WO2019047391A1

WO2019047391A1 - Device for measuring three-dimensional information of underground space and detection method therefor

Info

Publication number: WO2019047391A1
Application number: PCT/CN2017/114351
Authority: WO
Inventors: 李浩然; 赵维刚; 董志凯; 陈明义
Original assignee: 石家庄铁道大学
Priority date: 2017-09-07
Filing date: 2017-12-02
Publication date: 2019-03-14
Also published as: GB201904684D0; GB2568852B; CN107367728A; GB2568852A; CN107367728B

Abstract

A device for measuring three-dimensional information of an underground space and a detection method therefor, the measuring device comprising a sensor system, a power system, a housing protection system and a conduction system; the housing protection system comprises a constituent part of a sealed upper portion metal housing (3-1) and lower portion metal housing (3-9); the power system comprises a motor (2-1), a signal transmitter (2-2), a magnetometer (2-3), a gyroscope (2-4) and a circuit board (2-5); the sensor system comprises an ultrasonic sensor (1-1), a temperature sensor (1-2) and a video sensor (1-3); and the conduction system comprises a metal contact pin (4-1), a gear (4-3) and an upper end cap (4-4) wherein an upper portion is connected to a lifting cable, the metal contact pin (4-1) being provided at a top end of the upper portion metal housing (3-1). The measuring device may monitor the three-dimensional shape of an underground cavern at high temperatures and under high pressure, the acquired cavity shape information being significant to the evaluation of the stability of an underground structure. The detection method for the measuring device is simple to operate, and may effectively detect three-dimensional space information of an underground cavern at high temperatures and under high pressure.

Description

Measuring device for underground space three-dimensional information and detecting method thereof

Technical field

The invention belongs to the technical field of underground space detection, and particularly relates to a measuring device and a detecting method for the size, shape and spatial position of an underground cave cavity, which are mainly suitable for three-dimensional information detection of underground goaf.

Background technique

The underground deep cavern cavern can be used as a storage place for oil and natural gas. It is made by water-soluble mining, so the shape of the underground cavity is difficult to control. In order to obtain the ideal shape of the underground cavity, it is necessary to detect the three-dimensional information of the cavity multiple times during the cavity making process, so as to take the next control measures to optimize the shape of the cavity. After the cavity is built, it is necessary to obtain the three-dimensional spatial information of the cavity, so as to analyze and evaluate the stability of the cavity. Because such underground space personnel cannot enter, the existing technical means is to detect the shape of the underground space through the ground radar. This method has high energy consumption and large error, and cannot meet the requirements of the engineering site. Therefore, a three-dimensional cavity can be developed. Information detection equipment is of great significance.

Summary of the invention

The technical problem to be solved by the invention is to overcome the deficiencies of the existing detecting means, and provide a detecting device for the size, shape and spatial position of the underground cavity, and a detecting method thereof, which has a simple structure, a simple testing method and can be under high temperature and high pressure. Effectively detect three-dimensional spatial information of underground caves.

In order to solve the above technical problem, the technical solution provided by the present invention is: a three-dimensional information measuring device for underground space, the key technology of which is: a sensor system, a power system, a casing protection system and a conduction system;

The outer casing protection system comprises two components: a sealed upper metal casing and a lower metal casing. The upper and lower casings are connected by a force transmission bearing, and the inner part of the force bearing is provided with a wire passage; the lower metal casing is a lower intermediate position opening is provided with a compensator for balancing the pressure difference between the inside and the outside of the measuring device; the upper part of the upper metal casing is provided with a motor, a signal emitter, a magnetometer, a gyroscope and a circuit board from bottom to top; the lower metal a grounding protection end is provided at a lower portion of the outer casing;

The power system specifically includes a motor connected to the force transmission bearing, a signal transmitter for transmitting the ultrasonic sensor signal, a magnetometer for realizing the north seeking function of the entire device, a gyroscope for controlling the rotation of the lower casing, and for controlling a circuit board of the working state of the measuring device;

The sensor system includes an ultrasonic sensor disposed in a lower metal casing for transmitting and receiving ultrasonic signals, a temperature sensor and a video sensor for monitoring an environment in which the device is located;

The conduction system includes a metal pin for implementing internal and external connection of the measuring device, a wire for implementing a metal pin, a circuit board and the sensor connection, a gear and an upper end cap for connecting the lifting cable to the upper; the metal Pin The gear is disposed at the top end of the metal casing; the gear is disposed at the output end of the motor, and the force transmission bearing is connected at the same time. After the motor works, the gear and the force bearing are rotated to realize 360 degree rotation of the lower casing; the lower end cap is connected with the metal casing. The upper end.

Preferably, the compensator is made of rubber, and the outer portion of the compensator is provided with a metal sealing ring and a pin; when the device is in operation, the lower portion of the lower casing is filled with lubricating oil, when the internal lubricating oil pressure is greater than the external liquid pressure The compensator exhibits an outer "convex" feature, and the compensator exhibits an "concave" feature when the internal lubricating oil pressure is less than the external liquid pressure.

Preferably, a sealing ring is provided at the position of the force transmitting bearing.

Preferably, the ultrasonic sensor, the temperature sensor and the video sensor are each provided with a sealing ring.

Preferably, the ultrasonic sensor is provided with two ultrasonic sensors for detecting the height information of the cavity at the bottom end of the lower metal casing and an ultrasonic sensor for detecting the radius information of the cavity on the side of the lower casing; The temperature sensor is disposed at a bottom end of the lower casing; the video sensor is provided with two, respectively, a video sensor for detecting a bottom surface feature of the cavity at the bottom end of the lower casing and a detecting device for the side of the lower casing Video sensor for side information of the environment.

Preferably, the metal pins are arranged in six, and the six metal pins are first connected to the circuit board through wires, and then communicate with the ultrasonic sensor at the bottom end, the ultrasonic sensor on the side, the video sensor at the bottom end, and the side surface through the internal passage of the force transmission bearing. Video sensor, temperature sensor and motor.

The method for detecting a three-dimensional information measuring device for underground space provided by the present invention includes the following steps:

(a) Use the ground winch and cable to place the measuring device through the drilling casing into the underground cavity. During the descending process, record the scale of the cable. The descending speed should not exceed 3000m/h. During the descending of the measuring device, pass the side and a video sensor at the bottom; a surrounding environment at the location where the detecting device is located, a temperature sensor passing through the bottom surface of the device; and an ambient temperature at a location where the detecting device is located;

(b) During the descent of the measuring device, the ultrasonic sensor that activates the bottom surface actively emits ultrasonic waves. Within 80 m of the bottom surface of the measuring device, the ultrasonic wave actively emitted by the ultrasonic sensor will be received, and the propagation speed of the ultrasonic wave in the medium is utilized. And time, the distance of the measuring device from the bottom surface of the cavity can be obtained;

(c) Slowly lowering the measuring device until the device is 0.5 m away from the bottom surface of the chamber, and the depth of the device is obtained by the cable scale;

(d) start the magnetometer to "seek north", then start the ultrasonic sensor 1-1 on the side of the measuring device to actively emit ultrasonic waves, and use the ultrasonic wave to transmit and receive time difference and the propagation speed of the ultrasonic wave in the medium to calculate the direction. Radius information of the cavity;

(e) Starting the motor and the gyroscope, the device will rotate 360° in the direction. In the process, the radius of the cavity in each direction of the buried depth can be obtained by using the ultrasonic sensor on the side, and the shape of the cavity at the depth is obtained. Floor plan

(f) burying the measuring device up to 1 m, repeating the process d~e, the two-dimensional information of the cavity under the burying depth can be obtained;

(g) Repeat the process f until the test reaches the top of the solution cavity. At this time, the two-dimensional information characteristics of the underground cavity at different depths of the underground cavity are obtained, and the three-dimensional information of the cavity is obtained, and the three-dimensional cavity is obtained. feature;

(h) After the detection is completed, the measuring device shall be lifted and recovered, and the lifting speed shall not exceed 2500 m/h. When the measuring device approaches the top of the cave, the lifting speed is reduced to 50 m/h.

The technical effects produced by the above technical solutions are as follows:

The measuring device of the invention is provided with a sensor system, a power system, a casing protection system and a conduction system, and has a simple structure and convenient use. The set ultrasonic sensor can detect underground size information (vertical direction, horizontal direction), the set video sensor can detect surrounding environmental information, and the set temperature sensor can detect the temperature information of the environment. It can realize the three-dimensional shape monitoring of underground caverns under high temperature and high pressure conditions, and the obtained cavity shape information is of great significance for the stability evaluation of underground structures. The detection method is completed by the detection device, and the method is simple and convenient, and can effectively detect the three-dimensional spatial information of the underground cavern under high temperature and high pressure conditions.

DRAWINGS

Figure 1 is a schematic view of the measuring device;

2 is a schematic view showing the arrangement of metal pins on the upper end of the metal casing;

Figure 3 is a two-dimensional shape characteristic diagram of a cavity in a buried depth;

Figure 4 is a three-dimensional information diagram of a cavity;

Among them, 1-1 ultrasonic sensor; 1-2 temperature sensor; 1-3 video sensor; 2-1 motor; 2-2 signal transmitter; 2-3 magnetometer; 2-4 gyroscope; 2-5 circuit board; 3-1 upper metal casing; 3-2 transmission bearing; 3-3 conductor channel; 3-4 sealing ring; 3-5 compensator; 3-6 metal sealing ring; 3-7 pin; 3-8 bottoming protection End, 3-9 lower metal casing; 4-1 metal pin; 4-2 wire; 4-3 gear; 4-4 upper end cap.

Detailed ways

The above described objects, features, and advantages of the present invention will be more clearly understood from the following description of the embodiments of the invention. The described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to Figures 1 - 4, the measuring device comprises four parts: a sensor system, a power system, a housing protection system, and a conduction system.

The sensor system includes an ultrasonic sensor 1-1, a temperature sensor 1-2, and a video sensor 1-3. Ultrasonic transmission The sensor 1-1 is provided with two, one at the bottom end of the entire measuring device and one at the side of the outer casing 3-2 for transmitting and receiving ultrasonic signals, wherein the ultrasonic sensor 1-1 at the bottom end of the device is used for detecting The height information of the cavity, the ultrasonic sensor 1-1 on the side of the device is used to detect the radius information of the cavity; the temperature sensor 1-2 is disposed at the bottom end of the device for monitoring the temperature of the environment in which the device is located; the video sensor 1 -3 is provided in two, respectively located at the bottom end and the side of the lower metal casing 3-9, wherein the video sensor 1-3 at the bottom end of the device is used to detect the bottom surface feature of the cavity, and the video sensor 1-3 at the device side is used for the detecting device. Side information of the environment in which it is located.

The power system includes a motor 2-1, a signal transmitter 2-2, a magnetometer 2-3, a gyroscope 2-4, and a circuit board 2-5. Motor 2-1 is placed on the upper portion of the enclosure protection system to provide power to the lower portion of the enclosure protection system. The signal transmitter 2-2 is disposed at an upper portion of the housing protection system for transmitting an ultrasonic sensor signal. The magnetometer 2-3 is placed on the upper part of the housing protection system to achieve the "Northbound" function of the entire device. The gyroscope 2-4 is disposed at an upper portion of the housing protection system for controlling the rotation of the lower portion of the housing protection system. The circuit board 2-5 is disposed at the upper portion of the housing protection system for controlling the operating state of the device. The circuit board can be branded by SEAMA (Zhuhai Shima Technology Co., Ltd.), model: SMBL2410A product, of course, other similar products can also be used.

The housing protection system exhibits a sealing feature, the metal housing encasing the entire device for protecting electronic components inside the device, comprising an upper upper metal housing 3-1 and a lower metal housing 3-9, the upper metal housing 3-1 and the lower metal casing 3-9 are connected by the force transmission bearing 3-2, and the inside of the force transmission bearing 3-2 is provided with the wire passage 3-3 for connecting the signal of the upper and lower parts of the casing protection system with the circuit. A sealing ring 3-4 is provided at the position of the force bearing 3-2 for keeping the inside of the device closed to prevent external environmental liquid from entering the inside of the device. The upper part of the outer casing protection system is provided with a motor 2-1 belonging to the power system, a signal transmitter 2-2, a magnetometer 2-3, a gyroscope 2-4 and a circuit board 2-5, and the circuit board 2-5 is used for the control device In the working state, the motor 2-1 is connected to the force transmission bearing 3-2 to provide power to the lower portion of the outer casing protection system. The lower middle position of the outer casing protection system is provided with a compensator 3-5, and the compensator 3-5 is made of rubber for balancing the pressure difference inside and outside the device; when the device is working, the lower part of the outer casing protection system is filled with lubricating oil, when the inside When the lubricating oil pressure is greater than the external liquid pressure, the compensator exhibits an external "convex" feature, and when the internal lubricating oil pressure is less than the external liquid pressure, the compensator exhibits an "concave" feature. The metal seal ring 3-6 and the pin 3-7 are disposed outside the compensator 3-5 to achieve a seal between the compensator 3-5 and the lower portion of the outer casing protection system. The ultrasonic sensor 1-1, the temperature sensor 1-2, and the video sensor 1-3 are disposed at a lower portion of the outer casing protection system, and the ultrasonic sensor 1-1, the temperature sensor 1-2, and the video sensor 1-3 are provided with a sealing ring 3-4. It is used to keep the inside of the device closed and prevent external environmental liquid from entering the inside of the device. The lower part of the outer casing protection system is provided with a grounding protection end 3-8 for protecting the ultrasonic sensor 1-1, the temperature sensor 1-2, and the video sensor 1-3 at the bottom end.

The conduction system includes a metal pin 4-1, a wire 4-2, a gear 4-3, and an upper end cap 4-4. The metal pin 4-1 is placed at the top of the housing protection system for connecting the inside and outside of the device. Metal pin 4-1 set six, six The metal pin 4-1 is first connected to the circuit board through the wire 4-2, and then communicates with the ultrasonic sensor 1-1 at the bottom end, the ultrasonic sensor 1-1 at the side, and the video sensor 1 at the bottom end through the internal passage of the force transmitting bearing 3-2. 3. Side video sensor 1-3, temperature sensor 1-2 and motor 2-1. The wire 4-2 is used to realize the connection of the metal pin 4-1, the circuit board 2-5, and various types of sensors. The gear 4-3 is disposed at the output end of the motor 2-1, and is connected to the force transmitting bearing 3-2. After the motor 2-1 is operated, the gear 4-3 and the force transmitting bearing 3-2 are rotated to realize the lower end portion of the outer casing protection system. 360 degree rotation. The upper end cap 4-4 is connected to the upper end of the lower outer casing protection system, and the sealing ring 3-4 is provided to seal the two, and the upper end cap 4-4 is connected with the lifting cable to realize the underground operation of the whole device.

The method for detecting three-dimensional information in the underground space includes the following steps:

(a) Use the ground winch and cable to place the measuring device through the drilling casing into the underground cavity. During the descent process, record the scale of the cable, and the descending speed should not exceed 3000m/h. During the lowering of the measuring device, the surrounding environment of the device can be detected by the side and bottom video sensors 1-3, and the ambient temperature of the device can be detected by the bottom temperature sensor 1-2 of the device.

(b) During the descending of the measuring device, the ultrasonic sensor 1-1 on the bottom surface of the starting device actively emits ultrasonic waves, and the ultrasonic waves actively emitted by the ultrasonic sensor 1-1 are received within the range of 80 m from the bottom surface of the measuring device, and the ultrasonic wave is automatically received by the ultrasonic sensor 1-1. The distance and time of propagation of the ultrasonic wave in the medium can be used to determine the distance of the measuring device from the bottom surface of the solution chamber.

(c) Slowly lower the measuring device until the device is 0.5 m away from the bottom surface of the chamber, and the depth of the device is obtained by the cable scale.

(d) Start the magnetometer 2-3 to "seek north" of the device, and then activate the ultrasonic sensor 1-1 on the side of the activation device to actively emit ultrasonic waves, and use the ultrasonic wave to transmit and receive time difference and the propagation speed of the ultrasonic wave in the medium to calculate the Radius information of the cavity in the direction.

(e) Starting the motor 2-1 and the gyroscope 2-4, the device will rotate 360° in the direction, and in the process, the radius information of the cavity in each direction of the buried depth can be obtained by using the ultrasonic sensor 1-1 on the side. A plan view of the shape of the cavity at the depth of the burial is obtained.

(f) The measurement device is buried up to 1 m, and the process d~e is repeated to obtain two-dimensional information of the cavity under the buried depth, as shown in Fig. 3.

(g) Repeat the process f until the test reaches the top of the chamber. At this time, the two-dimensional information characteristics of the underground cavity at different depths of the underground cavity are obtained, and the three-dimensional characteristics of the cavity are obtained by integrating and processing the same, as shown in Fig. 4.

(h) After the detection, the detection instrument should be lifted and recovered. The lifting speed should not exceed 2500m/h. When the instrument is close to the top of the cave, the lifting speed is reduced to 50m/h.

The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims

A measuring device for three-dimensional information of underground space, characterized in that it comprises a sensor system, a power system, a casing protection system and a conduction system;

The outer casing protection system comprises two components of a sealed upper metal casing (3-1) and a lower metal casing (3-9), and the upper and lower casings are connected by a force transmission bearing (3-2). The inner side of the force transmitting bearing (3-2) is provided with a wire passage (3-3); the lower middle position of the lower outer casing is provided with a compensator (3-5) for balancing the pressure difference between the inside and the outside of the measuring device; The upper part of the upper metal casing (3-1) is provided with a motor (2-1), a signal transmitter (2-2), a magnetometer (2-3), and a gyroscope (in the power system) from bottom to top. 2-4) and the circuit board (2-5); the lower part of the lower casing (3-2) is provided with a grounding protection end (3-8);

The power system specifically includes a motor (2-1) connected to the force transmission bearing (3-2), a signal transmitter (2-2) for transmitting the ultrasonic sensor signal, and a magnetic force for realizing the north seeking function of the entire device. a meter (2-3), a gyroscope (2-4) for controlling the rotation of the lower casing, and a circuit board (2-5) for controlling the operating state of the measuring device;

The sensor system includes an ultrasonic sensor (1-1) for transmitting and receiving ultrasonic signals disposed in a lower casing, a temperature sensor (1-2) for monitoring an environment in which the device is located, and a video sensor (1-3) The conduction system includes a metal pin (4-1) for implementing internal and external connection of the measuring device, a metal pin (4-1), a circuit board (2-5), and the sensor connection The wire (4-2), the gear (4-3) and the upper end cap (4-4) of the upper connection cable; the metal pin (4-1) is disposed at the top of the upper metal casing (3-1) The gear (4-3) is disposed at the output end of the motor (2-1), and is connected to the force transmission bearing (3-2). After the motor (2-1) works, the gear (4-3) and the force transmission are driven. The bearing (3-2) is rotated to achieve 360 degree rotation of the lower metal casing (3-9); the lower end of the upper end cap (4-4) is connected to the upper end of the upper metal casing (3-1).
The apparatus for measuring three-dimensional information of underground space according to claim 1, wherein the compensator (3-5) is made of rubber, and the outer seal of the compensator (3-5) is provided with a metal sealing ring (3). -6) and pin (3-7); when the device is in operation, the lower part of the lower metal casing (3-9) is filled with lubricating oil, and when the internal lubricating oil pressure is greater than the external liquid pressure, the compensator exhibits an outer "convex" Characteristic, when the internal lubricating oil pressure is less than the external liquid pressure, the compensator exhibits an inner "concave" feature.
The apparatus for measuring three-dimensional information of underground space according to claim 1, characterized in that a seal ring (3-4) is provided at a position of the force transmission bearing (3-2).
The apparatus for measuring three-dimensional information of underground space according to claim 1, wherein the ultrasonic sensor (1-1), the temperature sensor (1-2), and the video sensor (1-3) are provided with a seal at a mounting portion thereof. Circle (3-4).
The apparatus for measuring three-dimensional information of underground space according to claim 1, characterized in that: two ultrasonic sensors (1-1) are provided for detecting the dissolution at the bottom end of the lower metal casing (3-9). An ultrasonic sensor for height information of the cavity and an ultrasonic sensor (1-1) for detecting radius information of the cavity on the side of the lower metal casing (3-9); the temperature sensor (1-2) is disposed at the lower metal The bottom end of the outer casing (3-9); the video sensor (1-3) is provided with two, respectively, a video sensor for detecting the bottom surface feature of the cavity at the bottom end of the lower metal casing (3-9) and a lower portion A video sensor (1-3) on the side of the metal casing (3-9) for detecting side information of the environment in which the device is located.
The apparatus for measuring three-dimensional information of underground space according to claim 1, wherein said metal pins (4-1) are provided with six, and six metal pins (4-1) are first passed through wires (4-2). Connect the circuit board, and then connect the bottom ultrasonic sensor (1-1), the side ultrasonic sensor (1-1), the bottom video sensor (1-3), and the side through the internal passage of the force transmission bearing (3-2). Video sensor (1-3), temperature sensor (1-2) and motor (2-1).
The method for detecting a three-dimensional information measuring device for underground space according to claim 1, comprising the steps of:

(a) Use the ground winch and cable to place the measuring device through the drilling casing into the underground cavity. During the descending process, record the scale of the cable. The descending speed should not exceed 3000m/h. During the descending of the measuring device, pass the side and The bottom of the video sensor (1-3); the surrounding environment of the location of the detection device, through the bottom temperature sensor (1-2) of the device; the ambient temperature of the location of the detection device;

(b) During the descending of the measuring device, the ultrasonic sensor (1-1) that activates the bottom surface actively emits ultrasonic waves, and the ultrasonic waves actively emitted by the ultrasonic sensor (1-1) will be received within 80 m from the bottom surface of the measuring chamber. By using the propagation speed and time of the ultrasonic wave in the medium, the distance of the measuring device from the bottom surface of the solution chamber can be obtained;

(c) Slowly lowering the measuring device until the device is 0.5 m away from the bottom surface of the chamber, and the depth of the device is obtained by the cable scale;

(d) Start the magnetometer (2-3) to find the north of the device, and then start the ultrasonic sensor 1-1 on the side of the measuring device to actively emit ultrasonic waves, using the ultrasonic wave to transmit and receive, and the ultrasonic wave propagation in the medium. Speed, calculate the radius information of the cavity in the direction;

(e) Start the motor (2-1) and the gyroscope (2-4), and the device will rotate 360° in the direction. In this process, the direction of the buried depth can be obtained by using the ultrasonic sensor (1-1) on the side. The radius information of the cavity is obtained, and the plan view of the shape of the cavity at the depth is obtained;

(f) burying the measuring device up to 1 m, repeating the process d~e, the two-dimensional information of the cavity under the burying depth can be obtained;

(g) Repeat the process f until the test reaches the top of the solution cavity. At this time, the two-dimensional information characteristics of the underground cavity at different depths of the underground cavity are obtained, and the three-dimensional information of the cavity is obtained, and the three-dimensional cavity is obtained. feature;

(h) After the detection is completed, the measuring device shall be lifted and recovered, and the lifting speed shall not exceed 2500 m/h. When the measuring device approaches the top of the cave, the lifting speed is reduced to 50 m/h.