A crawler-type horizontal directional drilling comprehensive geophysical exploration device

Abstract

The present invention relates to a crawler-type integrated geophysical exploration device for horizontal directional drilling, belonging to the field of horizontal directional drilling engineering. The device boasts a safe and stable structure, making it suitable for crawling through complex borehole terrain and avoiding obstacles. It also combines active power supply, signal transmission, and traction power supply. Its fast and tight connectors facilitate operator control of the integrated geophysical exploration device over long distances.

Description

Technical Field

[0001] The invention relates to a crawler-type horizontal directional drilling comprehensive geophysical prospecting device, belonging to the field of horizontal directional drilling engineering. Background Art

[0002] Although the current traditional vertical drilling survey method can meet the requirements of preliminary and detailed surveys of projects to a certain extent, it inevitably faces many difficulties in projects such as deep buried tunnels, tunnels in high-altitude mountainous areas, and river-crossing and sea-crossing tunnels, such as high construction costs, high degree of drill hole dispersion, many invalid drill holes, and incomplete formation information response. In addition, due to the limitations of the working environment, it is also restricted by factors such as equipment transportation, water supply, site and environmental protection. Therefore, it is necessary to propose a new drilling survey method to overcome the above problems.

[0003] Traditional horizontal directional drilling technology is primarily used in trenchless pipeline construction projects for water supply and drainage, gas and heat, electricity and communications, and oil. However, with technological advancements, its application in geological surveys has become possible. Its advantage lies in transforming the "one-hole view" of traditional vertical drilling geological survey methods into a full, blind-spot-free survey along the tunnel axis, which is very beneficial for comprehensively and accurately revealing the geological conditions along the tunnel. Currently, there are no detailed and feasible integrated geophysical exploration devices and methods for horizontal directional drilling. Considering that horizontal directional drilling has inclined and horizontal sections, if the hole is not thoroughly cleaned, large obstacles such as gravel will still exist. The use of wheeled devices will inevitably be limited by terrain, etc. Therefore, a crawler-type travel device with strong off-road capabilities, high protection, good traction and adhesion performance, and strong climbing power is used. It can move stably and has good anti-overturning properties, making it very suitable for operation and movement in narrow directional boreholes. At the same time, it is equipped with a flexible dragging cable and connector structure with good wear resistance, and can realize the combination of active power supply, signal transmission and dragging power supply during the forward movement of the crawler device, so as to efficiently complete the comprehensive geophysical exploration operations in long-distance boreholes. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a crawler-type horizontal directional drilling comprehensive geophysical exploration device. The present invention has a safe and stable structure, is suitable for crawling through complex terrain of drilling and avoiding obstacles, and can realize the combined functions of active power supply, signal transmission and traction power supply. At the same time, the joints are quickly and tightly connected, which makes it convenient for staff to control the comprehensive geophysical exploration device over long distances.

[0005] To achieve the above-mentioned purpose, the technical solution provided by the present invention is a crawler-type horizontal directional drilling integrated geophysical exploration device, which at least includes a geophysical probe for detecting stratum information, a camera for detecting geological information and an external computer for imaging. The geophysical probe is mounted in the integrated geophysical exploration device box, which is a rectangular box structure. Cameras are provided in the forward and backward directions of the integrated geophysical exploration device box. Crawler walking devices are symmetrically arranged on both sides of the integrated geophysical exploration device box. Servo drive motors for driving the crawler walking devices are provided at corresponding positions on both sides of the integrated geophysical exploration device box. A single-chip microcomputer for controlling the crawler walking device and receiving camera image signals is provided inside the integrated geophysical exploration device box. The single-chip microcomputer is connected to the external computer through a flexible drag cable located at the tail end of the integrated geophysical exploration device box;

[0006] The flexible trailing cable is composed of at least a power line for power supply, an information line for transmitting information, a tensile element, a shielding insulation layer, and a cable tape wrapped around the power line and the information line. The power line and the information line are circumferentially bundled and evenly distributed in the cable tape. The tensile element is arranged around the power line and the information line in the cable tape. The power line and the information line are both wrapped with a shielding insulation layer. The cable tape is filled with a buffer filler.

[0007] Flexible drag cables are divided into at least ordinary cables and signal relay cables, wherein a signal repeater for amplifying signals is provided in the middle position of the signal relay cable, and the flexible drag cables are fixed to each other through a spherical cable male and female connector structure, and the cable male and female connector structure is respectively composed of a male hemispherical quick connector and a female hemispherical quick connector that cooperate with each other, and the power line, information line and tensile element at the port of the cable male and female connector structure are all cooperated with each other through a plug structure.

[0008] Each side of the crawler walking device is composed of at least two front and rear driving gears installed on the comprehensive geophysical exploration device box, a flexible chain ring connected to the driving gear, an induction gear and a supporting crawler. The two pairs of front and rear driving gears are driven to rotate by servo drive motors symmetrically installed on both sides of the comprehensive geophysical exploration device box. The driving gear drives the walking crawler to rotate through the flexible chain ring. The induction gears used for inducing correction and supporting the crawler are arranged around the crawler walking device.

[0009] A battery is provided at the bottom of the integrated geophysical exploration device box. The servo drive motor and geophysical exploration rod are gathered in the integrated geophysical exploration device box. The servo drive motor and the battery device are both isolated and waterproof.

[0010] The female hemispherical quick connector port is provided with an annular joint screw groove, which consists of three large-diameter slots arranged in a 120° ring and a connected small-diameter slot. The corresponding position of the male hemispherical quick connector port is provided with three large-diameter joint screw platforms arranged in a 120° ring. The screw platforms match the screw groove, allowing the two to be tightly fastened by rotation.

[0011] A waterproof surface layer is provided in the spin buckle groove and the spin buckle platform to improve the connection tightness and sealing waterproofness of the cable male and female connector structure after the spin buckle platform and the spin buckle groove cooperate with each other.

[0012] The two ends of the ordinary cable and the signal relay cable are respectively provided with a male hemispherical quick connector and a female hemispherical quick connector, and the ordinary cable and the signal relay cable are switched by the male hemispherical quick connector and the female hemispherical quick connector.

[0013] When using this device, please follow the steps below:

[0014] (1) Before surveying a horizontal directional borehole, after the water vapor in the horizontal directional borehole is dissipated through external ventilation, the crawler-type horizontal directional drilling integrated geophysical exploration device is controlled to enter the borehole through an external computer and a single-chip microcomputer, and the camera in the forward direction is turned on;

[0015] (2) The tracked horizontal directional drilling integrated geophysical exploration device is controlled by a camera. When the device enters the target stratum or reaches the target distance, the geophysical probe is turned on by an external computer, and the geophysical signal is fed back to the external computer through a single-chip microcomputer using a flexible drag cable for digital-to-analog conversion, thereby forming real-time stratum information detection.

[0016] (3) When the travel distance is too long and exceeds the length of the flexible drag cable, remove the male and female connectors between the two sections of the ordinary cable, connect the signal relay cable to the rear of the ordinary cable through the male and female connectors, and rotate the screw-on platform on the male connector to tighten the two cables tightly, thereby increasing the signal transmission strength through the signal relay cable;

[0017] (4) When the geophysical exploration operation is completed, the lighting and camera in the backward direction are turned on, and the tracked geophysical exploration device is controlled to move backward under the external computer and monitoring. At the same time, the redundant flexible dragging cable caused by the backward movement is tidied up on the ground, so that the tracked vehicle is safely recovered to the ground, and all operations are completed.

[0018] According to the above technical solution, because the crawler-type horizontal directional drilling integrated geophysical exploration device adopts a crawler-type travel device to travel, and uses the onboard camera and integrated geophysical rod to detect the internal geology of the tunnel, the present invention can better adapt to the complex terrain in the fixed-line borehole, and facilitate surface workers to conduct real-time monitoring and testing of the crawler geophysical exploration device vehicle; and because the present invention adopts a flexible drag cable and connector structure with good wear resistance, the cable connector used can enable the cable to be quickly connected, so the present invention realizes an efficient and stable connection between the crawler geophysical exploration device vehicle in the hole and the surface. At the same time, the cable has many functions such as active power supply, signal transmission and traction power supply, realizing the functions of timely data storage, transmission communication and remote real-time control, and meeting the requirements of tightness and sealing and waterproofing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall schematic diagram of a crawler-type horizontal directional drilling integrated geophysical exploration device;

[0020] Figure 2 This is a partial schematic diagram of a tracked integrated geophysical exploration vehicle;

[0021] Figure 3 This is a schematic diagram of the working of the crawler-type comprehensive geophysical prospecting vehicle in the hole;

[0022] Figure 4 This is a schematic diagram of the internal structure of the flexible drag cable;

[0023] Figure 5 They are schematic diagrams of male hemispherical quick connector and female hemispherical quick connector respectively;

[0024] Figure 6 It is a schematic diagram of the structure and matching process of the male and female connectors of the cable.

[0025] In the figure: 1. Integrated geophysical exploration device box; 2. Threaded hole; 3. Geophysical exploration rod; 4. Camera; 5. Single-chip microcomputer; 6. Geophysical exploration signal wire; 7. Walking track; 8. Driving gear; 9. Flexible chain link; 10. Induction gear; 11. Servo drive motor; 12. Chassis connector; 13. Flexible drag cable; 14. Signal repeater; 15. Cable male and female connector structure; 16. External computer; 17. Signal line; 18. Shielding insulation layer; 19. Power line; 20. Tensile element; 21. Buffer filler; 22. Cable tape; 23. Female hemisphere quick connector; 24. Spindle groove; 25. Male hemisphere quick connector; 26. Spindle table; 27. Thread; 28. Horizontal directional drilling. Specific implementation methods

[0026] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments; however, the protection scope of the present invention is not limited to the following embodiments.

[0027] In the technical solution provided by the present invention, a crawler-type horizontal directional drilling integrated geophysical exploration device is provided. Figure 1 As shown, it at least includes a geophysical probe 3 for detecting stratum information, a camera 4 for detecting geological information and an external computer 16 for imaging. The integrated geophysical device box 1 is installed on the top of the integrated geophysical device box 1 using the threaded hole 2 of the upper cover plate to form a closed box. The geophysical probe 3 is set in the integrated geophysical device box 1. The integrated geophysical device box 1 is a rectangular box structure. The integrated geophysical device box 1 is provided with cameras 4 in both the forward and backward directions. The crawler walking devices are symmetrically arranged on both sides of the integrated geophysical device box 1, as shown in FIG. Figure 2 As shown, servo drive motors 11 for driving the crawler walking device are provided at corresponding positions on both sides of the comprehensive geophysical exploration device box 1. Each side of the crawler walking device is composed of at least two front and rear driving gears 8 installed on the comprehensive geophysical exploration device box 1, a flexible chain ring 9 connected to the driving gear 8, and an induction gear 10 supporting the crawler. The servo drive motors 11 symmetrically installed on both sides of the comprehensive geophysical exploration device box 1 drive the front and rear two pairs of driving gears 8 to rotate, and the driving gear 8 drives the walking crawler 7 to rotate through the flexible chain ring 9. The induction gears 10 for inducing correction and supporting the crawler are arranged around the crawler walking device.

[0028] The interior of the integrated geophysical exploration device box 1 is provided with a single-chip microcomputer 5 for controlling the crawler walking device, receiving the image signal of the camera 4 and receiving the information of the geophysical probe 3 transmitted by the geophysical signal wire 6. The single-chip microcomputer 5 is connected to the external computer 16 through a flexible drag cable 13 located at the chassis connector 12 at the tail end of the integrated geophysical exploration device box 1; a battery is provided at the bottom of the integrated geophysical exploration device box 1, and the servo drive motor 11 and the geophysical probe 3 are gathered in the integrated geophysical exploration device box 1, and the servo drive motor 11 and the battery device are both isolated and waterproof.

[0029] like Figure 4As shown, the flexible trailing cable 13 includes at least two types of three flexible conductors. The flexible trailing cable 13 comprises at least a power cord 19 for power supply, an information line for transmitting information, a tensile element 20, a shielding insulation layer 18, and a cable wrap 22 wrapped therearound. The power cord 19 and the information line are circumferentially bundled and evenly distributed within the cable wrap 22. The tensile element 20 is arranged around the power cord 19 and the information line within the cable wrap 22. Both the power cord 19 and the information line are wrapped with the shielding insulation layer 18. In this embodiment, the shielding insulation layer 18 is primarily made of polyvinyl chloride, which has excellent shielding and flame-retardant properties and can effectively prevent mutual interference between signals. The tensile element 20 is primarily made of twisted aramid yarn, etc., which effectively improves the tensile strength of the entire flexible cable when the male and female connectors of the cable are connected. The cable wrap 22 is filled with a cushioning filler 21. In this embodiment, the cushioning filler 21 is made of nitrile PVC, which provides cushioning and position limiting for the conductors, ensuring the cable's flexibility and toughness. Furthermore, the conductors are made of copper or other soft conductive materials, preventing slippage between the cable cores during bending and twisting, reducing the risk of core breakage and improving the cable's tensile, bending, and compressive resistance. The cable wrap 22 also includes a signal repeater 14 for relaying signals.

[0030] The flexible drag cable 13 is divided into at least a common cable and a signal relay cable, wherein a signal repeater 14 for amplifying the signal is provided in the middle of the signal relay cable. The flexible drag cables 13 are fixed to each other by a spherical cable male and female connector structure 15. The cable male and female connector structure 15 is composed of a male hemispherical quick connector and a female hemispherical quick connector that cooperate with each other. Figure 5 As shown, the female hemispherical quick connector 23 is provided with an annular screw groove 24, which is composed of three large-diameter slots arranged in a 120° ring and a small-diameter slot connected thereto. The male hemispherical quick connector 25 is provided with three large-diameter connector screw platforms 26 arranged in a 120° ring at the corresponding position of the port. Figure 6 As shown, the screw-on platform 26 matches the screw-on groove 24, allowing the two to tightly engage through rotation. A waterproof surface layer is provided within the screw-on groove 24 and screw-on platform 26, enhancing the connection tightness and sealing and waterproofing of the cable male and female connector structure 15 when the screw-on platform 26 and screw-on groove 24 engage. In this embodiment, both the female hemispherical quick connector 23 and the male hemispherical quick connector 25 are made of metal, while the screw-on groove 24 and screw-on platform 26 have a surface layer made of rubber, polyvinyl chloride, or polyurethane, providing a good waterproof effect.

[0031] The power line 19, information line, and tensile member 20 at the ends of the cable male and female connector structure 15 are all mated via a plug structure. Male and female hemispherical quick connectors are provided at both ends of the conventional cable and signal relay cable, respectively, allowing for switching between the conventional cable and signal relay cable.

[0032] like Figure 6 The figure shows the mating of male and female hemispherical quick connectors 23. The screw-on platform 26 on the male hemispherical quick connector 25 on one cable port is inserted into the screw-on groove 24 embedded in the female hemispherical quick connector 23 on the other cable port. At this point, the signal line 17, power line 19, and tensile element 20 are also mated in their corresponding positions. Because the female hemispherical quick connector 23 is secured to the cable, and the male hemispherical quick connector 25 is rotatable and secured to the cable via threads 27, the rotatable nature of the male hemispherical quick connector 25 allows the screw-on platform 26 to be rotated from the large notch of the screw-on groove 24 to the small notch, achieving a quick axial connection between the male and female hemispherical quick connectors 23 and the cable. Furthermore, the inner surfaces of the screw-on groove 24 and the screw-on platform 26 have a surface layer made of a material such as rubber, which improves the joint's connection security and waterproof sealing.

[0033] When using this device Figure 3 As shown, follow the steps below:

[0034] (1) Before surveying the horizontal directional borehole 28, after the water vapor in the horizontal directional borehole 28 is dissipated by external ventilation, the crawler-type horizontal directional drilling integrated geophysical exploration device is controlled by the external computer 16 and the single-chip microcomputer 5 to enter the borehole and turn on the camera 4 in the forward direction;

[0035] (2) The camera 4 is used to control the route of the crawler-type horizontal directional drilling integrated geophysical exploration device. When entering the target stratum or traveling to the target distance, the geophysical exploration rod 3 is turned on through the external computer 16, and the geophysical exploration signal is fed back to the external computer 16 through the single-chip microcomputer 5 using the flexible drag cable 13 for digital-to-analog conversion, thereby forming real-time stratum information detection;

[0036] (3) When the travel distance is too long and exceeds the length of the flexible drag cable 13, after removing the cable male and female connector structure 15 between the two sections of the ordinary cable, the signal relay cable is connected to the rear of the ordinary cable through the male and female connector structure, and the screw-on platform 26 on the male connector is rotated to tighten the two cables tightly, thereby increasing the signal transmission strength through the signal relay cable;

[0037] (4) When the geophysical exploration operation is completed, the lighting and camera 4 in the backward direction are turned on, and the tracked geophysical exploration device is controlled to move backward using the external computer 16 and monitoring. At the same time, the redundant flexible drag cable 13 caused by the backward movement is tidied up at the ground position, so that the tracked vehicle is safely recovered to the ground, and all operations are completed.

Claims

1. A crawler-type integrated geophysical exploration device for horizontal directional drilling, comprising at least a geophysical probe for detecting stratum information, a camera for detecting geological information, and an external computer for imaging, characterized in that: The geophysical probe is mounted in the integrated geophysical device box, which is a rectangular box structure. Cameras are provided in both the forward and backward directions of the integrated geophysical device box. Crawler walking devices are symmetrically arranged on both sides of the integrated geophysical device box. Servo drive motors for driving the crawler walking devices are provided at corresponding positions on both sides of the integrated geophysical device box. A single-chip microcomputer for controlling the crawler walking device and receiving camera image signals is provided inside the integrated geophysical device box. The single-chip microcomputer is connected to the external computer through a flexible drag cable located at the tail end of the integrated geophysical device box. The flexible trailing cable is composed of at least a power line for power supply, an information line for transmitting information, a tensile element, a shielding insulation layer, and a cable tape wrapped around the power line and the information line. The power line and the information line are circumferentially bundled and evenly distributed in the cable tape. The tensile element is arranged around the power line and the information line in the cable tape. The power line and the information line are both wrapped with a shielding insulation layer. The cable tape is filled with a buffer filler. Flexible drag cables are divided into at least ordinary cables and signal relay cables, wherein a signal repeater for amplifying the signal is provided in the middle of the signal relay cable. The flexible drag cables are fixed to each other by a spherical cable male and female connector structure, which is respectively composed of a male hemispherical quick connector and a female hemispherical quick connector that cooperate with each other. The power line, information line and tensile element at the ports of the cable male and female connector structure are all matched with each other through a plug structure. The female hemispherical quick connector port is provided with an annular joint screw groove, which consists of three large-diameter slots arranged in a 120° circle and a connected small-diameter slot. The male hemispherical quick connector port is provided with three large-diameter joint screw platforms arranged in a 120° circle at the corresponding position. The screw platforms match the screw groove, allowing the two to be tightly fastened by rotation. Both ends of the common cable and the signal relay cable are respectively provided with a male hemispherical quick connector and a female hemispherical quick connector, and the common cable and the signal relay cable are switched by the male hemispherical quick connector and the female hemispherical quick connector.

2. The crawler-type horizontal directional drilling integrated geophysical exploration device according to claim 1, characterized in that: Each side of the crawler walking device is composed of at least two front and rear driving gears installed on the comprehensive geophysical exploration device box, a flexible chain ring connected to the driving gear, an induction gear and a supporting crawler. The two pairs of front and rear driving gears are driven to rotate by servo drive motors symmetrically installed on both sides of the comprehensive geophysical exploration device box. The driving gear drives the walking crawler to rotate through the flexible chain ring. The induction gears used for inducing correction and supporting the crawler are arranged around the crawler walking device.

3. The crawler-type horizontal directional drilling integrated geophysical exploration device according to claim 1, characterized in that: A battery is provided at the bottom of the integrated geophysical exploration device box. The servo drive motor and geophysical exploration rod are gathered in the integrated geophysical exploration device box. The servo drive motor and the battery device are both isolated and waterproof.

4. The crawler-type horizontal directional drilling integrated geophysical exploration device according to claim 1, characterized in that: A waterproof surface layer is provided in the spin buckle groove and the spin buckle platform to improve the connection tightness and sealing waterproofness of the cable male and female connector structure after the spin buckle platform and the spin buckle groove cooperate with each other.

5. The crawler-type horizontal directional drilling integrated geophysical exploration device according to claim 1, characterized in that: When using this device, please follow the steps below: (1) Before surveying the horizontal directional drilling hole, after the water vapor in the horizontal directional drilling hole is dissipated through external ventilation, the crawler-type horizontal directional drilling integrated geophysical exploration device is controlled to enter the borehole through an external computer and a single-chip microcomputer, and the camera in the forward direction is turned on; (2) The camera is used to control the route of the crawler-type horizontal directional drilling integrated geophysical exploration device. When entering the target stratum or traveling to the target distance, the geophysical probe is turned on through an external computer, and the geophysical signal is fed back to the external computer through a single-chip microcomputer using a flexible drag cable for digital-to-analog conversion, forming real-time formation information detection; (3) When the travel distance is too long and exceeds the length of the flexible drag cable, remove the male and female connectors between the two sections of ordinary cables, connect the signal relay cable to the rear of the ordinary cable through the male and female connectors, and rotate the screw-on stage on the male connector to tighten the two cables tightly, thereby increasing the signal transmission strength through the signal relay cable; (4) When the geophysical exploration operation is completed, the lighting and camera in the backward direction are turned on, and the tracked geophysical exploration device is controlled to move backward under the external computer and monitoring. At the same time, the redundant flexible drag cable caused by the backward movement is tidied up on the ground, so that the tracked vehicle is safely recovered to the ground, and all operations are completed.

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