An autonomous transport system and control method for underground coal mine hole detection instruments

Abstract

The present invention discloses an autonomous transportation system and control method for a borehole detection instrument in a coal mine. The system is provided with a borehole power device and a piston drive device. A working device is installed at the forward end of the piston drive device, and the piston drive device accommodates the detection instrument. The borehole power device provides hydraulic power to the piston drive device to move along the borehole. The piston drive device carries the detection instrument and moves along the borehole. The working device clears obstacles in the borehole and / or trims and reinforces the borehole wall. The present invention adopts a piston drive device to complete the automatic transportation and return of the detection instrument. At the same time, the working device completes the cleaning of obstacles at the front end of the detection instrument and trims and reinforces the borehole wall. It can effectively identify the information of obstacles in the hole, realize precise posture control of remote control or autonomous transportation, ensure the safe and reliable transportation of the detection instrument, and provide a complete set of technical methods for the safe and efficient transportation of borehole detection instruments in coal mines.

Description

Technical Field

[0001] The present invention relates to the technical field of comprehensive detection technology for underground coal mine geological support, and in particular to an autonomous transportation system and control method for an in-hole detection instrument in an underground coal mine. Background Art

[0002] Drilling is an effective technical means for underground geological exploration in coal mines, offering advantages such as high precision, intuitiveness, and wide adaptability. However, the detection range of a borehole is limited and is significantly affected by the target area. In recent years, borehole geophysical exploration technology based on drilling has effectively expanded the detection range and improved detection efficiency. After drilling is completed, the detection instrument is generally manually advanced, using a rigid pipe to gradually push the instrument from the hole mouth to the bottom. This method is suitable for shallow boreholes within 150 meters, but for boreholes deeper than 150 meters, the advancement resistance increases with depth, or the flexible deformation of the rigid pipe makes it impossible to continue pushing. When using a drill rig to clamp the drill pipe for pushing, the excessive rigidity of the drill pipe makes it difficult to control the conveying process, which can easily cause the detection instrument to collide with the collapsed or deformed hole wall during pushing, thus damaging the instrument. Furthermore, existing pushing methods cannot adjust and control the position of the detection instrument, making it impossible to accurately detect different borehole locations. Overall, manual or non-dedicated equipment for pushing in-hole detection instruments cannot meet the increasing demand for intelligent and precise geological exploration in coal mines, and seriously restricts the development of "transparent geology" underground in coal mines.

[0003] To this end, in view of the above-mentioned defects, the designers of the present invention have conducted intensive research and design, and integrated the experience and achievements of many years in related industries to research and design an autonomous transportation system and method of use for underground coal mine hole detection instruments to overcome the above-mentioned defects. Summary of the Invention

[0004] The purpose of the present invention is to provide an autonomous transportation system and control method for in-hole detection instruments in coal mines. A hole power device is used to provide fluid power, and a piston drive device is used to complete the automatic transportation and return of the detection instrument. At the same time, the working device completes the cleaning of obstacles at the front end of the detection instrument and the trimming and reinforcement of the borehole wall. The autonomous transportation system can effectively identify the obstacle information in the hole, realize remote control or precise posture control of autonomous transportation, ensure the safe and reliable transportation of the detection instrument, have high working efficiency, simple and convenient use, and a wide range of applications, and provide a complete set of technical methods for the safe and efficient transportation of in-hole detection instruments in coal mines.

[0005] In order to solve the above problems, the technical solutions adopted by the present invention include:

[0006] An autonomous transport system for in-hole detection instruments in coal mines is provided, comprising: a borehole power device and a piston drive device, wherein a working device is installed at the forward end of the piston drive device, and the piston drive device accommodates the detection instrument; the borehole power device provides hydraulic power for the piston drive device to move along the borehole; the piston drive device carries the detection instrument and moves along the borehole; and the working device clears obstacles in the borehole and / or repairs and reinforces the borehole wall.

[0007] Optionally, the working device is provided with a turntable, on which a first angle adjustment device and a second angle adjustment device are respectively provided, an actuator is provided at the end of the first angle adjustment device, and a rotary spray device is provided at the end of the second angle adjustment device; the turntable is installed at the forward end of the piston drive device, and the rotation is controlled by a servo motor; the actuator adopts a water jet structure, and is driven by the liquid of the in-hole power device; the rotary spray device sprays the grouting liquid stored in the in-hole power device and waits for solidification.

[0008] Optionally, the output hydraulic power provided by the orifice power unit is matched with the working capacity of the piston drive unit and the working device, and needs to meet the following requirements:

[0009]

[0010] Where: p1 is the output liquid pressure of the orifice power device, MPa;

[0011] Q1 is the output liquid flow rate of the orifice power device, L / min;

[0012] η1 is the working efficiency of the orifice power device;

[0013] F a is the driving force of the piston drive device, N;

[0014] v1 is the working speed of the piston drive device, m / s;

[0015] η2 is the working efficiency of the piston drive device;

[0016] D is the output port diameter of the actuator, m;

[0017] ρ is the output liquid density of the actuator, kg / m 3 ;

[0018] g is the acceleration due to gravity, m / s 2 ;

[0019] v2 is the output liquid working speed of the actuator, m / s;

[0020] η3 is the working efficiency of the actuator.

[0021] Optionally, the dynamic model of the piston drive device is shown in the following formula (2):

[0022]

[0023] Where: M1 is the mass of the detection instrument, kg, ranging from 50 to 60;

[0024] M2 is the mass of the piston drive unit, kg, ranging from 200 to 300;

[0025] D is the damping between the piston drive device and the hole wall, kg / s, with a value of 10 to 30;

[0026] K e is the elastic stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10;

[0027] K g is the geometric stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10;

[0028] v1 is the speed of the piston drive device, m / s;

[0029] is the acceleration of the piston drive, m / s 2 ;

[0030] ∫v1 is the displacement of the piston drive device, m;

[0031] F a is the driving force of the piston drive device, N;

[0032] F f is the friction force between the piston drive device and the hole wall, N, with a value of 100 to 200.

[0033] Optionally, the in-hole power unit comprises a hydraulic oil tank, a high-pressure pump, a high-pressure filter, an on-off valve assembly, and a delivery pipeline, all connected in sequence. A slurry tank is connected to the on-off valve assembly. The delivery pipeline, at the rear end of the on-off valve assembly, must be longer than the drilling depth. The output connector at the end is connected to the piston drive unit and has a jet port at the connection for transmitting hydraulic power and providing pulling force.

[0034] Optionally, the piston-type drive device is provided with a sealing sleeve, and a piston body is provided in one end of the sealing sleeve for bearing hydraulic power and preventing hydraulic oil from entering the detection instrument. The input unit is provided at the orifice and the orifice is sealed to ensure that only the conveying pipeline passes through. The input unit can receive the liquid power of the power device in the hole, so that the liquid fills the hole and provides hydraulic power for the sealing sleeve. The piston body and the sealing sleeve adopt an interference fit.

[0035] Optionally, a data acquisition system is also provided in the piston-type drive device, and a remote control system is set up to communicate with the detection instrument; the data acquisition system can obtain the operating parameter information and hole wall status information of the detection instrument; the remote control system can complete manual remote command control outside the hole, output relevant instructions to the hole mouth power device, piston-type drive device, working device and detection instrument, and display the working status of the detection instrument and the collection information results.

[0036] Optionally, the data acquisition system is responsible for acquiring the parameters of the detection instrument during transportation, including a posture sensor, an inclination sensor, a pressure sensor, an odometer and an output unit. The posture sensor, inclination sensor, pressure sensor, odometer and output unit are arranged in a sealed tube sleeve. The posture sensor mainly obtains the spatial posture parameter information of the detection instrument; the inclination sensor mainly obtains the spatial angle information of the detection instrument; the odometer is used to obtain the specific position information of the detection instrument in the borehole; the pressure sensor is used to obtain the hydraulic pressure in the piston drive device; the output unit is used to export the posture parameters, working angle, pressure and position information in the cavity and the hole wall status information of the detection instrument to the remote control system.

[0037] Optionally, the remote control system includes an input device, a decision device and an output device, wherein the input device is used to receive information from the data acquisition system; the decision device is mainly used to analyze the comprehensive data, complete the basic functions of the detection instrument, or perform remote interactive control manually outside the hole; the output device outputs relevant instructions to each component, and at the same time displays the operation results and the drilling wall effect.

[0038] A method for using an autonomous transport system for a coal mine underground hole detection instrument, wherein the autonomous transport system for a coal mine underground hole detection instrument is the autonomous transport system for a coal mine underground hole detection instrument of the present invention, and a specific control method includes:

[0039] Step 1: The operator places the detection instrument in the piston drive device and places the entire device into the borehole. The piston drive device is powered by the in-hole power device and is transported in the borehole autonomously or manually.

[0040] Step 2: The working device cleans the obstacles at the front end of the borehole and trims and reinforces the borehole wall. A binocular camera is used to collect information about the borehole wall at the front end of the borehole. The rotary table is used to rotate to perform full-section drilling. The first angle adjustment device is used to adjust the angle, and the actuator is used to crush and clean the irregular structures and obstacles on the inner wall of the borehole. Subsequently, the second angle adjustment device is used to adjust the angle, and the rotary spray device is used to perform grouting on the borehole wall to ensure that the entire borehole wall is smooth and quickly solidified, so as to achieve radial transition cooperation between the borehole wall and the piston drive device, which can ensure that the piston drive device always works along the drilling trajectory.

[0041] Step 3: The in-hole power device provides liquid power to the piston drive device, which is transmitted to the hole through the delivery pipeline and acts on the piston body. The theoretical parameter information obtained by locating the target point in the borehole is used. At the same time, the data acquisition system 4 collects the relevant information of the movement of the piston drive device in real time, and the actual displacement ∫v1, velocity v1 and acceleration of the piston drive device are calculated. The parameters are compared with the theoretical parameters to obtain the running trajectory error of the piston drive device. The output liquid pressure p1 and flow rate Q1 of the orifice power device are adjusted as input parameters to realize the control of the forward posture of the piston drive device. The running trajectory error is used as the evaluation function, and the optimization algorithm is used to calculate the actual displacement ∫v1, velocity v1 and acceleration respectively. Perform iterative optimization calculations and, through continuous iterative optimization, perform closed-loop adjustments to the working parameters of the piston drive device to guide the detection instrument to always be transported along the drilling trajectory. At the same time, the delivery pipeline moves forward along with the piston drive device, and the length meets the drilling depth requirements.

[0042] Step 4: When the detection instrument reaches the designated location, relevant testing work is carried out. Then the power device in the hole uses the reverse action of extracting the liquid and applies reverse pulling force to the conveying pipeline. The same method is used to return the piston drive device to the hole mouth, and prepare for the next transportation work.

[0043] Compared with the prior art, the advantages of the present invention include:

[0044] The autonomous transportation system for in-hole detection instruments in coal mines of the present invention can utilize a hole mouth power device to provide fluid power, and adopt a piston drive device to complete the automatic transportation and return of the detection instrument. At the same time, the working device completes the cleaning of obstacles at the front end of the detection instrument and trims and reinforces the borehole wall. The autonomous transportation system can effectively identify obstacle information in the hole, realize remote control or precise posture control of autonomous transportation, ensure the safe and reliable transportation of the detection instrument, have high working efficiency, are simple and convenient to use, and have a wide range of applications, and provide a complete set of technical methods for the safe and efficient transportation of in-hole detection instruments in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0046] Figure 1 This is a schematic structural diagram of the autonomous transport system for underground coal mine hole detection instruments of the present invention;

[0047] Figure 2 This is a schematic structural diagram of the in-hole power device of the present invention;

[0048] Figure 3 This is a schematic structural diagram of the piston drive device of the present invention;

[0049] Figure 4 It is a schematic structural diagram of the working device of the present invention;

[0050] Figure 5 It is a structural diagram of the data acquisition system of the present invention;

[0051] Figure 6 Schematic diagram of the remote control system structure of the present invention;

[0052] The meanings of the symbols in the accompanying drawings are as follows:

[0053] 1-remote control system; 11-input device, 12-decision making device, 13-output device;

[0054] 2-in-hole power device; 21-hydraulic oil tank, 22-high-pressure pump, 23-high-pressure filter, 24-slurry tank, 25-switch valve group, 26-delivery pipeline;

[0055] 3-piston drive device; 31-input unit, 32-piston body, 33-sealing sleeve;

[0056] 4-Data acquisition system; 41-Position sensor, 42-Output unit, 43-Tilt sensor, 44-Pressure sensor, 45-Odometer;

[0057] 5-working device; 51-rotating disk, 52-first angle adjustment device, 53-actuator, 54-second angle adjustment device, 55-spraying device, 56-binocular camera;

[0058] 6-Detection instruments. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0060] like Figure 1 The figure shows a structural schematic diagram of the autonomous transport system for in-hole detection instruments in coal mines according to the present invention, which is provided with: a borehole power device 2 and a piston drive device 3, a working device 5 is installed at the forward end of the piston drive device 3, and the piston drive device 3 accommodates the detection instrument 6; the borehole power device 2 provides hydraulic power to the piston drive device 3 to move along the borehole; the piston drive device 3 carries the detection instrument 6 and moves along the borehole; the working device 5 cleans obstacles in the borehole and / or repairs and reinforces the borehole wall. The orifice power device 2 can provide power for the propulsion of the detection instrument, and uses liquid to provide source power; the piston drive device 3 is used to drive the propulsion and retraction of the detection instrument, so as to realize long-distance transportation of the detection instrument in the borehole; the working device 5 is used to clear obstacles at the front end of the detection instrument and to trim and reinforce the borehole wall; the orifice power device is used to provide fluid power, and the piston drive device is used to complete the automatic transportation and return of the detection instrument. At the same time, the working device completes the cleaning of obstacles at the front end of the detection instrument and trims and reinforces the borehole wall. The autonomous transportation system can effectively identify the obstacle information in the hole, realize remote control or precise posture control of autonomous transportation, and ensure the safe and reliable transportation of the detection instrument. It has high working efficiency, simple and convenient use, and a wide range of applications, providing a complete set of technical methods for the safe and efficient transportation of detection instruments in underground coal mine holes.

[0061] In the embodiment of the present disclosure, the working device 5 is provided with a turntable 51, on which a first angle adjustment device and a second angle adjustment device are respectively provided, an actuator 53 is provided at the end of the first angle adjustment device, and a rotary spray device is provided at the end of the second angle adjustment device; the turntable 51 is installed at the forward end of the piston drive device 3, and the rotation is controlled by a servo motor; the actuator 53 adopts a water jet structure and is driven by the liquid of the in-hole power device 2; the rotary spray device 55 sprays the grouting liquid stored in the in-hole power device 2 for solidification.

[0062] The output hydraulic power provided by the orifice power device 2 is matched with the working capacity of the piston drive device 3 and the working device 5, and needs to meet the following requirements:

[0063]

[0064] Where: p1 is the output liquid pressure of the orifice power device, MPa;

[0065] Q1 is the output liquid flow rate of the orifice power device, L / min;

[0066] η1 is the working efficiency of the orifice power device;

[0067] F a is the driving force of the piston drive device, N;

[0068] v1 is the working speed of the piston drive device, m / s;

[0069] η2 is the working efficiency of the piston drive device;

[0070] D is the output port diameter of the actuator, m;

[0071] ρ is the output liquid density of the actuator, kg / m 3 ;

[0072] g is the acceleration due to gravity, m / s 2 ;

[0073] v2 is the output liquid working speed of the actuator, m / s;

[0074] η3 is the working efficiency of the actuator.

[0075] According to formula (1), the power system matching of each component can be completed. When the autonomous pushing system is normally transporting the detection instrument in the hole, the driving force F of the piston drive device 3 is adjusted by controlling the output liquid pressure p1 and flow Q1 of the orifice power device 2. a The execution action control of the piston drive device 3 and the working device 5 is completed by the working speed v1 and the working speed v2 of the hydraulic oil output by the actuator.

[0076] The motion law of the piston drive device 3 during normal operation is analyzed, and the dynamic model of the working process of the piston drive device 3 is established as shown in the following formula (2). By adjusting the main parameters, the precise posture control of the piston drive device 3 is achieved.

[0077]

[0078] Where: M1 is the mass of the detection instrument, kg, ranging from 50 to 60;

[0079] M2 is the mass of the piston drive unit, kg, ranging from 200 to 300;

[0080] D is the damping between the piston drive device and the hole wall, kg / s, with a value of 10 to 30;

[0081] K e is the elastic stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10;

[0082] K g is the geometric stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10;

[0083] v1 is the speed of the piston drive device, m / s;

[0084] is the acceleration of the piston drive, m / s 2 ;

[0085] ∫v1 is the displacement of the piston drive device, m;

[0086] F a is the driving force of the piston drive device, N;

[0087] F f is the friction force between the piston drive device and the hole wall, N, with a value of 100 to 200.

[0088] The working speed v1 and driving force F of the piston drive device 3 are established by formula (2): a The constraint relationship between them is obtained, thus deriving the changing rules of the two.

[0089] When the autonomous transport system is pushing normally in the hole, the output hydraulic oil working speed v2 of the actuator is kept constant, that is, the input power of the actuator is kept constant. Combining formulas (1) and (2), the working speed v1 of the piston drive device 3 and the driving force F can be obtained in real time. a By adjusting the output liquid pressure p1 and flow rate Q1 of the orifice power device 2, the working speed v1 and driving force F of the piston drive device 3 can be accurately controlled in real time. a , the motion law of the piston drive device 3 is analyzed, and the actual displacement ∫v1, velocity v1 and acceleration of the piston drive device are calculated through integration and differentiation.

[0090] The working device 5 sets the positioning target points at equal intervals during the drilling repair construction process. Combined with the positioning target information, the actual displacement ∫v1, velocity v1 and acceleration of the piston drive device 3 are calculated. The parameters are compared with the theoretical parameters to obtain the running trajectory error of the piston drive device 3. The output liquid pressure p1 and flow rate Q1 of the orifice power device 2 are used as input parameters, and the running trajectory error is used as the evaluation function. The actual displacement ∫v1, velocity v1 and acceleration are respectively calculated using the optimization algorithm. Perform iterative optimization calculations and update the actual displacement ∫v1, velocity v1 and acceleration through continuous iterative optimization The value of ensures that the piston drive device 3 always works according to the theoretical design posture, and the position information of the entire movement process is adjustable and controllable.

[0091] The structure of the power device in the hole is as follows Figure 2 As shown, the in-hole power device 2 is provided with a hydraulic oil tank 21, a high-pressure pump 22, a high-pressure filter 23, a switch valve group 25 and a delivery pipe 26 connected in sequence; a slurry box 24 is provided in connection with the switch valve group 25; the hydraulic oil tank 21 is used to store hydraulic oil; the high-pressure pump 22 is driven by a servo motor and is connected to the hydraulic oil tank 21 through a delivery pipe 26 to pressurize the hydraulic oil; the high-pressure filter 23 is connected to the high-pressure pump 22 through a delivery pipe 26 to filter the pressurized hydraulic oil; the slurry box 24 is mainly used to store high-strength grouting materials, which can be quickly solidified and reinforced; the switch valve group 25 is connected to the high-pressure filter 23 and the slurry box 24 through a delivery pipe 26 to control the opening and closing of the delivery of high-pressure liquid and grouting liquid; the length of the delivery pipe 26 at the rear end of the switch valve group 25 must be greater than the drilling depth, and the end output joint is connected to the piston drive device 3, and has a jet port at the output joint for transmitting hydraulic power and providing pulling force.

[0092] like Figure 3 The figure shows a schematic structural diagram of the piston drive device 3. The piston drive device 3 can complete the advancement and retraction of the detection instrument. The piston drive device 3 is provided with a sealing sleeve 33. A piston body 32 is provided in one end of the sealing sleeve 33 to withstand hydraulic power and prevent hydraulic oil from entering the detection instrument. The input unit 31 is provided at the orifice and adopts orifice sealing to ensure that only the delivery pipeline 26 passes through and can receive the liquid power of the in-hole power device 2. The piston body 32 and the sealing sleeve 33 adopt an interference fit so that the liquid fills the hole and provides hydraulic power for the sealing sleeve 33; the sealing sleeve 33 adopts a regular cross-sectional shape, and the cross-sectional shape adopts a transition fit with the drilled hole cross-section to ensure that the detection instrument can be placed inside, and at the same time, a pressure treatment is performed to achieve the closure of the internal space; the piston body 32 is placed at the rear of the sealing sleeve 33 and adopts an interference fit with the sealing sleeve 33. It can move forward and backward under the action of the orifice power device 2; the input unit 31 can receive the liquid power of the in-hole power device 2. The specific working principle is that the borehole is used as a piston cylinder and the piston drive device 3 is used as a piston to realize the overall advancement in the borehole. When retracting, the reverse effect of the extracted liquid is used and the reverse pulling force is applied to the delivery pipe 26 for retraction.

[0093] like Figure 4The figure shows a schematic diagram of the working device structure. The working device 5 includes a rotary disk 51, an actuator 53, a first angle adjustment device 52, a rotary spray device 55 and a second angle adjustment device 54. The rotary disk 51 is driven by a servo motor and is connected to the piston drive device 3. It can realize the on-demand rotation of the working device 5 to meet the process angle requirements; the first angle adjustment device 52 is set in front of the rotary disk 51 and is evenly arranged according to the rules, and can be adjusted to a certain angle; the actuator 53 is connected to the first angle adjustment device 52, and adopts a water knife or air knife structure. The power in the hole The device 2 is driven by high-pressure gas or liquid, which can clear obstacles in the borehole and deal with dangerous areas to ensure that the road in the borehole is unobstructed; the second angle adjustment device 54 is set in front of the turntable 51 and is evenly arranged according to the rules. It is matched with the first angle adjustment device 52 at a certain distance and can be adjusted at a certain angle; the rotary spraying device 55 is connected to the second angle adjustment device 54, and the grouting liquid of the power device 2 in the hole is used to evenly spray high-strength grouting material, quickly solidify, ensure the lubrication of the hole wall at the front end of the piston drive device 3, and the path is safe and reliable.

[0094] like Figure 5 The figure shows a schematic diagram of the data acquisition system structure. The data acquisition system 4 is responsible for acquiring the parameters of the detection instrument during transportation, including a posture sensor 41, an inclination sensor 43, a pressure sensor 44, an odometer 45, a binocular camera 56 and an output unit 42. The posture sensor 41, the inclination sensor 43, the pressure sensor 44, the odometer 45 and the output unit 42 are arranged in the sealing sleeve 33, and the binocular camera 56 is arranged on the turntable 51; the posture sensor 41 mainly obtains the spatial posture parameter information of the detection instrument; the inclination sensor 43 mainly obtains the spatial angle information of the detection instrument; the odometer 45 is used to obtain the specific position information of the detection instrument in the borehole; the pressure sensor 44 is used to obtain the gas or hydraulic pressure in the piston drive device 3; the binocular camera 56 is used to obtain the status information of the borehole wall; the output unit 42 is used to export the posture parameters, working angle, pressure and position information in the cavity and the borehole wall status information of the detection instrument to the remote control system 1.

[0095] like Figure 6 The figure shows a schematic diagram of the structure of the remote control system. The remote control system 1 includes an input device 11, a decision device 12 and an output device 13. The input device 11 is used to receive information from the data acquisition system 4; the decision device 12 is mainly used to analyze the comprehensive data, complete the basic functions of the detection instrument, or perform remote interactive control manually outside the hole; the output device 13 outputs relevant instructions to each component, and at the same time displays the operation results and the drilling wall effect.

[0096] An operating method for an autonomous transport system for in-hole detection instruments in coal mines:

[0097] Step 1: The operator checks the drilling effect and safety, places the detection instrument in the piston drive device 3 and places the entire device in the borehole, transmits relevant instructions to each component through the remote control system 1, and the in-hole power device 2 provides power to guide the piston drive device 3 to move in the hole autonomously or manually;

[0098] Step 2: The remote control system 1 controls the working device 5 to clean the obstacles at the front end of the borehole and to trim and reinforce the borehole wall. The binocular camera 56 is used to collect the information of the borehole wall at the front end of the borehole. The rotary disk 51 is used to rotate to perform full-section drilling construction. The first angle adjustment device 52 is adjusted in angle, and the actuator 53 is used to crush and clean the irregular structures and obstacles on the inner wall of the borehole. Then, the second angle adjustment device 54 is adjusted in angle, and the rotary spraying device 55 performs grouting treatment on the borehole wall to ensure that the entire borehole wall is smooth and quickly solidified, so as to achieve radial transition cooperation between the borehole wall and the piston drive device 3, which can ensure that the piston drive device 3 always works along the drilling trajectory.

[0099] Step 3: The power device 2 in the hole provides liquid power to the piston drive device 3, which is transmitted to the hole through the delivery pipe 26 and acts on the piston body 32. The theoretical parameter information obtained by positioning the target point in the borehole is used. At the same time, the data acquisition system 4 collects the relevant information of the movement of the piston drive device 3 in real time, and calculates the actual displacement ∫v1, velocity v1 and acceleration of the piston drive device 3. The parameters are compared with the theoretical parameters to obtain the running trajectory error of the piston drive device 3. The output liquid pressure p1 and flow rate Q1 of the orifice power device 2 are adjusted as input parameters to realize the control of the forward posture of the piston drive device 3. The remote control system 1 uses the running trajectory error as the evaluation function and uses the optimization algorithm to calculate the actual displacement ∫v1, velocity v1 and acceleration respectively. Perform iterative optimization calculations, and through continuous iterative optimization, perform closed-loop adjustment of the working parameters of the piston drive device 3 to guide the detection instrument to always be transported along the drilling trajectory. At the same time, the conveying pipe 26 moves forward together with the piston drive device 3, and the length meets the drilling depth requirements.

[0100] Step 4: When the detection instrument reaches the designated position, relevant testing work is carried out. Then the in-hole power device 2 uses the reverse action of extracting liquid and applies reverse pulling force to the delivery pipe 26. The same method is used to return the piston drive device 3 to the hole mouth and prepare for the next delivery work.

[0101] Example 1:

[0102] Taking the autonomous transport system designed in a certain period as an example, the initial output liquid pressure p1 of the orifice power device 2 is set to 6 MPa, the initial output liquid flow rate Q1 is set to 20 L / min, the working efficiency η1 of the orifice power device is 0.65, the working efficiency η2 of the piston drive device is 0.9, the output port diameter D of the actuator is 0.0005 m, and the output liquid density ρ of the actuator is 0.7×10 3 kg / m 3 , the acceleration due to gravity g is 9.8m / s 2 The working efficiency η3 of the actuator is 0.9. The working capacity of the piston drive device 3 and the working device 5 are calculated and matched by formula 1, and the initial working parameters are:

[0103] Driving force F of piston drive a The force is 1500N, the working speed v1 is 0.5m / s, and the output liquid working speed v2 of the actuator is 790m / s. The autonomous transport system is initialized with the above parameters.

[0104] When the autonomous transport system is pushing normally in the hole, the output liquid working speed v2 of the actuator is kept constant at 790m / s, that is, the input power of the actuator is kept constant at 467W. At the same time, the mass M1 of the detection instrument is 52kg, the mass M2 of the piston drive device is 230kg, the damping D between the piston drive device and the hole wall is 23kg / s, and the elastic stiffness K between the piston drive device and the hole wall is 23kg / s. e is 5.4 N / m, and the geometric stiffness between the piston drive device and the hole wall is 6.5 N / m. Substitute it into formula (2), combine formulas (1) and (2), and the working speed v1 and driving force F of the piston drive device 3 can be controlled in real time by adjusting the output liquid pressure p1 and flow rate Q1 of the orifice power device 2. a , which can achieve precise control.

[0105] For example, the positioning target points are set at intervals of 0.5 m, and the actual displacement ∫v1, velocity v1 and acceleration of the piston drive device 3 are obtained by measurement. The parameters are 100.5mm, 0.48m / s, and 0.057m / s respectively 2 Combined with the positioning target information, the trajectory errors of the piston drive device 3 are 0.5mm, 0.02m / s and 0.003m / s respectively. 2, combined with formula (1) and (2), the output liquid pressure p16MPa and output liquid flow Q1 of the orifice power device are set to 20L / min as the initial values, and the iterative cutoff errors ε are 0.1mm, 0.01m / s, and 0.001m / s respectively. The particle swarm algorithm is used for iterative optimization, with the group size N=50, the search space dimension D=3, the inertia weight coefficient ω=0.75, the cognitive learning factor c1=2, the social learning factor c2=2, the maximum position of the particle P1=3, the minimum position of the particle P2=-3, the maximum movement speed of the particle v1=1.2, and the minimum movement speed of the particle v2=-1.2. After continuous iterative optimization, the actual displacement ∫v1, velocity v1 and acceleration are finally updated. The value of the orifice power device output liquid pressure p1 is 6.15MPa and the output liquid flow Q1 is set to 19.86L / min. At this time, the actual displacement ∫v1, velocity v1 and acceleration 100.1mm, 0.49m / s, 0.059m / s respectively 2 , meeting the design requirements.

[0106] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0107] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0108] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An autonomous transport system for underground coal mine hole detection instruments, characterized in that: set up: A power device (2) and a piston drive device (3) are provided in the hole, a working device (5) is installed at the forward end of the piston drive device (3), and a detection instrument (6) is accommodated in the piston drive device (3); The in-hole power device (2) provides hydraulic power to the piston drive device (3) to move along the borehole; The piston-type driving device (3) carries the detection instrument (6) and moves along the borehole; The working device (5) clears obstacles in the borehole and / or repairs and reinforces the borehole wall; The working device (5) is provided with a rotary disk (51), and a first angle adjustment device (52) and a second angle adjustment device (54) are respectively provided on the rotary disk (51), an actuator (53) is provided at the end of the first angle adjustment device (52), and a rotary spray device (55) is provided at the end of the second angle adjustment device (54); the rotary disk (51) is installed at the forward end of the piston drive device (3) and is controlled to rotate by a servo motor; the actuator (53) adopts a water jet structure and is driven by the liquid of the in-hole power device (2); the rotary spray device (55) sprays the grouting liquid stored in the in-hole power device (2) and waits for solidification; The in-hole power device (2) is provided with a hydraulic oil tank (21), a high-pressure pump (22), a high-pressure filter (23), a switch valve group (25) and a delivery pipeline (26) which are connected in sequence; and a slurry box (24) is provided in connection with the switch valve group (25).

2. The autonomous transport system for underground coal mine hole detection instruments according to claim 1, characterized in that: The dynamic model of the piston drive device (3) is shown in the following formula (2): （2）； Where: is the mass of the detection instrument, kg, ranging from 50 to 60; is the mass of the piston drive device, kg, ranging from 200 to 300; is the damping between the piston drive device and the hole wall, kg / s, with a value of 10 to 30; is the elastic stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10; is the geometric stiffness between the piston drive device and the hole wall, N / m, with a value of 0.1 to 10; is the speed of the piston drive, m / s; is the acceleration of the piston drive, m / s 2 ; is the displacement of the piston drive, m; is the driving force of the piston drive device, N; is the friction force between the piston drive device and the hole wall, N, with a value of 100 to 200.

3. The autonomous transport system for underground coal mine hole detection instruments according to claim 1 or 2, characterized in that: The piston drive device (3) is provided with a sealing sleeve (33), and a piston body (32) is provided in one end of the sealing sleeve (33) for bearing hydraulic power and preventing hydraulic oil from entering the detection instrument. The input unit (31) is provided at the orifice and adopts orifice sealing to ensure that only the delivery pipeline (26) passes through. The input unit (31) can receive the liquid power of the power device (2) in the hole, so that the liquid fills the hole and provides hydraulic power for the sealing sleeve (33). The piston body (32) and the sealing sleeve (33) adopt interference fit.

4. The autonomous transport system for underground coal mine hole detection instruments according to claim 1 or 2, characterized in that: A data acquisition system (4) is also provided in the piston drive device (3), and is connected to the detection instrument to provide a remote control system (1); The data acquisition system (4) can obtain the operating parameter information of the detection instrument and the hole wall status information; The remote control system (1) can complete remote command control by humans outside the hole, output relevant instructions to the power device (2), piston drive device (3), working device (5) and detection instrument (6) inside the hole, and simultaneously display the working status of the detection instrument (6) and the collected information results.

5. The autonomous transport system for underground coal mine hole detection instruments according to claim 4, characterized in that: The data acquisition system (4) is responsible for acquiring the parameters of the detection instrument during transportation, and includes a posture sensor (41), an inclination sensor (43), a pressure sensor (44), an odometer (45) and an output unit (42). The posture sensor (41), the inclination sensor (43), the pressure sensor (44), the odometer (45) and the output unit (42) are arranged in the sealing sleeve (33). The posture sensor (41) mainly obtains the spatial posture parameter information of the detection instrument; the inclination sensor (43) mainly obtains the spatial angle information of the detection instrument; the odometer (45) is used to obtain the specific position information of the detection instrument in the borehole; the pressure sensor (44) is used to obtain the hydraulic pressure in the piston drive device (3); and the output unit (42) is used to export the posture parameters, working angle, pressure and position information in the cavity and hole wall status information of the detection instrument to the remote control system (1).

6. The autonomous transport system for underground coal mine hole detection instruments according to claim 4, characterized in that: The remote control system (1) includes an input device (11), a decision device (12) and an output device (13), wherein the input device (11) is used to receive information from the data acquisition system (4); the decision device (12) is mainly used to analyze the comprehensive data, complete the basic functions of the detection instrument, or perform remote interactive control through manual operation outside the hole; the output device (13) outputs relevant instructions to each component and displays the operation results and the drilling wall effect.

7. A method for using an autonomous transport system for a borehole detection instrument in a coal mine, characterized in that: The autonomous transport system for underground coal mine hole detection instruments is the autonomous transport system for underground coal mine hole detection instruments according to any one of claims 1 to 6, and the specific control method includes: Step 1: The operator places the detection instrument in the piston drive device (3) and places the entire device in the borehole. The in-hole power device (2) provides power, and the piston drive device (3) autonomously transports the device in the borehole. Step 2: The working device (5) cleans the obstacles at the front end of the borehole and trims and reinforces the borehole wall, uses a binocular camera (56) to collect information about the borehole wall at the front end of the borehole, and uses the rotary disk (51) to rotate to perform full-section drilling construction. Through the angle adjustment of the first angle adjustment device (52), the actuator (53) is used to crush and clean the irregular structures and obstacles on the inner wall of the borehole. Then, through the angle adjustment of the second angle adjustment device (54), the rotary spray device (55) performs grouting treatment on the borehole wall to ensure that the entire borehole wall is smooth and quickly solidified, and to achieve radial transition cooperation between the borehole wall and the piston drive device (3), which can ensure that the piston drive device (3) always works along the drilling trajectory; Step 3: The power device (2) in the hole provides liquid power to the piston drive device (3), which is transmitted to the hole through the delivery pipe (26) and acts on the piston body (32). The theoretical parameter information obtained by positioning the target point in the borehole is used. At the same time, the data acquisition system (4) collects the relevant information of the movement of the piston drive device (3) in real time, and calculates the actual displacement of the piston drive device (3). ,speed and acceleration The parameters are compared with the theoretical parameters to obtain the running trajectory error of the piston drive device (3), and the output liquid pressure of the power device (2) in the hole is calculated. and traffic As input parameters, the forward position of the piston drive device (3) is controlled, and the trajectory error is used as the evaluation function. The actual displacement is respectively adjusted by the optimization algorithm. ,speed and acceleration Perform iterative optimization calculations, and through continuous iterative optimization, perform closed-loop adjustment of the working parameters of the piston drive device (3), guiding the detection instrument to always be transported along the drilling trajectory, while the delivery pipe (26) moves forward along with the piston drive device (3), and the length meets the drilling depth requirement; Step 4: When the detection instrument (6) reaches the designated position, relevant testing work is carried out. Then, the in-hole power device (2) uses the reverse action of extracting the liquid and simultaneously applies reverse pulling force to the delivery pipe (26). The piston drive device (3) is returned to the hole mouth by the same method, and is prepared for the next delivery work.

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