Pitching motor control system and application thereof

Abstract

The invention discloses a pitching motor control system and application thereof, the system comprises a balancing device, a precision control device and a pitching motor cable collection device, the first end of the balancing device is used for connecting a detection system; the second end of the balancing device is connected with the precision control device, and the pitching motor cable collecting device is arranged in the precision control device. A micro high-precision servo motor is selected as a pitching motor, an output shaft of a motor speed reducer is directly transmitted to output of a pitching mechanism, the reversing problem of the output shaft is reduced, and the pitching angle control precision is improved. Due to the fact that a reversing device of the output shaft is omitted, the space of a pitching motor cavity is greatly reduced, and miniaturization of equipment is achieved.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a pitch motor control system and application thereof. Background Art

[0002] Salt cavern gas storage has received more and more attention in the field of petroleum industry worldwide due to its unique advantages. Because salt caverns are buried deep underground, and salt under high temperature and high pressure has a certain plasticity and has the characteristics of automatic healing under certain crack conditions, underground salt caverns have become good sealed storage depots. Building an underground gas storage cavity in a certain shape in the salt layer is a complex system engineering. During the salt cavern cavity making process and the subsequent gas storage process, the cavity morphology needs to be continuously monitored. This requires the design of a pitch mechanism, and various probes are installed on the pitch component to detect the internal structure of the salt cavern and feed back the collected signals. Most of the right-angle converters in the existing pitch equipment use a worm gear, but the worm gear structure is usually large in size and cannot be extended into the narrow salt cavern space for detection. At the same time, because the worm gear structure itself has a self-locking function, when the pitch mechanism of the detection equipment rotates to the 90-degree position, if the power of the equipment fails at this time, the pitch component cannot be reset to the initial state under the drive of the external force at the wellhead, resulting in the entire detection equipment being unable to be removed from the salt cavern wellhead, thereby affecting its normal maintenance and use. Chinese patent CN213659251 U records a pitch mechanism for a salt cavern detection system. The detection mechanism adopts a bevel gear to make the pitch structure compact and light, and realizes detection in the salt cavern space through a narrow well pipe. However, the bevel gear gap is large, the transmission accuracy is not high, and it is difficult to set an appropriate reducer ratio, resulting in inaccurate pitch angle control. Summary of the invention

[0003] The purpose of the present invention is to provide a pitch motor control system and its application, which is very suitable for detecting the properties of salt caverns of various shapes. The present invention provides the following technical solutions:

[0004] A pitch motor control system, the system comprising a balancing device, a precision control device and a pitch motor cable collection device, wherein

[0005] The first end of the balancing device is used to connect to the detection system;

[0006] The second end of the balancing device is connected to the precision control device, and the pitch motor cable collecting device is arranged inside the precision control device.

[0007] Furthermore, the balancing device comprises a pitch motor pressure balancing chamber, a fluororubber airbag, a pitch motor airbag upper pressing head, a pitch motor installation chamber and a pitch motor chamber airbag discharge plug, wherein:

[0008] Both ends of the pitch motor pressure balance chamber are provided with steps. The fluororubber airbag is a column with openings at both ends. The fluororubber airbag is arranged inside the pitch motor pressure balance chamber and contacts the inner wall of the pitch motor pressure balance chamber.

[0009] The first end of the fluororubber airbag is sleeved on the outside of the first step of the second end of the pitch motor installation chamber, and the first step of the second end of the pitch motor installation chamber is entirely inside the fluororubber airbag; the second end of the fluororubber airbag is sleeved on the upper pressing head of the pitch motor airbag, and the upper pressing head of the pitch motor airbag is sealed and connected to the inner side of the second end of the pitch motor pressure balance chamber through the second end of the fluororubber airbag;

[0010] The inner side of the first end step of the pitch motor pressure balance chamber is sealed and connected to the second step of the second end of the pitch motor installation chamber through an O-ring;

[0011] A pitch motor compartment airbag discharge plug is arranged at the middle of the first end of the pitch motor installation compartment.

[0012] Furthermore, the pitch motor airbag upper pressing head, the fluororubber airbag, the pitch motor installation compartment and the pitch motor compartment airbag discharge plug form a closed space;

[0013] The enclosed space is filled with liquid silicone oil, and the high-precision pitch motor is immersed in the liquid silicone oil.

[0014] Furthermore, a plurality of holes are provided on the outer shell of the pitch motor pressure balance chamber.

[0015] Furthermore, the pitch motor mounting compartment is connected to the detection system through the pitch motor shaft adapter mounting hole and the pitch fork arm cable shaft adapter mounting hole near the outer side of the first end.

[0016] Furthermore, the precision control device includes a sonar board warehouse watertight shell, a positive and negative threaded joint, a sonar circuit board frame, a sonar circuit board and a high-precision electronic compass, wherein:

[0017] The sonar board warehouse watertight shell and the forward and reverse threaded joint are connected to form a precision control device shell, and the sonar circuit board frame, the sonar circuit board and the high-precision electronic compass are arranged inside the precision control device shell;

[0018] The high-precision electronic compass is mounted on the sonar circuit board, and the sonar circuit board is mounted on the sonar circuit board frame.

[0019] Furthermore, steps are provided at both ends of the watertight shell of the sonar silo;

[0020] The inner side of the step at the first end of the sonar silo watertight shell is connected to the outer side of the first step at the second end of the pitch motor pressure balance chamber through an O-ring, and the outer side of the step at the second end of the sonar silo watertight shell is connected to the forward and reverse threaded joint through an O-ring.

[0021] Furthermore, the pitch motor cable collection device includes an upper pitch motor cable collection system and a lower pitch motor cable collection system.

[0022] The pitch motor upper cable collection system and the pitch motor lower cable collection system are respectively arranged at two ends of the sonar circuit board frame.

[0023] The first end of the cable collection system under the pitch motor passes through the upper pressing head of the pitch motor airbag and is connected to the balancing device, and the second end of the cable collection system under the pitch motor passes through the cable connector seat under the sonar board frame and is connected to the first end of the sonar circuit board frame;

[0024] The first end of the cable collection system on the pitch motor passes through the cable connector seat on the sonar board frame and is connected to the second end of the sonar circuit board frame; the second end of the cable collection system on the pitch motor is arranged inside the forward and reverse threaded joint.

[0025] Furthermore, the cable collection system on the pitch motor includes an upper cable joint positioning jacket, a first 10-core watertight pressure-bearing cable connector and a cable joint seat on the sonar plate frame.

[0026] Wherein, the first 10-core watertight pressure-bearing cable connector is arranged inside the cable connector seat on the sonar board frame, and an O-ring is arranged at the connection between the first 10-core watertight pressure-bearing cable connector and the cable connector seat on the sonar board frame;

[0027] The upper cable connector positioning sleeve is sleeved on the outer side of the second end step of the cable connector seat on the sonar board frame, and the first end of the cable connector seat on the sonar board frame is fixedly connected to the second end of the sonar circuit board through a fastening bolt.

[0028] Furthermore, the cable collection system under the pitch motor includes a lower cable joint positioning jacket, a second 10-core watertight pressure-bearing cable connector and a cable joint seat under the sonar plate frame, wherein:

[0029] The first end of the second 10-core watertight pressure-bearing cable connector is embedded in the upper compression head of the pitch motor airbag, and the second end of the second 10-core watertight pressure-bearing cable connector passes through the cable connector seat under the sonar plate frame;

[0030] The outer side of the contact end of the upper pressing head of the pitch motor airbag and the lower cable connector seat of the sonar plate frame are fixedly connected through the lower cable connector positioning sleeve.

[0031] The application of the pitch motor control system as described above in the detection of salt cavern properties.

[0032] Technical effects and advantages of the present invention:

[0033] 1. Use a micro high-precision servo motor as the pitch motor, and the motor reducer output shaft is directly transmitted to the pitch mechanism output, reducing the output shaft commutation problem and improving the pitch angle control accuracy.

[0034] 2. Since the commutation device of the output shaft is reduced, the space of the pitch motor cavity is greatly reduced, and the miniaturization of the equipment is achieved.

[0035] 3. The pitch motor reduction system of this patent adopts three-stage transmission, with a gear reduction ratio of 5 for each stage and a gear reduction ratio of 125 for the third stage. A rotary encoder is set on the last gear shaft. When the output shaft rotates, the encoder magnetic pole rotates accordingly, thereby generating a signal related to the absolute angle of the output shaft. When the encoder signal is compared with the signal from the signal line in the control circuit, if the two signals match, it indicates that the output shaft has rotated to the specified angle. In actual control, due to the influence of some factors such as stalling and overshoot, the equipment uses a PID controller to correct the control deviation in real time.

[0036] 4. The pitch motor control system of this patent adopts dual control of position and speed. The circuit boards of the position PID controller and the speed PID controller are closely attached to the back of the motor. The target position is first transmitted to the position PID controller as the expected value, and then the shaft position of the encoder is transmitted as the actual value for calculation to obtain the calculated value. The calculated value is then transmitted to the speed PID controller as the expected value of the speed PID controller, and then the shaft speed of the encoder is transmitted as the actual value of the speed PID controller for calculation. Finally, the calculation result of the speed PID controller is output to the pitch motor. The algorithm design of the control system improves the accuracy.

[0037] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A side cross-sectional view of a pitch motor control system of the present invention;

[0039] Figure 2 A top view of a pitch motor control system of the present invention;

[0040] Figure 3 It is a side cross-sectional view of the balancing device;

[0041] Figure 4 It is a top view of the balancing device;

[0042] Figure 5 It is a side sectional view of the precision control device;

[0043] Figure 6 It is a top view of the cross section of the precision control device;

[0044] Figure 7 It is a side cross-sectional view of the upper and lower cable collection systems;

[0045] Figure 8 It is a top view of the cross section of the upper and lower cable collection systems;

[0046] Fig. 9 This is the sectional view of the initial pitch position in the working state;

[0047] Fig.10 This is a cross-sectional view of the pitch end position in the working state;

[0048] Fig.11 Schematic diagram of a salt cavern property detector in one embodiment of the present invention;

[0049] Fig.12 It is a schematic diagram of the overall structure of the present invention;

[0050] Fig.13a It is a side structural diagram of the lower sonar section of the present invention;

[0051] Fig.13b It is a front structural diagram of the lower sonar section of the present invention;

[0052] Fig.14 It is a partial structural diagram of the rotary motor section;

[0053] Fig.15a This is a side structural diagram of the main control circuit board section;

[0054] Fig.15b This is the front structural diagram of the main control circuit board section;

[0055] Fig.16a It is a side structural diagram of the gyroscope section;

[0056] Fig.16b This is a partial front structural diagram of the gyroscope segment;

[0057] Fig.17a It is a partial side structural diagram of the magnetic positioning section;

[0058] Fig.17b This is a partial front structural diagram of the magnetic positioning section;

[0059] Fig.18aIt is a side structural diagram of the end section of the cable core steel wire rope;

[0060] Fig.18b This is a partial front structural diagram of the end section of the cable core steel wire rope;

[0061] Fig.19 This is a schematic diagram of the normal detection mode;

[0062] Fig. 20 It is a schematic diagram of the detection method of the common detection mode;

[0063] Fig.21 This is a schematic diagram of the lower point filling detection mode;

[0064] Fig. 22 It is a schematic diagram of the detection method of the lower point filling detection mode;

[0065] Fig.23 This is a schematic diagram of the upper point filling detection mode;

[0066] Fig.24 Schematic diagram of the detection method of the upper point filling detection mode.

[0067] In the figure:

[0068] 1. Sonar probe section; 101. Sonar probe seat; 102. Sonar probe lower end sheath; 103. Sonar probe hub; 104. Pitch fork arm seat; 105. Pitch motor shaft adapter; 106. Pitch fork arm seat cover; 107. Pitch mechanism cable fork arm; 108. Pitch fork arm cable shaft adapter; 109. First ultrasonic transducer; 109', second ultrasonic transducer;

[0069] 2. Pitch motor control system; 201. Pitch motor installation compartment; 202. Pitch motor compartment airbag discharge plug; 203. Pitch motor pressure balance compartment; 204. Pitch motor airbag upper clamping head; 205. Watertight pressure-bearing electrical connection plug clamping nut; 214. Fluorine rubber airbag; 207. Sonar circuit board frame; 209. Sonar board compartment watertight shell; 211. Positive and negative threaded joint; 212. Sonar circuit board; 213. High-precision electronic compass; 217. High-precision pitch motor; 206. Sonar board frame lower cable connector seat; 208. Sonar board frame upper cable connector seat; 210. Upper cable connector positioning jacket; 210', lower cable connector positioning jacket; 215, first 10-core watertight pressure-bearing cable connector; 215', second 10-core watertight pressure-bearing cable connector;

[0070] 3. Rotary motor section; 301. Rotary cylinder connecting piece; 302. Locking nut; 303. Rotary motor compartment airbag drain plug; 304. Rotary motor bearing seat; 305. Rotary motor installation compartment; 306. Rotary motor pressure balance compartment; 307. Rotary motor airbag upper pressing head; 308. First section threaded connection joint; 309. Calibration compartment lower cable adapter; 310. Calibration compartment lower joint stop ring; 311. Calibration compartment cable bracket; 312. Calibration compartment upper cable adapter; 313. First watertight pressure-bearing cable connector pressing nut; 314. Calibration chamber housing; 315, cable adapter positioning sleeve on calibration chamber; 316, sonar sensor; 317, pressure sensor; 318, temperature sensor; 319, first ball bearing; 319', second ball bearing; 320, first rotary shaft sealing ring; 320', second rotary shaft sealing ring; 321, sleeve roller bearing; 322, flat retaining ring; 323, slip ring; 324, high-precision rotary motor; 325, second fluororubber airbag; 326, first 10-core watertight pressure-bearing cable connecting male head; 327, 10-core watertight pressure-bearing cable connector;

[0071] 4. Main control circuit board section; 401. Second section threaded connection joint; 402. Main control circuit board section lower connector collar; 403. Main control circuit board section lower connector; 404. Main control circuit board frame; 405. Main control circuit board section upper connector; 406. Main control circuit board section upper connector positioning sleeve; 407. Main circuit board compartment housing; 408. Second watertight pressure-bearing cable connector compression nut; 409. Main control circuit board; 410. Second 10-core watertight pressure-bearing cable connector female connector; 411. Circular retaining spring; 412. Second 10-core watertight pressure-bearing cable connector male connector;

[0072] 5. Gyroscope segment; 501. Threaded connector between the third segments; 502. Gyroscope circuit board segment lower connector collar; 503. Gyroscope circuit board segment lower connector; 504. Gyroscope circuit board skeleton; 505. Gyroscope segment upper connector; 506. Gyroscope segment upper connector positioning sleeve; 507. Gyroscope bracket; 508. Gyroscope seat; 509. Gyroscope compartment housing; 510. Third watertight pressure-bearing cable connector compression nut; 511. Gyroscope circuit board; 512. Circular retaining spring; 513. 4 gyroscopes; 514. Third 10-core watertight pressure-bearing cable connector female connector; 515. Third 10-core watertight pressure-bearing cable connector male connector;

[0073] 6. Magnetic positioning section; 601. Threaded connection joint between the fourth sections; 602. Magnetic positioning section lower connector collar; 603. Magnetic positioning section lower connector; 604. Magnetic positioning circuit board skeleton; 605. Magnetic positioning section upper connector; 606. Magnetic positioning upper connector positioning sleeve; 607. Magnetic positioning coil seat; 608. Magnetic positioning section compartment housing; 609. Fourth watertight pressure-bearing cable connector compression nut; 610. Magnetic positioning coil; 611. Magnetic positioning circuit board; 612. Circular retaining spring; 613. Fourth 10-core watertight pressure-bearing cable connector female head; 614. Fourth 10-core watertight pressure-bearing cable connector male head;

[0074] 7. End section; 701. Threaded connection joint between the fifth sections; 702. End conversion head; 703. Snap ring of the lower threaded connection joint of the end conversion; 704. End protection cover; 705. Cable core steel wire rope fastening seat; 706. Cable core steel wire rope outer wire clamp; 707. Cable core steel wire rope inner wire clamp; 708. 10-core watertight pressure-bearing cable connector; 709. Cable core steel wire rope. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0076] In order to solve the deficiencies of the prior art, the present invention discloses a pitch motor control system, such as Figure 1 and Figure 2 As shown, the system includes a balancing device, a precision control device and a pitch motor cable collecting device, wherein the first end of the balancing device is used to connect to the detection system; the second end of the balancing device is connected to the precision control device, and the pitch motor cable collecting device is arranged inside the precision control device.

[0077] The pitch motor control system is used to install a high-precision pitch motor 217 , a sonar circuit board 212 , and a high-precision electronic compass 213 .

[0078] The shell of the pitch motor control system includes a pitch motor pressure balance chamber 203, a pitch motor installation chamber 201, a sonar panel chamber watertight shell 209 and a forward and reverse threaded joint 211 on the upper part of the sonar panel chamber, wherein one end of the pitch motor pressure balance chamber 203 is threadedly connected to the pitch motor installation chamber 201 through an O-ring, and the other end of the pitch motor pressure balance chamber 203 is threadedly connected to the sonar panel chamber watertight shell 209 through an O-ring, and the sonar panel chamber watertight shell 209 is connected to the forward and reverse threaded joint 211 on the upper part of the sonar panel chamber through an O-ring.

[0079] like Figure 3 and Figure 4 As shown, the balancing device comprises a pitch motor pressure balancing chamber 203, a fluororubber airbag 214, a pressing head 204 on the pitch motor airbag, a pitch motor mounting chamber 201 and a pitch motor chamber airbag drain plug 202, wherein steps are arranged on the inner sides of both ends of the pitch motor pressure balancing chamber 203, the fluororubber airbag 214 is a columnar shape with both ends opened, the fluororubber airbag 214 is arranged inside the pitch motor pressure balancing chamber 203 and contacts the inner wall of the pitch motor pressure balancing chamber 203; the first end of the fluororubber airbag 214 is sleeved on the outer side of the first step at the second end of the pitch motor mounting chamber 201, and The first step of the second end of the pitch motor installation chamber 201 is entirely inside the fluororubber airbag 214; the second end of the fluororubber airbag 214 is sleeved on the upper pressing head 204 of the pitch motor airbag, and the upper pressing head 204 of the pitch motor airbag is sealed and connected to the inner side of the second end of the pitch motor pressure balance chamber 203 through the second end of the fluororubber airbag 214; the inner side of the first end step of the pitch motor pressure balance chamber 203 is sealed and connected to the second step of the second end of the pitch motor installation chamber 201 through an O-ring; a pitch motor chamber airbag drain plug 202 is provided in the middle of the first end of the pitch motor installation chamber 201. The outer side of the pitch motor installation chamber 201 near the first end is connected to the detection system through the pitch motor shaft adapter installation hole and the pitch fork arm cable shaft adapter installation hole.

[0080] Furthermore, the pressing head 204 on the pitch motor airbag, the fluororubber airbag 214, the pitch motor mounting compartment 201 and the pitch motor compartment airbag drain plug 202 constitute a closed space; the closed space (the pitch motor mounting compartment 201 and the fluororubber airbag 214) is filled with liquid silicone oil, the high-precision pitch motor 217 is immersed in the liquid silicone oil, and the pitch motor compartment airbag drain plug 202 serves to fill and drain the silicone oil.

[0081] Furthermore, a number of holes for connecting airbags are opened on the metal shell of the pitch motor pressure balance chamber 203, so that the air pressure or hydraulic pressure in the external environment directly acts on the internal fluororubber airbag 214. The pitch motor pressure balance chamber 203 is filled with liquid silicone oil, so that the pressure inside and outside the chamber is kept consistent, ensuring that the high-precision pitch motor 217 and the gear reducer of the motor and the pitch motor shaft adapter 105 can work stably for a long time under high pressure environment. Circular wrench holes for disassembly and assembly are set on the pitch motor installation chamber 201 and the sonar board chamber watertight shell 209; and two threaded holes for disassembly and assembly are set on the upper end of the compression head 204 on the pitch motor airbag and the cable connector seat 208 on the sonar board frame. The cables of the four ultrasonic transducers 109 are concentrated into a 4-core bus after passing through a hub, and inserted into the pitch fork arm cable shaft conversion joint installation hole on one side of the pitch motor installation compartment 201, and the pitch motor shaft conversion joint is inserted into the pitch motor shaft conversion joint installation hole on the other side. An O-ring is provided at the insertion position to ensure watertightness.

[0082] like Figure 5 and Figure 6 As shown, the pitch motor precision control device comprises a sonar circuit board frame 207, a sonar circuit board 212 and a high-precision electronic compass 213, a sonar board warehouse watertight shell 209, and a positive and negative threaded joint 211, wherein the sonar board warehouse watertight shell 209 and the positive and negative threaded joint 211 are connected to form a precision control device shell, the sonar circuit board frame 207, the sonar circuit board 212 and the high-precision electronic compass 213 are arranged inside the precision control device shell; the high-precision electronic compass 213 is installed on the sonar circuit board 212, and the sonar circuit board 212 is installed on the sonar circuit board frame 207.

[0083] Furthermore, steps are provided at both ends of the sonar silo watertight shell 209; the outer side of the step at the first end of the sonar silo watertight shell 209 is connected to the inner side of the first step at the second end of the pitch motor pressure balance chamber 203 through an O-ring, and the inner side of the step at the second end of the sonar silo watertight shell 209 is connected to the forward and reverse threaded joint 211 on the upper part of the sonar silo through an O-ring.

[0084] Furthermore, the sonar circuit board 212 is installed on the sonar circuit board skeleton 207, and its function is to control the ultrasonic waves emitted and received in the detection system and process the received reflected wave information. The high-precision electronic compass 213 is installed on the sonar circuit board 212, and its function is to output the azimuth, and the measurement range is 0 to 360 degrees. The system is initialized to set the north direction as 0 degrees and the clockwise direction as positive. There are 4 cables connected to this section (signal lines of 2 sonar transducers), and there are 4 cables connected to the upper part (two power lines and 2 data lines).

[0085] like Figure 7 and Figure 8 As shown, the pitch motor cable collection device includes a pitch motor upper cable collection system and a pitch motor lower cable collection system, and the pitch motor upper cable collection system and the pitch motor lower cable collection system are respectively arranged at the two ends of the sonar circuit board skeleton 207, the first end of the pitch motor lower cable collection system passes through the pitch motor airbag upper clamping head 204 and is connected to the balancing device, the second end of the pitch motor lower cable collection system passes through the sonar board skeleton lower cable connector seat 206 and is connected to the first end of the sonar circuit board skeleton 207; the first end of the pitch motor upper cable collection system passes through the sonar board skeleton upper cable connector seat 208 and is connected to the second end of the sonar circuit board skeleton 207; the second end of the pitch motor upper cable collection system is arranged inside the positive and negative threaded joint 211 on the upper part of the sonar board bin.

[0086] Furthermore, the cable collection system on the pitch motor includes an upper cable joint positioning sleeve 210, a first 10-core watertight pressure-bearing cable connector 215 and a cable joint seat 208 on the sonar board frame, wherein the first 10-core watertight pressure-bearing cable connector 215 is arranged inside the cable joint seat 208 on the sonar board frame, and an O-ring is arranged at the connection between the first 10-core watertight pressure-bearing cable connector 215 and the cable joint seat 208 on the sonar board frame;

[0087] The upper cable connector positioning sleeve 210 is sleeved on the outer side of the second end step of the cable connector seat 208 on the sonar board frame. The first end of the cable connector seat 208 on the sonar board frame is fixedly connected to the second end of the sonar circuit board 212 by a fastening bolt 218.

[0088] Furthermore, the cable collection system under the pitch motor includes a lower cable joint positioning jacket 210', a second 10-core watertight pressure-bearing cable connector 215' and a lower cable joint seat 206 of the sonar plate frame, wherein:

[0089] The first end of the second 10-core watertight pressure-bearing cable connector 215' is embedded in the upper compression head 204 of the pitch motor airbag, and the second end of the second 10-core watertight pressure-bearing cable connector 215' passes through the lower cable connector seat 206 of the sonar board frame; an O-ring is provided at the connection between the second 10-core watertight pressure-bearing cable connector 215' and the lower cable connector seat 206 of the sonar board frame. The outer side of the contact end of the upper compression head 204 of the pitch motor airbag and the lower cable connector seat 206 of the sonar board frame is fixedly connected through the lower cable connector positioning sleeve 210'.

[0090] The invention also discloses an application of a pitch motor control system in salt cavern property detection.

[0091] The present invention will be further described below in conjunction with specific embodiments.

[0092] Embodiment 1 implements pulse velocity calibration applied to a pitch motor control system to improve control accuracy.

[0093] like Fig. 9 and Fig.10 As shown, the pitch motor control system 2 of the present invention is assembled with the sonar probe section 1 for well logging, the control system is started, and the pitch motor is rotated at a constant angular velocity. When the first target speed is transmitted to the speed PID controller, the number of pulses n1 at the emission time t1 is recorded. When the second target speed is transmitted to the speed PID controller, the number of pulses n2 at the emission time t2 is recorded. The pitch pulse speed V of the pitch motor control system can be calibrated to be (n2-n1) / (t2-t1). The pulse emission speed of the pitch motor control system is obtained to achieve speed calibration of the control system. The calibrated pulse emission speed can improve the system speed control accuracy.

[0094] Embodiment 2 implements position calibration for the pitch position control of the sonar probe section 1 to improve control accuracy.

[0095] like Fig. 9 and Fig.10 As shown, a position PID controller (not shown in the figure) combined with the high-precision pitch motor 217 and located at the rear of the high-precision pitch motor 217 can calibrate the reference 0 position (such as Fig. 9 The position of the pitch mechanism is the reference position 0 during logging. The assembled equipment is placed on a special test bench to ensure that the sonar probe segment 1 for logging and the pitch motor control system 2 are on the same axis. Power on to start the control program and send pulses to the pitch motor control system at a calibrated speed to make the sonar probe segment 1 for logging move in a certain direction. Fig.10 When the sonar probe segment 1 rotates in the direction of the working position and transmits the first target position to the position PID controller, the number of pulses n3 emitted is recorded, and the number of reverse pulses n3 is applied to the system to check whether the sonar probe segment 1 and the pitch motor control system 2 are reset on the same axis. In this way, during downhole testing, it is possible to determine at any time whether the sonar probe segment 1 is in the reference 0 degree position, so as to realize the position calibration of the control system and further improve the position control accuracy of the detection.

[0096] Embodiment 3 forms a main power assembly for a salt cavern property detector.

[0097] like Figure 11-12As shown, the pitch motor control system of the present invention is applied in the detection of salt cavern properties, and the pitch motor control system 2 of the present invention is combined with the sonar probe section 1 for well logging, the rotary motor section 3 for installing the rotary motor and various sensors (including calibration sonar, temperature, pressure, etc.), the main control circuit board section 4 for installing the main control circuit board, the gyroscope section 5 for installing the gyroscope and its control circuit board, the magnetic positioning section 6 for installing the magnetic positioning device and its control circuit board, and the end section 7 for installing the cable core wire rope to form a salt cavern property detector. The sonar probe section 1 is arranged at the end of the detection system and is connected to the pitch motor section 2 and the rotary motor section 3 in sequence.

[0098] like Fig.11 As shown, the detection system includes a control module, a cable core steel wire rope and a detector, wherein the control module is connected to the detection system through the cable core steel wire rope; Fig.12 The detector includes a sonar probe section 1, a pitch motor section 2, a rotary motor section 3, a main control circuit board section 4, a gyroscope section 5, a magnetic positioning section 6 and an end section 7, wherein the sonar probe section 1 is arranged at the end of the detection system, and is sequentially connected with the pitch motor section 2, the rotary motor section 3, the main control circuit board section 4, the gyroscope section 5, the magnetic positioning section 6 and the end section 7; the connection between the rotary motor section 3, the main control circuit board section 4, the gyroscope section 5, the magnetic positioning section 6 and the end section 7 is sequentially connected through the second inter-segment threaded connection joint 401, the third inter-segment threaded connection joint 501, the fourth inter-segment threaded connection joint 601, and the fifth inter-segment threaded connection joint 701.

[0099] Furthermore, the control module is arranged on the ground, and the control module includes a data acquisition unit, a communication remote sensing unit, a power supply and a computer, wherein the power supply is a 220V AC power supply, and the communication remote sensing unit is used to send and collect signals for detection equipment above one kilometer; the data acquisition unit is used to collect and display the length change data, tension change data and other data of the cable core steel wire rope; the cable core steel wire rope is stored on the cable car, and is used to lift or lower the detector by controlling the winding in or releasing of the steel wire rope; the cable car is provided with a steel wire rope tension sensor and a lowering length sensor;

[0100] Furthermore, the cable core steel wire rope comprises a cable and a steel wire rope, the cable has six cores, 2 of which are power lines, 2 are data lines, and 2 are spare lines.

[0101] Furthermore, the detection system is arranged underground, such as Fig.12As shown in the figure, the salt cavern property detector includes seven parts, namely, a sonar probe section 1 for well logging, a pitch motor section 2 for installing a pitch motor, a sonar control circuit board and an electronic compass, a slewing motor section 3 for installing a slewing motor and various sensors (including calibration sonar, temperature, pressure, etc.), a main control circuit board section 4 for installing a main control circuit board, a gyroscope section 5 for installing a gyroscope and its control circuit board, a magnetic positioning section 6 for installing a magnetic positioning device and its control circuit board, and an end section 7 for installing a cable core wire rope.

[0102] See also Fig.13a and 13b The sonar probe section 1 for logging in the present invention comprises a sonar probe seat 101 (made of bakelite or other high temperature resistant non-metallic materials), a sonar probe lower end sheath 102 (316L material), a sonar probe hub 103 (nylon 66 or other high temperature resistant non-metallic materials), a pitch fork arm seat 104 (316L material), a pitch motor shaft adapter 105 (316L material), a pitch fork arm seat cover plate 106 (316L material), a pitch mechanism cable fork arm 107 (316L material), a pitch fork arm cable shaft adapter 108 (316L material), a first ultrasonic transducer 109, a second ultrasonic transducer 109', a plurality of O-rings (high temperature resistant fluororubber material) and stainless steel fastening bolts, see attached Figure 3 . An exhaust hole is provided near the bottom surface of the second ultrasonic transducer 109' on the lower side of the sonar probe lower end sheath 102 to prevent interference caused by the air around the second ultrasonic transducer 109' not being removed during the lowering of the equipment, thereby improving the detection accuracy. The first ultrasonic transducer 109 and the second ultrasonic transducer 109' have a total of 4 cables passing through this part, and the cable passing part is filled with epoxy resin to ensure that there is no gap inside the component. The 4 cables of the first ultrasonic transducer 109 and the second ultrasonic transducer 109' are concentrated into a 4-core bus after passing through the sonar probe hub 103.

[0103] The first ultrasonic transducer 109 and the second ultrasonic transducer 109' ultrasonic transducers are respectively arranged at the bottom and the side, and are used for sound wave detection in two directions. The second ultrasonic transducer 109' is arranged at the end of the sonar probe seat 101, and the first ultrasonic transducer 109 is embedded in the sonar probe seat 101. The bottom of the first ultrasonic transducer 109 is fixedly connected to the sonar probe seat 101 by fastening bolts (not shown in the figure); the pitch fork arm seat 104 and the pitch mechanism cable fork arm 107 are respectively arranged on both sides of the first ultrasonic transducer 109. The pitch motor shaft adapter 105 is inserted into the hole of the pitch fork arm seat 104 and fixed by welding. The pitch fork arm cable shaft conversion joint 108 is inserted into the hole of the pitch mechanism cable fork arm 107 and fixed by fastening bolts. The pitch fork arm seat 104 and the pitch mechanism cable fork arm 107 are respectively fixed to the sonar probe seat 101 by fastening bolts on the side.

[0104] The sonar probe lower end sheath 102 is located at the bottom of the sonar probe seat 101, and is fixed by threaded cloth after being inserted; the sonar probe hub 103 is located in the upper cavity of the sonar probe seat 101, and should be epoxy poured and sealed and fixed after installation, and the pitch fork arm seat cover plate 106 is installed on the outside and fixed with fastening bolts.

[0105] The outer side of the other end of the sonar probe seat 101 is fixedly connected to one end of the pitch fork arm seat 104 by fastening bolts, and a pitch fork arm seat cover 106 is provided at the other end of the pitch fork arm seat 104. Four cables passing through the first ultrasonic transducer 109 and the second ultrasonic transducer 109' are connected to the probe hub 103. The probe hub 103 is arranged on the inner side of the other end of the sonar probe seat 101, and the sonar probe hub 103 is fixedly connected to the pitch fork arm seat cover 106 by fastening bolts.

[0106] The pitch motor section 2 includes a pitch motor balancing device, a pitch motor control device and a pitch motor cable collecting device, wherein the first end of the pitch motor balancing device is connected to the sonar probe section 1, the second end of the pitch motor balancing device is connected to the pitch motor control device, and the pitch motor cable collecting device is arranged inside the pitch motor control device.

[0107] The pitch motor section 2 for installing the pitch motor, the sonar control circuit board and the electronic compass in the present invention comprises a pitch motor installation compartment 201 (316L material), a pitch motor compartment airbag discharge plug 202 (316L material), a pitch motor pressure balance compartment 203 (316L material), a pitch motor airbag upper pressing head 204 (316L material), a watertight pressure-bearing electrical connection plug pressing nut 205 (316L material), a sonar board frame lower cable connector seat 206 (316L material), a sonar circuit board frame 207 (aluminum alloy) material), 1 sonar plate frame upper cable connector seat 208 (316L material), 1 sonar plate warehouse watertight shell 209 (316L material), 1 upper cable connector positioning jacket 210 (316L material), 1 positive and negative threaded connector 211 (316L material), 1 sonar circuit board 212, 1 set of high-precision electronic compass 213, 1 fluororubber airbag 214, 2 pairs of 10-core watertight pressure-bearing cable connectors (215, 215'), 1 set of high-precision pitch motors 217, several O-rings (high-temperature resistant fluororubber material) and stainless steel fastening bolts, see attached Figure 1-8 .

[0108] The shell of the pitch motor section 2 includes a pitch motor pressure balance chamber 203, a pitch motor installation chamber 201, a sonar plate chamber watertight shell 209 and a forward and reverse threaded joint 211, wherein one end of the pitch motor pressure balance chamber 203 is connected to the pitch motor installation chamber 201 through an O-ring, and the other end of the pitch motor pressure balance chamber 203 is connected to the sonar plate chamber watertight shell 209 through an O-ring, and the sonar plate chamber watertight shell 209 is connected to the forward and reverse threaded joint 211 through an O-ring.

[0109] The pitch motor balancing device comprises a pitch motor pressure balancing chamber 203, a fluororubber airbag 214, a pressing head 204 on the pitch motor airbag, a pitch motor mounting chamber 201 and a pitch motor chamber airbag drain plug 202, wherein the fluororubber airbag 214 is a columnar shape with two ends opened, the fluororubber airbag 214 is arranged inside the pitch motor pressure balancing chamber 203 and contacts the inner wall of the pitch motor pressure balancing chamber 203, the first end of the fluororubber airbag 214 is sleeved on the outside of the first step at the second end of the pitch motor mounting chamber 201, and the first step at the second end of the pitch motor mounting chamber 201 is entirely inside the fluororubber airbag 214; the second end of the fluororubber airbag 214 is sleeved on the pressing head 204 on the pitch motor airbag, and the pitch motor mounting chamber 201 is provided with a plurality of fluororubber airbags, each of which ... The pressing head 204 on the pitch motor airbag is sealed and connected to the inner side of the second end of the pitch motor pressure balance chamber 203 through the second end of the fluororubber airbag 214; part of the pressing head 204 on the pitch motor airbag is inside the fluororubber airbag 214; the other end of the pitch motor pressure balance chamber 203 is connected to the pitch motor mounting chamber 201 through an O-ring; therefore, the pressing head 204 on the pitch motor airbag, the fluororubber airbag 214, the pitch motor mounting chamber 201 and the pitch motor chamber airbag drain plug 202 constitute a closed space, the pitch motor mounting chamber 201 and the fluororubber airbag 214 are filled with liquid silicone oil, the high-precision pitch motor 217 is immersed in the liquid silicone oil, and the pitch motor chamber airbag drain plug 202 is used to fill and drain silicone oil.

[0110] Among them, a number of holes for connecting airbags are opened on the metal shell of the pitch motor pressure balance chamber 203, so that the air pressure or hydraulic pressure in the external environment directly acts on the internal fluororubber airbag 214, and the pitch motor pressure balance chamber 203 is filled with liquid silicone oil, so that the pressure inside and outside the chamber is kept consistent, ensuring that the pitch motor 217 and the gear reducer of the motor and the pitch motor shaft adapter 105 can work stably for a long time under high pressure environment. "The gear reducer of the motor and the pitch motor shaft adapter 105" are transmission mechanisms, and the gear reducer of the motor is a three-stage gear transmission, with a reduction ratio of 1:5 for each stage. A circular wrench hole for disassembly and assembly is set on the watertight shell 209 of the sonar board chamber; wherein the pressing head 204 on the pitch motor airbag and the upper end of the cable connector seat 208 on the sonar board frame are provided with two threaded holes for disassembly and assembly. The four cables of the first ultrasonic transducer 109 and the second ultrasonic transducer 109' are concentrated into a 4-core bus after passing through the hub, so that they can be sealed with epoxy resin when passing through the pitch fork arm cable axis conversion joint 108. This is to ensure the watertight requirements later. The 4-core bus is inserted from the pitch fork arm cable axis conversion joint mounting hole on one side of the pitch motor mounting compartment 201, and the mounting hole on the other side is inserted into the pitch motor axis conversion joint. An O-ring is provided at the insertion position to ensure watertightness.

[0111] The pitch motor precision control device comprises a sonar circuit board frame 207, a sonar circuit board 212 and a high-precision electronic compass 213, wherein the sonar circuit board 212 is mounted on the sonar circuit board frame 207, and its function is to control the first ultrasonic transducer 109 and the second ultrasonic transducer 109' to transmit and receive ultrasonic waves, and process the received reflected wave information. The circuit board 212 is also equipped with a pitch motor driver, which can control the high-precision pitch motor 217 in the pitch section to perform pitching work from 0 to plus or minus 90 degrees according to the specified requirements to meet the detection requirements. The high-precision electronic compass 213 is mounted on the sonar circuit board 212, and its function is to output the azimuth, and the measurement range is 0 to 360 degrees. The system is initialized to set the north direction as 0 degrees and the clockwise direction as positive. There are 4 cables connected to this section (respectively, the signal lines of 2 sonar transducers), and there are 4 cables connected to the upper part (respectively, two power lines and 2 data lines).

[0112] The pitch motor cable collecting device includes a pitch motor upper cable collecting module and a pitch motor lower cable collecting module, and the pitch motor upper cable collecting module and the pitch motor lower cable collecting module are respectively arranged at the two ends of the sonar circuit board skeleton 207, the first end of the pitch motor lower cable collecting module passes through the pitch motor airbag upper clamping head 204 and is connected to the pitch motor balancing device, the second end of the pitch motor lower cable collecting module passes through the sonar board skeleton lower cable connector seat 206 and is connected to the first end of the sonar circuit board skeleton 207; the first end of the pitch motor upper cable collecting module passes through the sonar board skeleton upper cable connector seat 208 and is connected to the second end of the sonar circuit board skeleton 207; the second end of the pitch motor upper cable collecting module is arranged inside the positive and negative threaded joint 211.

[0113] Furthermore, the cable collection module on the pitch motor includes an upper cable joint positioning sleeve 210 and a first 10-core watertight pressure-bearing cable connector 215, wherein the first 10-core watertight pressure-bearing cable connector 215 is arranged inside the upper cable joint positioning sleeve 210, and an O-ring is provided at the connection between the first 10-core watertight pressure-bearing cable connector 215 and the upper cable joint positioning sleeve 210.

[0114] Furthermore, the pitch motor lower cable collection module includes a lower cable joint positioning jacket 210', a second 10-core watertight pressure-bearing cable connector 215' and a lower cable joint seat 206 of the sonar plate frame, wherein:

[0115] The first end of the second 10-core watertight pressure-bearing cable connector 215' is embedded in the upper compression head 204 of the pitch motor airbag, and the second end of the second 10-core watertight pressure-bearing cable connector 215' passes through the lower cable connector seat 206 of the sonar board frame; an O-ring is provided at the connection between the second 10-core watertight pressure-bearing cable connector 215' and the lower cable connector seat 206 of the sonar board frame. The outer side of the contact end of the upper compression head 204 of the pitch motor airbag and the lower cable connector seat 206 of the sonar board frame is fixedly connected through the lower cable connector positioning sleeve 210'.

[0116] The rotary motor section 3 includes a sonar calibration device, a rotary motor device, a rotary motor transmission device and a rotary motor cable collection device, wherein the first end of the rotary motor transmission device is used to connect to the pitch motor control system; the second end of the rotary motor transmission device is connected to the first end of the rotary motor device; the second end of the rotary motor device is connected to the first end of the sonar calibration device, and the rotary motor cable collection device is arranged inside the housing of each device.

[0117] like Fig.14 As shown, the rotary motor segment for installing the rotary motor and each sensor in the present invention includes a rotary cylinder connecting piece (316L material), a locking nut (316L material), a rotary motor chamber air bag drain plug (316L material), a rotary motor bearing seat (316L material), a rotary motor installation chamber (316L material), a rotary motor pressure balance chamber (316L material), a rotary motor air bag upper pressing head (316L material), an inter-segment threaded connection joint (brass material), a calibration chamber lower cable adapter (316L material), a calibration chamber lower joint stop ring (316L material), a calibration chamber cable bracket (316 L material), 1 calibration chamber upper cable adapter (316L material), 1 watertight pressure-bearing cable connector compression nut (316L material), 1 calibration chamber shell (316L material), 1 calibration chamber upper cable adapter positioning sleeve (316L material), 1 sonar sensor, 1 pressure sensor, 1 temperature sensor, 2 sets of ball bearings, 2 rotary shaft seals, 1 set of roller bearings, 1 flat retaining ring, 1 set of slip rings, 1 set of high-precision rotary motors, 1 fluororubber airbag, 1 10-core watertight pressure-bearing cable connector (4-core male part), 1 10-core watertight pressure-bearing cable connector, several O-rings (high temperature resistant fluororubber material) and stainless steel fastening bolts, see attached Fig.14 There are 4 cables connected to the lower part of this section (2 power cables and 2 data cables), and 10 cables connected to the upper part (2 power cables, 2 data cables, 2 sonar correction sensor cables, 2 pressure sensor cables, and 2 temperature sensor cables).

[0118] The sonar calibration device comprises a calibration chamber housing 314, a calibration chamber cable support 311, a sonar calibration sensor 316, a pressure sensor 317 and a temperature sensor 318, wherein the first end of the calibration chamber housing 314 is connected to the second end of the rotary motor device, and the calibration chamber lower cable adapter 309 of the second end of the rotary motor device is inserted into the first end of the calibration chamber housing 314, and the side and top are respectively fixed with bolts; further, the calibration chamber cable support 311 is composed of a steel pipe, a lower connecting plate and an upper connecting plate watertightly welded, and the middle steel pipe is used to pass the cable. The lower connecting plate is provided with a bolt hole for fixed connection with the calibration chamber lower cable adapter 309 of the rotary motor device. The second end face of the upper connecting plate is provided with a non-penetrating threaded hole for fixed connection with the calibration chamber upper cable adapter 312 of the rotary motor cable collection device. The first end of the upper connecting plate of the calibration chamber cable support 311 is provided with a sonar calibration sensor 316, a pressure sensor 317 and a temperature sensor 318, which are respectively used to calibrate the downhole sound velocity, detection pressure and temperature.

[0119] The rotary motor device comprises a rotary motor installation compartment 305, a motor pressure balance compartment 306, a rotary motor airbag upper clamping head 307, a first section threaded joint 308, a calibration compartment lower cable adapter 309, a calibration compartment lower joint stop ring 310, a high-precision rotary motor 324, and a second fluororubber airbag 325, wherein the first end of the rotary motor installation compartment 305 is connected to the second end of the rotary motor transmission device; the second step of the second end of the rotary motor installation compartment 305 is connected to the inner side of the first step of the first end of the motor pressure balance compartment 306 through an O-ring; the second end of the motor pressure balance compartment 306 is inserted into the clamping head 307 on the rotary motor airbag and is clamped through the first section threaded joint 308.

[0120] A reflector is set at a distance M below the sonar correction sensor 316 to control the sensor to emit ultrasonic waves. After being reflected by the reflector, the sensor receives the ultrasonic waves. According to the received time interval and the distance M value, the propagation speed of the sonar in the medium of different depths in the underground salt cavern can be calculated at any time, thereby playing a role in calibrating the sonar propagation speed at each detection height and obtaining more accurate detection data. Circular wrench holes for disassembly and assembly are set on the rotating cylinder connector 301, the rotating motor bearing seat 304, the rotating motor installation compartment 305, and the first section threaded connection joint 308. Two threaded holes for disassembly and assembly are set on the upper end of the pressing head 307 on the rotating motor airbag. The calibration compartment housing 314 is provided with an exhaust hole near the temperature sensor 318 to prevent interference caused by the air around the sensor not being removed during the lowering of the equipment, thereby improving the detection accuracy.

[0121] Furthermore, the calibration chamber lower cable adapter 309 plays a connecting role, and the first end is provided with a first step on the outside, and the calibration chamber lower cable adapter 309 is provided with a first step on the outside, and the first step is just inserted into the first section threaded joint 308; the first end face of the calibration chamber lower cable adapter 309 is flush with the first end face of the first section threaded joint 308, and is provided with a threaded mounting hole, and the calibration chamber lower joint stop ring 310 is fixedly installed through the threaded mounting hole to connect them together. The second end of the calibration chamber lower cable adapter 309 is sealed and connected to the first end of the calibration chamber housing 314 through an O-ring, and a connecting bolt 329 is provided on the side.

[0122] Furthermore, a second fluororubber airbag 325 is arranged inside the motor pressure balance chamber 306. The second fluororubber airbag 325 is a column with openings at both ends. The two ends are flush with the tails of the steps at both ends of the motor pressure balance chamber 306, and are in conflict with the inner wall of the rotary motor pressure balance chamber 306; the first end of the second fluororubber airbag 325 is sleeved on the first step of the second end of the rotary motor mounting chamber 305, and the first step of the second end of the rotary motor mounting chamber 305 is sealed and connected to the first end of the rotary motor pressure balance chamber 306 through the first end of the second fluororubber airbag 325, the second end of the second fluororubber airbag 325 is sleeved on the tightening head 307 on the rotary motor airbag, and the first step of the first end of the tightening head 307 on the rotary motor airbag is sealed and connected to the second end of the rotary motor pressure balance chamber 306 through the second end of the second fluororubber airbag 325. The high-precision rotary motor 324 is mounted on a base inside the second end of the rotary motor mounting compartment 305 and is fixed by bolts, and the motor drive shaft extends into the first end.

[0123] Furthermore, the interior of the rotary motor control system is composed of a rotary motor compartment airbag drain plug 303, a rotary cylinder connector 301, a rotary motor bearing seat 304, a rotary motor mounting compartment 305, a second fluororubber airbag 325, a first section threaded joint 308, a calibration compartment lower cable adapter 309, a calibration compartment housing 314, a calibration compartment cable bracket 311, and a calibration compartment upper cable adapter 312 to form a closed space, and the closed space is filled with silicone oil to form a pressure balance compartment, the slip ring 323 and the high-precision rotary motor 324 are immersed in the liquid silicone oil, and the rotary motor compartment airbag drain plug 303 can also be used to fill and drain silicone oil.

[0124] Furthermore, a plurality of holes are opened on the housing of the rotary motor pressure balance chamber 306 outside the second fluororubber airbag 325, so that the air pressure or hydraulic pressure in the external environment directly acts on the second fluororubber airbag 325 inside, and the entire pressure balance chamber is filled with liquid silicone oil, so that the pressure inside and outside the chamber is kept consistent, ensuring that the high-precision rotary motor 324 and the slip ring 323, and the rotary cylinder connecting piece 301 can rotate stably for a long time under high pressure environment. Circular wrench holes for disassembly and assembly are set on the rotary cylinder connecting piece 301, the rotary motor bearing seat 304, the rotary motor installation chamber 305, and the first inter-section threaded joint 308;

[0125] The rotary motor transmission device comprises a rotary cylinder connecting member 301, a rotary motor bearing seat 304, a locking nut 302, a flat retaining ring 322, a first ball bearing 319, a second ball bearing 319', a roller bearing 321, a first rotary shaft sealing ring 320 and a second rotary shaft sealing ring 320', wherein the first end of the rotary cylinder connecting member 301 is used to connect the pitch system, and the second end of the rotary cylinder connecting member 301 is also provided with a first step, and the first step is adjacent to the second step; the first step is provided at the end of the second end, and the end of the first step is connected to the high-precision rotary motor 324 inside the rotary motor mounting chamber 305, and the second step at the second end of the rotary cylinder connecting member 301 is embedded in the first end of the rotary motor bearing seat 304; the outer side of the first end step of the rotary motor mounting chamber 305 is inserted into the second end step of the rotary motor bearing seat 304, and is threadedly connected to the rotating motor through an O-ring. The other end of the rotary motor installation chamber 305 is threadedly connected to the first end of the motor pressure balance chamber 306 through an O-ring. The first end of the first inter-section threaded joint 308 is threadedly connected to the second end of the motor pressure balance chamber 306 through an O-ring.

[0126] The first end step of the rotary motor bearing seat 304 is provided with a first ball bearing groove, a first rotary shaft sealing ring groove, a second rotary shaft sealing ring groove, a second ball bearing groove and a roller bearing groove, which are used to install the first ball bearing 319, the first rotary shaft sealing ring 320, the second rotary shaft sealing ring 320', the second ball bearing 319' and the roller bearing 321 respectively; the locking nut 302 is provided at the second step end of the second end of the rotary cylinder connecting member 301, and is used to be relatively fixed with the rotary motor bearing seat 304, and the flat retaining ring 322 is installed in the adjacent retaining ring groove to prevent the locking nut 302 from loosening. The second end of the rotary cylinder connecting member 301 is completely inserted from the second end of the rotary motor bearing seat 304, locked with the locking nut 302, and clamped with the flat retaining ring 322 to prevent loosening.

[0127] The rotary motor cable collection device comprises a rotary motor bin airbag discharge plug 303, a 10-core watertight pressure-bearing cable connector 327, a first watertight pressure-bearing cable connector tightening nut 313, a slip ring 323, a first 10-core watertight pressure-bearing cable connecting male head 326, a cable adapter 312 on the calibration bin and a cable adapter positioning sleeve 315 on the calibration bin, wherein the first step at the second end of the rotary motor bin airbag discharge plug 303 is provided with an O-ring, and the second step is provided with a thread, which are respectively inserted into the first step and the second step inside the first end of the rotary cylinder connecting piece 301 of the rotary motor transmission device and are sealed and connected. A first step and a second step are provided inside the rotary motor compartment air bag discharge plug 303. A 10-core watertight pressure-bearing cable connector 327 is provided with an O-ring and is fully inserted into the first step of the rotary motor compartment air bag discharge plug 303 and is tightened with a first watertight pressure-bearing cable connector compression nut 313. The cable passes through the inner hole of the compression nut, and then passes through two small holes in the first end of the rotary motor transmission device's rotary cylinder connector 301 and is connected to the first end of the slip ring 323.

[0128] A calibration chamber upper cable adapter 312 is provided at the second end of the calibration chamber cable bracket 311, and three steps are provided inside the calibration chamber upper cable adapter 312. A first watertight pressure-bearing cable connector clamping nut 313 is provided in the first step, and the second end of the first watertight pressure-bearing cable connector clamping nut 313 is screwed into the second step. After the cable is connected to the first 10-core watertight pressure-bearing cable connecting male head 326, it is completely inserted into the second step of the calibration chamber upper cable adapter 312; the first 10-core watertight pressure-bearing cable connecting male head 326 is sealed and connected to the calibration chamber upper cable adapter 312.

[0129] The portion below the cable adapter 312 on the calibration chamber is completely filled with liquid silicone oil, and the high-precision rotary motor 324, slip ring 323, rotary transmission shaft, roller bearing 321, sonar correction sensor 316, temperature sensor 318, pressure sensor 317 and other components are completely immersed in the liquid silicone oil, while the ball bearing 319 is not immersed in the silicone oil but exposed to the outside.

[0130] The first end of the main control circuit board segment 4 is connected to the rotating motor segment through the second inter-segment threaded connection joint 401. The shell of the rotating motor segment 3 includes a rotating cylinder connecting piece 301, a rotating motor installation compartment 305, a first inter-segment threaded connection joint 308, a rotating motor pressure balance compartment 306, and a calibration compartment shell 314, wherein the pitch motor segment 2 is connected to the rotating motor segment 3 through the first end of the rotating cylinder connecting piece 301.

[0131] The main control circuit board segment of the present invention comprises an inter-segment threaded connection joint (brass material), a main control circuit board segment lower connector clamp (316L material), a main control circuit board segment lower connector (316L material), a main control circuit board skeleton (316L material), a main control circuit board segment upper connector (316L material), a main control circuit board segment upper connector positioning sleeve (316L material), a main circuit board compartment shell (316L material), a watertight pressure-bearing cable connector compression nut (316L material), a main control circuit board, a 10-core watertight pressure-bearing cable connector (4-core female), a circular retaining ring (316L material), a 10-core watertight pressure-bearing cable connector (4-core male), a plurality of O-rings (high temperature resistant fluororubber material) and stainless steel fastening bolts, see attached Figure 15a-15b .

[0132] Circular wrench holes for disassembly and assembly are provided on the second section threaded connection joint 401, the main control circuit board section lower connector 402, and the main circuit board compartment housing 407. This part of the circuit board is in a sealed compartment. The main control circuit board 409 is installed on the main control circuit board skeleton 404, and its function is to control the high-precision rotary motor 217 in the pitch motor section 2 to rotate at a constant angular velocity, while controlling the rotation direction and rotation angle. At the same time, it can also process the internal data transmitted by the sonar correction sensor 316, temperature sensor 318, and pressure sensor 317 in the rotary motor section 3, and the external data transmitted by the first ultrasonic transducer 109, the second ultrasonic transducer 109' in the lower sonar section 1 and the precision electronic compass 213 in the pitch motor section 2. There are 10 cables connected to this section (2 power cables, 2 data cables, 2 sonar correction sensor cables, 2 pressure sensor cables, and 2 temperature sensor cables), and 6 cables are connected to the upper part (2 power cables, 2 internal data cables, and 2 external data cables).

[0133] The main control circuit board section 4 includes a main circuit board housing, a main circuit board control system and a main circuit board cable collecting device. The main circuit board control system and the main circuit board cable collecting device are arranged inside the main circuit board housing, and the main circuit board cable collecting device runs through the main circuit board control system.

[0134] Furthermore, the main circuit board housing includes a second-section threaded connection joint 401, a main control circuit board section lower connector 403 and a main circuit board compartment shell 407, wherein the outer side of the first end of the main control circuit board section lower connector 403 is sealedly connected to the inner wall of the second end of the second-section threaded connection joint 401 through an O-ring; the outer side of the second end of the main control circuit board section lower connector 403 is sealedly connected to the inner wall of the first end of the main circuit board compartment shell 407 through an O-ring; and the first end of the main circuit board compartment shell 407 is connected to the second end of the second-section threaded connection joint 401 through the middle of the main control circuit board section lower connector 403.

[0135] The main circuit board cable collection device includes a second 10-core watertight pressure-bearing cable connecting female head 410 connected to the first 10-core watertight pressure-bearing cable connecting male head 326 of the rotating motor section; a second 10-core watertight pressure-bearing cable connecting male head 412 corresponding to the second 10-core watertight pressure-bearing cable connecting female head 410; the cable is transmitted from the second 10-core watertight pressure-bearing cable connecting female head 410 through the lower connector 403 of the main control circuit board section and the main control circuit board frame 404 and enters the second 10-core watertight pressure-bearing cable connecting male head 412.

[0136] The second 10-core watertight pressure-bearing cable connector 410 is embedded in the first end of the main control circuit board segment lower connector 403 through the main control circuit board segment lower connector collar 402, and is sealed and connected to the first end of the main control circuit board segment lower connector 403 through an O-ring; the main control circuit board segment lower connector collar 402 includes a circular retaining spring 411 arranged in the middle of its outer side;

[0137] The second 10-core watertight pressure-bearing cable connecting male connector 412 passes through the connector 405 on the main control circuit board segment, the outer side of the first end of the second 10-core watertight pressure-bearing cable connecting male connector 412 is connected to the inner wall of the first end of the connector 405 on the main control circuit board segment through the second watertight pressure-bearing cable connector compression nut 408, and the outer side of the second end of the second 10-core watertight pressure-bearing cable connecting male connector 412 is sealed and connected to the inner wall of the second end of the connector 405 on the main control circuit board segment through an O-ring;

[0138] The outer side of the second end of the main control circuit board segment connector 405 includes a main control circuit board segment connector positioning sleeve 406, and the outer side of the second end of the main control circuit board segment connector 405 is sealed and connected to the inner wall of the main control circuit board segment connector positioning sleeve 406 through an O-ring.

[0139] Furthermore, the main circuit board control system includes a main control circuit board 409 mounted on a main control circuit board skeleton 404 , and the main control circuit board 409 is used to control the rotation angular velocity, rotation direction and rotation angle of the high-precision rotary motor 217 in the pitch motor section 2 .

[0140] See also Fig.16a and 16b In the present invention, the gyroscope segment 5 includes a gyroscope housing, a gyroscope control system and a gyroscope segment cable collection device, wherein the gyroscope housing includes a third-segment threaded connection joint 501, a gyroscope circuit board segment lower connector 503 and a gyroscope bin housing 509, wherein the outer side of the first end of the gyroscope circuit board segment lower connector 503 is sealed and connected to the inner wall of the second end of the third-segment threaded connection joint 501 through an O-ring; the outer side of the second end of the gyroscope circuit board segment lower connector 403 is sealed and connected to the inner wall of the first end of the gyroscope bin housing 509 through an O-ring; the outer diameter of the middle part of the gyroscope circuit board segment lower connector 503 is the same as the outer diameter of the gyroscope bin housing 509 and the outer diameter of the third-segment threaded connection joint 501, and the first end of the gyroscope bin housing 509 is connected to the second end of the third-segment threaded connection joint 501 through the middle part of the gyroscope circuit board segment lower connector 503.

[0141] Furthermore, the gyroscope control system includes a plurality of gyroscopes 513 and a gyroscope bracket 507 matched with the plurality of gyroscopes, each gyroscope 513 is fixedly embedded in a predetermined position of the gyroscope bracket 507 through a gyroscope seat 508, and the first end of the gyroscope bracket 507 is fixedly connected to the gyroscope circuit board 511 through a fastening bolt; the gyroscope circuit board 511 is installed on the gyroscope circuit board frame 504, and is used to control the high-speed rotation of the gyroscope.

[0142] Furthermore, the gyroscope segment cable collection device includes a third 10-core watertight pressure-bearing cable connecting female head 514 and a third 10-core watertight pressure-bearing cable connecting male head 515, wherein the third 10-core watertight pressure-bearing cable connecting female head 514 is connected to the second 10-core watertight pressure-bearing cable connecting male head 412 on the main control circuit board segment; the third 10-core watertight pressure-bearing cable connecting male head 515 corresponding to the third 10-core watertight pressure-bearing cable connecting female head 514; the cable passes through the gyroscope circuit board segment lower connector 503 and the gyroscope circuit board skeleton 504 from the third 10-core watertight pressure-bearing cable connecting female head 514 to enter the third 10-core watertight pressure-bearing cable connecting male head 515; the third 10-core watertight pressure-bearing cable connecting female head 514 is embedded in the first end of the gyroscope circuit board segment lower connector 503 through the gyroscope circuit board segment lower connector clamp 502, and is sealed and connected to the first end of the gyroscope circuit board segment lower connector 503 through an O-ring;

[0143] The gyroscope circuit board segment lower connector collar 502 includes a circular retaining spring 512 disposed in the middle of the outer side thereof; the third 10-core watertight pressure-bearing cable connecting male connector 515 penetrates the gyroscope segment circuit board upper connector 505, the outer side of the first end of the third 10-core watertight pressure-bearing cable connecting male connector 515 is connected to the inner wall of the first end of the gyroscope segment circuit board upper connector 505 through the third watertight pressure-bearing cable connector clamping nut 510, and the outer side of the second end of the third 10-core watertight pressure-bearing cable connecting male connector 515 is sealedly connected to the inner wall of the second end of the gyroscope segment circuit board upper connector 505 through an O-ring;

[0144] The outer side of the second end of the connector 505 on the gyroscope section circuit board includes a gyroscope section connector positioning sleeve 506, and the outer side of the second end of the gyroscope section connector 505 is sealed and connected to the inner wall of the gyroscope section connector positioning sleeve 506 through an O-ring.

[0145] The third section threaded connection joint 501 (brass material), the gyroscope circuit board segment lower connector collar 502 (316L material), a gyroscope circuit board segment lower connector 503 (316L material), a gyroscope circuit board skeleton 504 (316L material), a gyroscope segment upper connector 505 (316L material), a gyroscope segment upper connector positioning sleeve 506 (316L material), a gyroscope bracket 507 (aluminum alloy material), 8 gyroscope seats 508 (aluminum alloy material), 1 gyroscope compartment housing 509 (316L material), 1 third watertight pressure-bearing cable connector compression nut 510 (316L material), 1 gyroscope circuit board 511, 1 circular retaining ring 512, 4 gyroscopes 513, 1 10-core watertight pressure-bearing cable connector (4-core female), 1 10-core watertight pressure-bearing cable connector (4-core male), several O-rings 516 (high temperature resistant fluororubber material) and stainless steel fastening bolts, see attached Fig.16a and 16b . Circular wrench holes for disassembly and assembly are provided on the threaded connection joints between the sections, the connector under the gyroscope circuit board section, and the gyroscope compartment shell. This part of the gyroscope and the circuit board are in a sealed compartment. The gyroscope circuit board is installed on the gyroscope circuit board skeleton. Its function is to control the high-speed rotation of the gyroscope to ensure that the shaking of the detector is reduced during the lowering of the wire rope, so that the equipment remains stable. There are a total of 6 cables connected to the lower part of this section (two power cables, two internal data cables, and two external data cables), and a total of 6 cables connected to the upper part (two power cables, two internal data cables, and two external data cables).

[0146] like Fig.17a and 17bAs shown, the magnetic positioning section 6 includes a magnetic positioning section shell, a magnetic positioning control system and a magnetic positioning section cable collection device, wherein the magnetic positioning section shell includes a fourth-section threaded connection joint 601, a magnetic positioning section lower connector 603 and a magnetic positioning section warehouse shell 608, wherein the outer side of the first end of the magnetic positioning section lower connector 603 is sealed and connected to the inner wall of the second end of the fourth-section threaded connection joint 601 through an O-ring; the outer side of the second end of the magnetic positioning section lower connector 603 is sealed and connected to the inner wall of the first end of the magnetic positioning section warehouse shell 608 through an O-ring; the outer diameter of the middle part of the magnetic positioning section lower connector 603 is the same as the outer diameter of the magnetic positioning section warehouse shell 608 and the outer diameter of the fourth-section threaded connection joint 601, and the first end of the magnetic positioning section warehouse shell 608 is connected to the second end of the fourth-section threaded connection joint 601 through the middle part of the magnetic positioning section lower connector 603.

[0147] like Fig.18a and 18b As shown, the magnetic positioning section cable collection device includes a fourth 10-core watertight pressure-bearing cable female connector 613 and a fourth 10-core watertight pressure-bearing cable male connector 614, wherein the fourth 10-core watertight pressure-bearing cable female connector 613 is connected to the third 10-core watertight pressure-bearing cable male connector 515 on the gyroscope section; the fourth 10-core watertight pressure-bearing cable male connector 614 corresponding to the fourth 10-core watertight pressure-bearing cable female connector 613; the cable passes through the magnetic positioning section lower connector 603, the magnetic positioning section circuit board skeleton 604 and the magnetic positioning coil seat 607 from the fourth 10-core watertight pressure-bearing cable female connector 613 to enter the fourth 10-core watertight pressure-bearing cable male connector 614; the fourth 10-core watertight pressure-bearing cable female connector 613 is embedded in the first end of the magnetic positioning section lower connector 603 through the magnetic positioning section lower connector clamp 602, and is sealed and connected to the first end of the magnetic positioning section lower connector 603 through an O-ring;

[0148] The magnetic positioning section lower connector collar 602 includes a circular retaining spring 612 arranged in the middle of the outer side thereof; the fourth 10-core watertight pressure-bearing cable connecting male head 614 penetrates the magnetic positioning section connector 605, the outer side of the first end of the fourth 10-core watertight pressure-bearing cable connecting male head 614 is connected to the inner wall of the first end of the magnetic positioning section connector 605 through the fourth watertight pressure-bearing cable connector clamping nut 609, and the outer side of the second end of the fourth 10-core watertight pressure-bearing cable connecting male head 614 is sealed and connected to the inner wall of the second end of the magnetic positioning section upper connector 605 through an O-ring;

[0149] The outer side of the second end of the connector 605 on the magnetic positioning section includes a connector positioning sleeve 606 on the magnetic positioning section, and the outer side of the second end of the connector 605 on the magnetic positioning section is sealed and connected to the inner wall of the connector positioning sleeve 606 on the magnetic positioning section via an O-ring.

[0150] The terminal section includes a terminal conversion head 702, a terminal conversion lower threaded joint clamp 703, a terminal protection cover 704, a fifth-section threaded connection joint 701, a cable core steel wire rope fastening seat 705, a cable core steel wire rope outer layer wire clamp 706, a cable core steel wire rope inner layer wire clamp 707, and a 10-core watertight pressure-bearing cable connection female head 708, wherein the outer side of the first end of the terminal conversion head 702 is sealed and connected to the inner wall of the fifth-section threaded connection joint 701 through an O-ring; the outer side step of the first end of the terminal conversion head 702 conflicts with the second end of the fifth-section threaded connection joint 701;

[0151] The outer side of the second end of the terminal conversion head 702 is sealed and connected to the inner wall of the first end of the terminal protection cover 704 through an O-ring;

[0152] The outer step of the second end of the terminal conversion head 702 abuts against the first end of the terminal protection cover 704;

[0153] The 10-core watertight pressure-bearing cable female connector 708 is embedded in the fifth inter-section threaded connector 701 and is sealed to the inner wall of the fifth inter-section threaded connector 701 via an O-ring;

[0154] The cable core steel wire rope fastening seat 705 is fixedly arranged inside the terminal protection cover 704 by fastening bolts. The cable passes through the terminal conversion head 702 from the 10-core watertight pressure-bearing cable connecting female head 708 to enter the terminal protection cover 704, and passes through the cable core steel wire rope outer layer steel wire clamp 706 and the cable core steel wire rope inner layer steel wire clamp 707 of the cable core steel wire rope fastening seat 705 to pass through the terminal protection cover 704, see the attached Fig. 9 .

[0155] Furthermore, circular wrench holes for disassembly and assembly are provided on the threaded connection joint 701, the end conversion head 702, and the cable core wire rope end protection cover 704 in the fifth section. The cable core wire rope end protection cover 704 is also provided with an air vent, which is closed with a screw when not detecting to prevent dust and other dirt in the air from entering the screw thread inside. This hole needs to be opened before going down to the well for detection so that the inside of the cavity is connected to the detection environment. There are a total of 4 cables connected to the lower part of this section (two power lines and two data lines). The length of the cable core wire rope is selected according to the depth of the underground salt well, and a certain margin is added. Generally, a 6-core cable of about 2,000 meters is selected, and 2 cores are reserved for backup.

[0156] The present invention also provides a salt cavern property detection method applicable to various shapes to solve the problem of detecting salt caverns in the early stage of cavern formation and in the later stage of use. The salt cavern property detection system is divided into several functional module segments according to the functions of each part, and each functional module can be modified according to the situation, such as modifying the sensor or sonar probe, or adding a functional segment similar to a counterweight. The equipment has good versatility, flexible interface, powerful detection function, accurate data, scientific and reasonable design, and is suitable for the detection of underground salt caverns in various complex environments. After the data is processed by computer graphics, the volume and cross-sectional area shape of the underground salt cavern at any height can be obtained.

[0157] like Figure 19-20 As shown, the example provides a common detection mode and detection method. During the lowering process of the detector, when the magnetic positioning coil of the device is close to the salt cave steel pipe well, the salt cave steel pipe well cuts the magnetic lines of force generated by the magnetic positioning coil, and the system starts to work. A constant current passes through the magnetic positioning coil, which will generate a magnetic field around it. When the device passes through the steel pipe section of the pipe well, a magnetic field change will occur. After this change is sensed by the device, the program will calculate the position of the device relative to the steel pipe well at this time. This position is known in advance, that is, the data acquisition unit on the height reference plane of the device in the well begins to record the change in the length of the cable core steel wire rope. When the device is lowered to a certain depth, the magnetic positioning coil just leaves the salt cave steel pipe well and enters the underground salt cave cavity. The magnetic positioning system stops working because the magnetic lines of force are not cut by the salt cave steel pipe well. At this time, the data acquisition unit on the ground records the length of the lowered steel wire rope, thereby obtaining the accurate depth of the salt cave steel pipe well and transmitting it to the system to record this data. Later, according to the calculator and sensor set on the cable car, the lowering depth of the steel wire rope and the tension of the steel wire rope are recorded and transmitted to the system. At the same time, the gyroscope system starts working to prevent the salt cavern detector from twisting during the lowering process, increase the stability, ensure the stability of the equipment during the subsequent lowering of the equipment, and reduce the shaking of the instrument.

[0158] Continue to lower the salt cave detector. When it is almost lowered to the bottom, operate the bottom probe at the bottom of the equipment to measure the distance from the bottom probe to the bottom of the salt cave. Stop lowering the detector at a distance of 5 meters. After the equipment is stable, the gyroscope also stops working. Record the depth of the first detection point. Operate the calibration sonar sensor 316 above to detect the propagation speed of ultrasonic waves in the medium at this depth, and transmit the data to the system. Operate the electronic compass to record the initial working direction of the side probe (the system sets due north to zero degrees) and transmit the data to the system. Complete the initialization of the detection system data. At the same time, operate the sonar probe on the side of the lower end to start working, detect the vertical distance from the initial position probe to the salt cavern wall, and please transmit the data to the system.

[0159] The high-precision rotary motor is operated to start working slowly at a fixed angular speed. The electronic compass simultaneously records the orientation of the side probe (the angle between the detection direction of the side probe and the true north direction). According to the size of the underground salt cavern, a small salt cavern is measured every 5 degrees of rotation, and a large salt cavern is measured every 3 degrees of rotation. Thus, the polar coordinates (ρ i ,θ i ),ρ i represents the polar axis length of the polar coordinate corresponding to the i-th 5 degrees; θ i Represents the i-th 5 degrees (the degree of the i-th measurement); the position of the coordinate origin is the center of the steel pipe of the salt cavern, the polar axis is 0 degrees due north, and the clockwise direction is positive. The large salt cavern cavity i takes 0, 3, 6, ... 354, 357 degrees, a total of 120 sets of plane polar coordinate data, and the small salt cavern cavity i takes 0, 5, 10, ... 350, 355 degrees, a total of 72 sets of plane polar coordinate data. Since the two probes at the bottom of the equipment are in different positions and have different functions, the measured value needs to undergo a coordinate conversion, the formula is as follows: ρ i =L ix =L i +P

[0160] In the formula: L ix is the actual detection radius (m) corresponding to the height and angle after coordinate transformation, X represents the projection on the X-axis, that is, the projection length of Li on the X-axis;

[0161] L i is the raw data of side sonar ranging (m);

[0162] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0163] The above detection data are only two-dimensional coordinates. To form three-dimensional spatial coordinates, height parameters are also required. The position of the catheter wellhead of the salt cavern cavity is projected downward to the inner surface of the cavity. The lowest point is the 0-point coordinate in the height direction. Every time the detector is raised by 5 meters, a full rotation measurement is performed to obtain 72 or 120 groups of data, which are combined with the height value to obtain the three-dimensional spatial polar coordinates at different heights. See Fig.10 The coordinates of the depth measurement also need to undergo a coordinate conversion because the probe used is a bottom probe, which is different from the position of the side radius measurement probe.

[0164] The formula is as follows: iy =H i +Q

[0165] In the formula: H iy is the actual detection height after coordinate conversion (m);

[0166] H i is the raw data of the bottom sonar height position (m);

[0167] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0168] See Fig. 20 .

[0169] The following data collected are transmitted to the computer through the communication telemetry unit to form a three-dimensional scanning graph, and the underground salt caverns are obtained through calculus and computer graphics processing technology.

[0170] like Figure 21-22 As shown, this example provides a lower supplementary point detection mode and detection method, which is a supplement to the ordinary detection mode. The principle is that during the detection of the lower part of the cavity, when the electromagnetic wave emitted by the side sonar probe is reflected by the salt cavern wall and is not received by it, the detection distance of some data in the above embodiment 1 is 0 or extremely large, etc., indicating that the angle between the side sonar probe surface and the salt cavern wall at the detection location is greater than 45 degrees. At this time, it is necessary to start the pitch motor at a suitable height at the bottom, so that the side probe can pitch 5 degrees in the clockwise direction. After the pitch motor stops working, start the rotary motor and perform a 360-degree full-scale measurement according to the method of Example 1; then start the pitch motor again, so that the side probe can pitch 5 degrees in the clockwise direction again, and perform a 360-degree full-scale measurement. Fig.12 According to the above method, the side probe is pitched 5 degrees in the clockwise direction each time, and a 360-degree full-range measurement is performed until the side probe is pitched to 90 degrees in the clockwise direction and the measurement is completed. The pitch motor is started to return the side probe to the vertical initial 0 position in the counterclockwise direction. The data measured each time in the above process is promptly transmitted back to the computer for processing through the communication telemetry unit.

[0171] Due to the difference in probe positions, the measured data needs to undergo coordinate transformation.

[0172] The formula is as follows: ρi=Hix=Li*cosθi-R*sinθi+P*cosθi

[0173] Hiy=Hi+S-Li*sinθi-R*cosθi-P*sinθi

[0174] In the formula: Lix is ​​the actual detection radius corresponding to the height and angle after coordinate conversion (m);

[0175] Hiy is the actual detection height after coordinate conversion (m);

[0176] Li is the raw data of side sonar ranging (m);

[0177] Hi is the original data of the bottom sonar height position (m);

[0178] θi is the pitch angle of the pitch mechanism (°)

[0179] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0180] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0181] S is the arm length of the pitch mechanism (m)

[0182] See Fig. 22 .

[0183] The data measured this time are a supplement to the data of Example 1, because some of the data of Example 1 are missing and cannot be processed by computer graphics.

[0184] like Figure 23-24 As shown, this example provides an upper supplementary point detection mode and detection method, which is a supplement to the ordinary detection mode. The principle is that during the detection of the upper part of the cavity, when the electromagnetic wave emitted by the side sonar probe is reflected by the salt cavern wall and is not received by it, the detection distance of some data in the above embodiment 1 is 0 or extremely large, etc., indicating that the angle between the side sonar probe surface and the salt cavern wall at the detection location is greater than 45 degrees. At this time, it is necessary to start the pitch motor at a suitable height at the top, so that the side probe can pitch 5 degrees in the counterclockwise direction. After the pitch motor stops working, start the rotary motor and perform a 360-degree full-scale measurement according to the method of embodiment 1; then start the pitch motor, so that the side probe can pitch another 5 degrees in the counterclockwise direction to perform a 360-degree full-scale measurement, see Fig.14 The above method is followed until the side probe is pitched counterclockwise to 90 degrees and the measurement is completed, then the pitch motor is started to return the side probe to the vertical initial 0 position in the clockwise direction. The data measured each time in the above process is promptly transmitted back to the computer for processing through the communication telemetry unit.

[0185] Due to the difference in probe positions, the measured data needs to undergo coordinate transformation.

[0186] The formula is as follows: ρi=Hix=Li*cosθi+R*sinθi+P*cosθi

[0187] Hiy=Hi+S+Li*sinθi-R*cosθi+P*sinθi

[0188] In the formula: Lix is ​​the actual detection radius corresponding to the height and angle after coordinate conversion (m);

[0189] Hiy is the actual detection height after coordinate conversion (m);

[0190] Li is the raw data of side sonar ranging (m);

[0191] Hi is the original data of the bottom sonar height position (m);

[0192] θi is the pitch angle of the pitch mechanism (°)

[0193] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0194] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0195] S is the arm length of the pitch mechanism (m)

[0196] See Fig.24 .

[0197] The data measured this time are a supplement to the data of Example 1, because some of the data of Example 1 are missing and cannot be processed by computer graphics.

[0198] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pitch motor control system, characterized in that: The system includes a balancing device, a precision control device and a pitch motor cable collection device, wherein The first end of the balancing device is used to connect to the detection system; The second end of the balancing device is connected to the precision control device, and the pitch motor cable collecting device is arranged inside the precision control device.

2. A pitch motor control system according to claim 1, characterized in that: The balancing device comprises a pitch motor pressure balancing chamber (203), a fluororubber airbag (214), a pitch motor airbag upper pressing head (204), a pitch motor installation chamber (201) and a pitch motor chamber airbag discharge plug (202), wherein: Both ends of the pitch motor pressure balance chamber (203) are provided with steps, the fluororubber airbag (214) is in a columnar shape with both ends open, and the fluororubber airbag (214) is arranged inside the pitch motor pressure balance chamber (203) and contacts the inner wall of the pitch motor pressure balance chamber (203); The first end of the fluororubber airbag (214) is sleeved on the outside of the first step of the second end of the pitch motor installation chamber (201), and the first step of the second end of the pitch motor installation chamber (201) is entirely inside the fluororubber airbag (214); the second end of the fluororubber airbag (214) is sleeved on the upper pressing head (204) of the pitch motor airbag, and the upper pressing head (204) of the pitch motor airbag is sealed and connected to the inner side of the second end of the pitch motor pressure balance chamber (203) through the second end of the fluororubber airbag (214); The inner side of the first end step of the pitch motor pressure balance chamber (203) is sealed and connected to the second step of the second end of the pitch motor installation chamber (201) via an O-ring; A pitch motor compartment airbag release plug (202) is provided at the middle of the first end of the pitch motor installation compartment (201).

3. A pitch motor control system according to claim 2, characterized in that: The pitch motor airbag upper pressing head (204), the fluororubber airbag (214), the pitch motor installation compartment (201) and the pitch motor compartment airbag discharge plug (202) form a closed space; The enclosed space is filled with liquid silicone oil, and the high-precision pitch motor (217) is immersed in the liquid silicone oil.

4. A pitch motor control system according to claim 2, characterized in that: A plurality of holes are arranged on the outer shell of the pitch motor pressure balance chamber (203).

5. A pitch motor control system according to claim 2, characterized in that: The pitch motor installation compartment (201) is connected to the detection system near the outer side of the first end through a pitch motor shaft conversion joint installation hole and a pitch fork arm cable shaft conversion joint installation hole.

6. A pitch motor control system according to claim 1, characterized in that: The precision control device comprises a sonar board warehouse watertight shell (209), a positive and negative threaded joint (211), a sonar circuit board frame (207), a sonar circuit board (212) and a high-precision electronic compass (213), wherein: The sonar board warehouse watertight shell (209) and the forward and reverse threaded joint (211) are connected to form a precision control device shell, and the sonar circuit board frame (207), the sonar circuit board (212) and the high-precision electronic compass (213) are arranged inside the precision control device shell; The high-precision electronic compass (213) is mounted on the sonar circuit board (212), and the sonar circuit board (212) is mounted on the sonar circuit board frame (207).

7. A pitch motor control system according to claim 6, characterized in that: Both ends of the sonar silo watertight shell (209) are provided with steps; The inner side of the first end step of the sonar silo watertight shell (209) is connected to the outer side of the first step of the second end of the pitch motor pressure balance chamber (203) through an O-ring, and the outer side of the second end step of the sonar silo watertight shell (209) is connected to the forward and reverse threaded joint (211) through an O-ring.

8. A pitch motor control system according to claim 6, characterized in that: The pitch motor cable collection device includes an upper pitch motor cable collection system and a lower pitch motor cable collection system. The pitch motor upper cable collection system and the pitch motor lower cable collection system are respectively arranged at two ends of the sonar circuit board frame (207); the first end of the pitch motor lower cable collection system passes through the pitch motor airbag upper compression head (204) and is connected to the balancing device; the second end of the pitch motor lower cable collection system passes through the sonar board frame lower cable connector seat (206) and is connected to the first end of the sonar circuit board frame (207); The first end of the cable collection system on the pitch motor passes through the cable connector seat (208) on the sonar board frame and is connected to the second end of the sonar circuit board frame (207); the second end of the cable collection system on the pitch motor is arranged inside the forward and reverse threaded joint (211).

9. A pitch motor control system according to claim 8, characterized in that: The pitch motor upper cable collection system comprises an upper cable joint positioning jacket (210), a first 10-core watertight pressure-bearing cable connector (215) and a sonar plate frame upper cable joint seat (208). The first 10-core watertight pressure-bearing cable connector (215) is arranged inside the cable connector seat (208) on the sonar board frame, and an O-ring is arranged at the connection between the first 10-core watertight pressure-bearing cable connector (215) and the cable connector seat (208) on the sonar board frame; The upper cable connector positioning sleeve (210) is sleeved on the outer side of the second end step of the cable connector seat (208) on the sonar board frame, and the first end of the cable connector seat (208) on the sonar board frame is fixedly connected to the second end of the sonar circuit board (212) via a fastening bolt (218).

10. A pitch motor control system according to claim 8, characterized in that: The cable collection system under the pitch motor includes a lower cable joint positioning jacket (210'), a second 10-core watertight pressure-bearing cable connector (215') and a lower cable joint seat (206) of the sonar plate frame, wherein: The first end of the second 10-core watertight pressure-bearing cable connector (215') is embedded in the upper compression head (204) of the pitch motor airbag, and the second end of the second 10-core watertight pressure-bearing cable connector (215') passes through the lower cable connector seat (206) of the sonar plate frame; The upper pressing head (204) of the pitch motor airbag and the outer side of the contact end of the lower cable connector seat (206) of the sonar plate frame are fixedly connected through the lower cable connector positioning sleeve (210').

11. Application of the pitch motor control system according to any one of claims 1 to 10 in salt cavern property detection.

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