Patent Grant
12173599
This application claims priority to Chinese Patent Application No. 202310845177.0 with a filing date of Jul. 10, 2023. The content of the aforementioned application, including any intervening amendments thereto, is incorporated herein by reference.
The present disclosure relates to the technical field of stratum detection, and in particular to an internal peeping detection-while-drilling system and method for a deep goaf of a mining-disturbed stratum.
Peep imaging for an underground goaf is implemented by either allowing a surveyor with a detecting instrument to directly enter an underground space for detection, or by sending the instrument to the goaf via a drilled borehole for detection. However, the caving goaf of a deep coal mine and the underground goaf of a downhole rescue site have the following characteristics: (1) The maximum buried depth of the goaf is up to thousands of meters. (2) The overlying stratum on the goaf has experienced violent mining disturbance, and a stable drilling channel is not formed easily. (3) The surveyor cannot directly enter the underground goaf. (4) The goaf is random. (5) The target goaf has a complex internal structure and a poor visual condition.
For deep coal mining, both a caving goaf behind a working face and a rescue site of a downhole accident cannot be directly accessed. Due to violent mining-disturbed damage of the overlying rock stratum on the target goaf, ground borehole drilling is unattainable, an effective detecting channel cannot be formed, and the detecting instrument is sent to the target goaf hardly. In addition, for emergency rescues with limited time and heavy tasks, if borehole drilling and detection are performed respectively, the efficiency is low and the accident handling requirements cannot be met.
In view of this, the present disclosure provides an internal peeping detection-while-drilling system for a deep goaf of a mining-disturbed stratum, including an intelligent probing rod, cable drill pipes, a signal relay sub, a ground control terminal, a data interpretation and goaf reconstruction imaging software system, and a remote data transmission system, where
Further, the up-down separated protective transmission mechanism includes a separable upper protective tube and lower protective tube; the instrument cabin is provided between the upper protective tube and the lower protective tube; an independent rotation control mechanism is provided in the upper protective tube; the independent rotation control mechanism is connected to the instrument cabin; and the independent rotation control mechanism is configured to drive the instrument cabin to rotate, such that the sensor assembly in the instrument cabin detects the underground goaf rotatably to obtain structural data of the underground goaf.
Further, the instrument cabin includes an instrument cabin rod body; a mounting hole is formed in a sidewall of the instrument cabin rod body; the sensor assembly is embedded into the mounting hole of the instrument cabin rod body; and a protective glass cover plate is further provided on the mounting hole.
Further, the independent rotation control mechanism includes three step control motors; the three step control motors are fixed in the upper protective tube; a driven tooth is provided at an end of the instrument cabin rod body; an end of each of the step control motors is engaged with the driven tooth through a gear; and the three step control motors rotate synchronously, thereby driving the instrument cabin to rotate.
Further, the ground control terminal includes a ground modem and an industrial notebook computer that are connected sequentially; and
Further, the internal peeping detection-while-drilling system further includes an Internet access device, the cloud server, a remote server, and a remote client; the Internet access device is connected to the ground control terminal, and configured to receive a signal from the ground control terminal, and transmit data to the cloud server; the remote server is configured to download data in real time from the cloud server, and store the data locally; and the remote client is configured to access the remote server, and read and analyze data, thereby realizing data updating and historical data playback.
Further, the cable drill pipe includes a plurality of sections; the signal relay sub is provided between the cable drill pipes; the signal relay and the relay cable are provided in the signal relay sub; the relay cable is connected to the transmission cable in the cable drill pipe; and the signal relay is configured to receive the carrier signal from the lower cable drill pipe, perform the demodulation, the data preprocessing, the gain amplification and the modulation on the carrier signal, and transmit processed data to the upper cable drill pipe.
The present disclosure further provides an internal peeping detection-while-drilling method for a deep goaf of a mining-disturbed stratum, which uses the internal peeping detection-while-drilling system for the deep goaf of the mining-disturbed stratum, and includes the following steps:
The present disclosure has the following beneficial effects: The instrument cabin with various sensors is provided on the intelligent probing rod. The internal peeping detection-while-drilling system is a combination of “drilling” and “peeping”. The detection-while-drilling technology resolves problems of difficult downhole formation and protection of the deep mining-disturbed stratum and a low efficiency caused by separated drilling and detection, improves a detection efficiency on the underground goaf, and facilitates the underground rescue. Through the instrument cabin integrated with the various sensors, the internal peeping detection-while-drilling system overcomes limitations of complex environmental conditions on the detection technology, can visualize the underground goaf site in real time, and realizes underground-ground bidirectional voice communication of the rescue site. With a pipe-following drilling technology and a protective sealing device of the intelligent probing rod, the present disclosure resolves problems of hard drilling, hard hole formation, hard hole protection, and hard instrument protection in the deep mining-disturbed stratum, and has desirable reliability and adaptability. The internal peeping detection-while-drilling system is provided behind the drilling bit of the universal drilling rig, and enters the target goaf with the pipe-following drilling technology, thereby realizing the drilling and detection integrated internal peeing operation. With laser scanning and sonar operation, the present disclosure reconstructs and images an internal structure of the underground goaf, and improves a detection accuracy on the underground goaf.
In the figures: 1—intelligent probing rod, 11—up-down separated protective transmission mechanism, 111—upper protective tube, 112—lower protective tube, 12—instrument cabin, 121—instrument cabin rod body, 1211—mounting hole, 122—circuit cabin cover plate, 123—sensor assembly, 1231—sonar sensor, 1232—lidar sensor, 1233—audio and video sensor, 124—master control circuit board, 125—downhole modem, 13—independent rotation control mechanism of instrument cabin, 131—step control motor, 132—transmission mechanism, 1321—driven tooth, 1322—driving gear, 14—sealing damped protection mechanism of instrument cabin, 141—multi-stage seal ring, 142—sliding oil seal connector, 143—housing seal, 144—instrument cabin control mainboard seal, 145—damping spring assembly, 2—signal relay sub, 21—signal relay, 22—relay cable, 3—cable drill pipe, 31—transmission cable, 4—ground control terminal, 41—industrial notebook computer, 42—ground modem, 5—cloud server, 51—Internet access device, 6—remote data transmission system, 61—remote server, 62—remote client, 621—remote data management module, 622—communication information interactive platform, 7—ground drilling rig, 71—drilling bit, 8—data interpretation and goaf reconstruction imaging software system, 81—intelligent probing rod built-in acquisition and control application module, 82—platform controller built-in application module, 83—ground industrial control system, and 84—a reconstruction imaging software platform.
In order to make the objective, technical solution and advantages of the present disclosure clearer, implementations of the present disclosure will be further described in detail in conjunction with the accompanying drawings.
Referring to
There are a plurality of cable drill pipes 3. The plurality of cable drill pipes 3 are connected to each other from an upper end of the intelligent probing rod 1 to a ground drilling rig 7 to form cable drill pipe assemblies. The cable drill pipe assemblies and the intelligent probing rod 1 are connected sequentially from top to bottom to form a drill pipe assembly. The signal relay sub 2 is connected between the plurality of cable drill pipes 3. An end of the uppermost cable drill pipe 3 is connected to the ground drilling rig 7. The cable drill pipes 3 are connected to each other to form a power and data transmission channel. The cable drill pipe includes a lower end connected to the intelligent probing rod 1, and the upper end connected to the ground drilling rig 7. A transmission cable 31 is provided in the cable drill pipe. The transmission cable 31 is connected to the ground control terminal 4.
A lower end of the intelligent probing rod 1 is connected to a drilling bit 71. The intelligent probing rod 1 includes an up-down separated protective transmission mechanism 11, an instrument cabin 12, an independent rotation control mechanism 13 of the instrument cabin, and a sealing damped protection mechanism 14 of the instrument cabin.
The up-down separated protective transmission mechanism 11 includes a lower end connected to the drilling bit 71, and an upper end connected to the cable drill pipe 3. The instrument cabin 12 is provided in the up-down separated protective transmission mechanism 11. The up-down separated protective transmission mechanism 11 protects the instrument cabin 12, and transmits a torque to the drilling bit 71 in drilling. After the lower end of the up-down separated protective transmission mechanism 11 drills to a target goaf, an upper protective tube and a lower protective tube of the up-down separated protective transmission mechanism slide apart, such that the instrument cabin 12 is exposed out to detect the target goaf.
Specifically, as shown in
The master control circuit board 124 is built in the instrument cabin rod body 121. The circuit cabin cover plate 122 covers the master control circuit board 124 in a sealing manner. The downhole modem 125 is provided on the master control circuit board 124, and configured to transmit detection data of the sensor assembly to the ground control terminal 4 through the cable in the cable drill pipe in a form of a power carrier in work.
As shown in
The sealing damped protection mechanism 14 of the instrument cabin includes multi-stage seal rings 141 between the upper protective tube and the instrument cabin as well as between the lower protective tube and the instrument cabin, a sliding oil seal connector 142 between the instrument cabin and a joint of the cable drill pipe, a sensor lens and housing seal 143, an instrument cabin control mainboard seal 144, and a damping spring assembly 145.
The cable drill pipes 3 are connected to each other to form the power and data transmission channel. The cable drill pipe includes the lower end connected to the intelligent probing rod, and the upper end connected to the ground drilling rig 7. The transmission cable 31 is provided in the cable drill pipe. The transmission cable 31 is connected to the ground control terminal 4.
The signal relay sub 2 is a special cable drill pipe, and is provided between the cable drill pipe assemblies at a certain spacing distance. The signal relay sub 2 includes a signal relay 21 and a relay cable 22. The relay cable 22 includes an upper end and a lower end respectively connected to adjacent ones of the cable drill pipes, and a middle connected to the signal relay. The signal relay receives a power carrier signal from the transmission cable of the lower cable drill pipe, performs demodulation, preprocessing, gain amplification, denoising, storage and modulation on the power carrier signal, and transmits the power carrier signal upward to the upper cable drill pipe in the form of the power carrier. The signal relay sub realizes the signal gain and signal fidelity, and increases a transmission distance of the signal. The cable drill pipe 3 is a center cable structure (the transmission cable for transmitting the signal and the power is provided in the cable drill pipe 3). The cable drill pipes are connected to each other to form the power and data transmission channel. The cable drill pipe includes the lower end connected to the intelligent probing rod, and the upper end connected to the drilling rig. The transmission cable is provided in the cable drill pipe. The transmission cable 31 is connected to the ground control terminal 4.
The ground control terminal 4 includes a ground modem 42 for signal conversion and an industrial notebook computer 41. The ground modem 42 is connected to the transmission cable in the cable drill pipe 3 through a cable, and configured to demodulate a power carrier signal modulated and transmitted by the intelligent probing rod 1, perform gain amplification and fidelity on the power carrier signal through the signal relay sub 2, and transmit a modulated downhole instrument control instruction downward through detection data transmitted by the cable drill pipe 3. The industrial notebook computer 41 is connected to the ground modem 42, and configured to extract a digital signal in the power carrier, and record a data flow. The data interpretation and goaf reconstruction imaging software system is provided in the industrial notebook computer 41 to process and analyze the detection data. The remote data transmission system is connected to the ground control terminal 4, such that the site data is read and analyzed by a worker at the cloud server and the remote client to realize remote data management and communication information interaction.
Referring to
Referring to
A detection method of the internal peeping detection-while-drilling system for the deep goaf of the mining-disturbed stratum includes the following steps:
In step S1, a mining-disturbed stratum is drilled. The intelligent probing rod 1 drills to the target goaf. Specifically:
In step S1.1, early preparation is made before the drilling. According to early data, a hole position is located, a drilling scheme is determined, a drilling system is provided, and functions of various parts of the detection system are debugged, thereby completing various early preparations on the drilling.
In step S1.2, based on a high ground stress, a high degree of fragmentation and a complex environment of the mining-disturbed stratum, a pipe-following drilling technology and supported drilling tools are used. The intelligent probing rod is provided with the sealing damped protection mechanism. With the special pipe-following drilling technology, a wall protection problem in a fracture region of a “three-zone” rock stratum on the goaf is resolved, a stable detection channel is provided, and the intelligent probing rod is sent to the goaf.
In step S2, after the intelligent probing rod 1 reaches the goaf, the intelligent probing rod 1 is extended out to expose the instrument cabin, thereby detecting data of the target goaf, storing the data, modulating the data and transmitting the data to the ground control terminal 4, specifically including:
In step S2.1, according to drilling parameters such as a weight on bit (WOB), a rotational speed, a pump volume, a pump pressure and an elevating power, time drilling to the target goaf is determined.
In step S2.2, according to the drilling parameters such as a hole trajectory parameter, a hole depth, a hole drift angle and a drift azimuth, a spatial position of the target goaf is located.
In step S3, data transmission is performed. The sensor assembly modulates the detection data after acquiring the detection data, and transmits the detection data to the ground through the cable drill pipe in the form of the power carrier. The signal relay sub is provided at a certain spacing distance in the transmission channel formed by the cable drill pipes. The signal relay sub performs demodulation, preprocessing, gain amplification and remodulation on the modulated detection data, and transmits remodulated detection data to an upper end continuously. At last, the detection data is transmitted to the ground control terminal through the cable drill pipe and the signal relay sub.
In step S4, the ground control terminal demodulates acquired data, and performs modeling to obtain a 3D structural model of the underground goaf.
Specifically, the ground control terminal demodulates the acquired data: The detection data is transmitted to the ground control terminal through the transmission channel composed of the cable drill pipe and the signal relay sub. The modem of the ground control terminal performs demodulation and conversion on the detection data. Through the ground industrial notebook computer, the data is visualized, stored and uploaded to the ground detection control software platform of the industrial notebook computer, thereby realizing detection control and audio/video communication.
The ground control terminal performs the modeling to obtain the 3D structural model of the underground goaf: Through the ground industrial notebook computer or the remote client, 3D underground goaf modeling and imaging, including image enhancement, laser-sonar 3D joint modeling, and multi-source heterogeneous data 3D joint modeling, are performed on the detection data from the ground industrial control system, thereby obtaining the 3D structural model of the underground goaf.
In step S5, remote Internet data transmission is performed. The ground control terminal transmits the site detection data to the cloud server through the Internet data transmission system. The remote server downloads the data of the cloud server. The remote client accesses the remote server to realize the remote data management and the communication information interaction. Specifically:
In step S5.1, data is accessed to an Internet. The ground control terminal accesses the data to an Internet system through the Internet access device.
In step S5.2, the data is transmitted through the Internet. The Internet access device transmits the data to the cloud server in various wireless network transmission modes such as WiFi and TD-LTE. The cloud server realizes Internet relay storage and communication information forwarding on the detection data.
In step S5.3, remote data management is performed. The remote server downloads cloud data. The remote client accesses the remote server. The remote client with developed system software realizes the data management such as real-time data updating and historical data playback, and remote communication information interaction with the underground site.
In step S6, goaf form evaluation and emergency rescue are performed. A form, an environment and a roof structure of the goaf are evaluated through the underground goaf reconstruction and imaging in Step S4. Life detection on the underground goaf of the rescue site, and ground-underground real-time communication are realized through Step S5.
Herein, the involved orientation terms such as “front”, “rear”, “upper”, and “lower” are defined in terms of the positions of parts and between the parts in the drawings, which are used just for clarity and convenience of expressing the technical solution. It should be understood that the use of such orientation terms should not limit the protection scope claimed by the present disclosure.
The above embodiments and the features of the embodiments herein may be combined with each other without conflict.
The above are merely preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, and the like made within the spirit and principle of the present disclosure shall be all included in the protection scope of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202310845177.0 | Jul 2023 | CN | national |
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