CN113866773A - Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave - Google Patents

Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave Download PDF

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CN113866773A
CN113866773A CN202111053306.XA CN202111053306A CN113866773A CN 113866773 A CN113866773 A CN 113866773A CN 202111053306 A CN202111053306 A CN 202111053306A CN 113866773 A CN113866773 A CN 113866773A
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detection device
karst cave
amphibious
propeller
horizontal
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梁卫国
张胜利
孙玉山
肖宁
李静
赵德生
李超
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Taiyuan University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

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  • Physics & Mathematics (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Geophysics And Detection Of Objects (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

The invention discloses an amphibious detection device and method for measuring the topography of an underground ultra-deep horizontal karst cave. The propulsion system comprises a stern spiral propeller, a bow vector propeller, a vertical propeller and a lateral propeller, and not only can the detection device be ensured to stably and freely move in water, but also the device can be ensured to normally walk in sediments. In addition, the device utilizes a navigation device to feed back the position in real time, combines the inner diameter and boundary information of the karst cave obtained by sonar, can rapidly and accurately reconstruct the three-dimensional form of the karst cave, utilizes an underwater searchlight and a camera to observe and record the concerned position in real time in a video mode, and has visual guiding significance for the morphological characteristics of the horizontal karst cave, the pipe blockage mechanism and the insoluble substance deposition rule.

Description

Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave
The technical field is as follows:
the invention discloses an amphibious detection device for measuring the shape of an underground ultra-deep horizontal karst cave, belongs to the detection and utilization range of special underground deep space, and particularly aims at the conditions of ultra-deep state and insoluble sediment at the lower part of the karst cave. The device is mainly suitable for measuring the shape of a large-scale water-containing horizontal salt cavity in the deep underground part, and is a full-automatic, small, efficient and accurate underground space detection device.
Background art:
because of its extremely low permeability and good damage self-healing capacity, the rock salt cavern is recognized as an ideal oil, gas and waste disposal site. In order to meet the demand of national energy strategic reserves, the construction pace of underground reservoirs needs to be accelerated. The traditional cavity-making process is to build a vertical cavity in a rock salt layer by using a single-well convection mode. In order to master the shape and size change condition of the cavity in the cavity making process in real time, the shape and dissolution details of the salt cavity are measured and observed regularly through sonar equipment. However, the traditional single-well convection cavity building period is long, and a horizontal salt cavity is built by adopting a mode of convection of a butt well in order to shorten the cavity building time. However, the existing cavity measuring device is only suitable for a vertical salt cavity, so that the cavity measuring device capable of walking underwater for a long distance is urgently needed to be invented in order to meet the requirement of real-time monitoring of a horizontal dissolving cavity in the cavity building process.
In addition, in combination with the salt mine mining history of China, a large number of vertical and horizontal waste salt rock old cavities exist in Hubei, Jiangsu, Henan and the like, and the length of part of horizontal dissolving cavities can reach hundreds of meters. If the waste salt cavities can be subjected to shape detection work, the waste salt cavities are reformed into reservoirs meeting oil-gas storage conditions according to detection results. Not only can save the cavity making time and the cavity making cost, but also can avoid a series of safety problems caused by the subsidence of the ground surface of the waste old cavity. The diameter (external diameter) of the traditional cavity making and halogen collecting pipe is smaller, and is generally about 180mm and 155 mm. In order to ensure the cavity measuring device to submerge smoothly, the maximum diameter of the cavity measuring device is not more than 120 mm. Therefore, the first step of how to reasonably utilize the waste old cavity is to utilize a small-diameter detection device to detect the morphological characteristics of the waste salt cavity.
Meanwhile, the salt deposit in China is generally buried deeper (hundreds to thousands of meters deep), and is often produced with mudstone, anhydrite, glauberite and the like in a mutual layer, and the salt layer contains a large amount of impurities. Therefore, no matter the new salt rock dissolving cavity or the waste old cavity is provided with a large amount of insoluble sediments at the bottom of the cavity. The traditional cavity measuring equipment does not consider the influence of sediments on a propeller, and can realize long-distance full-automatic walking in the horizontal direction less. In addition, the brine in the cavity is corrosive, and part of the dissolving cavity is buried about 3000m, and the ground temperature can reach about 100 ℃.
In conclusion, the invention is needed to invent a small-diameter amphibious detection device which is resistant to corrosion, temperature and high pressure and can freely walk in a horizontal karst cave containing sediments in a deep part.
The invention content is as follows:
in order to solve the technical problems mentioned in the background technology, the invention provides an amphibious detection device for measuring the shape of an underground ultra-deep horizontal karst cave, solves the problem that the traditional detection device is difficult to automatically travel in a long distance in an ultra-deep sediment-containing karst cavity, and discloses and provides a full-automatic, small, efficient and accurate amphibious detection device for an underground space and a corresponding use method.
In order to solve the technical problem, the invention is realized by the following modes: an amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave comprises a cabin body, a comprehensive control system, a navigation positioning system, a power system, a propulsion system, a communication system, a detection system and a ground monitoring system; the cabin body is a sealed cabin and is made of corrosion-resistant, light and high-strength titanium alloy materials; the integrated control system comprises a central processor board and an expansion board card, and the system integrates a serial port, a network port, a universal input/output port and a universal interface; the navigation positioning system comprises a gyrocompass, an accelerometer, a depth meter and a Doppler velocimeter; the power device system comprises a control electric battery, a power electric battery and a corresponding battery monitoring device, wherein the power electric battery supplies power for the propulsion device, and the control electric battery supplies power for other equipment except the propulsion device; the propulsion system comprises a main propulsion device and an auxiliary propulsion device; the main propulsion device comprises a conventional propeller and a vector propeller, the conventional propeller is arranged at the stern part of the cabin body, the vector propeller is arranged at the bow part of the cabin body, a channel propeller module is respectively arranged between the bow part and the stern part of the cabin body and the main propulsion device, and the vertical propeller and the lateral propeller are contained in the channel propeller modules; the communication system is characterized in that the water surface monitoring platform and the underwater main body part are connected together by using an umbilical cable; the detection system comprises underwater cameras, searchlights and sonars, wherein the underwater cameras are symmetrically arranged on the left side and the right side of the amphibious detection device, each camera is matched with one searchlight, and the sonars are fixed on the connecting part of the cabin body and the front end vector propeller; the ground monitoring system comprises a ground console and a remote control handle, wherein the ground console is provided with an external serial port, a video interface and a universal serial bus interface, and is communicated with the underwater detection device through an umbilical cable and is externally connected with a monitor.
An application method of an amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave comprises the following specific steps:
the method comprises the following steps: according to the salt bed cavity making data or the salt mine mining data, selecting a water-containing large-scale dissolving cavity meeting geological conditions: burying a horizontal dissolving cavity;
step two: the horizontal dissolving cavity generally comprises a vertical well and an inclined well, in order to avoid the amphibious detection device from blocking the well at the deflecting position of the inclined well, the horizontal dissolving cavity is selectively lowered and recovered from the vertical well, and before the horizontal dissolving cavity is lowered, the vertical well is repaired, so that the smooth lowering and recovery of the horizontal dissolving cavity are ensured;
step three: in order to ensure that the amphibious detection device can freely walk in the karst cave, water is injected from the vertical well or the inclined well until the vertical well or the inclined well is filled with the water before the device is put down;
step four: and detecting whether the power system has sufficient electric quantity and other systems operate normally. The method comprises the following steps of (1) lowering an amphibious detection device from a vertical well, opening a ground monitoring device, a searchlight and a camera in the lowering process, monitoring the lowering position and the lowering environment in real time, ensuring the lowering safety of the amphibious detection device, suspending a throwing object in the lowering process in order to save energy consumption, and throwing the throwing object down after reaching a designated position;
step five: opening a navigation positioning system, a sonar and a propulsion system, measuring an attitude angle according to a gyrocompass in the navigation system, carrying out position calculation by using an accelerometer and a Doppler velocimeter, correcting a vertical position through a depth meter, determining position information of an amphibious detection device, and then adjusting a driving value in the propulsion device according to pose measurement data to ensure that the device is in a hovering state;
step six: the method comprises the following steps that an amphibious detection device obtains the motion state and external environment information of the amphibious detection device through a navigation positioning system, a sonar and a camera, the motion state and the external environment information are transmitted to a ground monitoring system through an umbilical cable, monitoring personnel give instructions to drive each actuating mechanism to change the state of the amphibious detection device, obstacles are avoided through an automatic and artificial auxiliary method, 360-degree axial scanning is carried out on a travelling path through the sonar, the inner diameter and boundary information of a karst cave are transmitted to the ground monitoring device through the umbilical cable, mathematical modeling processing is carried out, a three-dimensional model of the karst cave is obtained, and further parameters such as the shape and the volume of the karst cave are obtained;
step seven: after the horizontal karst cave is measured, the sonar is closed, the operation device turns around, the three-dimensional horizontal karst cave topography graph obtained in the sixth step and the data of the navigation positioning system are utilized to conduct directional operation on the amphibious detection device, in addition, the underwater camera is utilized to conduct real-time image monitoring observation and recording on the position which is particularly concerned, and finally the position returns to the vertical well;
step eight: in consideration of complex environments such as sediments and ground caves, when the umbilical cable is damaged and the command of the ground monitoring device cannot be transmitted to the amphibious detection device, the amphibious detection device is guided to a specified position to be recovered by adopting optical guide control based on image recognition, and the safe operation of the amphibious detection device in the ultra-deep karst cave is ensured;
step nine: according to information in a navigation positioning system, the amphibious detection device is adjusted to a proper posture by using the propulsion device, finally the device is taken out from the vertical well by using the umbilical cable, the obtained detection data is analyzed and processed in detail, the accurate and real shape and size of the horizontal karst cave and the image data of a local part of interest are obtained, and the karst cave detection work is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the detection device can be lowered to an underground horizontal type dissolving cavity with the depth of 3000m through a shaft with the diameter larger than 130mm, can continuously and normally operate for at least ten hours under the environment with the pressure of 35MPa and the temperature of 100 ℃, does not need to be powered through the ground, and avoids the pressure drop caused by long-distance ground power supply;
2. the device can feed back the position of the device in real time through a navigation system (gyrocompass, Doppler velocimeter, accelerometer and depth meter), so that the problem that the navigation data cannot be obtained through external information in a deep complex environment is avoided, and the detection data is more reliable;
3. the propulsion system of the device comprises a stern spiral propeller, a bow vector propeller, a vertical propeller and a lateral propeller, so that the amphibious detection device can be ensured to stably and freely move in water, and the device can be ensured to normally walk in sediments;
4. the device can move according to a set travelling path, and utilizes sonar 360-degree axial scanning to transmit the inner diameter and boundary information of the karst cave obtained by scanning to a ground monitoring device through an umbilical cable, and the three-dimensional form of the karst cave is rapidly reconstructed by combining self position information;
5. the device can utilize the underwater searchlight and the camera to observe and record the video of a specific part in real time, and has visual guiding significance on the pipe blockage mechanism and the insoluble substance deposition rule.
Drawings
FIG. 1 is a schematic diagram of an amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave.
Reference numbers in the figures: 1-cabin body; 2-screw propeller at stern; 3-vertical thruster; 4-a lateral thruster; 5, a power system; 6, a control panel; 7-sonar; 8-underwater camera; 9-searchlight; 10-a navigation positioning system; 11-heading vector thruster.
FIG. 2 is a schematic diagram of a ground monitoring system and ultra-deep horizontal cavern topography detection.
Reference numbers in the figures: 12-a ground monitoring system; 13-umbilical cord cable; 14-a vertical well; 15-horizontal karst cave; 16-an amphibious detection device; 17-sediment; and 18, inclined shaft.
Detailed Description
According to the amphibious detection device for measuring the morphology of the underground ultra-deep horizontal karst cave, the position of the amphibious detection device can be fed back in real time through the navigation system of the amphibious detection device, so that the problem that the navigation data cannot be obtained through external information in a deep complex environment is solved, and the detection data is more reliable; the screw propeller, the vector propeller, the vertical propeller and the lateral propeller at the stern can be used for realizing free walking in the sediment, and reconstruction of the karst cave shape and microscopic observation and recording of a specific position are completed through sonar and underwater camera shooting functions.
The invention will be further explained with reference to the description and the implementation examples of the drawings, in which:
the invention relates to an amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave, which mainly comprises a cabin body, a propulsion system, a power system, a detection system, a comprehensive control system, a navigation positioning system, a ground monitoring system, a communication system and the like.
The cabin body 1 is formed by processing a corrosion-resistant, light-weight and high-strength titanium alloy material, and the internal structure frame is processed by an aluminum alloy material and a polypropylene material.
The propulsion system mainly comprises two parts: a main propulsion device and an auxiliary propulsion device. The main propulsion system consists of a conventional propeller and a vector propeller, and can realize that the cavity measuring device freely walks in the sediment, thereby avoiding the problem that the common propeller cannot normally work due to the existence of the sediment. The main propulsion device and the auxiliary propulsion device are combined and matched to realize the forward, backward, steering, floating and submerging operations of the amphibious detection device. The propulsion system is respectively arranged at the stern part and the bow part of the cabin body, the stern part adopts a conventional propeller 2, and the bow part is provided with a vector propeller 11. The bow vector thruster 11 can control the steering and submerging and floating movement of the amphibious detection device by utilizing the self 360-degree spiral rotation capacity, and meanwhile, the detection device 16 can freely walk in the sediments 17. In addition, the bow part and the stern part of the cabin body are respectively provided with a conventional channel thruster module, and the modules comprise a vertical thruster 3 and a lateral thruster 4 which are used for assisting the robot to control depth, orientation, steering and the like. Wherein, the vertical propeller 3 is used for assisting to provide diving and floating power, and the lateral propeller 4 can assist to provide steering power.
The power system 5 is composed of a control electric battery, a power electric battery and a corresponding conventional battery monitoring device. The power system 5 is arranged in the lower half of the cabin 1, wherein the power electric battery supplies power to the propulsion device through the series connection with the propulsion device. The vertical propeller 3 and the lateral propeller 4 in the propulsion device are connected in parallel, the screw propeller 2 at the stern and the vector propeller 11 at the bow are connected in parallel, and then are respectively connected in series with the power battery. The control electricity battery is except that advancing device other equipment power supplies, including control panel 6, sonar 7, camera 8, searchlight 9 and navigation positioning system 10 under water, wherein sonar 7, camera 8 and searchlight 9 are parallelly connected then establish ties with other subassemblies under water, connection control electricity battery, and the lithium cell is all chooseed for use to the battery. The battery monitoring device is used for monitoring the electric quantity of the battery and whether other safety problems such as electric leakage exist.
The comprehensive control system is a control board 6 composed of a high-performance CPU board (Ryzen threader PRO 3995WX 128 thread) and an expansion board card thereof, and the device integrates general interfaces such as a serial port, a network port, GPIO input and output, AD/DA and the like and is arranged at the upper half part in the cabin body 1. The navigation positioning system 10, the monitoring system and the circuit board for controlling the propulsion system are respectively connected with the control board 6 through reserved serial ports. The amphibious detection device 16 temporarily stores the positioning information and cavity measurement data during the cavity measurement process in the control panel 6, and then transmits the data to the ground monitoring system 12 through the umbilical cable 13. In addition, the ground monitoring system 12 transmits a ground command to the comprehensive control system through the umbilical cable 13, and the comprehensive control system transmits the command to the propulsion system so as to control the operation of the vertical propeller 3, the lateral propeller 4, the stern propeller 2 and the bow vector propeller 11.
The detection system consists of a sonar 7, an underwater camera 8 and a searchlight 9. Sonar 7 satisfies withstand voltage standard, fixes it in amphibious detection device main part and front end vector propeller's connecting portion, can realize 360 circumferential scanning for survey the internal diameter and the boundary condition of solution cavity. The underwater cameras 8 are symmetrically arranged on the left side and the right side of the amphibious detection device, and each camera is matched with one searchlight 9 and used for detecting the front real condition and observing and recording the specific position. Wherein sonar 7, underwater camera 8 and searchlight 9 are parallelly connected each other, and establish ties with control electric battery, ensure its normal supply of operation in-process energy.
The navigation positioning system 10 is composed of a gyrocompass, an accelerometer, a depth meter and a Doppler velocimeter, wherein the Doppler velocimeter is arranged at the bottom of the cabin body, and the gyrocompass, the accelerometer and the depth meter are arranged in the cabin body 1. The gyrocompass utilizes the comprehensive effect of the rotational angular velocity and the gravity field of the earth to enable the rotational axis of the two-degree-of-freedom gyroscope to automatically search the true north direction, so that not only can accurate and reliable course reference be provided for navigation of the amphibious detection device 16, but also the self attitude angle can be measured. The Doppler velocimeter utilizes the frequency difference between the emitted electromagnetic waves and the reflected electromagnetic waves to calculate the moving speed of the object, and the auxiliary accelerometer and the gyroscope can determine the traveling position of the amphibious detection device 16. In addition, the depth gauge can also determine the depth of the amphibious detection device 16 by utilizing pressure and sound waves, and the position of the amphibious detection device 16 in the cavity measuring process can be accurately determined by combining data of an accelerometer, a gyroscope and a Doppler velocimeter. The method has the advantages that the gyro compass is used for measuring the attitude angle, the accelerometer, the gyroscope and the Doppler velocimeter are used for calculating the position, and the depth meter is used for correcting the vertical position, so that the problem that navigation data cannot be obtained through external information due to the complex environment of an ultra-deep karst cave is solved. The gyrocompass, the accelerometer, the Doppler velocimeter and the depth meter are respectively connected in parallel and are connected in series with the control electric battery, in addition, the measured data are transmitted to the comprehensive control system through the transmission interface, the comprehensive control system transmits the data to the ground monitoring system 12 by using the umbilical cable 13, and data support is provided for the next action of the amphibious detection device.
The ground monitoring device 12 is composed of a ground console, a remote control handle and the like. The ground console is provided with an external serial port, a video interface, a USB interface and the like, the communication is carried out between the umbilical cable 13 and the underwater amphibious detection device 16, the external monitor is connected with the video interface of the ground console, the real-time image output can be realized, the current state of the amphibious detection device is displayed, and the control and the intervention are carried out by utilizing a remote control handle and the like. The remote control handle is connected with the ground console through a reserved USB interface, and the video interface is connected with the USB interface in parallel and connected with the ground console in series. The command transmitted by the remote control handle can be transmitted to the comprehensive control system through the umbilical cable 13, and the comprehensive control system transmits the command to the propulsion system so as to control the amphibious detection device 16 to walk in water.
The communication system is that the umbilical cable 13 is used to connect the water surface monitoring platform 12 and the underwater main body part 16 together, and is used to transmit the control signal of the above water part, the sensor information of the underwater carrier and the sonar scanning result information, and is also used for recovering the underwater main body part 16 from the vertical well.
The device can meet the requirements of the appearance measurement of a 3000m deep horizontal karst cave and the detailed observation and recording of a local specific position; put into the solution cavity that is full of water from the perpendicular well casing that the diameter is greater than 130mm with the device, according to the information of self navigation positioning system and detection system feedback, ground monitoring personnel utilize ground monitoring system to observe and controlling means's motion, accomplish the video detection of surveying the formation of image and local specific position to whole solution cavity's the tour sonar to transmit the ground control platform through communication system with monitoring data, concrete measuring step is as follows:
the method comprises the following steps: according to the salt bed cavity making data or the salt mine mining data, selecting a water-containing large karst cave 15 meeting geological conditions: the depth of burial is not more than 3000m, the length is not more than 1000m, and the diameter of the shaft is not less than 130 mm.
Step two: the horizontal cavern generally comprises two wells, namely a vertical well 14 and a slant well 18, and is selectively lowered and recovered from the vertical well 13 in order to avoid the amphibious detection device 16 from being stuck at the deflecting position of the slant well 18. Before the device is transferred, the vertical well 14 is repaired, and smooth transfer and recovery of the device are guaranteed.
Step three: in order to ensure that the amphibious detection device 16 can freely travel in the cavern 15, water is injected from the vertical well 14 or the inclined well 18 until the device is filled before the device is lowered.
Step four: and detecting whether the power system 5 has sufficient electric quantity and other systems operate normally. The amphibious detection device 16 is lowered from the vertical well 14, the ground monitoring system 12, the searchlight 9 and the camera 8 are turned on in the lowering process, the lowering position and environment are monitored in real time, and the lowering safety of the amphibious detection device 16 is guaranteed. In order to save energy consumption, the throwing object is suspended in the lowering process and is thrown down after reaching the designated position.
Step five: and opening the navigation positioning system 10, the sonar 7, the screw propeller 2 at the stern, the vector propeller 11 at the bow, the vertical propeller 3 and the lateral propeller 4. The gyrocompass in the navigation device 10 automatically searches the true north direction by utilizing the comprehensive effect of the rotational angular velocity and the gravity field of the earth, determines a heading reference and completes the measurement of the attitude angle of the gyrocompass. The doppler velocimeter determines the movement velocity by using the frequency difference between the emitted and reflected electromagnetic waves, and the auxiliary accelerometer and gyroscope can determine the traveling position of the amphibious detection device 16. In addition, the depth gauge can also determine the depth of the amphibious detection device 16 by utilizing pressure and sound waves, and the position of the amphibious detection device 16 in the cavity measuring process can be accurately determined by combining data of an accelerometer, a gyroscope and a Doppler velocimeter. The method has the advantages that the gyro compass is used for measuring the attitude angle, the accelerometer, the gyroscope and the Doppler velocimeter are used for calculating the position, and the depth meter is used for correcting the vertical position, so that the problem that navigation data cannot be obtained through external information due to the complex environment of an ultra-deep karst cave is solved. And then adjusting a driving value in the propulsion device according to the pose measurement data to ensure that the device is in a hovering state.
Step six: amphibious detection device 16 acquires its motion state and external environment information through navigation positioning system 10, sonar 7 and camera 8, transmits for ground monitored control system 12 through umbilical cord optical cable 13, and the control personnel give reasonable instruction drive: for example, when there is no obstacle in front, the vehicle advances in a specified direction. When an obstacle exists, the running direction of the amphibious detection device 16 is changed by an automatic method and a human-aided method, and the obstacle is avoided. On a route, 360-degree axial scanning is carried out by using sonar, the inner diameter and boundary information of the karst cave are transmitted to a ground monitoring system 12 through an umbilical cable 13, mathematical modeling processing is carried out, a three-dimensional model of the karst cave is obtained, and parameters such as the shape and the volume of the karst cave are further obtained.
Step seven: and after the horizontal karst cave is tested, closing the sonar 7 and operating the amphibious detection device 16 to turn around. And (4) performing directional operation on the amphibious detection device 16 by using the three-dimensional horizontal karst cave topography map obtained in the sixth step and the data of the navigation positioning system 10, namely performing optimal planning on the return path of the amphibious detection device 16 according to the obtained horizontal karst cave topography map, issuing an instruction by using the ground monitoring system 12, and returning from the path with the fewest obstacles. In addition, the particular location of interest is observed and recorded in real-time image monitoring using the underwater camera 8 and ultimately returned to the vertical well 14.
Step eight: in consideration of complex environments such as sediments and ground caves, when the umbilical cable 13 is damaged and the command of the ground monitoring system 12 cannot be transmitted to the amphibious detection device 16, the amphibious detection device 16 is guided to a specified position for recovery by adopting optical guide control based on image recognition, and the safe operation of the amphibious detection device 16 is ensured.
Step nine: to facilitate the extraction of the amphibious sonde 16 from the vertical well 14, it is desirable that the device be oriented parallel to the vertical well when near the wellhead. According to the information in the navigation positioning system 10, the power of the stern screw propeller 2, the stem vector propeller 11, the vertical propeller 3 and the lateral propeller 4 is distributed by the ground monitoring system 12, the amphibious detection device is adjusted to be in a proper posture, and finally the cavity measuring device 16 is taken out of the vertical well 14 by the umbilical cable 13. And analyzing and processing the acquired detection data in detail to acquire the accurate and real shape and size of the horizontal karst cave and the image data of the local part of interest, and finishing the karst cave detection work.
Finally, it is noted that the above embodiments illustrate rather than limit the invention, and that while the invention has been described with reference to the embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (2)

1. An amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave is characterized in that: the device comprises a cabin body, a comprehensive control system, a navigation positioning system, a power system, a propulsion system, a communication system, a detection system and a ground monitoring system; the cabin body is a sealed cabin and is made of corrosion-resistant, light and high-strength titanium alloy materials; the integrated control system comprises a central processor board and an expansion board card, and the system integrates a serial port, a network port, a universal input/output port and a universal interface; the navigation positioning system comprises a gyrocompass, an accelerometer, a depth meter and a Doppler velocimeter; the power device system comprises a control electric battery, a power electric battery and a corresponding battery monitoring device, wherein the power electric battery supplies power for the propulsion device, and the control electric battery supplies power for other equipment except the propulsion device; the propulsion system comprises a main propulsion device and an auxiliary propulsion device; the main propulsion device comprises a conventional propeller and a vector propeller, the conventional propeller is arranged at the stern part of the cabin body, the vector propeller is arranged at the bow part of the cabin body, a channel propeller module is respectively arranged between the bow part and the stern part of the cabin body and the main propulsion device, and the vertical propeller and the lateral propeller are contained in the channel propeller modules; the communication system is characterized in that the water surface monitoring platform and the underwater main body part are connected together by using an umbilical cable; the detection system comprises underwater cameras, searchlights and sonars, wherein the underwater cameras are symmetrically arranged on the left side and the right side of the amphibious detection device, each camera is matched with one searchlight, and the sonars are fixed on the connecting part of the cabin body and the front end vector propeller; the ground monitoring system comprises a ground console and a remote control handle, wherein the ground console is provided with an external serial port, a video interface and a universal serial bus interface, and is communicated with the underwater detection device through an umbilical cable and is externally connected with a monitor.
2. An application method of an amphibious detection device for measuring the topography of an underground ultra-deep horizontal karst cave is characterized in that: the method comprises the following specific steps:
the method comprises the following steps: according to the salt bed cavity making data or the salt mine mining data, selecting a water-containing large-scale dissolving cavity meeting geological conditions: burying a horizontal dissolving cavity;
step two: the horizontal dissolving cavity generally comprises a vertical well and an inclined well, in order to avoid the amphibious detection device from blocking the well at the deflecting position of the inclined well, the horizontal dissolving cavity is selectively lowered and recovered from the vertical well, and before the horizontal dissolving cavity is lowered, the vertical well is repaired, so that the smooth lowering and recovery of the horizontal dissolving cavity are ensured;
step three: in order to ensure that the amphibious detection device can freely walk in the karst cave, water is injected from the vertical well or the inclined well until the vertical well or the inclined well is filled with the water before the device is put down;
step four: detecting whether the power system is sufficient in electric quantity and whether other systems run normally, lowering the amphibious detection device from the vertical well, opening the ground monitoring device, the searchlight and the camera in the lowering process, monitoring the lowering position and the lowering environment in real time, ensuring the lowering safety of the amphibious detection device, suspending a throwing object in the lowering process in order to save energy consumption, and throwing the throwing object down after reaching a specified position;
step five: opening a navigation positioning system, a sonar and a propulsion system, measuring an attitude angle according to a gyrocompass in the navigation system, carrying out position calculation by using an accelerometer and a Doppler velocimeter, correcting a vertical position through a depth meter, determining position information of an amphibious detection device, and then adjusting a driving value in the propulsion device according to pose measurement data to ensure that the device is in a hovering state;
step six: the method comprises the following steps that an amphibious detection device obtains the motion state and external environment information of the amphibious detection device through a navigation positioning system, a sonar and a camera, the motion state and the external environment information are transmitted to a ground monitoring system through an umbilical cable, monitoring personnel give instructions to drive each actuating mechanism to change the state of the amphibious detection device, obstacles are avoided through an automatic and artificial auxiliary method, 360-degree axial scanning is carried out on a travelling path through the sonar, the inner diameter and boundary information of a karst cave are transmitted to the ground monitoring device through the umbilical cable, mathematical modeling processing is carried out, a three-dimensional model of the karst cave is obtained, and further parameters such as the shape and the volume of the karst cave are obtained;
step seven: after the horizontal karst cave is measured, the sonar is closed, the operation device turns around, the three-dimensional horizontal karst cave topography graph obtained in the sixth step and the data of the navigation positioning system are utilized to conduct directional operation on the amphibious detection device, in addition, the underwater camera is utilized to conduct real-time image monitoring observation and recording on the position which is particularly concerned, and finally the position returns to the vertical well;
step eight: in consideration of complex environments such as sediments and ground caves, when the umbilical cable is damaged and the command of the ground monitoring device cannot be transmitted to the amphibious detection device, the amphibious detection device is guided to a specified position to be recovered by adopting optical guide control based on image recognition, and the safe operation of the amphibious detection device in the ultra-deep karst cave is ensured;
step nine: according to information in a navigation positioning system, the amphibious detection device is adjusted to a proper posture by using the propulsion device, finally the device is taken out from the vertical well by using the umbilical cable, the obtained detection data is analyzed and processed in detail, the accurate and real shape and size of the horizontal karst cave and the image data of a local part of interest are obtained, and the karst cave detection work is completed.
CN202111053306.XA 2021-09-09 2021-09-09 Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave Pending CN113866773A (en)

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