CN202512235U - Posture measuring instrument of underground drill carriage and drill rod - Google Patents
Posture measuring instrument of underground drill carriage and drill rod Download PDFInfo
- Publication number
- CN202512235U CN202512235U CN2012200655230U CN201220065523U CN202512235U CN 202512235 U CN202512235 U CN 202512235U CN 2012200655230 U CN2012200655230 U CN 2012200655230U CN 201220065523 U CN201220065523 U CN 201220065523U CN 202512235 U CN202512235 U CN 202512235U
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- module
- drilling rod
- receiving
- transmitting
- drill carriage
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The utility model relates to a posture measuring instrument of an underground drill carriage and an underground drill rod. The posture measuring instrument comprises a transmitting module and a receiving module, wherein the transmitting module comprises three transmitting probes T1, T2 and T3; the receiving module comprises two receiving probes R1 and R2; the R1 and R2 are fixed on the drill rod; and synchronization between the transmitting module and the receiving module is realized by infrared signals. The posture measuring instrument of the utility model adopts a structure with separation of the receiving module and the transmitting module, namely the transmitting device and the receiving device belong two independent systems without line coupling; the infrared signals are adopted for synchronization among systems, so that the equipment layout is more compact, the disassembly and the assembly are more convenient, the safety requirement is met, and not only is the measuring accuracy high, but also the production efficiency is improved, and the labor is saved.
Description
Technical field
The utility model relates to a kind of down-hole drill carriage drilling rod attitude measurement instrument.
Background technology
The attitude measurement of down-hole drill carriage and drilling rod is a major issue in the operation of colliery always, is to guarantee to creep into the accurate prerequisite in orientation.Yet,, receive the signal screening effect serious because underground working is extremely abominable; Equipment such as GPS can't operate as normal, and side by side magnetic field is disorderly, and traditional equipment precisions such as gyroscope reduce greatly; With the MEMS sensor-based system is example, owing to receive the influence of magnetic interference, the position angle all the time can't stably measured; If adopt rotary encoder, though do not receive the influence of magnetic interference,, cause the rotary encoder counting to produce deviation because rapid mechanical vibration take place at work for drill carriage and drilling rod, influence final measuring accuracy.From practical operation, generally adopt the mode of manual measurement drill carriage and drilling rod attitude, not only be difficult to guarantee measuring accuracy, also reduced production efficiency, the waste of manpower resource.
Although it is ripe that the supersonic sounding technology has been tending towards, yet to be applied to the down-hole drill carriage with the drilling rod attitude measurement also need solve two problems: the first, need be converted into finally required spatial attitude angle to the distance of being surveyed.From document, present research in this respect is also less; Second; Most of supersonic sounding equipment all adopt the structure of transmitting-receiving consubstantiality; Be that emitter and receiving trap are in same system; Receive the control of same processor, the benefit of doing like this is that processor can be distinguished passage easily and know time of ultrasound-transmissive, and publication number is that the utility model patent " a kind of ultrasonic distance measuring apparatus of non-blind area " of CN 101173986A has promptly been represented a kind of like this ultrasonic distance measuring apparatus of receiving and dispatching consubstantiality.But underground equipment often requires installation and removal convenient, simultaneously from security consideration, requires to reduce extra circuit as far as possible, if adopt the structure of transmitting-receiving consubstantiality, certainly exists being connected of circuit between transmitting probe and receiving transducer, makes system compact inadequately.
Summary of the invention
The utility model is to overcome above-mentioned deficiency, provides a kind of and can guarantee measuring accuracy, enhances productivity and labor-saving down-hole drill carriage drilling rod attitude measurement instrument.
The purpose of the utility model is achieved in that
The utility model down-hole drill carriage drilling rod attitude measurement instrument comprises transmitter module and receiver module, and said transmitter module contains three transmitting probe T
1, T
2And T
3, said receiver module contains two receiving transducer R
1And R
2, R
1And R
2All be fixed on the drilling rod, carry out synchronously through infrared signal between said transmitter module and the receiver module.
The utility model down-hole drill carriage drilling rod attitude measurement instrument; Said receiver module comprises ultrasound wave receiving circuit, infrared receiving circuit, temperature sensor, key-press module and display module; Said ultrasound wave receiving circuit comprises CX20106A integrated chip and peripheral circuit thereof, and said infrared receiving circuit comprises TSOP1838SS3V integrated chip and peripheral circuit thereof; Said temperature sensor adopts DS18B20 unibus digital temperature sensor; Said key-press module comprises six press keys; Said display module comprises charactron group, RS232 interface and RS485 EBI.
The utility model down-hole drill carriage drilling rod attitude measurement instrument, said transmitter module and receiver module all adopt STM32F103 series A RM chip to do core processor.
Compared with prior art, the beneficial effect of the utility model is:
The utility model down-hole drill carriage drilling rod attitude measurement instrument adopts the structure of transmitting-receiving allosome, and promptly emitter and receiving trap adhere to two independently systems separately, do not have the coupling of circuit; Adopt infrared signal to carry out synchronously between system; Make equipment compacter, dismounting is more convenient, and satisfies safety requirements; Not only measuring accuracy is high, has also improved production efficiency and has practiced thrift manpower.
Description of drawings
Fig. 1 is the attitude angle synoptic diagram of the utility model down-hole drill carriage drilling rod attitude measurement instrument in the underworkings of colliery;
Fig. 2 is the volume coordinate graph of a relation of transmitting probe and receiving transducer;
Fig. 3 is the infrared and ultrasonic signal sequential chart of transmitting probe and receiving transducer;
Fig. 4 is the program flow diagram of receiving transducer under in working order;
Fig. 5 is the system hardware composition frame chart;
Fig. 6 is that the receiving transducer state switches synoptic diagram.
Embodiment
Below introduce the preferred embodiment of the utility model, this part only is to the illustrating of the utility model, but not to the restriction of the utility model and application or purposes.According to other embodiment that the utility model draws, belong to the technological innovation scope of the utility model too.There is the setting of related parameter also not show to have only example value to use in the scheme.
As shown in Figure 1; Fig. 1 is the attitude angle synoptic diagram of the utility model down-hole drill carriage drilling rod attitude measurement instrument in the underworkings of colliery, and during measurement, transmitter module is set one with reference to rectangular coordinate system in space; XOY plane is made as surface level, and said transmitter module contains three transmitting probe T
1, T
2And T
3, T
1, T
2And T
3All be positioned at surface level, T
1Be positioned at initial point, T
2Be positioned at X axle positive dirction and and T
1Distance is d
1, T
3Be positioned at Y axle positive dirction and and T
1Distance is d
2Receiver module comprises two receiving transducers, is shown R respectively
1And R
2, said two receiving transducers all are fixed on the drilling rod angle of drilling rod and surface level
θBe decided to be the angle of pitch, with the angle of X axle forward
φBe decided to be crab angle, the confirming of the angle of pitch and crab angle makes drilling rod also obtain confirming with respect to the spatial attitude of reference frame.
As shown in Figure 2, Fig. 2 is the volume coordinate graph of a relation of transmitting probe and receiving transducer, through supersonic sounding record between three transmitting probes and two receiving transducers apart from T
1R
1, T
2R
1, T
3R
1, T
1R
2, T
2R
2And T
3R
2After, can solve the coordinate figure of two receiving transducers according to formula (1) and (2), can calculate the angle of pitch and the crab angle of drilling rod again according to formula (3) and (4);
Formula (1)
Formula (2)
Formula (3)
Formula (4)
As shown in Figure 3, Fig. 3 is the infrared and ultrasonic signal sequential chart of transmitting probe and receiving transducer, in a transmitting-receiving cycle, and transmitting probe T
1At first at t
1The ultrasonic signal of moment synchronized transmissions 40KHz and the infrared signal of 38KHz; Because infrared propagation is near the light velocity; Therefore almost at synchronization; Receiving transducer detects infrared signal, and the corresponding I port is changed to high level by low level, so receiving transducer picks up counting when detecting infrared rising edge signal; Behind A after a while, receiving transducer is at t
2Detect ultrasonic signal constantly and produce rising edge and interrupt; Again through after a while, transmitting probe T
1At t
3Constantly stop emission signal, so receiving transducer almost can produce infrared negative edge signal simultaneously.After this transmitter module delay time is D, and time-delay finishes back transmitting probe T
2At t
4Constantly begin to transmit; Transmitting probe T
2Transmitting-receiving sequential and transmitting probe T
1Similar, that different is transmitting probe T
2The duration of signal is B, transmitting probe T
2At t
5After constantly stopping emission signal, the transmitter module delay time is D; Transmitting probe T then
3At t
6Constantly transmit with similar transmitting-receiving sequential, that different is transmitting probe T
3Signal duration be C, transmitting probe T
3At t
7After constantly stopping emission signal, promptly accomplished the signal transmitting and receiving of one-period.Can know T
Pluse widthWrite down the duration of signal, which signal can distinguish thus is; T
Trans TimeWrite down hyperacoustic transmission time, can calculate the transonic distance thus.In the embodiment of the utility model down-hole drill carriage drilling rod attitude measurement instrument, duration A is 15ms, and B is 30ms, and C is 45ms, and delay time D is 45ms.
As shown in Figure 4, Fig. 4 is the program flow diagram of receiving transducer under in working order, and program is at first carried out data and made zero, and mainly is that interrupt identification and timer are operated with the control program flow process.After this, receiving transducer is waited for infrared rising edge signal, and timer picks up counting after detecting infrared rising edge signal.Next wait for infrared negative edge signal, timer stops timing when infrared negative edge signal arrives, and can obtain the duration T of infrared signal thus
Pluse width, and mate to confirm being which transmitting probe three kinds of signal durations with given A, B, C, can leave certain deviation surplus during coupling, if still can not mate, expression receives rub-out signal, then data make zero, and detect infrared rising edge signal again; If do not detect infrared negative edge signal yet after surpassing the stand-by period, then data make zero, and detect infrared rising edge signal again.Under the normal condition, should receive ultrasonic rising edge signal before receiving infrared negative edge signal, if ultrasonic rising edge signal interruption does not take place, then data make zero, and detect infrared rising edge again; If detect ultrasonic rising edge signal, then can obtain the transonic time T thus
Trans Time, and calculate propagation distance; After three road signals of transmitting probe all receive, can calculate the drilling rod attitude angle, and in display module, show.
As shown in Figure 5; Fig. 5 is a hardware block diagram, and said down-hole drill carriage drilling rod attitude measurement instrument comprises transmitter module and receiver module, and said transmitter module and receiver module are separate; Said transmitter module and receiver module all adopt STM32F103 series A RM chip to do core processor; Fast operation can write down the transonic time more accurately, with the measuring error that reduces to cause owing to time deviation.Said transmitter module comprises ultrasonic transmit circuit and infrared emission circuit, and 40KHz ultrasonic signal and 38KHz infrared signal produce by the processor timer.Said receiver module comprises ultrasound wave receiving circuit, infrared receiving circuit, temperature sensor, key-press module and display module; Said ultrasound wave receiving circuit comprises CX20106A integrated chip and peripheral circuit thereof, and said infrared receiving circuit comprises TSOP1838SS3V integrated chip and peripheral circuit thereof; Said temperature sensor adopts DS18B20 unibus digital temperature sensor, and ultrasonic propagation velocity is compensated; Said key-press module comprises six press keys, with the initial distance and the switching of the time between five duties of input transmitting probe; Said display module comprises the charactron group, shows the local attitude angle that records in real time.For making things convenient for the debugging of down-hole drill carriage drilling rod attitude measurement instrument, said display module has been provided with the RS232 interface; For down-hole drill carriage drilling rod attitude measurement instrument is articulated on the existing industrial bus in mine easily, said display module is provided with the RS485 EBI.In addition, said transmitter module and receiver module are equipped with basic peripheral circuit such as JTAG and reset circuit.
As shown in Figure 6, Fig. 6 is that the receiving transducer state switches synoptic diagram, and said receiving transducer has defined five duties, can switch through button.After powering on; Receiving transducer gets into the CAB1 state automatically, and this moment is through the distance
between between four buttons of KEY1-KEY4 input transmitting probes
and the transmitting probe
; Behind the EOI; Press KEY5; Get into the CAB2 state, this moment is through the distance
between four button input transmitting probes
of KEY1-KEY4 and transmitting probe
; Press KEY5 once more and get into the READY state; Then return CAB1 state if press KEY5 this moment; Re-enter initial distance; If press KEY0 and then get into the WORK state, this is main duty, with most of work such as the calculating of the measurement of the reception of accomplishing infrared and ultrasonic signal, distance, attitude angle and demonstrations; If pressing KEY1 then gets into the PAUSE state, program halt receives infrared and ultrasonic signal and demonstration in the WORK state; If pressing KEY1 then returns the WORK state, then return the CAB1 state in the PAUSE state if press KEY5.
Claims (3)
1. a down-hole drill carriage drilling rod attitude measurement instrument comprises transmitter module and receiver module, and it is characterized in that: said transmitter module contains three transmitting probe T
1, T
2And T
3, said receiver module contains two receiving transducer R
1And R
2, R
1And R
2All be fixed on the drilling rod, carry out synchronously through infrared signal between said transmitter module and the receiver module.
2. a kind of down-hole according to claim 1 drill carriage drilling rod attitude measurement instrument; It is characterized in that: said receiver module comprises ultrasound wave receiving circuit, infrared receiving circuit, temperature sensor, key-press module and display module; Said ultrasound wave receiving circuit comprises CX20106A integrated chip and peripheral circuit thereof, and said infrared receiving circuit comprises TSOP1838SS3V integrated chip and peripheral circuit thereof; Said temperature sensor adopts DS18B20 unibus digital temperature sensor; Said key-press module comprises six press keys; Said display module comprises charactron group, RS232 interface and RS485 EBI.
3. a kind of down-hole according to claim 1 and 2 drill carriage drilling rod attitude measurement instrument is characterized in that: said transmitter module and receiver module all adopt STM32F103 series A RM chip to do core processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200655230U CN202512235U (en) | 2012-02-27 | 2012-02-27 | Posture measuring instrument of underground drill carriage and drill rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200655230U CN202512235U (en) | 2012-02-27 | 2012-02-27 | Posture measuring instrument of underground drill carriage and drill rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202512235U true CN202512235U (en) | 2012-10-31 |
Family
ID=47064712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200655230U Expired - Fee Related CN202512235U (en) | 2012-02-27 | 2012-02-27 | Posture measuring instrument of underground drill carriage and drill rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202512235U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102590785A (en) * | 2012-02-27 | 2012-07-18 | 江阴中科矿业安全科技有限公司 | Posture measuring instrument of drill carriage and drill rod under well |
-
2012
- 2012-02-27 CN CN2012200655230U patent/CN202512235U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102590785A (en) * | 2012-02-27 | 2012-07-18 | 江阴中科矿业安全科技有限公司 | Posture measuring instrument of drill carriage and drill rod under well |
| CN102590785B (en) * | 2012-02-27 | 2016-05-18 | 江阴中科矿业安全科技有限公司 | Drill rod attitude measuring instrument of underground drill carriage |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: JIANGSU ZHONGKE BAIYI MINING INDUSTRY TECHNOLOGY C Free format text: FORMER NAME: JIANGYIN ZHONGKE MINING SAFETY TECHNOLOGY CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 214434 Chengjiang Middle Road, Jiangsu, Wuxi, No. 159, A1008, Patentee after: Jiangsu Zhongke Baiyi Mine Technology Co., Ltd. Address before: 214434 Chengjiang Middle Road, Jiangsu, Wuxi, No. 159, A1008, Patentee before: Jiangyin Zhongke Mining Safety Technology Co., Ltd. |
|
| ASS | Succession or assignment of patent right |
Owner name: NANJING YANGYUHU AUTOMATION TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: JIANGSU ZHONGKE BAIYI MINING INDUSTRY TECHNOLOGY CO., LTD. Effective date: 20140228 Owner name: YU YI Effective date: 20140228 |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 214434 WUXI, JIANGSU PROVINCE TO: 210000 NANJING, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140228 Address after: 210000 Gulou District, Jiangsu, Nanjing Pei Village No. 6 Patentee after: NANJING YANGYUHU AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Patentee after: Yu Yi Address before: 214434 Chengjiang Middle Road, Jiangsu, Wuxi, No. 159, A1008, Patentee before: Jiangsu Zhongke Baiyi Mine Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121031 Termination date: 20160227 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |