CN203412572U - Drilling tester - Google Patents
Drilling tester Download PDFInfo
- Publication number
- CN203412572U CN203412572U CN201320472378.2U CN201320472378U CN203412572U CN 203412572 U CN203412572 U CN 203412572U CN 201320472378 U CN201320472378 U CN 201320472378U CN 203412572 U CN203412572 U CN 203412572U
- Authority
- CN
- China
- Prior art keywords
- drilling
- data
- signal processing
- processing unit
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Gyroscopes (AREA)
Abstract
The utility model discloses a drilling tester for accurately measuring the whole trajectory of a drill bit in a drilling process and a working method of the drilling tester. The drilling tester is arranged in a drill collar. Each sensor, a power supply, a memory and a wireless transceiving unit are respectively connected with a signal processing unit. An antenna of the wireless transceiving unit is arranged on the outer wall of the drill collar. The working method comprises the steps of continuously acquiring real-time data and transmitting the signals to the signal processing unit in a working process of a drilling tool by an acceleration sensor and a gyroscope sensor, and calculating a drilling azimuth angle, a drilling inclination angle and drilling displacement by the signal processing unit; performing filtration and correction on the measured values to obtain a current actual azimuth angle, inclination angle and displacement data according to temperature data transmitted by a temperature sensor; transmitting the data to a terminal analyzer by the wireless transceiving unit, performing secondary analysis on the data by the terminal analyzer, and drawing a drilling trajectory for the reference of related personnel.
Description
Technical field
The utility model relates to protrusion-dispelling in process of coal mining and creeps into field, is specifically related to a kind of colliery protrusion-dispelling borehole survey device.
Background technology
Existing colliery, in recovery process, needs boring to discharge gas, to prevent the accident of meeting accident.But coal mine drilling position and precision generally rely on artificial experience operation at present, cannot accurately know whether boring puts in place, drift rate size.In the whole process of drilling because drill bit place rock strength differs, and due to the Action of Gravity Field of drilling tool own, cause that boring is offset with its displacement meeting of drilling depth, owing to not having good checkout equipment to detect, after having bored hole, it is unknown whether boring reaches design attitude.
At present, the existing relevant report that realizes data of holes drilled measurement, it is mainly to adopt accelerometer and magnetometer sensor to measure.Because this scheme adopts magnetic sensor, any factor that affects Magnetic Measurement all can form interference, causes to measure and is forbidden.Measuring transducer is placed in drilling tool inside, and the drilling rod of steel and drilling tool all cause fatal impact to normal measurement.Adopt the measurement mechanism of this scheme must be equipped with non magnetic drill collar, and in order to improve precision, sensor drilling rod around also must be without magnetic, this has higher requirement to drilling rod and drilling tool.If operating point has ferromagnetic ore deposit to exist simultaneously, this scheme cannot realize location, has limited the application of this scheme.
Utility model content
The utility model, in order to overcome above-mentioned prior art defect, provides a kind of and can meet the boring school inspection instrument that the whole track of drill bit is carried out accurately measurement in boring procedure.
This boring school inspection instrument, it is arranged in drill collar, comprise several sensors, signal processing unit, power supply, memory and wireless transmit/receive units, described each sensor is connected with signal processing unit respectively and sends the data of collection to signal processing unit, power supply, memory and wireless transmit/receive units connect equally signal processing unit and are used for providing electric power, storage data and data are sent, and wherein the antenna of wireless transmit/receive units is placed on drill collar outer wall.
Further, described sensor comprises acceleration transducer, gyro sensor and temperature pick up, and signal processing unit passes to terminal analysis instrument through antenna by data.
The utility model adopts respective sensor to follow the measurement that drill bit completes whole boring procedure, the track of boring is recorded faithfully, thereby reached the object of Measurement accuracy drilling track.In addition, the utility model needn't be used non magnetic drill collar, can reduce costs, and because the utility model does not rely on magnetic survey, not be subject to the impact in ferromagnetic ore deposit completely, has expanded range of application.
Accompanying drawing explanation
Fig. 1 is the utility model system block diagram,
Fig. 2 is the utility model process chart,
Roll angle error information in the emulation of Fig. 3 the utility model,
Angle of pitch error information in the emulation of Fig. 4 the utility model,
Course angle error information in the emulation of Fig. 5 the utility model.
The specific embodiment
As shown in Figure 1, it is installed on drill collar inside to device of the present utility model, and the antenna of wireless receiving and dispatching element is placed on drill collar outer wall.Circuit board by signal processing unit, transfer element, acceleration transducer, gyroscope, temperature pick up and memory is placed in metal shell.Whole device has button cell power supply, temperature pick up, acceierometer sensor and gyro sensor are connected with signal processing unit (microprocessor), temperature pick up, acceierometer sensor and gyro sensor are given signal processing unit initial data, and signal processing unit carries out initial data to draw current azimuth, angle of slope and displacement after a series of filtering, correcting process.Signal processing unit is in this group data storage and memory, until sensor from boring extract after, signal processor sends terminal analysis instrument the data that are stored in memory to by wireless receiving and dispatching element, by terminal analysis instrument, data are carried out secondary analysis and drawn drilling track, for related personnel's reference.Said apparatus is arranged on a circuit board, and circuit board is sealed by metal shell, to meet the environmental requirement of high humidity high pressure.
The utility model can be made seal, can bear the pressure of 100MPa and the high temperature of 100 ℃, and internal sensor can work within the scope of-25 ℃ ~ 80 ℃.By acceleration transducer and gyrostatic survey data can calculate the azimuth of boring and angle of slope with and displacement.By temperature pick up, its measured value is compensated, make it in whole operating temperature range, can reach the precision needing.
The method of work of boring school inspection instrument: in the drilling tool course of work, acceleration transducer and gyro sensor constantly gather real time data and send signal processing unit to, the azimuth, angle of slope that is calculated boring by signal processing unit with and displacement; The temperature data sending by temperature pick up again carries out drawing after filtering, correcting process azimuth, angle of slope and the displacement data of current reality to above-mentioned measured value; Signal processing unit is stored in these actual sets data in memory, after drilling tool end-of-job and from boring, extract, signal processing unit sends terminal analysis instrument the data in memory to by wireless transmit/receive units, by terminal analysis instrument, data are carried out secondary analysis and drawn drilling track, for related personnel's reference.
Owing to containing a large amount of noises in accelerometer and gyrostatic signal, therefore need to carry out again acceleration counting and gyro data being merged after filtering to signal, according to the result after merging, calculate displacement and attitude.Its handling process is as Fig. 2.Accelerometer and gyroscope output data, respectively by de-noising after wavelet filtering, are then carried out data fusion to improve system accuracy by Kalman filtering.Kalman filtering adopts strong tracking Kalman filter strengthening system real-time performance of tracking.Its design formulas is as follows:
Wherein r is strong tracking filter output residual error; Z is for measuring vector; w
0for residual error secondary moment;
ρfor forgetting factor;
n k , M k for intermediate variable; During λ, become the matrix that fades; Trace () is matrix trace; H is for measuring matrix; A is state-transition matrix; P
-for predicting covariance battle array; P is the error covariance after upgrading; Q is system noise variance battle array; R is for measuring noise variance matrix; K is gain matrix;
for the state vector after upgrading;
for state vector one-step prediction.
Subscript k represents k value constantly; Subscript k-1 represents k-1 value constantly; Subscript k+1 represents k+1 value constantly.
System output attitude data after strong tracking Kalman filter: course angle, roll angle and the angle of pitch.
Through the acceleration information of wavelet filtering, according to attitude data, remove gravity and accelerate, retain the acceleration that external force causes, because system interference causes in acceleration information, still comprise trend term, calculating present speed by integrating meter after trend term filtering.Computational speed formula is: v (t)=v (t-1)+at.Wherein t is computing cycle △ t.A is for removing the accekeration after trend term.
After speed data is transformed into frequency domain and carries out filtering, integration draws displacement.According to the capable correction of gyroscope output data contraposition shift-in, obtain real displacement simultaneously.
Adopt matlab to carry out algorithm simulating to data, adopt respectively UKF filtering, Attenuation Memory Recursive UKF filtering, follows the tracks of by force three kinds of filtering modes of UKF filtering and carries out emulation, and simulation result is as figure below:
Fig. 3 to Fig. 5 is emulated data, and in figure, UKF represents UKF filtering, and AUKF represents Attenuation Memory Recursive UKF filtering, and SUKF represents to follow the tracks of by force UKF filtering.
Figure median filter elapsed time is respectively:
By the more other two kinds of filter effects of the known strong tracking UKF of simulation result filtering, to be got well.
The concrete application approach of the utility model is a lot; the above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; do not departing under the prerequisite of the utility model principle; can also make some improvement, these improvement also should be considered as protection domain of the present utility model.
Claims (3)
1. instrument is examined in a boring school, it is arranged in drill collar, it is characterized in that, comprise several sensors, signal processing unit, power supply, memory and wireless transmit/receive units, described each sensor is connected with signal processing unit respectively and sends the data of collection to signal processing unit, power supply, memory and wireless transmit/receive units connect equally signal processing unit and are used for providing electric power, storage data and data are sent, and wherein the antenna of wireless transmit/receive units is placed on drill collar outer wall.
2. boring according to claim 1 school inspection instrument, is characterized in that, described sensor comprises acceleration transducer, gyro sensor and temperature pick up.
3. boring according to claim 1 and 2 school inspection instrument, is characterized in that, described signal processing unit passes to terminal analysis instrument through antenna by data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320472378.2U CN203412572U (en) | 2013-08-05 | 2013-08-05 | Drilling tester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320472378.2U CN203412572U (en) | 2013-08-05 | 2013-08-05 | Drilling tester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203412572U true CN203412572U (en) | 2014-01-29 |
Family
ID=49975467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320472378.2U Expired - Lifetime CN203412572U (en) | 2013-08-05 | 2013-08-05 | Drilling tester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203412572U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103388471A (en) * | 2013-08-05 | 2013-11-13 | 吴佳平 | Drilling verification instrument and work method thereof |
| CN104141487A (en) * | 2014-07-29 | 2014-11-12 | 中天启明石油技术有限公司 | Circuit for improving vibration resistance of underground inclinometer by means of load impedance characteristic |
| CN104790941A (en) * | 2015-04-17 | 2015-07-22 | 成都理工大学 | While-drilling measuring system of hole drilling track for mine |
| CN111060100A (en) * | 2020-01-07 | 2020-04-24 | 广州探霸仪器有限公司 | Measuring method, system and terminal of intelligent guide instrument |
-
2013
- 2013-08-05 CN CN201320472378.2U patent/CN203412572U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103388471A (en) * | 2013-08-05 | 2013-11-13 | 吴佳平 | Drilling verification instrument and work method thereof |
| CN103388471B (en) * | 2013-08-05 | 2016-03-23 | 吴佳平 | A kind of boring school inspection instrument and method of work thereof |
| CN104141487A (en) * | 2014-07-29 | 2014-11-12 | 中天启明石油技术有限公司 | Circuit for improving vibration resistance of underground inclinometer by means of load impedance characteristic |
| CN104790941A (en) * | 2015-04-17 | 2015-07-22 | 成都理工大学 | While-drilling measuring system of hole drilling track for mine |
| CN111060100A (en) * | 2020-01-07 | 2020-04-24 | 广州探霸仪器有限公司 | Measuring method, system and terminal of intelligent guide instrument |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103388471B (en) | A kind of boring school inspection instrument and method of work thereof | |
| CN102606145B (en) | Underground coal mine anti-explosion mud-pulse wireless measurement while-drilling system and using method thereof | |
| US8991260B2 (en) | Pseudo rock and analysis system using the same | |
| CN203412572U (en) | Drilling tester | |
| CN111335879B (en) | Drilling track measuring device | |
| CN201280927Y (en) | Underground pipeline detecting and prewarning apparatus | |
| US10520642B2 (en) | Rock movement sensor for use during blasting | |
| CN101532839B (en) | Non-excavation measurement-while-drilling system based on inertia technology | |
| CN101750629B (en) | Differential positioning seismometer while drilling | |
| CN102434148A (en) | Wireless inclinometer while drilling | |
| CN103982173B (en) | A kind of coal mine down-hole drilling trajectory measurement system and method | |
| CN102635406B (en) | Underground positioning method | |
| CN108007461B (en) | Positioning device and drawing method for motion trail of oil field underground equipment | |
| CN112611375B (en) | Method for monitoring three-dimensional dynamic space-time migration track of top coal based on inertial navigation technology | |
| CN104088668B (en) | The monitoring method of SLF electromagnetic induction monitoring early warning coal rock dynamic disaster | |
| CN107228664A (en) | Mining gyrolevel SINS attitude algorithm and zero speed correcting method | |
| CN107449422A (en) | A kind of high dynamic carrier pose real-time measurement apparatus | |
| CN101419277A (en) | System and method for monitoring underground mining point by using acoustic wave | |
| CN102236106A (en) | Method and device for measuring resistivity of underground medium on ground and in gallery in quasi-three-dimension mode | |
| CN101798923A (en) | System and method for remote control coal mine evacuation working face advance detection and forecasting | |
| CN101482621A (en) | Method for monitoring acceleration of sliding posture of sliding body | |
| CN105353348B (en) | A kind of system and method for being used to position underground coal mine movement target | |
| CN205577979U (en) | It is mining along with boring measurement system | |
| CN206270503U (en) | The system that mining blasting point is positioned in real time is realized in shallow layer surface | |
| CN202391413U (en) | Wireless while-drilling inclinometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140129 |
|
| CX01 | Expiry of patent term |