Rotary motor control system and application thereof

Abstract

The invention discloses a rotary motor control system and application thereof, the rotary motor control system comprises a sonar calibration device, a rotary motor device, a rotary motor transmission device and a rotary motor cable collection device, the first end of the rotary motor transmission device is used for connecting a pitching motor control system; the second end of the rotary motor transmission device is connected with the first end of the rotary motor device; the second end of the rotary motor device is connected with the first end of the sonar calibration device, and the rotary motor cable collection device is arranged in each device shell. The two bearings are additionally arranged at the two ends of the second step of the rotary cylinder connecting piece respectively and used for reducing rotary resistance, so that rotary motion is more sensitive, and the control precision of a rotary system is improved. A pressure balance air bag is additionally arranged behind the high-precision rotary motor to directly balance internal and external pressure, so that the rotary motor control system can stably work for a long time in a high-pressure environment.

Description

Technical Field

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

[0002] Salt cavern gas storage has attracted more and more attention in the world's petroleum industry for 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 formation process and the subsequent gas storage process, the cavity morphology needs to be continuously monitored. This requires the design of a rotary mechanism and the installation of various probes on the rotary parts to detect the internal structure of the salt cavern and feed back the collected signals.

[0003] In addition, while the lower part of the equipment rotates continuously 360 degrees, the rotating body also has multiple movements such as pitch, and many cables connecting the probes need to pass through the rotating body and the motor. This will cause the cables and the rotating body to become entangled and twisted when the rotating body rotates, making it impossible to ensure the stability of the electrical connection, and thus unable to ensure the long-term safe and stable operation of the detection equipment in the underground salt cavern. Chinese patent CN 214013364 U records a slewing mechanism for a salt cavern detection system. The slewing mechanism connects the slewing motor seat and the slewing sealing seat through a slip ring fixing seat, and can also fix the slip ring. The slewing motor is installed on the slewing motor seat to drive the slewing shaft to rotate, thereby driving the slewing cylinder to rotate on the slewing sealing seat. The slewing cylinder is used to connect with the pitch mechanism. The electronic components in the pitch mechanism are connected to the rotor of the slip ring installed on the slip ring fixing seat through the cable through the slewing cylinder. The stator of the slip ring passes through the slewing motor seat and is connected to the electrical control main terminal. In this way, when the slewing connector drives the pitch mechanism to rotate, the cable inside it can be electrically conductive, and no entanglement or twisting will occur. The stability of the electrical connection is guaranteed, thereby ensuring that the detection equipment can work safely and stably in the underground salt cavern for a long time, but it needs to use external balancing devices to assist its operation. In addition, the patent only sets one bearing, and the rotation resistance is large. Summary of the invention

[0004] The purpose of the present invention is to provide a regenerative 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:

[0005] A rotary motor control system, comprising a sonar calibration device, a rotary motor device, a rotary motor transmission device and a rotary motor cable collection device, wherein:

[0006] The first end of the rotary motor transmission device is used to connect to the pitch motor control system;

[0007] The second end of the rotary motor transmission device is connected to the first end of the rotary motor device;

[0008] 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.

[0009] Furthermore, the rotary motor transmission device includes a rotary cylinder connecting piece, a rotary motor bearing seat, a locking nut, a flat retaining ring, a first ball bearing, a second ball bearing, a roller bearing, a first rotary shaft sealing ring and a second rotary shaft sealing ring, wherein:

[0010] The first end of the rotary cylinder connecting piece is used to connect the pitch motor control system;

[0011] The second step at the second end of the rotary cylinder connecting piece is embedded in the first end of the rotary motor bearing seat;

[0012] The inside of the second end step of the rotary motor bearing seat is connected to the outside of the first end step of the rotary motor installation chamber through an O-ring;

[0013] The first end step of the rotary motor bearing seat is respectively 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, the first rotary shaft sealing ring, the second rotary shaft sealing ring, the second ball bearing and the roller bearing respectively;

[0014] The locking nut is arranged at the second step end of the second end of the rotating cylinder connecting piece, and is used to be fixed relative to the bearing seat of the rotating motor. The flat retaining ring is installed in the adjacent retaining ring groove to prevent the locking nut from loosening.

[0015] Furthermore, a first step is also provided at the second end of the rotary cylinder connecting piece, and the first step is adjacent to the second step;

[0016] The first step is arranged at an end portion of the second end, and the end portion of the first step is connected to the high-precision rotary motor inside the rotary motor installation compartment.

[0017] Furthermore, the rotary motor device includes a rotary motor installation compartment, a motor pressure balance compartment, a rotary motor airbag upper pressing head, an inter-segment threaded joint, a calibration compartment lower cable adapter, a calibration compartment lower joint stop ring, a high-precision rotary motor, and a fluororubber airbag, wherein:

[0018] The first end of the rotary motor installation compartment is connected to the second end of the rotary motor transmission device;

[0019] The second step at the second end of the rotary motor installation compartment is connected to the inner side of the first step at the first end of the motor pressure balance compartment through an O-ring;

[0020] The second end of the motor pressure balance chamber is inserted into the upper tightening head of the rotary motor airbag and tightened through the inter-section threaded joint;

[0021] A first step is arranged outside the cable adapter under the calibration chamber, and the first step just fits into the interior of the inter-segment threaded joint;

[0022] The first end face of the cable adapter under the calibration bin is flush with the first end face of the inter-segment threaded joint, and is provided with a threaded mounting hole, through which the stop ring of the joint under the calibration bin is fixedly installed.

[0023] Furthermore, a second fluororubber airbag is arranged inside the motor pressure balance chamber; the second fluororubber airbag is in a columnar shape with openings at both ends.

[0024] Furthermore, the two ends of the second fluororubber airbag are flush with the step tails of the two ends of the motor pressure balance chamber, and are in conflict with the inner wall of the rotary motor pressure balance chamber;

[0025] The first end of the second fluororubber airbag is sleeved on the first step of the second end of the rotary motor installation chamber; and the first step of the second end of the rotary motor installation chamber is sealed and connected to the first end of the rotary motor pressure balance chamber through the first end of the second fluororubber airbag;

[0026] The second end of the second fluororubber airbag is sleeved on the upper pressing head of the rotary motor airbag, and the first step of the first end of the upper pressing head of the rotary motor airbag is sealed and connected to the second end of the rotary motor pressure balance chamber through the second end of the second fluororubber airbag.

[0027] Furthermore, the high-precision rotary motor is mounted on a base inside the second end of the rotary motor mounting compartment and fixed by bolts, and the motor drive shaft extends into the first end.

[0028] Furthermore, the sonar calibration device includes a calibration chamber housing, a calibration chamber cable bracket, a sonar calibration sensor, a pressure sensor and a temperature sensor, wherein:

[0029] The first end of the calibration chamber housing is connected to the second end of the rotary motor device, and the calibration chamber lower cable adapter at the second end of the rotary motor device is inserted into the first end of the calibration chamber housing, and the side and top are fixed with bolts respectively;

[0030] The calibration chamber cable bracket is arranged inside the calibration chamber housing.

[0031] A sonar calibration sensor, a pressure sensor and a temperature sensor are provided on the first end of the connecting plate on the calibration chamber cable bracket, which are used to calibrate the downhole sound velocity, detection pressure and temperature respectively.

[0032] Furthermore, the calibration bin cable support is composed of a steel pipe, a lower connecting plate and an upper connecting plate that are watertightly welded, and the steel pipe is used for threading the cable.

[0033] The lower connecting plate is provided with bolt holes for fixedly connecting with the lower cable adapter of the calibration chamber of the rotary motor device;

[0034] A non-penetrating threaded hole is provided on the second end face of the upper connecting plate, which is used for fixed connection with the cable adapter on the calibration bin of the rotary motor cable collection device.

[0035] Furthermore, the rotary motor cable collection device comprises a rotary motor compartment airbag discharge plug, a 10-core watertight pressure-bearing cable connector, a watertight pressure-bearing cable connector compression nut, a slip ring, a third 10-core watertight pressure-bearing cable connector, a calibration compartment upper cable adapter and a calibration compartment upper cable adapter positioning sleeve, wherein:

[0036] The first step and the second step are arranged inside the rotary motor compartment airbag discharge plug, and the 10-core watertight pressure-bearing cable connector is provided with an O-ring and is fully inserted into the first step of the rotary motor compartment airbag discharge plug and is compressed by the watertight pressure-bearing cable connector compression nut. The cable passes through the inner hole of the compression nut and then passes through the two small holes in the first end of the rotary cylinder connecting piece of the rotary motor transmission device and is connected to the first end of the slip ring;

[0037] The inner hole of the slip ring is completely inserted into the first step of the second end of the rotary cylinder connecting piece of the rotary motor transmission device, and the cable connected to the second end of the slip ring passes through the motor mounting base plate inside the rotary motor mounting compartment, and then passes through the inside of the airbag, and passes through the inner hole of the cable adapter under the calibration compartment to pass through the rotary motor device;

[0038] The second end of the calibration chamber cable bracket is provided with a calibration chamber upper cable adapter, and three steps are provided inside the calibration chamber upper cable adapter. A watertight pressure-bearing cable connector compression nut is provided in the first step, and the second end of the watertight pressure-bearing cable connector compression nut is screwed into the second step. After the cable is connected to the third 10-core watertight pressure-bearing cable connector, it is completely inserted into the second step of the calibration chamber upper cable adapter;

[0039] The third 10-core watertight pressure-bearing cable connector is sealed and connected to the cable adapter on the calibration chamber.

[0040] Furthermore, the first step of the second end of the rotary motor compartment airbag discharge plug is provided with an O-ring, and the second step is provided with a thread, which is respectively inserted into the first step and the second step inside the first end of the rotary cylinder connecting piece of the rotary motor transmission device and sealed.

[0041] Furthermore, the cable adapter positioning sleeve on the calibration chamber is inserted into the step at the second end of the cable adapter on the calibration chamber for sealing connection, which serves to facilitate the positioning and installation of the cable connector at the adjacent end.

[0042] The application of the rotary motor control system as described above in the detection of salt cavern properties.

[0043] Technical effects and advantages of the present invention:

[0044] 1. Two bearings are added at both ends of the second step of the rotary cylinder connector to reduce the rotation resistance, make the rotation motion more sensitive, and increase the control accuracy of the rotary system.

[0045] 2. Add a pressure balance airbag behind the high-precision rotary motor to directly balance the internal and external pressures, so that the rotary motor control system can work stably for a long time under high-pressure environment.

[0046] 3. A sonar calibration device is added behind the pressure balance airbag, which can calibrate the sound speed, detect temperature and pressure during well exploration, and improve detection accuracy and meet user needs.

[0047] 4. The patented rotary motor reduction system 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 to improve the control accuracy.

[0048] 5. The rotary 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 rotary motor. The algorithm design of the control system improves the accuracy.

[0049] 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

[0050] Figure 1 It is a side sectional view of the rotary motor control system of the present invention;

[0051] Figure 2 It is a side sectional view of the sonar calibration device;

[0052] Figure 3 It is a side sectional view of the rotary motor device;

[0053] Figure 4 It is a side sectional view of the rotary motor transmission device;

[0054] Figure 5 It is a schematic diagram of the rotary motor cable collection device;

[0055] Figure 6 It is a schematic diagram of the working state of the rotary motor;

[0056] Figure 7 Schematic diagram of a salt cavern property detector in one embodiment of the present invention;

[0057] Figure 8 It is a schematic diagram of the overall structure of the present invention;

[0058] Figure 9a It is a side structural diagram of the lower sonar section of the present invention;

[0059] Figure 9b It is a front structural diagram of the lower sonar section of the present invention;

[0060] Fig.10a It is a cross-sectional view of the top view of the pitch motor control system;

[0061] Fig.10b It is a front view cross-sectional view of the pitch motor control system;

[0062] Fig.11a This is a side structural diagram of the main control circuit board section;

[0063] Fig.11b This is the front structural diagram of the main control circuit board section;

[0064] Fig.12a It is a side structural diagram of the gyroscope section;

[0065] Figure 12b This is a partial front structural diagram of the gyroscope segment;

[0066] Fig.13a It is a partial side structural diagram of the magnetic positioning section;

[0067] Fig.13b This is a partial front structural diagram of the magnetic positioning section;

[0068] Fig.14a It is a side structural diagram of the end section of the cable core steel wire rope;

[0069] Fig.14b This is a partial front structural diagram of the end section of the cable core steel wire rope;

[0070] Fig.15 This is a schematic diagram of the normal detection mode;

[0071] Fig.16 It is a schematic diagram of the detection method of the common detection mode;

[0072] Fig.17 This is a schematic diagram of the lower point filling detection mode;

[0073] Fig.18 It is a schematic diagram of the detection method of the lower point filling detection mode;

[0074] Fig.19 This is a schematic diagram of the upper point filling detection mode;

[0075] Fig. 20 Schematic diagram of the detection method of the upper point filling detection mode.

[0076] In the figure:

[0077] 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;

[0078] 2. Pitch motor section; 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; 206. Cable connector seat at the bottom of sonar board frame; 207. Sonar circuit board frame; 208. Cable connector seat at the top of sonar board frame; 209. Sonar board compartment watertight shell; 210. Upper cable connector positioning jacket; 210', lower cable connector positioning jacket; 211, positive and negative threaded connector at the top of sonar board compartment; 212, sonar circuit board; 213, high-precision electronic compass; 214, first fluororubber airbag; 215, first 10-core watertight pressure-bearing cable connector; 215', second 10-core watertight pressure-bearing cable connector; 217, high-precision pitch motor;

[0079] 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 tightening 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. Watertight pressure-bearing cable connector tightening nut; 314. Calibration The housing of the calibration chamber; 315, the cable adapter positioning sleeve on the calibration chamber; 316, the sonar sensor; 317, the pressure sensor; 318, the temperature sensor; 319, the first ball bearing; 319', the second ball bearing; 320, the first rotary shaft sealing ring; 320', the second rotary shaft sealing ring; 321, the sleeve roller bearing; 322, the flat retaining ring; 323, the slip ring; 324, the high-precision rotary motor; 325, the second fluororubber airbag; 326, the first 10-core watertight pressure-bearing cable connecting male head; 327, the 10-core watertight pressure-bearing cable connector;

[0080] 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;

[0081] 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;

[0082] 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;

[0083] 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

[0084] 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.

[0085] In order to solve the shortcomings of the existing technology, such as Figure 1 As shown, the present invention discloses a rotary motor control system, which includes a sonar calibration device, a rotary motor device, a rotary motor transmission device and a rotary motor cable collection device, wherein the rotary motor transmission device and the rotary motor calibration device are respectively arranged at both ends of the rotary motor device and connected by inserting sealing grooves at both ends. The first end of the rotary motor transmission device is used to connect 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.

[0086] like Figure 2As shown, the sonar calibration device comprises a calibration chamber housing 314, a calibration chamber cable bracket 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 sides and the top are respectively fixed with bolts; further, the calibration chamber cable bracket 311 is composed of a steel pipe, a lower connecting plate and an upper connecting plate welded in a watertight manner, 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. A sonar calibration sensor 316, a pressure sensor 317 and a temperature sensor 318 are provided on the first end of the connection plate on the calibration chamber cable bracket 311, which are used to calibrate the downhole sound velocity, detection pressure and temperature respectively.

[0087] like Figure 3 As shown, 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 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 upper clamping head 307 of the rotary motor airbag and is clamped through the first section threaded joint 308.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] Furthermore, a number of holes are opened on the metal shell of the rotary motor pressure balance chamber 306, so that the air pressure or hydraulic pressure in the external environment directly acts on the internal fluororubber airbag 325, 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 section threaded joint 308;

[0092] like Figure 4As shown, 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 (for example, the pitch motor section in the following embodiment), 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 rotary 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.

[0093] Furthermore, 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, respectively, for installing 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; the locking nut 302 is provided at the second step end of the second end of the rotary cylinder connecting member 301, for relative fixation 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.

[0094] like Figure 5As shown, 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.

[0095] The cable adapter positioning sleeve 315 on the calibration chamber is inserted into the second end step of the cable adapter 312 on the calibration chamber for sealing connection, and is used for positioning and installing with the cable connector at the adjacent end.

[0096] The second end of the calibration chamber cable bracket 311 is provided with a calibration chamber upper cable adapter 312, and the calibration chamber upper cable adapter 312 is provided with three steps. The first step is provided with a first watertight pressure-bearing cable connector clamping nut 313, 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.

[0097] The high-precision rotary motor 324, the slip ring 323, the rotary transmission shaft, the roller bearing 321, the sonar correction sensor 316, the temperature sensor 318 and the pressure sensor 317 are completely immersed in the liquid silicone oil.

[0098] The invention also discloses an application of a rotary motor control system in salt cavern property detection.

[0099] The present invention will be further described below in conjunction with specific embodiments.

[0100] Embodiment 1 implements pulse speed calibration applied to a rotary motor control system to improve control accuracy.

[0101] like Figure 6As shown, after the rotary motor control system of the present invention starts the control system, the rotary motor is rotated at a constant angular velocity. When the first target speed is transmitted to the speed PID controller, the pulse number n1 of the emission time t1 is recorded. When the second target speed is transmitted to the speed PID controller, the pulse number n2 of the emission time t2 is recorded. The pulse speed V=(n2-n1) / (t2-t1) of the pitching operation of the pitch motor control system can be calibrated to obtain the pulse emission speed of the rotary motor control system, so as to realize speed calibration of the control system. Using the calibrated pulse emission speed can improve the system speed control accuracy.

[0102] Embodiment 2 implements position calibration of the rotational position control of the pitch motor section 2 and the sonar probe section 1 to improve control accuracy.

[0103] like Figure 6 As shown, the position PID controller (not shown) located at the rear of the high-precision rotary motor 324 can also calibrate the rotary reference 0 position of the pitch motor segment 2 and the sonar probe segment 1 (the rotary reference 0 position is set to the detection direction of the side probe, which is perpendicular to the electronic compass). The assembled equipment is placed on a special test bench to ensure that the sonar probe segment 1 used for well logging and the pitch motor control system 2 are on the same axis. The control program is powered on to start the control program, and pulses are emitted to the rotary motor control system at the calibrated speed to make the side probe of the sonar probe segment 1 for well logging rotate clockwise. When the first target position is transmitted to the position PID controller, the number of emitted pulses n3 is recorded, and then the reverse pulse number n3 is applied to the system to make it rotate counterclockwise to check the reset of the side probe of the sonar probe segment 1. In this way, during the downhole test, it is possible to determine at any time whether the position of the side probe is consistent with the pointing position of the electronic compass, so as to achieve the mutual calibration of the rotary control system and the electronic compass during the well logging process, and further improve the position control accuracy of the detection.

[0104] Embodiment 3 realizes calibration of the propagation speed of sonar in the medium to improve detection accuracy.

[0105] like Figure 6 As shown, a reflecting surface is set at a distance M below the sonar correction sensor 316. The system controls the sonar correction sensor 316 to transmit ultrasonic waves at time T1. After being reflected by the reflecting surface, the sonar correction sensor 316 receives the ultrasonic waves at time T2. According to the time interval between transmission and reception and the value of the distance M, the propagation speed v=M / {2*(T2-T1)} of the sonar in the medium at different depths of the underground salt cavern can be calculated at any time, thereby playing a role in calibrating the sonar propagation speed at each detection height. The side sonar probe and the bottom sonar probe of the sonar probe segment 1 are calibrated with this sound wave speed to obtain more accurate detection data.

[0106] Embodiment 4:

[0107] like Figure 7 and 8 As shown, the rotary motor control system of the present invention is applied in the salt cavern property detection, and the rotary motor control system 3 of the present invention is combined with the pitch motor control system 2, the sonar probe section 1 for logging, 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.

[0108] like Figure 7 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; 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 to 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.

[0109] 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 or releasing of the steel wire rope; the cable car is provided with a steel wire rope tension sensor and a lowering length sensor.

[0110] 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.

[0111] Furthermore, the detection system is arranged underground, such as Figure 8As 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.

[0112] like Figure 9a and 9b As shown, the sonar probe section 1 for well logging in the present invention includes 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), 1 pitch fork arm cable shaft conversion joint 108 (316L material), 2 ultrasonic transducers 109, several O-rings 110 (high temperature resistant fluororubber material) and stainless steel fastening bolts. An exhaust hole is set 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 cables of the 4 ultrasonic transducers 109 are concentrated into a 4-core bus after passing through the sonar probe hub 103.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] like Fig.10a and 10b As shown, the pitch motor section 2 for installing the pitch motor, sonar control circuit board and electronic compass in the present invention includes 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 sleeve 210 (316L material), 1 sonar plate warehouse upper positive and negative threaded connector 211 (316L material), 1 sonar circuit board 212, 1 set of high-precision electronic compass 213, 1 first fluororubber airbag 214, 2 pairs of 10-core watertight pressure-bearing cable connectors, 1 set of high-precision pitch motors 217, a number of O-rings (high-temperature resistant fluororubber material) and stainless steel fastening bolts.

[0118] 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 sonar plate chamber upper 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 216, 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 216, and the sonar plate chamber watertight shell 209 is connected to the sonar plate chamber upper forward and reverse threaded joint 211 through an O-ring 216.

[0119] The pitch motor balancing device comprises a pitch motor pressure balancing chamber 203, a first 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 the first fluororubber airbag 214 is a columnar shape with two ends opened, the first fluororubber airbag 214 is arranged inside the pitch motor pressure balancing chamber 203 and conflicts with the inner wall of the pitch motor pressure balancing chamber 203, one end of the first fluororubber airbag 214 is sleeved on the pitch motor airbag upper pressing head 204, and the pitch motor airbag upper pressing head 20 4 is inside the first 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 216; therefore, the pitch motor airbag upper pressing head 204, the first 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 first 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.

[0120] 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 first fluororubber airbag 214, and the 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 shaft conversion joint 108. This is to ensure the watertight requirements later. The 4-core bus is inserted from the pitch fork arm cable shaft 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 shaft conversion joint. An O-ring 216 is provided at the insertion position to ensure watertightness.

[0121] 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).

[0122] 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 lower cable connector seat 206 of the sonar board skeleton 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 upper cable connector seat 208 of the sonar board skeleton 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 on the upper part of the sonar board bin.

[0123] 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.

[0124] Furthermore, the pitch motor lower cable collection module includes the pitch motor lower cable collection system including a lower cable joint positioning jacket 210', a second 10-core watertight pressure-bearing cable connector 215' and a sonar plate frame lower cable joint seat 206, wherein,

[0125] 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'.

[0126] 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.

[0127] like Figure 1-5As 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 (316L material), a calibration chamber upper cable adapter (316L material), a watertight pressure-bearing cable connector pressing nut (3 16L 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. There are 4 cables connected in the lower part of this section (2 power cables and 2 data cables), and 10 cables connected in the upper part (2 power cables, 2 data cables, 2 sonar correction sensor cables, 2 pressure sensor cables, and 2 temperature sensor cables). Among them,

[0128] 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.

[0129] 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 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 at the second end of the rotary motor installation compartment 305 is connected to the inner side of the first step at 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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 internal fluororubber airbag 325, 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] like Figure 11a-11bAs shown, the main control circuit board segment in the present invention includes 1 inter-segment threaded connection joint (brass material), 1 main control circuit board segment lower connector clamp (316L material), 1 main control circuit board segment lower connector (316L material), 1 main control circuit board skeleton (316L material), 1 main control circuit board segment upper connector (316L material), 1 main control circuit board segment upper connector positioning sleeve (316L material), 1 main circuit board compartment shell (316L material), 1 watertight pressure-bearing cable connector tightening nut (316L material), 1 main control circuit board, 1 10-core watertight pressure-bearing cable connector (4-core female head), 1 circular retaining spring (316L material), 1 10-core watertight pressure-bearing cable connector (4-core male head), several O-rings (high temperature resistant fluororubber material) and stainless steel fastening bolts.

[0141] 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).

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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;

[0147] 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;

[0148] 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.

[0149] 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 .

[0150] like Figure 12a-12b As shown, the gyroscope segment 5 in the present invention 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 compartment 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 compartment 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 compartment housing 509 and the outer diameter of the third-segment threaded connection joint 501, and the first end of the gyroscope compartment 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.

[0151] 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.

[0152] 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;

[0153] 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;

[0154] 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.

[0155] 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.12a and 12b . 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).

[0156] like Fig.13a and 13bAs 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.

[0157] 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 from the fourth 10-core watertight pressure-bearing cable female connector 613 through the magnetic positioning section lower connector 603, the magnetic positioning section circuit board skeleton 604 and the magnetic positioning coil seat 607 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;

[0158] 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;

[0159] 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.

[0160] like Fig.14a and 14bAs shown, 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;

[0161] 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;

[0162] The outer step of the second end of the terminal conversion head 702 abuts against the first end of the terminal protection cover 704;

[0163] 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;

[0164] The cable core steel wire rope fastening seat 705 is fixed inside the end protection cover 704 by fastening bolts. The cable passes through the end conversion head 702 from the 10-core watertight pressure-bearing cable connecting female head 708 to enter the end protection cover 704, and passes through the cable core steel wire rope outer layer wire clamp 706 and the cable core steel wire rope inner layer wire clamp 707 of the cable core steel wire rope fastening seat 705 to exit the end protection cover 704, see Figure 9.

[0165] 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.

[0166] 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.

[0167] like Figure 15-16 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.

[0168] 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.

[0169] 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 salt cavern steel pipe, 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

[0170] 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;

[0171] L i is the raw data of side sonar ranging (m);

[0172] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0173] The above detection data are only two-dimensional coordinates. To form three-dimensional space coordinates, height parameters are also required. The lowest point is the 0-point coordinate in the height direction, and the detector is fully rotated every 5 meters to obtain 72 or 120 groups of data, which are combined with the height value to obtain three-dimensional space polar coordinates at different heights, as shown in Figure 10. The coordinates of the depth measurement also need to undergo a coordinate conversion because the probe is a bottom probe and has a different position from the side radius measurement probe.

[0174] The formula is as follows: iy =H i +Q

[0175] In the formula: H iy is the actual detection height after coordinate conversion (m);

[0176] H i is the raw data of the bottom sonar height position (m);

[0177] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0178] See Fig.16 .

[0179] 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.

[0180] Embodiment 2

[0181] like Figure 17-18 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 in the lower part, 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, as shown in Figure 12. According to the above method, the side probe is tilted 5 degrees in the clockwise direction each time, and a 360-degree full-range measurement is performed until the side probe is tilted 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.

[0182] Due to the difference in probe positions, the measured data needs to undergo coordinate transformation.

[0183] The formula is as follows: ρi=Hix=Li*cosθi-R*sinθi+P*cosθi

[0184] Hiy=Hi+S-Li*sinθi-R*cosθi-P*sinθi

[0185] In the formula: Lix is ​​the actual detection radius corresponding to the height and angle after coordinate conversion (m);

[0186] Hiy is the actual detection height after coordinate conversion (m);

[0187] Li is the raw data of side sonar ranging (m);

[0188] Hi is the original data of the bottom sonar height position (m);

[0189] θi is the pitch angle of the pitch mechanism (°)

[0190] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0191] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0192] S is the arm length of the pitch mechanism (m)

[0193] See Fig.18 .

[0194] The data measured this time are a supplement to the data of Example 1, because some of the data of Example 1 is missing and cannot be processed by computer graphics.

[0195] Embodiment 3

[0196] like Figure 19-20 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 not received by the salt cavern wall after being reflected by the side sonar probe, the detection distance of some data in the above embodiment 1 is 0 or super large, 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 pitches 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 Example 1; then start the pitch motor, so that the side probe pitches 5 degrees in the counterclockwise direction again, and perform a 360-degree full-scale measurement, as shown in Figure 14. According to the above method, until the side probe is pitched counterclockwise to 90 degrees, the measurement is completed, and the pitch motor is started to return the side probe to the vertical initial 0 position in the clockwise direction. During the above process, the data measured each time are promptly transmitted back to the computer for processing through the communication telemetry unit.

[0197] Due to the difference in probe positions, the measured data needs to undergo coordinate transformation.

[0198] The formula is as follows: ρi=Hix=Li*cosθi+R*sinθi+P*cosθi

[0199] Hiy=Hi+S+Li*sinθi-R*cosθi+P*sinθi

[0200] In the formula: Lix is ​​the actual detection radius corresponding to the height and angle after coordinate conversion (m);

[0201] Hiy is the actual detection height after coordinate conversion (m);

[0202] Li is the raw data of side sonar ranging (m);

[0203] Hi is the original data of the bottom sonar height position (m);

[0204] θi is the pitch angle of the pitch mechanism (°)

[0205] P is the distance from the side probe detection surface to the equipment rotation axis (m);

[0206] Q is the distance from the center of the side probe to the bottom sonar detection surface (m);

[0207] S is the arm length of the pitch mechanism (m)

[0208] See Fig. 20 .

[0209] The data measured this time are a supplement to the data of Example 1, because some of the data of Example 1 is missing and cannot be processed by computer graphics.

[0210] 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 rotary motor control system, characterized in that: The rotary motor control system 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.

2. A rotary motor control system according to claim 1, characterized in that: The rotary motor transmission device comprises a rotary cylinder connecting piece (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 rotating cylinder connecting piece (301) is used for connecting to the pitch motor control system; The second step of the second end of the rotary cylinder connecting member (301) is embedded in the first end of the rotary motor bearing seat (304); The inside of the second end step of the rotary motor bearing seat (304) is connected to the outside of the first end step of the rotary motor installation chamber (305) via an O-ring; 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, respectively, for installing 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); The locking nut (302) is arranged at the second step end of the second end of the rotating cylinder connecting piece (301) and is used to be fixed relative to the rotating motor bearing seat (304). The flat retaining ring (322) is installed in the adjacent retaining ring groove to prevent the locking nut (302) from loosening.

3. A rotary motor control system according to claim 2, characterized in that: The second end of the rotary cylinder connecting piece (301) is also provided with a first step, and the first step is adjacent to the second step; The first step is arranged 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 installation compartment (305).

4. A rotary motor control system according to claim 1, characterized in that: The rotary motor device comprises a rotary motor installation chamber (305), a motor pressure balance chamber (306), a rotary motor airbag upper pressing head (307), a first section threaded joint (308), a calibration chamber lower cable adapter (309), a calibration chamber lower joint stop ring (310), a high-precision rotary motor (324), and a 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 at the second end of the rotary motor installation chamber (305) is connected to the inner side of the first step at the first end of the motor pressure balance chamber (306) through an O-ring; The second end of the motor pressure balance chamber (306) is inserted into the upper pressing head (307) of the rotary motor airbag and pressed through the first inter-section threaded joint (308); A first step is arranged outside the cable adapter (309) under the calibration chamber, and the first step is just inserted into the first inter-section threaded connector (308); The first end face of the calibration bin lower cable adapter (309) is flush with the first end face of the first inter-section threaded connector (308), and is provided with a threaded mounting hole, through which the calibration bin lower connector stop ring (310) is fixedly mounted.

5. A rotary motor control system according to claim 4, characterized in that: A second fluororubber airbag (325) is arranged inside the motor pressure balance chamber (306); the second fluororubber airbag (325) is in a columnar shape with openings at both ends.

6. A rotary motor control system according to claim 5, characterized in that: The two ends of the second fluororubber airbag (325) are flush with the step tails at the two 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 installation chamber (305); and the first step of the second end of the rotary motor installation 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 rotary motor airbag upper pressing head (307), and the first step of the first end of the rotary motor airbag upper pressing head (307) 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).

7. A rotary motor control system according to claim 6, characterized in that: The high-precision rotary motor (324) is mounted on a base inside the second end of the rotary motor mounting compartment (305) and fixed by bolts, and the motor transmission shaft extends into the first end.

8. A rotary motor control system according to claim 1, characterized in that: 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) at 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 fixed with bolts respectively; The calibration chamber cable support (311) is arranged inside the calibration chamber housing (314). A sonar calibration sensor (316), a pressure sensor (317) and a temperature sensor (318) are provided on the first end of the connection plate of the calibration chamber cable support (311), which are used to calibrate downhole sound velocity, detection pressure and temperature respectively.

9. A rotary motor control system according to claim 8, characterized in that: The calibration chamber cable support (311) is composed of a steel pipe, a lower connecting plate and an upper connecting plate which are welded watertightly, and the steel pipe is used to pass the cable; The lower connecting plate is provided with bolt holes for fixedly connecting with the lower cable adapter (309) of the calibration chamber of the rotary motor device; A non-penetrating threaded hole is provided on the second end surface of the upper connecting plate, which is used for fixed connection with a cable adapter (312) on the calibration bin of the rotary motor cable collection device.

10. A rotary motor control system according to claim 1, characterized in that: The rotary motor cable collection device comprises a rotary motor chamber airbag discharge plug (303), a 10-core watertight pressure-bearing cable connector (327), a first watertight pressure-bearing cable connector compression nut (313), a slip ring (323), a first 10-core watertight pressure-bearing cable connecting male head (326), a calibration chamber upper cable adapter (312) and a calibration chamber upper cable adapter positioning sleeve (315), wherein: The rotary motor compartment airbag discharge plug (303) is provided with a first step and a second step inside, and a 10-core watertight pressure-bearing cable connector (327) is provided with an O-ring and is completely inserted into the first step of the rotary motor compartment airbag discharge plug (303) and is compressed by a first watertight pressure-bearing cable connector compression nut (313). The cable passes through the inner hole of the first watertight pressure-bearing cable connector compression nut (313), and then passes through two small holes in the first end of the rotary cylinder connecting piece (301) of the rotary motor transmission device, and is connected to the first end of the slip ring (323); The inner hole of the slip ring (323) is completely inserted into the first step of the second end of the rotary cylinder connecting piece (301) of the rotary motor transmission device, and the cable connected to the second end of the slip ring (323) passes through the motor mounting base plate inside the rotary motor mounting chamber (305), passes through the inside of the airbag, and passes through the inner hole of the cable adapter (309) under the calibration chamber to exit the rotary motor device; The second end of the calibration chamber cable bracket (311) is provided with a calibration chamber upper cable adapter (312), 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 inside 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 connector male connector (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 sealedly connected to the cable adapter (312) on the calibration chamber.

11. A rotary motor control system according to claim 10, characterized in that: The first step of the second end of the rotary motor chamber airbag discharge plug (303) is provided with an O-ring, and the second step is provided with a thread, which is respectively inserted into the first step and the second step inside the first end of the rotary cylinder connecting member (301) of the rotary motor transmission device and sealed.

12. A rotary motor control system according to claim 10, characterized in that: The cable adapter positioning sleeve (315) on the calibration chamber is inserted into the second end step of the cable adapter (312) on the calibration chamber for sealing connection, and is used for positioning and installing with the cable connector at the adjacent end.

13. Application of the rotary motor control system according to any one of claims 1 to 12 in salt cavern property detection.

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