CN116877063B - Deep empty area while drilling system and communication quality evaluation method - Google Patents

Abstract

The invention discloses a deep goaf while drilling system and a communication quality evaluation method. The system comprises a drill rod device and a ground control terminal; the drill rod device comprises a drill bit, an intelligent probe rod and a communication drill rod assembly; the intelligent probe rod is vertically connected between the drill bit and the communication drill rod assembly; the intelligent probe rod is provided with a detection module which is used for at least acquiring detection data in the deep empty area; the communication drill rod assembly comprises at least three communication rods and at least two relay rods which form a communication link, and any relay rod is arranged between two adjacent communication rods; any relay rod transmits the respective standard data packet to the upper part of the stratum one or more times along the communication link; the ground control terminal receives standard data packets sent by at least two relay rods, and evaluates the communication quality of at least part of the communication links according to the loss of the standard data packets.

Description

Deep empty area while drilling system and communication quality evaluation method

Technical Field

The present invention relates to the field of geological exploration, and in particular to a deep empty area drilling system and a communication quality evaluation method thereof.

Background technique

There are two ways to conduct voyeuristic imaging of deep voids: one is for surveyors to carry detection instruments deep into the underground space to conduct detection; the other is to send the detection instruments into the deep voids through drilling to conduct detection.

However, deep voids at deep coal mines and underground rescue sites have the following problems: the maximum burial depth of deep voids exceeds one kilometer; the overlying strata of deep voids have been severely disturbed by mining, making it difficult to form a stable drilling channel; exploration personnel cannot directly enter deep voids due to environmental constraints; the geographical location of deep voids is random; the structure inside deep voids is complex, the visual conditions are poor, and in most cases there is water accumulation to varying degrees. Therefore, surface geophysical exploration methods are not applicable when implementing the aforementioned deep void detection.

At the same time, for existing detection instruments, such as sonar, lidar, and camera devices, a stable drilling channel must be formed in advance so that the detection instruments can enter deep voids to carry out detection. However, the detection depth of the detection instruments is limited and detection in the aforementioned deep voids cannot be carried out.

Then, for the deep voids formed by deep coal mining, whether it is the caving voids behind the working face or the rescue site of underground accidents, surveyors cannot enter. In addition, because the overlying rock strata in the deep voids have been severely disturbed and damaged by mining, no effective drilling channels can be formed on the ground, making it difficult to send detection instruments into the deep voids. In emergency rescue work, due to tight time and heavy tasks, personnel measurement and drilling detection in deep voids cannot meet the requirements of accident handling.

Therefore, the key technology for detecting deep voids at present is to enable multiple detection equipment to enter deep voids synchronously with the geological drill bit and implement exploration while drilling operations.

At the same time, deep voids are generally far from the surface, and the drill bit is far from the surface. The detection data obtained by the detection equipment in the deep void needs to be transmitted to the surface through a long communication link in the drill pipe. In the process of transmitting the detection data along the communication link, considering the different environments under the formation for the transmission signal, how to evaluate the communication quality of the communication link in advance is the key technology for supporting deep void drilling.

Summary of the invention

The embodiments of the present invention disclose a deep void area drilling system and method to overcome the defects of the prior art.

In the first aspect, an embodiment of the present invention discloses a deep void drilling system. The deep void drilling system includes a drill rod device and a ground control terminal; the drill rod device includes a drill bit, an intelligent probe rod and a communication drill rod assembly; the intelligent probe rod is vertically connected between the drill bit and the communication drill rod assembly; the intelligent probe rod is deployed with a detection module, and the detection module is used to at least obtain detection data in the deep void; the communication drill rod assembly includes at least three communication rods and at least two relay rods that constitute a communication link, and any of the relay rods is deployed between two adjacent communication rods; any of the relay rods sends its own standard data packet once or multiple times to the formation above the formation along the communication link; the ground control terminal receives the standard data packets sent by at least two of the relay rods, and evaluates the communication quality of at least part of the communication link according to the loss of the marked data packet.

In addition, the standard data packet in the embodiment of the present invention is composed of standard data and numbering information; the ground control terminal evaluates the communication quality of the communication link between any two of the relay rods based on the standard data and the numbering information.

In addition, the ground control terminal described in the embodiment of the present invention obtains the standard data packets sent by any two of the relay rods; the ground control terminal confirms a link segment of a communication link based on any two of the numbering information; and the ground control terminal evaluates the communication quality of the link segment based on the two standard data.

In addition, the ground control terminal in the embodiment of the present invention confirms the data loss of the standard data according to preset data; and the ground control terminal evaluates the communication quality of the link segment according to the data loss of the two standard data.

In addition, the ground control terminal in the embodiment of the present invention evaluates the communication quality of the link segment based on the comparison between the data loss degree of the two standard data and a loss threshold.

In addition, the ground control terminal described in the embodiment of the present invention generates a first control instruction to be sent to one or more relay rods below the formation according to the communication quality of the communication link; one or more relay rods adjust the sending strategy of the standard data packet according to the first control instruction.

In addition, in the embodiment of the present invention, one or more of the relay rods increase the number and/or frequency of sending the standard data packet according to the first control instruction.

In addition, the standard data packet in the embodiment of the present invention includes at least two standard data of each sensor type; the ground control terminal evaluates the communication quality of the communication link for data of different sensor types based on the standard data of each sensor type.

In addition, the ground control terminal described in the embodiment of the present invention generates a second control instruction to be sent to one or more of the relay rods below the formation based on the communication quality of each sensor type data; one or more of the relay rods adjust the redundancy and/or sending strategy of the standard data of each sensor type in the standard data packet based on the second control instruction.

In a second aspect, an embodiment of the present invention discloses a method for evaluating the communication quality of a deep-space drilling system, which uses the deep-space drilling system. The method for evaluating the communication quality of a deep-space drilling system comprises the following steps: any of the relay rods sends a respective standard data packet one or more times along the communication link to the formation above; the ground control terminal receives the standard data packets sent by at least two of the relay rods, and evaluates the communication quality of at least part of the communication link according to the loss of the marked data packets.

Compared with the prior art, the system of the embodiment of the present invention can, on the one hand, individually evaluate the communication quality of each link section in the communication link when dealing with different sensor types; on the other hand, it can also comprehensively evaluate the overall communication quality of each link section in the communication link when facing emergency rescue by weighting various types of sensors associated with emergency rescue.

In view of the above-mentioned solutions, the present invention will describe the disclosed exemplary embodiments in detail below with reference to the accompanying drawings, so as to make other features and advantages of the embodiments of the present invention clear.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic structural diagram of a deep void area while drilling system according to the present embodiment.

FIG2 is a schematic structural diagram of the deep void area while drilling system of this embodiment.

FIG. 3 is a schematic diagram showing a flow chart of the relay module evaluating the communication quality in this embodiment.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of disclosing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

When used herein, the singular forms "a", "an" and "/the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include/comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

The present embodiment discloses a deep void 200 while drilling system and a communication quality evaluation method. The deep void 200 while drilling system is applied to real-time drilling and detection of the deep void 200, and can evaluate the communication quality of the communication link formed from the stratum upward along the system after drilling reaches the deep void 200, so as to evaluate the credibility of subsequent detection data of the deep void 200, especially to evaluate the credibility of at least part of the detection data for three-dimensional modeling to assist emergency rescue.

Fig. 1 shows a schematic diagram of the structure of the deep empty area 200 while drilling system of this embodiment. Fig. 1 shows that the deep empty area 200 while drilling system of this embodiment includes a drill pipe device 100, a ground control terminal 300 and a remote control terminal 400.

The drill rod device 100 of this embodiment is used to drill into the deep empty area 200 below the formation, and obtain data information of various sensor types after drilling to the deep empty area 200, and the drill rod device 100 transmits the data information to the surface along the communication link constructed in the rod. The ground control terminal 300 is used to receive the data information from the drill rod device 100, and perform data processing based on the data information and send it to the remote control terminal 400. The remote control terminal 400 analyzes the processed data information and uses it to display the landform environment in the deep empty area 200 in an image, or to reconstruct a three-dimensional model of the deep empty area 200. Then, after the drill rod device 100 at least partially extends into the deep void 200, the equipment deployed on the drill rod device 100 can collect data on the topographic environment, personnel information, etc. in the deep void 200, and then transmit the collected data information to the upper part of the formation along the communication link of the drill rod device 100 itself to the ground control terminal 300 and the remote control terminal 400, so as to realize the collection, processing and analysis of the data of the deep void 200, and further provide support for the implementation of emergency rescue in the deep void 200.

Fig. 2 is a schematic structural diagram of the drill rod device 100 of this embodiment. Fig. 2 shows that the drill rod device 100 of this embodiment includes a drill bit 210, a smart probe rod 220 and a communication drill rod assembly which are generally deployed vertically.

The drill bit 210 of this embodiment is a drill bit 210 of a general geological drilling rig. The drill bit 210 is deployed at the far end of the drill rod device 100 facing below the formation. The communication drill rod assembly of this embodiment is deployed at the near end of the smart probe rod 220 facing above the formation. Then, when a rotational torque is applied to the part of the drill rod device 100 extending out of the ground, the rotational torque is transmitted to the drill bit 210 along the communication drill rod assembly and the smart probe rod 220 to achieve drilling; during the drilling process of the drill bit 210, the smart probe rod 220 deployed with the sensor combination will follow the drill bit 210 to reach the deep empty area 200.

The smart probe rod 220 of this embodiment includes a sensor combination and a main control circuit board deployed along the rod wall. The rod wall structure of the smart probe rod 220 of this embodiment is provided with a plurality of openings, and the openings are provided with protective glass covers. The sensor combination of this embodiment is distributed in the structural openings in a fixed arrangement. The sensor combination can adopt a sonar-lidar-audio and video integrated means, integrating a multifunctional optical detection combination unit for drilling with high-definition image real-time observation, thermal infrared imaging, and two-way voice communication. The main control circuit board of this embodiment is installed in the smart probe rod 220 and forms an electrical connection with the sensor combination. The main control circuit board is at least used to receive and modulate the detection data from the sensor combination for sending to the ground, and the detection data includes data information of multiple different sensor types. Then the sensor combination sends the detection data to the main control circuit board, and the main control circuit board can perform basic data processing and modulation on the detection data. The main control circuit board transmits the processed and modulated detection data to the communication drill rod assembly through the interface circuit.

Combined with Figure 2, a schematic diagram of the structure of the communication drill rod assembly of this embodiment is shown. Figure 2 shows that the communication drill rod assembly of this embodiment includes a plurality of relay rod sections 240 and a communication rod 230 that are adjacently assembled in a vertical direction.

In this embodiment, both ends of the communication pole 230 and the relay pole section 240 are constructed with universal pole joints. The pole joint is used to realize the torque transmission and electrical signal transmission when the relay pole section 240 and the communication pole 230, the relay pole section 240 and the relay pole section 240, and the communication pole 230 and the communication pole 230 rotate synchronously. The internal structure of the communication pole 230 is equipped with a through-conducting cable, which can realize the electrical signal transmission between the two pole joints. The communication pole 230 closest to the surface is connected to the ground control terminal 300 after a cable is led out through an outlet terminal. A relay pole section 240 is connected between the combination of some adjacent two communication poles 230. Multiple relay pole sections 240 can realize data processing individually or in combination.

Preferably, a relay module is internally constructed in the relay rod section 240. The two ends of the relay module respectively realize the transmission of electrical signals with the rod joints at the two ends through the conducting cables. The relay module itself can process the received and/or sent electrical signals, such as modulating, demodulating, enhancing, compensating, comparing, etc. the electrical signals, and provide a basis for signal transmission, business applications, etc. of the ground control terminal 300 and the remote control terminal 400.

In addition, the main control circuit board of this embodiment generates a check code for the data information of each sensor type based on hash check. The main control circuit board modulates the data information and the check code into detection data, and transmits the modulated detection data to the upper formation through the communication rod 230 adjacent to the smart probe rod 220.

In this embodiment, after the intelligent probe rod 220 drills into the deep empty area 200, multiple relay modules transmit standard data packets to the upper part of the formation along the communication link formed by the communication drill rod assembly. The ground control terminal 300 receives the standard data packets sent by each relay module below the formation. Among them, the standard data packet consists of standard data of all sensor types and the number information of the corresponding sending relay module.

Among them, sensor types include but are not limited to audio type, video type, laser type, sonar data, infrared data, etc. The sensor combination of the system in this embodiment adopts a sonar-lidar-audio and video integrated means, integrating high-definition image real-time observation, thermal infrared imaging, two-way voice communication and other functions.

In this embodiment, the ground control terminal 300 evaluates the communication quality based on the standard data and number information sent by each relay module, and the communication quality of the communication link formed by the communication drill pipe assembly under the influence of the surrounding strata.

Fig. 3 is a schematic diagram of a flow chart of the relay module evaluating the communication quality in this embodiment. Fig. 3 shows the method steps of the relay module evaluating the communication quality of the deep void 200 while drilling system.

S11: The ground control terminal 300 obtains the standard data packets sent by all relay rods, and parses the standard data and number information of the standard data packets.

S12: The ground control terminal 300 selects any two relay rods according to the number information, and obtains standard data of the two relay rods.

S13 The ground control terminal 300 compares a preset data with two standard data respectively to obtain data loss degrees of the two standard data and the preset data respectively.

The standard data initially sent by the relay rod is the same as the preset data. Due to data loss in communication quality, the standard data subsequently received by the ground control terminal 300 is different from the preset data. The difference between the standard data received by the ground control terminal 300 and the preset data is the data loss.

Preferably, in this embodiment, the relay sends the standard data packet in a binary protocol. Then the standard data received by the ground control terminal 300 and the preset data are distinguished by at least one byte difference in the feature code.

S14 The ground control terminal 300 compares the data loss degrees of the two standard data with at least one loss threshold, and evaluates the communication quality of the link segment between the two relay poles based on the comparison.

When both data loss degrees are greater than or equal to the loss threshold, the communication quality of the link segment between the two relay poles is evaluated as poor;

When both data loss degrees are less than the loss threshold, the communication quality of the link segment between the two relay poles is evaluated as excellent;

When the data loss degree of the far-end relay pole is greater than or equal to the loss threshold, and the data loss degree of the near-end relay pole is less than the loss threshold, the communication quality of the link section between the two relay poles is evaluated as good;

When the data loss degree at the near-end relay pole is greater than or equal to the loss threshold and the data loss degree at the far-end relay pole is less than the loss threshold, the communication quality of the link section between the two relay poles is evaluated as abnormal.

Based on this, the communication path of the relay pole at the far end of this embodiment covers the communication path of the relay pole at the near end. Considering that the communication quality does not cause a fixed data loss, this embodiment indirectly evaluates the communication quality of the link section between the two relay poles by the data loss degree of the standard data sent by the two relay poles.

Furthermore, considering that data characteristics and lengths of data of different sensor types are different, the method of this embodiment evaluates the standard data of each sensor type respectively.

Therefore, in step S11, the ground control terminal 300 parses the standard data of each sensor type in the standard data packet. In step S13, the ground control terminal 300 compares the preset data corresponding to the sensor type with the standard data to obtain the data loss degree of the standard data corresponding to the sensor type. In step S14, the ground control terminal 300 sequentially compares the data loss degree of the standard data of each sensor type with at least one loss threshold corresponding to each sensor type, and evaluates the communication quality of the link segment between the two relay poles in the corresponding data of each sensor type according to the comparison result.

Meanwhile, considering that the system of this embodiment is applied in the field of emergency rescue of deep empty area 200. Parts of various sensor types in this embodiment, such as video sensors, laser scanning sensors, etc., can help emergency rescue personnel observe the topographic environment of deep empty area 200 by directly displaying or indirectly reconstructing three-dimensional models, so this example method can tend to focus on the communication quality of each sensor type data associated with emergency rescue, as well as the overall communication quality of each sensor type data associated with emergency rescue.

Therefore, the ground control terminal 300 of this embodiment further obtains the evaluation weight of each sensor type, and performs weighted calculation of the overall communication quality evaluation of the segment link for emergency rescue according to the evaluation weight.

For example, in this embodiment, the ground control terminal 300 sets the evaluation weight of video sensors to 1 and the evaluation weight of audio sensors to 0.2; the communication quality of the segment links of each sensor type is configured with evaluation scores of 3, 2, 1 and 0 from high to low, and the weighted average of the evaluation weight and evaluation score of each sensor type in the ground control terminal 300 is used as the overall communication quality evaluation of the corresponding segment link for emergency rescue.

Compared with the prior art, the system of the embodiment of the present invention can, on the one hand, individually evaluate the communication quality of each link section in the communication link when dealing with different sensor types; on the other hand, it can also comprehensively evaluate the overall communication quality of each link section in the communication link when facing emergency rescue by weighting various types of sensors associated with emergency rescue.

Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course can also be implemented through hardware, but in many cases the former is a better implementation method.

Based on such an understanding, the technical solution of the present invention can essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments of the present invention.

Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A system while drilling in a deep empty zone,

It is characterized in that the method comprises the steps of,

The deep empty area while drilling system comprises a drill rod device and a ground control terminal;

The drill rod device comprises a drill bit, an intelligent probe rod and a communication drill rod assembly;

The intelligent probe rod is vertically connected between the drill bit and the communication drill rod assembly;

The intelligent probe rod is provided with a detection module, and the detection module is used for at least acquiring detection data in the deep empty area;

The communication drill rod assembly comprises at least three communication rods and at least two relay rods which form a communication link, and any relay rod is arranged between two adjacent communication rods;

any of the relay rods transmits respective standard data packets one or more times along the communication link to above the formation;

and the ground control terminal receives the standard data packets sent by the at least two relay rods and evaluates the communication quality of at least part of the communication links according to the loss of the standard data packets.

2. The deep void while drilling system of claim 1,

The standard data packet consists of standard data and numbering information;

and the ground control terminal evaluates the communication quality of the communication link between any two relay rods according to the standard data and the number information.

3. The deep void while drilling system of claim 2,

The ground control terminal acquires the respective standard data packet sent by any two relay rods;

The ground control terminal confirms a link paragraph of the communication link according to any two pieces of the number information;

and the ground control terminal evaluates the communication quality of the link paragraph according to the two standard data.

4. A deep void while drilling system as claimed in claim 3, wherein,

The ground control terminal confirms the data loss of the standard data according to preset data;

and the ground control terminal evaluates the communication quality of the link paragraph according to the data loss of the two standard data.

5. The deep void while drilling system of claim 4,

And the ground control terminal evaluates the communication quality of the link paragraph according to the comparison of the data loss degree of the two standard data and the loss threshold value.

6. The deep void while drilling system of claim 1,

The ground control terminal generates a first control instruction sent to one or more relay rods below the stratum according to the communication quality of the communication link;

and one or more relay rods adjust the sending strategy of the standard data packet according to the first control instruction.

7. The deep void while drilling system of claim 6,

And one or more relay rods strengthen the sending times and/or the sending frequency of the standard data packets according to the first control instruction.

8. The deep void while drilling system of claim 1,

The standard data packet comprises at least two standard data of each sensor type;

and the ground control terminal evaluates the communication quality of the communication link to the data of different sensor types according to the standard data of each sensor type.

9. The deep void while drilling system of claim 8,

The ground control terminal generates a second control instruction sent to one or more relay rods below the stratum according to the communication quality of the sensor type data;

and one or more relay rods adjust redundancy and/or sending strategies of the standard data of each sensor type in the standard data packet according to the second control instruction.

10. A communication quality evaluation method of a deep goaf while drilling system,

Is used for emergency rescue of deep engineering disasters,

Use of a deep void while drilling system as claimed in claim 1,

The method is characterized by comprising the following steps of:

any of the relay rods transmits respective standard data packets one or more times along the communication link to above the formation;

and the ground control terminal receives the standard data packets sent by the at least two relay rods and evaluates the communication quality of at least part of the communication links according to the loss of the standard data packets.