mining drilling trajectory wireless monitoring method according to claim 7, wherein in S3, the decoding module adopts a gain amplification algorithm based on hierarchical control to amplify the trajectory data after the coding modulation processing.
9. The mining drill hole trajectory wireless monitoring method according to claim 8, wherein in S3, the decoding module determines a passband according to frequency characteristics and noise characteristics of the electromagnetic wave signal, and performs filtering processing on the trajectory data after the coding modulation processing according to the passband.
10. The wireless monitoring method for the mine drilling track according to claim 9, wherein in S1, the acquisition module comprises a three-axis acceleration sensor, and the three-axis acceleration sensor acquires the inclination angle data of the drilling hole in real time; in S4, the stop module adaptively determines whether to stop the acquisition and transmission of the trajectory data according to the tilt data in real time.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114483012A (en) * | 2022-01-25 | 2022-05-13 | 陕西太合智能钻探有限公司 | Wireless measuring joint |
| CN115788409A (en) * | 2022-11-17 | 2023-03-14 | 抚顺中煤科工检测中心有限公司 | Coal mine directional drilling inclinometer based on wireless electromagnetic wave transmission |
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