Downhole inspection system and downhole inspection point identification method

Abstract

The application provides a downhole inspection system and a downhole inspection point identification method. The downhole inspection system comprises N position coding modules and an inspection robot. The N position coding modules are arranged in an array in an inspection track. Different position coding modules are fixed at different positions, and each position coding module has a unique magnetic dot array code. The inspection robot is provided with a magnetoresistance sensing device. When a section magnetic starting part on the inspection track is detected by a section inductive switch on the magnetoresistance sensing device, a magnetic inductive switch array on the magnetoresistance sensing device reads the magnetic dot array code of the current position coding module, and whether the current position is a specified inspection point is determined according to the magnetic dot array code. The downhole inspection system adopts non-contact and non-electric connection to collect the inspection point position signal, is safe and explosion-proof, and can realize accurate positioning of the downhole inspection robot.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to an underground inspection system and a method for identifying underground inspection points. Background Technology

[0002] With the transformation of coal mines towards intelligent operation, underground inspection robots have been widely used. These robots can replace humans in inspecting designated equipment and promptly identify potential safety hazards. Currently, inspection robots periodically inspect fixed equipment points according to instructions from a monitoring platform. During the inspection process, precise location of the inspection points is crucial. To achieve accurate positioning, current inspection robots use encoders to determine their location or read RFID tags affixed to the guide rails to determine their current displacement.

[0003] However, during the inspection process, factors such as wheel slippage or vibration can cause the encoder's displacement data to inaccurately reflect the robot's true position, leading to inspection point deviations. This prevents the inspection robot from reaching the designated location for inspection, resulting in unsatisfactory inspection results. Another drawback of the alternative solution is that the complex underground environment can cause RFID tags to become unreadable, potentially making it impossible to determine the current displacement data by reading the RFID tags affixed to the guide rails.

[0004] Therefore, there is an urgent need to provide a safe and reliable solution for identifying underground inspection points to accurately locate those points to be inspected. Summary of the Invention

[0005] The purpose of this invention is to provide an underground inspection system and an underground inspection point identification method, which can acquire inspection point position signals in a non-contact, non-electrical connection manner, which is both safe and explosion-proof, and can also achieve accurate positioning of underground inspection robots.

[0006] In a first aspect, the present invention provides an underground inspection system, comprising: N position coding modules and an inspection robot, wherein: the N position coding modules are arranged in an array in an inspection track; different position coding modules are fixed at different positions, and each position coding module has a unique magnetic dot matrix code; the inspection robot is equipped with a magnetoresistive sensing device, and the inspection robot moves along the inspection track. When the segment induction switch on the magnetoresistive sensing device detects a segment magnetic starter on the inspection track, it triggers the magnetic induction switch array on the magnetoresistive sensing device to read the magnetic dot matrix code of the current position coding module, and determines whether the current position is a designated inspection point based on the magnetic dot matrix code.

[0007] The beneficial effects of the underground inspection system provided by this invention are as follows: the underground inspection robot can accurately locate the inspection point by means of the magnetic dot matrix encoding on the position encoding module. Since magnetic induction technology is used in the positioning process, that is, the inspection point position signal is collected in a non-contact and electrical connection manner, which can also meet the safety requirements of underground explosion protection.

[0008] In one possible embodiment, the method further includes: the magnetic induction switch array on the magnetoresistive sensing device includes at least two magnetic induction layers, each magnetic induction layer including multiple magnetic induction switches, wherein the distance between two magnetic induction switches is greater than the minimum sensing distance between the magnetic induction switches. In this embodiment, the distance between two magnetic induction switches is greater than the minimum sensing distance between the magnetic induction switches, which can prevent the magnetic actuation device at one inspection point from causing a change in the state of the two magnetic induction switches.

[0009] In another possible embodiment, each location encoding module is made of a passive magnetic material, and each location encoding module includes at least two magnetic layers, with adjacent magnetic layers isolated by a magnetic blocking material. The location encoding module is composed of multiple passive magnetic materials arranged in a predetermined array layout, ensuring safety and explosion-proofness. This embodiment uses a layered and segmented approach to deploy the location encoding modules to achieve unique encoding of each inspection point. Non-contact, non-electrical connection enables the acquisition of inspection point location signals, ensuring both safety and explosion-proofness while allowing the downhole inspection robot to accurately locate the inspection point. The layered and segmented approach avoids mutual interference between magnetic materials, preventing data errors.

[0010] In other possible embodiments, a magnetic starter is provided on the side of each position encoding module, and the distance between adjacent position encoding modules is greater than the minimum sensing distance of the magnetic induction switch. This can avoid mutual interference between magnetic materials and prevent data errors.

[0011] In one possible embodiment, the segmental magnetic actuator and the magnetic layer are not on the same horizontal plane. This avoids magnetic interference from the circular passive magnets in the magnetic layer on the segmental magnetic actuator.

[0012] In one possible embodiment, when the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it also triggers the segment counter on the magnetoresistive sensing device to start counting; the inspection robot is also used to: when the count value of the segment counter reaches a set value, clear the count value of the segment counter, the set value indicating that the inspection robot has completed reading the magnetic dot matrix code of all inspection points in the inspection track.

[0013] In one possible embodiment, the sensing distance of the magnetic induction switch is in the range of [20mm, 40mm], and the minimum sensing distance of the magnetic induction switch is usually 20mm.

[0014] In one possible embodiment, the magnetic layer is provided with a circular passive magnet.

[0015] Secondly, embodiments of the present invention also provide a method for identifying downhole inspection points, applied to an inspection robot. The method includes: when the inspection robot moves along an inspection track, controlling a segment inductive switch to detect a segment magnetic actuator on the inspection track; when a segment magnetic actuator is detected, triggering the magnetic inductive switch array on the magnetoresistive sensing device to read the magnetic dot matrix code of the current position encoding module on the inspection track; and determining whether the current position is a designated inspection point based on the magnetic dot matrix code.

[0016] In another possible embodiment, when a segment magnetic starter is detected on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module. This includes: when the segment induction switches at both ends of the inspection robot detect the segment magnetic starter on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module.

[0017] In other possible embodiments, the method further includes: when the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it also triggers the segment counter on the magnetoresistive sensing device to start counting; when the count value of the segment counter reaches a set value, the count value of the segment counter is cleared to zero, the set value indicating that the inspection robot has completed the reading of the magnetic dot matrix code of all inspection points in the inspection track.

[0018] In another possible embodiment, triggering the magnetic induction switch array on the magnetoresistive sensing device to read the magnetic dot matrix code of the current position encoding module includes: when the segment induction switch senses the segment magnetic activator, triggering the magnetic induction switch array on the magnetoresistive sensing device to operate and read the magnetic dot matrix code of the current position encoding module; when the segment induction switch does not sense the segment magnetic activator, blocking subsequent reading information from the magnetic induction switch array. In this way, by using the setting and disappearance of the segment induction switch to start or stop the detection of the magnetic induction switch array during code reading, the interference of different magnetic detection switches on non-corresponding detection switches during the inspection movement on the same plane is solved, preventing errors in the read data and ensuring the integrity and correctness of the read code.

[0019] The beneficial effects of the well inspection point identification method provided by the present invention are as follows: the well inspection robot can accurately locate the inspection point by recognizing the magnetic dot matrix code on the position coding module. Since magnetic induction technology is used in the positioning process, that is, the inspection point position signal is collected in a non-contact and electrical connection manner, which can also meet the safety requirements of well explosion prevention. Attached Figure Description

[0020] Figure 1 A schematic diagram of an underground inspection system including a location encoding module and an inspection robot is provided for an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a patrol positioning magnetic array composed of position encoding modules provided in an embodiment of the present invention;

[0022] Figure 3 This is a schematic flowchart of a method for identifying downhole inspection points provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0024] This invention provides an underground inspection system including a location encoding module and an inspection robot, such as... Figure 1 As shown, N position coding modules 100 are deployed at different inspection points on the inspection track according to a set coding format, where N is a positive integer. The N position coding modules 100 form an inspection positioning magnetic array. A magnetoresistive sensing device is installed on the body of the inspection robot 200, which includes a segment induction switch and a magnetic induction switch array.

[0025] Each of the position encoding modules 100 is made of a passive magnetic material. For example, a passive magnetic material is a passive magnet. Each position encoding module 100 includes at least two magnetic layers, with adjacent magnetic layers isolated by a magnetic blocking material. For instance, as... Figure 1 As shown, each magnetic layer of the position encoding module 100 contains a circular passive magnet. Different position encoding modules are fixed at different positions, and each module has a unique magnetic dot matrix code. Therefore, by deploying the position encoding modules 100 in different locations using a layered and segmented approach, unique encoding of each inspection point is achieved. This non-contact, non-electrical connection method enables the acquisition of inspection point position signals, ensuring safety and explosion-proof operation while also allowing the downhole inspection robot to accurately locate the inspection point.

[0026] In addition, such as Figure 1 As shown, each position encoding module 100 is equipped with a corresponding magnetic actuator on its side. When the magnetic actuator is sensed by the segment induction switch of the inspection robot, it indicates that the inspection robot has moved to the vicinity of the position encoding module next to the magnetic actuator. In addition, the distance between adjacent position encoding modules is greater than the minimum sensing distance of the magnetic induction switch. This can avoid mutual interference between magnetic materials and prevent data reading errors.

[0027] In one possible embodiment, the segment magnetic actuator beside the position encoding module 100 is not on the same horizontal plane as the various magnetic layers in the position encoding module 100. For example... Figure 1 As shown, the segment magnetic actuator 1 is not parallel to any magnetic layer of the position encoding module 100 on the horizontal plane. This avoids magnetic interference from the circular passive magnets in the magnetic layers.

[0028] It should be understood that the number of magnetic layers in the position encoding module is not limited to... Figure 1 The four layers shown can also be two or more. Furthermore, the magnet distribution points in each layer can be set to one or more locations as needed. For example, the position encoding module 100 can also be as follows... Figure 2 As shown, from Figure 2As can be seen, the circular magnets are arranged in a layered and segmented manner to ensure that there is only one circular magnet in each segment and each layer. Magnetic blocking materials are used to isolate the layers, and the distance between adjacent position coding modules is greater than the minimum sensing distance of the magnetic induction switch, ensuring the uniqueness of the code in each segment and each layer. Figure 2 The magnetic dot matrix codes of the four position encoding modules 100 are all different. It should be understood that each position encoder can be prefabricated in the factory before installation on the inspection track, so that in the mine, the position encoding module only needs to be installed at the designated inspection point as needed, which is simple, convenient and easy to implement.

[0029] In this embodiment, when the inspection robot performs an underground inspection task, it moves along the inspection track. Because the inspection robot is equipped with segment induction switches, when it moves near the position encoding module, the segment induction switches on the magnetoresistive sensing device can detect the segment magnetic actuator next to the position encoding module. Once the segment induction switches detect the segment magnetic actuator, they trigger the magnetic induction switch array on the magnetoresistive sensing device to read the magnetic dot matrix code of the current position encoding module. Based on the magnetic dot matrix code, it determines whether the current position is a designated inspection point. If the current position is a designated inspection point, the inspection robot performs an inspection task on the equipment at that point. However, if the current position is not a designated inspection point, the inspection robot continues to move along the inspection track, collecting information and making judgments in the above manner until it finds the designated inspection point.

[0030] It is worth noting that the magnetic induction switch array includes at least two magnetic induction layers, each containing multiple magnetic induction switches. The distance between two magnetic induction switches is greater than the minimum sensing distance between the switches. The magnetic induction switches can sense the circular passive magnets in the position encoding module, allowing the magnetic induction switch array to determine the magnetic dot matrix encoding of the current position encoding module based on the sensing results in each magnetic induction layer. For example, the sensing distance of the magnetic induction switches ranges from [20mm, 40mm], and the minimum sensing distance is typically 20mm.

[0031] In one possible embodiment, the magnetoresistive sensing device further includes a counter. When the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it also triggers the segment counter on the magnetoresistive sensing device to start counting. When the count value of the segment counter reaches a set value, it indicates that the inspection robot has completed the reading of the magnetic dot matrix code of all inspection points in the inspection track, and the count value of the segment counter is cleared to zero.

[0032] Based on the aforementioned downhole inspection system, this invention also provides a schematic diagram of a downhole inspection point identification method. This method can be executed by a magnetoresistive sensing device in an inspection robot, such as... Figure 3 As shown, the method may include the following steps:

[0033] S301, when the inspection robot moves along the inspection track, the segment induction switch in the magnetoresistive sensing device detects the segment magnetic starter on the inspection track.

[0034] S302, when a segment magnetic starter is detected on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module.

[0035] Specifically, in one possible embodiment, segment induction switches can be deployed at both the front and rear ends of the inspection robot. When the segment induction switches at both the front and rear ends of the inspection robot detect the segment magnetic starters at both the front and rear ends of the position encoding module, the magnetic induction switch array on the magnetoresistive sensing device will be triggered to read the magnetic dot matrix code of the current position encoding module. This can avoid misjudgment caused by inaccurate code reading during the identification process.

[0036] S303, determine whether the current position is a designated inspection point based on the magnetic dot matrix code.

[0037] Combination Figure 1For example, when the inspection robot moves to a position directly opposite the first position encoding module 100, the segment induction switch detects the segment magnetic actuator next to the first position encoding module 100. Because the magnetoresistive sensing device internally activates the segment counter, it starts the magnetic induction switch array to read the current magnetic dot matrix code. During program processing, it needs to determine the appearance and disappearance of the segment magnetic actuator. When the segment magnetic actuator is about to disappear, the program blocks the read information after its disappearance to prevent other magnetic induction switches on the same plane from reading incorrect position information during the movement, which could lead to data errors and confusion. Furthermore, when the inspection robot moves to a position directly opposite the second position encoding module 100, the segment induction switch detects the segment magnetic actuator, increments the segment counter by 1 to 2, and simultaneously activates the magnetic induction switch array to read the magnetic dot matrix code of the second position encoding module 100. As the inspection robot continues to move, it reads the magnetic dot matrix code of the last position encoding module, thus completing the data reading of the inspection positions of all inspection points on the inspection track. At this point, the counter is reset to zero. During the above inspection reading process, the program processes and judges the encoding information read in real time to determine whether the current magnetic dot matrix code is the designated inspection point. If it is, the inspection is carried out according to the inspection operation instructions; otherwise, it continues to move until the corresponding inspection point is found.

[0038] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A downhole inspection system, characterized in that, include: N location coding modules and inspection robots, among which: The N position coding modules are arranged in an array in the inspection track; different position coding modules are fixed in different positions, and each position coding module has a unique magnetic dot matrix code; The inspection robot is equipped with a magnetoresistive sensing device. The inspection robot moves along the inspection track. When the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it triggers the magnetic induction switch array on the magnetoresistive sensing device to read the magnetic dot matrix code of the current position encoding module. Based on the magnetic dot matrix code, it determines whether the current position is a designated inspection point. When the segment induction switch fails to detect the segment magnetic starter, it blocks the subsequent reading information of the magnetic induction switch array.

2. The downhole inspection system according to claim 1, characterized in that, The magnetic induction switch array on the magnetoresistive sensing device includes at least two magnetic induction layers, each magnetic induction layer including multiple magnetic induction switches, wherein the distance between two magnetic induction switches is greater than the minimum sensing distance between the magnetic induction switches.

3. The downhole inspection system according to claim 1, characterized in that, Each of the position encoding modules is made of a passive magnetic material, and each position encoding module includes at least two magnetic layers, with adjacent magnetic layers isolated by a magnetic blocking material.

4. The downhole inspection system according to claim 3, characterized in that, Each position coding module is equipped with a corresponding magnetic starter on its side, and the distance between adjacent position coding modules is greater than the minimum sensing distance of the magnetic induction switch.

5. The downhole inspection system according to claim 4, characterized in that, The magnetic starter segment and the magnetic layer are not on the same horizontal plane.

6. The downhole inspection system according to any one of claims 2 to 5, characterized in that, When the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it also triggers the segment counter on the magnetoresistive sensing device to start counting. The inspection robot is also used to: clear the count value of the segment counter when the count value of the segment counter reaches a set value, wherein the set value indicates that the inspection robot has completed the reading of the magnetic dot matrix code of all inspection points in the inspection track.

7. A method for identifying downhole inspection points, applied to the downhole inspection system according to any one of claims 1-6, characterized in that, include: When the inspection robot moves along the inspection track, the segment induction switch in the magnetoresistive sensing device detects the segment magnetic starter on the inspection track. When a segment magnetic starter is detected on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module. The current position is determined as a designated inspection point based on the magnetic dot matrix code.

8. The method according to claim 7, characterized in that, When a segment of magnetic actuator is detected on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module, including: When the segment induction switches at both ends of the inspection robot detect the segment magnetic starter on the inspection track, the magnetic induction switch array on the magnetoresistive sensing device is triggered to read the magnetic dot matrix code of the current position encoding module.

9. The method according to claim 7, characterized in that, Also includes: When the segment induction switch on the magnetoresistive sensing device detects the segment magnetic starter on the inspection track, it also triggers the segment counter on the magnetoresistive sensing device to start counting. When the count value of the segment counter reaches the set value, the count value of the segment counter is cleared to zero. The set value indicates that the inspection robot has completed the reading of the magnetic dot matrix code of all inspection points in the inspection track.

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