CN210460636U - Shaft attitude detection equipment and shaft excavating equipment - Google Patents
Shaft attitude detection equipment and shaft excavating equipment Download PDFInfo
- Publication number
- CN210460636U CN210460636U CN201921114116.2U CN201921114116U CN210460636U CN 210460636 U CN210460636 U CN 210460636U CN 201921114116 U CN201921114116 U CN 201921114116U CN 210460636 U CN210460636 U CN 210460636U
- Authority
- CN
- China
- Prior art keywords
- data
- detection assembly
- shaft
- inertial navigation
- drill rod
- 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.)
- Active
Links
Images
Landscapes
- Earth Drilling (AREA)
Abstract
The utility model provides a shaft gesture check out test set and shaft excavating equipment, including waiting to examine check out test set and controlling means wherein, include: the detection assembly is used for moving along the extending direction of the equipment to be detected; the lifting device is connected with the detection assembly and used for providing tension for the detection assembly; the detection assembly comprises: the inertial navigation device is used for acquiring inertial navigation data of the detection assembly when the detection assembly moves relative to the drill rod, the scheme is used for detecting the attitude of the vertical shaft based on the inertial navigation principle, and the detection assembly internally provided with the inertial navigation device can acquire the inertial navigation data of equipment to be detected, so that the verticality and the tunneling distance of the vertical shaft are calculated, and the attitude of the vertical shaft can be subjected to three-dimensional image display.
Description
Technical Field
The utility model relates to an gesture check out test set, more particularly, relate to a shaft gesture check out test set and shaft excavating equipment.
Background
In recent years, with the development of tunnel construction, a shaft is used as a ventilation and material transportation channel in the construction of tunnels, coal mines and the like, and becomes an important aspect in construction and construction. The existing construction schemes such as a drilling method, an explosion method and the like cannot meet the requirements of rapidness, effectiveness and safety of modern construction, shaft tunneling equipment is used as a new generation product, the shaft can be excavated and supported at high speed and effectively, and a shaft attitude detection device is required to be used for detecting the attitude of the shaft in order to enable the tunneling equipment to tunnel according to a designed line. The existing shaft attitude detection device utilizes a laser source to vertically emit laser downwards, so that the center of an imaging plate is basically superposed with the laser, a CCD camera shoots a laser image formed on the imaging plate, and the image is analyzed by utilizing a computer image recognition technology, so that the attitude of the shaft is obtained. This kind of detection mode receives environmental impact big, and the formation of image board adheres to dust or water droplet after long-time the use, influences the shooting of camera to influence the accuracy of system, current gesture detection device's waterproof leakproofness is relatively poor, when being full of liquid in the shaft, then can't carry out the gesture and detect, and the irradiation distance of laser source is limited, can't guarantee the detection precision to the great shaft of degree of depth.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.
The utility model discloses a first aspect provides a shaft gesture check out test set.
A second aspect of the present invention provides a shaft excavating apparatus.
In view of the above, according to the utility model discloses a first aspect provides a shaft gesture check out test set for shaft excavating equipment, shaft excavating equipment includes waiting to examine check out test set and controlling means, include: the detection assembly is used for moving along the extending direction of the equipment to be detected; the lifting device is connected with the detection assembly and used for providing tension for the detection assembly; the detection assembly comprises: and the inertial navigation device is used for acquiring inertial navigation data when the detection assembly moves relative to the equipment to be detected.
The utility model provides a shaft gesture check out test set, including the determine module, provide tensile device of carrying to the determine module, a shaft gesture for detecting in excavating, shaft excavating equipment's drilling rod is as waiting to detect the check out test set, because shaft excavating equipment's drilling rod is rigid connection with the drill bit, and detect the shaft in excavating, the drill bit that utilizes the drilling rod to connect excavates, can not remove the position of drilling rod in the measurement, consequently the gesture at the drilling rod must be the same with the shaft of being excavated, detect the gesture of drilling rod, can derive the gesture of shaft. The detection assembly is internally provided with an inertial navigation device, the detection assembly can be sent into equipment to be detected, the outer wall of the detection assembly is attached to the equipment to be detected, the detection assembly can move up and down relative to the equipment to be detected, the vertical shaft is generally vertically arranged underground, the detection assembly can move along the equipment to be detected under the influence of gravity, the lifting device provides tension for the detection assembly, when the detection assembly moves down along the equipment to be detected, the lifting device can enable the detection assembly to move downwards at a constant speed, when the detection assembly moves to the bottom of the equipment to be detected, the lifting device can lift the detection assembly upwards at a constant speed, the detection assembly moves relative to the equipment to be detected at a constant speed for an up-and-down reciprocating period, and data collected by the inertial navigation device are more accurate. Therefore, the verticality and the tunneling distance of the vertical shaft are calculated, and the three-dimensional image display can be carried out on the posture of the vertical shaft.
Additionally, according to the utility model discloses above-mentioned technical scheme provides shaft gesture detection device still has following additional technical feature:
in any of the above technical solutions, preferably, the encoder is connected to the pulling device and configured to acquire moving distance data of the detection assembly; the encoder includes: and the first data transmission interface is used for transmitting the moving distance data to the control device.
In the technical scheme, the encoder can convert the angular displacement or the linear displacement into an electric signal to realize the acquisition of the moving distance data, is connected with the lifting device, can be installed at the output end of the lifting device, and measures the angular displacement or the linear displacement of the output end of the lifting device when the lifting device lifts the detection assembly, thereby obtaining the moving distance of the detection assembly relative to the equipment to be detected.
In any one of the above technical solutions, preferably, the pulling device includes: one end of the connecting piece is connected with the detection assembly; and the output end of the power device is connected with the other end of the connecting piece, and the power device provides power for the retraction and release of the connecting piece.
In this technical scheme, carry and draw the device including the power device who provides power and provide the pulling force's connecting piece to the determine module, soft traction device such as hawser can be chooseed for use to the connecting piece, can guarantee not to disturb the removal of the relative determine equipment that detects of determine module, the hawser can pass the encoder, make things convenient for the encoder to gather the distance data that the hawser removed, and still be provided with power device, power device can choose the motor for use, the output of motor links to each other with the one end of the connecting piece of hawser form, thereby realize that the motor drives the removal that the relative determine equipment that detects of determine module through receiving and releasing to the connecting piece, the encoder also can be connected with the output of motor, detect through the output to the motor as power device, thereby realize detecting the relative determine equipment that detects.
In any of the above technical solutions, preferably, the method further includes: the data storage device is electrically connected with the inertial navigation device and stores inertial navigation data acquired by the inertial navigation device; and the power supply device is electrically connected with the data storage device and the inertial navigation device and supplies power to the data storage device and the inertial navigation device.
In this technical scheme, inside data memory device and the power supply device of still being provided with of detection subassembly, the battery can be chooseed for use to the power supply device, supply power to data memory device and inertial navigation device, data memory device saves the data that inertial navigation device gathered, it can realize detecting and data storage go on simultaneously to set up data memory device in the detection subassembly, compare among the prior art carry out the transmission earlier to the data of gathering and carry out the technical scheme who saves by outside memory cell, have the not fragile technological effect of data.
In any of the above technical solutions, preferably, the detection assembly further includes: the inner wall of the sealed shell is connected with the inertial navigation device, the data storage device and the power supply device; and the pulley block is connected with the sealing shell, so that the friction force of the contact surface of the detection assembly and the drill rod is reduced.
In this technical scheme, the sealed casing can regard as the shell of determine module, wherein the inertia navigation device, electronic device such as data storage device and power supply device all installs in the sealed casing, when all use determine module to treat determine module when liquid in treating determine module and examine, can prevent that liquid from entering into the sealed casing and leading to the electronic device short circuit among the determine module to damage, still be equipped with the balancing weight in the sealed casing, make determine module have sufficient dead weight along treating determine module motion, sealed casing can also be by upper and lower or left and right sides two parts casing subassembly, be equipped with between two parts casings like seal structure such as rubber circle and link to each other through connecting fastener and realize sealed, make sealed casing form the structure that can dismantle, make things convenient for the staff to maintain the electronic device in the sealed casing. The assembly pulley comprises a plurality of pulleys, and a plurality of even distribution of pulley are at the all lateral walls of seal shell, and when detecting element moved in waiting to examine equipment, the pulley was located seal shell and was examined between the equipment to make detecting element can not wait to examine equipment relatively and rock, make detecting element can remove along the orbit of waiting to examine equipment completely when waiting to examine equipment relatively and remove.
In any of the above technical solutions, preferably, the detection assembly further includes: the sealing door is arranged on the sealing shell; and the second data transmission interface is positioned in the sealing door and is connected with the data storage, and the data transmission interface is used for transmitting the inertial navigation data to the control device so that the control device can calculate the attitude data of the drill rod according to the inertial navigation data and the moving distance data.
In the technical scheme, the second data transmission interface is arranged in the sealing door, the sealing door is closed when the detection assembly moves in the equipment to be detected, liquid is prevented from entering the second data transmission interface, the second data transmission interface is connected with the data storage device, after the detection assembly finishes detection of the equipment to be detected, the sealing door can be opened, output transmission is carried out on the sealing door through the second data transmission interface and the control device, and data which are detected and stored in the data storage device are transmitted into the control device through the second data transmission interface.
In any of the above technical solutions, preferably, the inertial navigation device includes: an accelerometer and at least one gyroscope.
In this technical scheme, the accelerometer is used for detecting the acceleration of detecting element when waiting to detect equipment and remove, and the gyroscope is used for detecting the angular velocity of detecting element when waiting to detect equipment and removing, can set up two or three gyroscopes in the different positions in detecting element, for example all set up the gyroscope in the upper and lower three places in detecting element's sealed casing, can make the angular velocity that detects more accurate.
According to a second aspect of the present invention, there is provided a shaft excavation apparatus, comprising the shaft attitude detection apparatus of any one of the first aspect of the present invention; wherein the equipment to be detected is a drill rod; the driving device is connected with one end of the drill rod and provides power for the drill rod; the tunneling equipment is connected with the other end of the drill rod and runs along with the drill rod and is used for excavating the vertical shaft; the supporting structure is connected with the power device and arranged at the wellhead of the vertical shaft to support the driving device; and the control device is used for controlling the driving and calculating and analyzing the inertial navigation data and the moving distance data.
In the technical scheme, a shaft excavating equipment is provided, which comprises the shaft attitude detecting equipment provided by the first aspect of the utility model, a drill rod, a driving device, a supporting structure and a tunneling device, wherein the tunneling device is a drill bit part for excavating a shaft, two ends of the drill rod are respectively connected with the tunneling device and the driving device, the output end of the driving device is connected with the drill rod, the driving device is electrified to work and drives the tunneling device to work through the drill rod, the supporting structure is arranged at the well mouth of the shaft and supports the driving device to play a role in supporting the whole excavating equipment, the control device is generally a computer which is independently arranged in a control chamber of the well mouth of the shaft, data processing software and equipment control software are arranged in the computer, when the shaft excavating equipment is subjected to attitude detection, the drill rod is used as the detection equipment of the shaft attitude detecting equipment, the detecting component is placed in the drill rod, the attitude of the drill rod is detected, the drill rod is rigidly connected with the tunneling equipment and detects the shaft in excavation, the tunneling equipment connected with the drill rod is used for excavation, and the position of the drill rod cannot be moved in measurement, so that the attitude of the drill rod is always the same as that of the shaft to be excavated, and the attitude of the drill rod is detected, so that the attitude of the shaft can be obtained.
In any one of the above technical solutions, preferably, the control device includes: the control unit is used for controlling the power device and the driving device to work; the transmission unit is used for acquiring inertial navigation data and moving distance data; and the calculation unit is used for calculating the inertial navigation data and the moving distance data to obtain attitude data of the drill rod, and the attitude of the drill rod is the same as that of the vertical shaft, so that the attitude data of the vertical shaft is obtained.
According to the technical scheme, whether the vertical shaft excavating equipment works or not and whether the vertical shaft attitude detection equipment works or not are controlled by controlling the power device and the driving device to work through the control unit, the control device receives moving distance data and inertial navigation data transmitted by the encoder and the detection assembly through the transmission unit, and the calculation unit can calculate and obtain attitude data according to the inertial navigation data and the moving distance data.
Specifically, the step of detecting the shaft attitude is that the connecting piece selects a cable, the driving device is controlled to stop working through the control device, the drill rod is not continuously provided with power so as to prevent the tunneling equipment from moving, the detection assembly is placed in the drill rod at the moment, the pulley block of the detection assembly is tightly attached to the inner wall of the drill rod and can slide up and down relative to the drill rod, the power device is controlled to work at the moment, the cable is put down at a constant speed, the detection assembly slides down at a constant speed along the drill rod under the influence of self gravity, the encoder records the sliding distance and transmits the moving distance data to the control device through the first data interface, when the detection assembly moves downwards, the inertial navigation device starts working to collect and store the inertial navigation data into the data storage device, when the detection assembly slides to the bottom of the drill rod, the detection assembly is determined to run for a period, and the, when the detection assembly returns to the wellhead, the second period of operation of the detection assembly is determined, the inertial navigation data stored in the data storage device is transmitted into the control device through the first data transmission interface, and due to the fact that data processing software is installed in the control device, the inertial navigation data and the moving distance data are processed through the data processing software, so that attitude data of the drill rod are obtained, and further the attitude of the vertical shaft is determined.
In any of the above technical solutions, preferably, the attitude data includes: three-dimensional trajectory, depth, azimuth, and verticality.
According to the technical scheme, the three-dimensional track, the depth, the azimuth angle and the verticality which are obtained by calculation according to the inertial navigation data and the moving distance data can accurately reflect the posture of the vertical shaft.
Additional aspects and advantages in accordance with the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic structural diagram of a shaft excavating equipment provided by an embodiment of the present invention;
fig. 2 shows a schematic block diagram of a control device according to an embodiment of the present invention.
The detection assembly 110, the sealing shell 112, the pulley block 114, the lifting device 120, the connecting piece 122, the encoder 130, the drill pipe 210, the driving device 220, the supporting structure 230, the tunneling device 240, the control device 250, the control unit 252, the transmission unit 254 and the calculation unit 256.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A shaft attitude detection apparatus provided according to some embodiments of the present invention is described below with reference to fig. 1.
As shown in fig. 1, an embodiment of the first aspect of the present invention provides a shaft attitude detection apparatus, including: the detection assembly 110, the detection assembly 110 is used for moving along the extending direction of the equipment to be detected; the lifting device 120 is connected with the detection assembly 110, and the lifting device 120 is used for providing a pulling force for the detection assembly 110; the detection assembly 110 includes: and the inertial navigation device is used for acquiring inertial navigation data when the detection assembly moves relative to the drill rod.
The utility model provides a shaft gesture check out test set, wherein wait to examine check out test set and be drilling rod 210, including the determine module 110, provide tensile pulling device 120 to the determine module 110, a shaft gesture for detecting the shaft gesture in excavating, because the drilling rod 210 and the drill bit of shaft excavating equipment are rigid connection, and detect the shaft in excavating, the drill bit that utilizes drilling rod 210 to connect excavates, can not remove the position of drilling rod 210 in the measurement, consequently the gesture at drilling rod 210 must be the same with the shaft of being excavated, detect the gesture of drilling rod 210, can derive the gesture of shaft. The detection assembly 110 is internally provided with an inertial navigation device, the detection assembly 110 can be sent into a drill rod, the outer wall of the detection assembly 110 is attached to the drill rod 210, the detection assembly 110 can move up and down relative to the drill rod, because vertical shafts are vertically arranged underground, the detection assembly 110 can move along the drill rod under the influence of gravity, the lifting device 120 provides tension for the detection assembly 110, when the detection assembly 110 moves down along the drill rod, the lifting device 120 can enable the detection assembly 110 to move downwards at a constant speed, when the detection assembly 110 moves to the bottom of the drill rod 210, the lifting device 120 can lift the detection assembly 110 upwards at a constant speed, so that the detection assembly 110 moves up and down relative to the drill rod 210 at a constant speed for a reciprocating period, so that data acquired by the inertial navigation device is more accurate, the scheme is used for detecting the posture of the vertical shaft based on the inertial navigation principle, and the detection assembly with the inertial navigation, therefore, the verticality and the tunneling distance of the vertical shaft are calculated, and the three-dimensional image display can be carried out on the posture of the vertical shaft.
The specific detection method comprises the steps of placing the detection assembly 110 into the drill rod 210, enabling the detection assembly 110 to move at a constant speed relative to the drill rod under the action of gravity and the pulling force of the pulling device 120, moving the detection assembly 110 to the end point of the drill rod 210 along the extension direction of the drill rod 210 to form a period, collecting inertial navigation data of the detection assembly by an inertial navigation device in the detection assembly 110 in the period, resetting the detection assembly 110 to an initial position through the pulling force of the pulling device 120 to form a second period, taking out the detection assembly 110 from the drill rod, completing collection of the inertial navigation data, and obtaining attitude parameters of the drill rod 210 through the collected inertial navigation data.
As shown in fig. 1, in an embodiment of the present invention, preferably, the present invention further includes: an encoder 130 connected to the pulling device 120 for acquiring the moving distance data of the detecting component 110; the encoder 130 includes: a first data transmission interface for transmitting the moving distance data to the control device 250.
In this embodiment, the encoder 130 may convert the angular displacement or the linear displacement into an electrical signal to acquire the moving distance data, is connected to the lifting device 120, and may be installed at the output end of the lifting device 120, and measures the angular displacement or the linear displacement of the output end of the lifting device 120 when the lifting device 120 lifts the detection assembly 110, so as to obtain the moving distance of the detection assembly 110 relative to the drill rod 210.
As shown in fig. 1, in an embodiment of the present invention, preferably, the lifting device 120 includes: a connecting member 122, one end of which is connected with the detection assembly; and the power device (not shown in the figure) is connected with the output end of the power device and the other end of the connecting piece, and provides power for the retraction and the release of the connecting piece.
In this embodiment, the lifting device 120 includes a power device for providing power and a connecting member 122 for providing a lifting force to the detecting assembly, the connecting member 122 may be a flexible pulling device such as a cable, it is ensured that the movement of the detection assembly 110 relative to the drill pipe 210 is not disturbed, the cable can pass through the encoder 130, the encoder 130 can conveniently collect data of the distance moved by the cable, and a power device is also arranged, the power device can be an electric motor, the output end of the electric motor is connected with one end of a connecting piece in the form of a cable, the electric motor drives the detection assembly 110 to move relative to the drill rod 210 by retracting and releasing the connecting piece 122, the encoder 130 is connected with the output end of the electric motor, the angular displacement of the output end of the motor serving as the power device is detected, so that the data of the moving distance of the detection assembly relative to the drill rod 210 is acquired.
As shown in fig. 1, in an embodiment of the present invention, preferably, the present invention further includes: the data storage device is electrically connected with the inertial navigation device and stores inertial navigation data acquired by the inertial navigation device; and the power supply device is electrically connected with the data storage device and the inertial navigation device and supplies power to the data storage device and the inertial navigation device.
In this embodiment, the detection component 110 is further internally provided with a data storage device and a power supply device, the power supply device can be a storage battery, and supplies power to the data storage device and the inertial navigation device, the data storage device stores the data acquired by the inertial navigation device, and the data storage device is arranged in the detection component 110, so that detection and data storage can be performed simultaneously.
As shown in fig. 1, in an embodiment of the present invention, preferably, the detecting component 110 further includes: a sealed housing 112, the inner wall of the sealed housing 112 being connected to the inertial navigation device, the data storage device and the power supply device; and the pulley block 114, wherein the pulley block 114 is connected with the sealing shell 112, so that the friction force of the contact surface of the detection assembly 110 and the drill rod is reduced.
In this embodiment, the sealed housing 112 may be an outer shell of the detection assembly 110, wherein electronic devices such as an inertial navigation device, a data storage device and a power supply device are installed in the sealed housing 112, since the drill rod is selected as a drill rod of the shaft excavation equipment, in a practical application scenario, drilling mud is often transported to a drill bit position, so that liquid often exists in the drill rod, when the drill rod is detected by using the detection assembly 110 when liquid is present in the drill rod, it is possible to prevent the liquid from entering the sealed housing 112 to cause short circuit and damage to the electronic devices in the detection assembly 110, a counterweight is further disposed in the sealed housing 112, so that the detection assembly 110 has enough self weight to move along the drill rod, the sealed housing 112 may also be an upper, lower, left or right two-part housing assembly, a sealing structure such as a rubber ring is disposed between the two-part housings and is connected by, the sealing shell forms a detachable structure, and the electronic device in the sealing shell is convenient for workers to maintain. The pulley block 114 is composed of a plurality of pulleys uniformly distributed on the peripheral side wall of the sealing shell, and when the detection assembly 110 moves in the drill rod, the pulleys are positioned between the sealing shell 112 and the drill rod, and the detection assembly 110 cannot shake relative to the drill rod, so that the detection assembly 110 can completely move along the track of the drill rod when moving relative to the drill rod.
As shown in fig. 1, in an embodiment of the present invention, preferably, the detecting component 110 further includes: a sealing door provided on the sealing case 112; and the second data transmission interface is positioned in the sealing door and is connected with the data storage, and the data transmission interface is used for transmitting the inertial navigation data to the control device so that the control device can calculate the attitude data of the drill rod according to the inertial navigation data and the moving distance data.
In the embodiment, the second data transmission interface is arranged in the sealing door, the sealing door is closed when the detection assembly moves in the drill rod, liquid is prevented from entering the second data transmission interface, the second data transmission interface is connected with the data storage device, after the detection assembly detects the drill rod, the sealing door can be opened, the output transmission is carried out between the sealing door and the control device through the second data transmission interface, and the data which is obtained through detection and stored in the data storage device is transmitted into the control device through the second data transmission interface.
As shown in fig. 1, in one embodiment of the present invention, preferably, the inertial navigation device includes: an accelerometer and at least one gyroscope.
In this embodiment, the accelerometer is used to detect the acceleration of the detection assembly 110 moving in the drill pipe, the gyroscope is used to detect the angular velocity of the detection assembly 110 moving in the drill pipe, and two or three gyroscopes may be disposed at different positions in the detection assembly 110, for example, at the upper, middle and lower three positions in the sealed housing 112 of the detection assembly 110, so that the detected angular velocity can be more accurate.
As shown in fig. 1, an embodiment of a second aspect of the present invention provides a shaft excavation apparatus, comprising the shaft attitude detection apparatus of any one of the first aspect of the present invention; wherein the equipment to be detected is a drill rod 210; the driving device 220 is connected with one end of the drill rod 210, and provides power for the drill rod 210; the tunneling device 240, the tunneling device 240 is connected with the other end of the drill rod 210, and the tunneling device 240 runs along with the drill rod 210 and is used for excavating a vertical shaft; the supporting structure 230, the supporting structure 230 is connected with the power device, the supporting structure 230 is arranged at the wellhead of the shaft to support the driving device 220; and the control device 250 is used for controlling the driving and calculating and analyzing the inertial navigation data and the moving distance data by the control device 250.
The utility model provides a shaft excavating equipment, including the shaft gesture check out test set that the utility model provides a first aspect, drilling rod 210, drive arrangement 220, bearing structure 230 and tunnelling equipment 240, drilling rod 210 is as the drilling rod of the utility model first aspect, tunnelling equipment 240 is the drill bit part that is used for excavating the shaft, the both ends of drilling rod 210 link to each other with tunnelling equipment 240 and drive arrangement 220 respectively, the output of drive arrangement 220 links to each other with drilling rod 210, drive arrangement 220 circular telegram work drives tunnelling arrangement 240 through drilling rod 210 and works, bearing structure 230 sets up the well head of shaft and supports drive arrangement 220 through supporting, play the holistic supporting role to shaft excavating equipment, controlling means 250 is the computer that sets up in the control room of shaft well head alone usually, install data processing software and equipment control software in the computer, carry out the gesture to shaft excavating equipment and examine time measuring, the drill rod 210 is used as a drill rod of the shaft attitude detection device, the detection assembly 110 is placed into the drill rod 210, the attitude of the drill rod 210 is detected, the drill rod 210 is rigidly connected with the tunneling device 240 and detects the shaft in excavation, the tunneling device 240 connected with the drill rod 210 is used for excavation, the position of the drill rod 210 cannot be moved in measurement, the attitude of the drill rod 210 is always the same as that of the shaft to be excavated, and the attitude of the drill rod 210 is detected, so that the attitude of the shaft can be obtained.
The step of detecting the attitude of the shaft being excavated by the shaft excavating equipment comprises the following steps that the connecting piece 122 selects a cable, the drill rod 210 is used as a drill rod, the control device 250 controls the driving device 220 to stop working, the power is not continuously provided for the drill rod 210, the excavating equipment 240 does not move any more, the detection assembly 110 is placed in the drill rod 210, the pulley block 114 is tightly attached to the inner wall of the drill rod 210 and can slide up and down relative to the drill rod 210, the power device is controlled to work, the cable is put down at a constant speed, the detection assembly slides down along the drill rod 210 at a constant speed under the influence of self gravity, the encoder 130 records the sliding distance and transmits the moving distance data to the control device 250 through a first data interface, when the detection assembly 110 moves down, the inertial navigation device starts working, the inertial navigation data are collected and stored in a data storage device, when the detection assembly slides to the bottom of the drill rod, the detection assembly is determined to run for one period, the power device is controlled to recover the mooring rope, when the detection assembly returns to the wellhead, the detection assembly is determined to run for the second period, the inertial navigation data stored in the data storage device are transmitted into the control device 250 through the first data transmission interface, and due to the fact that data processing software is installed in the control device 250, the inertial navigation data and the moving distance data are processed through the data processing software, the attitude data of the drill rod are obtained, and further the attitude of the vertical shaft is determined.
As shown in fig. 2, in an embodiment of the present invention, preferably, the control device 250 includes: a control unit 252 for controlling the power device and the driving device 220 to work; a transmission unit 254 for acquiring inertial navigation data and moving distance data; and the calculation unit 256 is used for calculating the inertial navigation data and the moving distance data to obtain attitude data of the drill pipe, wherein the attitude of the drill pipe is the same as that of the vertical shaft, so that attitude data of the vertical shaft is obtained.
In this embodiment, the control unit 252 controls whether the shaft excavating equipment is operated and whether the shaft attitude detecting equipment is operated by controlling the operation of the power unit and the driving unit 220, the control unit 250 receives the moving distance data and the inertial navigation data transmitted from the encoder 130 and the detecting unit 110 through the transmission unit 254, and the calculation unit 256 may calculate the attitude data based on the inertial navigation data and the moving distance data.
As shown in fig. 1, in an embodiment of the present invention, preferably, the posture data includes: three-dimensional trajectory, depth, azimuth, and verticality.
In the embodiment, the three-dimensional track, the depth, the azimuth angle and the verticality which are obtained by calculation according to the inertial navigation data and the moving distance data can accurately reflect the posture of the vertical shaft.
In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A shaft attitude detecting apparatus for a shaft excavating apparatus characterized in that the shaft excavating apparatus includes a device to be inspected and a control device, comprising:
the detection assembly is used for moving along the extending direction of the equipment to be detected;
the lifting device is connected with the detection assembly and is used for providing tension for the detection assembly;
the detection assembly comprises:
and the inertial navigation device is used for acquiring inertial navigation data when the detection assembly moves relative to the equipment to be detected.
2. The shaft attitude detection apparatus according to claim 1, further comprising:
the encoder is connected with the lifting device and used for acquiring the moving distance data of the detection assembly;
the encoder includes:
a first data transmission interface for transmitting the movement distance data to a control device.
3. A shaft attitude sensing apparatus according to claim 2, wherein the lifting device comprises:
one end of the connecting piece is connected with the detection assembly;
and the output end of the power device is connected with the other end of the connecting piece, and the power device provides power for the retraction and release of the connecting piece.
4. The hoistway attitude detection apparatus of claim 3, wherein the detection assembly further comprises:
the data storage device is electrically connected with the inertial navigation device and stores inertial navigation data acquired by the inertial navigation device;
and the power supply device is electrically connected with the data storage device and the inertial navigation device and supplies power to the data storage device and the inertial navigation device.
5. The hoistway attitude detection apparatus of claim 4, wherein the detection assembly further comprises:
the inner wall of the sealed shell is connected with the inertial navigation device, the data storage device and the power supply device;
and the pulley block is connected with the sealing shell, so that the friction force between the detection assembly and the contact surface of the equipment to be detected is reduced.
6. The hoistway attitude detection apparatus of claim 5, wherein the detection assembly further comprises:
the sealing door is arranged on the sealing shell;
and the second data transmission interface is positioned in the sealing door and connected with the data storage, and is used for transmitting the inertial navigation data to the control device so that the control device can calculate the attitude data of the drill rod according to the inertial navigation data and the moving distance data.
7. A shaft attitude detection apparatus according to any one of claims 1 to 6, characterised in that the inertial navigation device comprises:
an accelerometer and at least one gyroscope.
8. A shaft excavation apparatus, comprising:
the shaft attitude detection apparatus of any one of claims 1 to 7; wherein the equipment to be detected is a drill rod;
the driving device is connected with one end of the drill rod and provides power for the drill rod;
the tunneling equipment is connected with the other end of the drill rod, runs along with the drill rod and is used for excavating a vertical shaft;
the supporting structure is connected with the power device and is arranged at the wellhead of the vertical shaft so as to support the driving device;
control means for controlling the driving and computational analysis of inertial navigation data and distance of movement data.
9. A shaft excavation apparatus as claimed in claim 8, wherein the control means comprises:
the control unit is used for controlling the power device and the driving device to work;
the transmission unit is used for acquiring the inertial navigation data and the moving distance data;
and the calculation unit is used for calculating the inertial navigation data and the moving distance data to obtain attitude data of the drill rod, and the attitude of the drill rod is the same as that of the vertical shaft, so that the attitude data of the vertical shaft is obtained.
10. Shaft excavation equipment according to claim 9,
the pose data includes:
three-dimensional trajectory, depth, azimuth, and verticality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921114116.2U CN210460636U (en) | 2019-07-16 | 2019-07-16 | Shaft attitude detection equipment and shaft excavating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921114116.2U CN210460636U (en) | 2019-07-16 | 2019-07-16 | Shaft attitude detection equipment and shaft excavating equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210460636U true CN210460636U (en) | 2020-05-05 |
Family
ID=70445659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921114116.2U Active CN210460636U (en) | 2019-07-16 | 2019-07-16 | Shaft attitude detection equipment and shaft excavating equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210460636U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230487A (en) * | 2019-07-16 | 2019-09-13 | 中国铁建重工集团股份有限公司 | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment |
| CN112681983A (en) * | 2021-02-04 | 2021-04-20 | 中铁工程装备集团有限公司 | Shaft derrick system with shaft straightness measurement function that hangs down |
| CN117127970A (en) * | 2023-10-26 | 2023-11-28 | 四川圣诺油气工程技术服务有限公司 | Liquid detection sampling open well integrated operation tool and use method |
-
2019
- 2019-07-16 CN CN201921114116.2U patent/CN210460636U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230487A (en) * | 2019-07-16 | 2019-09-13 | 中国铁建重工集团股份有限公司 | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment |
| CN112681983A (en) * | 2021-02-04 | 2021-04-20 | 中铁工程装备集团有限公司 | Shaft derrick system with shaft straightness measurement function that hangs down |
| CN112681983B (en) * | 2021-02-04 | 2022-04-29 | 中铁工程装备集团有限公司 | Shaft derrick system with shaft straightness measurement function that hangs down |
| CN117127970A (en) * | 2023-10-26 | 2023-11-28 | 四川圣诺油气工程技术服务有限公司 | Liquid detection sampling open well integrated operation tool and use method |
| CN117127970B (en) * | 2023-10-26 | 2024-01-12 | 四川圣诺油气工程技术服务有限公司 | Liquid detection sampling open well integrated operation tool and use method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210460636U (en) | Shaft attitude detection equipment and shaft excavating equipment | |
| US11110997B2 (en) | System for measuring mechanical properties of sea floor sediments at full ocean depths | |
| CN109375262B (en) | Wave detector laying device based tunnel advanced prediction system and method based on drilling and blasting method | |
| CN104062691B (en) | High accuracy seabed geothermal gradient detecting devices | |
| CN106772565A (en) | The loading device and method of a kind of TBM seismic waves advanced prediction instrument | |
| CA2089105A1 (en) | Borehole laser cavity monitoring system | |
| CN104145172A (en) | Method and arrangement for determining location and/or speed of a moving object and use of the arrangement | |
| US20190186225A1 (en) | Undersea Mining Base, Mining Base Monitoring Device, and Chimney Avoidance Method For Seabed Deposit | |
| CN105236224A (en) | Detection device and method for transverse swing displacement of vertical shaft lifting steel wire rope | |
| CN202451158U (en) | Scraper conveyer body straightening device | |
| CN110230487A (en) | A kind of vertical shaft posture detection device and a kind of vertical shaft excavating equipment | |
| CN110576953A (en) | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system | |
| CN104343437A (en) | Hole drilling track measuring device and method based on laser gyroscope | |
| CN113334404A (en) | Karst cave detection robot | |
| CN112526591A (en) | Submarine sediment acoustic in-situ sampling and measuring system | |
| CN111123352B (en) | Detector quick fixing device suitable for advanced geological forecast of tunnel | |
| CN111812136B (en) | TBM (tunnel boring machine) carrying type mineral composition detection method, advance geology prediction method and advance geology prediction system | |
| CN105735972A (en) | System for measuring, recording and processing depth of downhole tool for resource exploration and development | |
| CN111305823A (en) | Mining drilling cableless detection system | |
| CN210977603U (en) | Tunnel safety early warning robot device | |
| CN113768236A (en) | Wearable intelligent individual soldier device used in coal mine | |
| CN114593730A (en) | Positioning navigation system | |
| CN212583683U (en) | Mining drilling cableless detection system | |
| CN117130069B (en) | While-drilling endoscopic detection system and detection method for deep goaf of mining disturbance stratum | |
| CN111780804A (en) | Rock lithology determination system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |