KR101039834B1 - Apparatus and method for investigating joint exploitation of three-dimensional underground - Google Patents

Abstract

The present invention relates to a three-dimensional underground mining cavity exploration apparatus and method, which drills only one borehole and inserts the sensor module into the borehole, and then three-dimensionally reduces the shape and size of the underground cavity at the insertion position without dropping by depth. For exploration purposes.

The three-dimensional underground mining cavity exploration apparatus according to the present invention includes a sensor module (11) for measuring the distance of the underground cavity based on the time received by transmitting a signal to the wall of the underground cavity; Rotating means 120 for rotating the sensor module; Tilting means 130 for adjusting the angle of the sensor module up and down; And a controller for controlling the sensor module, the rotating means, and the tilting means, and constructing three-dimensional information of the underground cavity based on the value detected by the sensor module. The three-dimensional underground mining cavity exploration method according to the present invention includes a first step of drilling a ground to form a borehole in communication with the underground cavity; A second step of inserting the sensor module into the underground cavity through the borehole formed by the first step; The sensor module is set inside the underground cavity, and the sensor module is rotated 360 ° to transmit a signal based on the received signal reflected on the wall surface of the underground cavity from the position of the sensor module on the plane. Detecting a distance of the third step; After tilting the sensor module up and down, the signal is transmitted while rotating 360 ° at the tilting position to detect the distance of the underground cavity from the position of the sensor module in three dimensions based on the received signal reflected on the wall of the underground cavity. A fourth step; The fifth step is to three-dimensionalize the underground cavity based on the data detected through the third and fourth steps.

Underground cavity, mining, reinforcement, laser, underwater ultrasonic, near field precision sensor

Description

3D underground mining cavity exploration device and method {APPARATUS AND METHOD FOR INVESTIGATING JOINT EXPLOITATION OF THREE-DIMENSIONAL UNDERGROUND}

The present invention relates to a three-dimensional underground mining cavity exploration apparatus and method, and more specifically to drilling the only one borehole and inserting the sensor module in the borehole after the depth and shape of the underground cavity at the insertion position without dropping by depth It relates to a three-dimensional underground mining cavity exploration apparatus and method capable of three-dimensional exploration.

Abandoned mines in Korea have been scattered throughout the country in the unrecovered state of mining (underground cavity) formed by mining for a long time.

As a result, there are cases in which the construction of existing and new facilities is restricted due to stability problems.

Accordingly, the applicant has been actively promoting the ground stabilization project for mining settlement. However, the mining environment of Korea varies greatly depending on the region, geology and mining conditions, and if it does not meet the characteristics of mine development, inefficient ground stabilization projects will be made. Therefore, in establishing and applying the ground subsidence prevention measures, a technology is required to stably carry out the ground stabilization project of the mining area by pursuing the high efficiency of related reinforcement technology to meet the conditions of the mine as much as possible.

The ground stabilization method currently applied for stabilization of mine grounds at home and abroad can be classified into the filling method for filling and stabilizing mining traces and the upper reinforcing method for reinforcing the ground of the mining top.

Filling methods that have been applied for stabilizing mine grounds in Korea are mainly applied with cement mortar filling method and CGS method. Cement milk grouting is mainly applied as reinforcement method. There are many applications of high-pressure filling root piles, TAM grouting, and micro-piling.

The ground stabilization method of the mining area can be said to be a measure to ensure that the objects around the mine are safe and functioning through basic and precise investigation in a broad sense.

The basic survey and detailed survey for the ground stabilization project in the mining area are the work to derive instability factors in the mine through surface survey, exploration, and drilling survey, and it is necessary to take into consideration the surrounding ground and geological characteristics and the development of the mine. It is difficult to estimate

Although the mine ground stabilization measures have been clearly determined, the effectiveness of the method and the ground stabilization efficiency will vary depending on the change of surrounding site conditions and construction conditions.

As the ground stabilization project of the mining area is progressing gradually, the research results and technical skills of the mine are being actively promoted by the Korea Industrial Complex, but the development of tailored construction method and technology system on the mining site that perfectly meets the characteristics of the mining area There is still a need for high efficiency of reinforcement technology and application.

For the high efficiency of the technology for the stabilization of domestic mines, the development of efficient mine surveying equipment and analysis technology, the development of efficient method selection methods, and the development of various methods to meet the site conditions of mines and the accumulation of know-how must be preceded. do.

If such technical know-how is widely distributed through technology transfer, domestic stabilization of mine ground is expected to be more advanced.

The present invention relates to a detailed investigation for the ground co-stabilization will be described in detail.

In order to fill underground cavities (mining), the size and shape of underground cavities must first be checked.

However, conventionally, after checking only the presence or absence of an underground cavity without checking the size and shape of the underground cavity, cement mortar is filled in the underground cavity. That is, it is not possible to properly puncture the borehole for filling the cement mortar can be bored more than necessary, there is a problem that can not fill the cement mortar in the entire underground cavity.

On the other hand, the size of the underground cavity is determined by physical exploration in the surrounding boreholes, and even though there are boreholes that have landed in the underground cavity, there is no proper method, so the size of the underground cavity is not properly understood.

Conventional technology that can measure the three-dimensional size is an exploration technique called a borehole televiewer, there is a technique for three-dimensional imaging a very limited size of about tens of centimeters around the borehole. The purpose of this conventional exploration technique is to use ultrasonic waves with a fairly high frequency to measure the size and direction of joints or cracks in the borehole. Become.

In order to solve this problem, there is a patent (0773302) borehole ultrasonic exploration system for grasp underground cavity size).

According to the prior art, the borehole ultrasonic sensing system for determining the size of the underground cavity includes: a multi-channel A / D converter mounted in a slot and connected to an electronic compass and a receiving piezoelectric sensor; A high voltage pulse generator configured to generate a transmit electrical signal; a PXI configured to process a signal of a received piezoelectric sensor converted into a digital signal through an A / D converter, and to display the processed value on a display device; A multi-channel A / D converter mounted on the PXI to convert analog signals into digital signals; A receiving piezoelectric sensor connected to the multi-channel A / D converter and converting an ultrasonic signal reflected from the underground cavity surface into an electric signal and sending the ultrasonic signal to the A / D converter through a slip ring; An electronic compass connected to the multi-channel A / D converter to measure an accurate azimuth angle at the time of measuring the ultrasonic signal of the receiving piezoelectric sensor; A high power pulse generator installed and controlled in PXI for generating a transmit electrical signal; A transmission piezoelectric sensor for converting and transmitting a transmission electrical signal by the high voltage pulse generator into a low frequency ultrasonic transmission signal; A rotation motor for rotating the transmission and reception piezoelectric sensor by 360 °; The rotary motor is composed of a slip ring installed between the rotary motor and the electronic compass to prevent twisting of the electrical signal line when the piezoelectric sensor is rotated.

However, according to the borehole ultrasonic exploration system for determining the underground cavity size according to the prior art, the sensor module (transmitting piezoelectric sensor and receiving piezoelectric sensor) only rotates in the horizontal direction, so to check the three-dimensional size and shape of the sensor module Since it must be inserted at a deep depth step by step, the work time is long and the program is complicated. In addition, in the case of the ultrasonic sensor, because of its characteristics, the shortest distance is transmitted within the angle range of the beam, so there is a problem that the precision of the measurement surface on the cavity wall is low.

In the underground cavity, since the bottom is not flat, the shape of the bottom cannot be accurately identified. Of course, the bottom part of the underground cavity can be accurately understood, but for this purpose, since the sensor module is inserted in several places, the cost of the drilling is high and the exploration time is long.

In addition, the sensor module of the prior art is an ultrasonic sensor that is impossible in water, it is described that it can be detected through the sensor module, which is an ultrasonic sensor because the groundwater is filled inside the underground cavity, but not applicable to all underground cavities, and also, groundwater Even if the part is full, only the groundwater can be detected and the groundwater can't be detected.

The present invention is to solve the above problems, after inserting the sensor module in the underground cavity, three-dimensional underground mining cavities that can three-dimensionally explore the shape and size of the underground cavity at the insertion position without falling by depth It is an object of the present invention to provide an exploration apparatus and method.

Another object of the present invention is to obtain three-dimensional information even when only one location is explored without the sensor module installed at two or more locations in order to secure three-dimensional information of the underground cavity.

Another object of the present invention is to obtain three-dimensional information of the underground cavity with or without groundwater.

The three-dimensional underground mining cavity exploration apparatus according to the present invention for achieving the object as described above, by transmitting a signal to the wall surface of the underground cavity to measure the distance of the underground cavity based on the received time or / and phase difference A sensor module; Rotating means for rotating the sensor module; Tilting means for angle-adjusting the sensor module up and down; And a controller for controlling the sensor module, the rotating means, and the tilting means, and constructing three-dimensional information of the underground cavity based on the value detected by the sensor module.

The three-dimensional underground mining cavity exploration method according to the present invention includes a first step of drilling a ground to form a borehole in communication with the underground cavity; A second step of inserting the sensor module into the underground cavity through the borehole formed by the first step; The sensor module is set inside the underground cavity, and the sensor module is rotated 360 ° to transmit a signal based on the received signal reflected on the wall surface of the underground cavity from the position of the sensor module on the plane. Detecting a distance of the third step; After tilting the sensor module up and down, the signal is transmitted while rotating 360 ° at the tilting position to detect the distance of the underground cavity from the position of the sensor module in three dimensions based on the received signal reflected on the wall of the underground cavity. A fourth step; And a fifth step of three-dimensionalizing the underground cavity through coordinate transformation based on the data detected through the third and fourth steps.

According to the three-dimensional underground mining cavity exploration apparatus and method according to the present invention, after the sensor module is inserted into the inside of the underground cavity, it rotates very precisely at 360 ° and the slope is changed and the underground cavity does not go down by depth at the inserted position. 3D information can be obtained, so it is not necessary to continuously insert the sensor module step by step.After all, the load for inserting the sensor module is light, thus preventing the load control error due to the high load and minimizing the length of the load. The miniaturization of the equipment for insertion can save costs and reduce exploration time.

Also, even if the sensor module is installed and measured in only one place, three-dimensional information of the underground cavity can be obtained. Therefore, accurate three-dimensional information can be obtained even if the sensor module is inserted only in one underground cavity. Can reduce the exploration time.

In addition, it is possible to obtain three-dimensional information of underground cavities regardless of the presence of groundwater by using a laser sensor where there is no groundwater and an ultrasonic sensor underwater where there is groundwater. Can be.

1 and 2, the three-dimensional underground mining cavity exploration apparatus 100 according to the present invention, the time received by transmitting a signal to the wall (point) of the underground cavity 1 (shown in Figure 3) Sensor module 110 for measuring the distance of the underground cavity (1) based on the; Rotating means 120 for rotating the sensor module 110; Tilting means 130 for angle-adjusting the sensor module 110 up and down; And, based on the data collected by the sensor module 110 is configured to include a controller (not shown) for building three-dimensional information of the underground cavity (1).

The sensor module 110 includes a laser sensor 111, an underwater ultrasonic sensor 112, and a water sensor 113.

The laser sensor 111 and the underwater ultrasonic sensor 112 are integrally formed with a transmitter and a receiver, and in the process of receiving a signal transmitted from the transmitter and reflected on the inner wall of the underground cavity 1 at the receiver, the sensor module 110. ), The distance of the inner wall of the underground cavity 1 is detected. The distance measuring method using the laser sensor 111 includes a time difference measuring method and a phase difference measuring method.

The time difference measuring method is the most widely used method of observing distance by multiplying the laser speed by the time difference reflected and returned by firing the laser. However, this method has a disadvantage in that its accuracy is about 2 mm lower than that of the phase difference measurement method in close range.

In the phase difference measurement method, the distance is measured by using the phase difference of the final wavelength to the number of phases reflected by the laser beam. The accuracy is somewhat higher than that of the time difference measurement method.

The present invention is applicable to both the time difference measurement method and the phase difference measurement method.

The underwater ultrasonic sensor 112 may detect the distance of the underwater underground cavity 1 similarly to the laser sensor 111.

The laser sensor 111 and the underwater ultrasonic sensor 112 itself can be used as it is commercially available and can be changed according to the shaft condition and requirements. Therefore, the size of the borehole is also adjusted according to the size of the sensor module 110.

The laser sensor 111 and the underwater ultrasonic sensor 112 may be integrally provided or alternatively, only one may be selected and mounted. That is, the laser sensor 111 is used where there is no groundwater, and the underwater ultrasonic sensor 112 is used where there is groundwater. Therefore, in order to detect whether there is groundwater in the underground cavity (1) is to be provided with a sensor (113). The water sensor 113 can be used to detect the presence or absence of groundwater, for example, there is a near-field precision sensor. The short-range precision sensor detects the presence or absence of groundwater and can check the current position (borehole, underground cavity 1) of the sensor module 110. That is, when the current position of the sensor module 110 is inside the borehole, the sensor module 110 may be stopped and the sensor module 110 may be operated if the inside of the underground cavity 1 is activated, thereby causing the sensor module 110 to collide with the borehole. Damage can be prevented.

The rotating means 120 is connected to the rotating motor 121, the tilting motor 131 of the tilting means 130, and consists of a rotating shaft 122 for rotating the tilting motor 131 through the rotational force of the rotating motor 121. .

The rotating motor 121 may be a stepping motor for precise control.

The rotating shaft 122 may be detachably mounted to the tilting motor 131 through the rotating plate 123.

Rotating means 120 is protected from external shocks and the like through the case 124.

The tilting means 130 is connected to the tilting motor 131 and the tilting motor 131 which are detachably attached to the rotating shaft 122 or the rotating plate 123 of the rotating means 120 through the power transmission member and the sensor module 110. ) Is composed of a tilting bracket 132 is detachable.

The tilting motor 131 may be used as a stepping motor for precise control, and is detachably mounted to the rotating shaft 122 or the rotating plate 123 through fasteners in consideration of repair.

The tilting bracket 132 tilts the sensor module 110 up and down, and the power transmission member and the tilting shaft 132 are connected to the tilting shaft 132 under the guidance of the tilting shaft 132.

4A shows the sensor module 110 arranged in a vertical direction. FIG. 4B shows the sensor module 110 tilted upward with respect to the tilting axis 132a. FIG. 4C shows the sensor module 110 tilted. It is tilted downward with respect to the axis 132a.

The power transmission member may be made of a gear or the like.

The present invention is inserted into the underground cavity 1 through one or more rods 200. Here, since the depth from the ground to the underground cavity 1 will be different, a plurality of rods 200 may be connected and used through a screw type or a clamp.

The controller includes the position of the sensor module 110 of the sensor module 110, the position of the underground cavity 1, the signal reflection surface (or point) of the underground cavity 1, the laser sensor 111 and the underwater ultrasonic sensor 112. The underground cavity is shaped in two dimensions and three dimensions on the basis of the value detected in the figure).

The three-dimensional underground mining cavity exploration method according to the present invention is as follows.

(S10) perforation.

When reinforcing the ground around a structure such as a mining area or a tunnel, the shape and size of the underground cavity 1 in the ground is first checked, and the type and amount of the filling material for filling the underground cavity 1 are determined.

First, drill a borehole in the ground using a perforator. Only one borehole is sufficient.

(S20) Detection device setting.

The probe 100 of the present invention comprising the sensor module 110, the rotation means 120, and the tilting means 130 is connected to the rod 200 and inserted into the borehole. Since the exploration apparatus 100 can express the underground cavity 1 in three dimensions even if it is set at any position of the underground cavity 1, the exploration apparatus 100 is set at an arbitrary position of the underground cavity 1 without excessive force of insertion.

When the sensor module 110 is inserted, the water sensor 113 detects the presence or absence of groundwater, and if the groundwater is detected, only the underwater ultrasonic sensor 112 of the sensor module 110 is operated (laser sensor 111 and underwater ultrasonic wave). When the sensor 112 is integrally configured, the underwater ultrasonic sensor 112 is operated, and when only one of the laser sensor 111 and the underwater ultrasonic sensor 112 is installed, the underwater ultrasonic sensor 112 is mounted.

(S30) exploration.

In order to explore the size and shape of the underground cavity (1), a reference position is to be established. For example, the three-dimensional position information according to the azimuth coordinate of the sensor module 110 can be known through the position of the start, the length of the rod, the inclination direction, and the inclination angle, and is set as a reference position by using the initially set three-dimensional coordinates. . At this time, the initial position of the sensor module 110 is set on the plane.

The sensor module 110 is operated to detect the underground cavity 1 to detect the size and shape of the underground cavity 1. The method is as follows.

5 is a plan view for detecting the size and shape of the two-dimensional underground cavity 1 at the position A1 in FIG. 3, such that the exit of the sensor module 110 is parallel to the ground through the tilting means 130. Adjust the angle of the sensor module 110.

The sensor module 110 transmits a laser signal or an ultrasonic signal at a reference position, and the signal is reflected to the receiver of the sensor module 110 through the wall surface of the underground cavity 1. The controller calculates the distance from the sensor module 110 to the wall surface of the underground cavity 1 at the current position based on the time or phase transmitted from the transmitter in the sensor module 110 and the time or phase received from the receiver. . Therefore, the distance of P1 can be known.

The sensor module 110 is rotated through the rotating means 120 while maintaining the angle of the sensor module 110 as it is. The rotation angle of the sensor module 110 is controlled by the controller, and the smaller the rotation angle, the higher the accuracy and reliability of the data of the underground cavity 1.

In the state in which the sensor module 110 is rotated, the signal is transmitted and received to check the distance of P2. P2 can be confirmed through the rotation angle and the distance of the sensor module 110. If the distance of P1 is shorter than the distance of P2, the reception time or the number of phases of P1 will be shorter or smaller than the value of P2.

As such, the sensor module 110 can be rotated 360 ° to check the size and shape of the two-dimensional underground cavity 1 at the position of A1.

Thus, two-dimensional information of the underground cavity 1 can be obtained at the reference position, and the sensor module 110 is tilted to obtain three-dimensional information of the underground cavity 1. The tilting angle is controlled by the controller, and the smaller the tilting angle, the higher the accuracy and reliability of the data of the underground cavity 1.

When the tilting of the sensor module 110 is completed, as described above, the two-dimensional information at the A2 position may be detected by transmitting and receiving a signal. The information of A1 and A2 is respectively detected through a separate process, and the position of A2 can be confirmed at the position of A1 through the tilted angle at the reference position A1. Through this method, three-dimensional information of the underground cavity can be obtained by only tilting at the reference position without inserting the sensor module 110 for each depth.

The controller may display two-dimensional information for each position of the underground cavity 1 or may display three-dimensional information of the underground cavity 1 through a combination of the two-dimensional information.

7 and 8 respectively show an example of use of the three-dimensional underground mining cavity exploration apparatus according to the present invention, the present invention is not limited to being used only in the vertical borehole, as shown in Figure 7, there is a ground structure or underground If there is a rock, etc. that can not be drilled in, the borehole may be used by obliquely drilling the hole. Alternatively, when there is a tunnel as shown in FIG. 8, the borehole may be drilled from the tunnel in conjunction with the tunnel.

1 is a perspective view of a three-dimensional underground mining cavity exploration apparatus according to the present invention.

Figure 2 is an external perspective view of the three-dimensional underground mining cavity exploration apparatus according to the present invention.

3 is a state diagram used in the three-dimensional underground mining cavity exploration apparatus according to the present invention.

Figures 4a to 4c is a tilting state of the sensor module applied to the three-dimensional underground mining cavity exploration apparatus according to the present invention, respectively.

Figure 5 is a plan view for showing a three-dimensional underground mining cavity exploration method according to the present invention.

6 is a front view illustrating a three-dimensional underground mining cavity exploration method according to the present invention.

7 and 8 are respectively used state diagrams of the three-dimensional underground mining cavity exploration apparatus according to the present invention,

7 illustrates a case where the borehole is obliquely drilled by the ground structure,

8 illustrates a case of installing in conjunction with a tunnel.

<Description of Signs for Main Parts of Drawings>

110: sensor module, 111: laser sensor

112: underwater ultrasonic sensor, 120: rotating means

121: rotation motor, 122: rotation axis

130: tilting means, 131: tilting motor

Claims (8)

A sensor module 110 for transmitting a signal to the wall of the underground cavity and measuring the distance of the underground cavity based on the received time or number of phases; Rotating means 120 for rotating the sensor module; Tilting means 130 for adjusting the angle of the sensor module up and down; And, And a controller configured to control the sensor module, the rotating means, and the tilting means, and to establish three-dimensional information of the underground cavity based on the value detected by the sensor module. The tilting motor of claim 1, wherein the tilting means includes a tilting motor 131 detachably attached to the rotating means, a tilting bracket 132 connected to the tilting motor through a power transmission member, and the sensor module detachable. Three-dimensional underground mining cavity exploration apparatus, characterized in that. The three-dimensional underground mining cavity exploration apparatus according to claim 2, wherein the sensor module comprises a laser sensor 111 and an underwater ultrasonic sensor 112 that selectively operate according to the presence or absence of ground water. The three-dimensional underground mining cavity exploration apparatus according to claim 3, wherein the laser sensor and the underwater ultrasonic sensor are rotatably mounted to the tilting bracket according to the presence or absence of groundwater. The 3D underground mining cavity exploration apparatus according to claim 3 or 4, further comprising a water sensor mounted at an end of the laser sensor and the underwater ultrasonic sensor to detect whether groundwater exists in the underground cavity. The method of claim 5, wherein the rotating means, the rotating motor 121, is connected to the tilting motor of the tilting means and comprises a rotating shaft 122 for rotating the tilting motor through the rotational force of the rotating motor 3 2D underground mining cavity exploration device. Drilling a ground to form boreholes communicating with underground cavities; A second step of inserting the sensor module into the underground cavity through the borehole formed by the first step; The sensor module is set inside the underground cavity, and the sensor module is rotated 360 ° to transmit a signal based on the received signal reflected on the wall surface of the underground cavity from the position of the sensor module on the plane. Detecting a distance of the third step; After tilting the sensor module up and down, the signal is transmitted while rotating 360 ° at the tilting position to detect the distance of the underground cavity from the position of the sensor module in three dimensions based on the received signal reflected on the wall of the underground cavity. A fourth step; And, And a fifth step of three-dimensionalizing the underground cavity based on the data detected through the third and fourth steps. The method of claim 7, wherein in the second step, 3D underground mining is performed by detecting whether groundwater exists in the underground cavity and selecting and setting the sensor module according to the presence or absence of groundwater. Joint exploration method.

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