Underground detection device and method based on multi-sensor fusion

Abstract

The invention discloses an underground detection device and method based on multi-sensor fusion, and belongs to the field of electric underground observation. The underground detection device comprises a lifting mechanism which is connected with a lifting support through a lifting steel wire; the sensor group is arranged on the lifting bracket and is used for acquiring information data of an underground environment; the control unit is used for controlling the lifting and the lifting speed of the lifting bracket and presetting the lifting height; the lifting structure comprises a power box, a driving plate, a bearing, a steel wire roller, a rotating rod, a steering gear, a lifting motor, a coupler and a reduction gearbox. The lifting motor controls the lifting steel wire to achieve the lifting action of the lifting support, detection equipment is placed underground for detection, stable, rapid and accurate lifting of the detection equipment is achieved, the labor intensity of operators is reduced, and the device adapts to the high-temperature, high-humidity and poisonous and harmful gas environment and is suitable for the underground environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power underground observation, and in particular relates to an underground detection device and method based on multi-sensor fusion. Background Art

[0002] With the rapid development of cities, cable networks have gradually become the main trend. The number of tunnels and pipe wells has increased rapidly, and the demand for underground operations is large. It is necessary to prepare relevant operators and a large number of limited space-related equipment. Various procedures are relatively cumbersome. It is time-consuming and laborious for personnel to go underground operations, which also affects the progress of various businesses. There are also the following disadvantages: 1. Manual inspection takes a lot of time, and the underground working space is small, which brings inconvenience to the inspectors; 2. Relying on the observation and perception of patrol personnel, lacking scientific data support and analysis, it is difficult to accurately assess and predict safety hazards, and is inefficient. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-sensor fusion downhole detection device and method to solve the problem of time-consuming, labor-intensive and inefficient manual downhole detection in the background technology.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: A downhole detection device based on multi-sensor fusion, characterized by comprising: A housing, wherein the interior of the housing is an equipment compartment, the bottom of the housing is open, and a foldable bracket is provided at the bottom; A lifting mechanism is arranged in the equipment cabin and is connected to a lifting bracket via a lifting wire, wherein the lifting bracket is located outside and below the housing; A camera, arranged on the lifting bracket, for collecting downhole images; A sensor group, arranged on the lifting bracket, for collecting temperature, humidity, air pressure data, and concentration data of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen in the well; A display, arranged on the housing, for displaying real-time images collected by the camera and real-time data collected by the sensor group; A control unit, disposed on the top of the housing, for controlling the lifting and lowering of the lifting bracket and the speed of the lifting and lowering, and for presetting the lifting height; The alarm is installed in the equipment cabin and is used to sound an alarm when the temperature, humidity, air pressure data, hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen concentration data are abnormal; Power supply, used for power supply.

[0005] Optionally, an openable and closable outer cover is provided on the top of the shell, and a main display screen is provided on the bottom of the outer cover. The main display screen is used to display real-time images captured by the camera. The control unit includes a main power indicator screen for displaying the power level, a power switch for controlling the power on and off, a sub-display screen for displaying the detection value of the sensor group, an emergency switch for emergency braking, a speed regulating switch for adjusting the lifting speed, and an up and down lifting switch for controlling the up and down lifting.

[0006] Optionally, the sensor group includes a temperature, humidity and pressure sensor and a fusion gas sensor, and the fusion gas sensor integrates concentration sensors of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen.

[0007] Optionally, the lifting structure includes a power box, a drive plate, a load-bearing, a wire drum, a rotating rod, a steering gear, a limit switch, a wiring hole, a transmission module, a lifting motor, a coupling, and a reduction gear. The drive plate is fixedly arranged in the equipment cabin, two groups of bearing seats are fixedly arranged at the bottom of the drive plate, and a load-bearing bearing is arranged on the bearing seat. The two ends of the rotating rod are respectively arranged on two load-bearing bearings of the same group, and a steering gear is arranged on the rotating rod. The lifting motor is fixedly arranged at the center position of the drive plate, and the power box is fixedly arranged on the top of the drive plate for supplying power to the lifting motor. The main power indicator screen is used to display the power of the power box. The output shaft of the lifting motor is connected to the two steering gears in a driving manner. A wire drum is fixedly arranged on the rotating rod, and the lifting wire is wound around the wire drum. A plurality of wiring holes are opened on the drive plate, and a photoelectric switch is arranged on the drive plate. The lifting motor is connected to a reduction gear, and the reduction gear is provided with two output shafts. The two output shafts are respectively connected to the steering gear through a coupling, and the lifting motor is provided with an automatic locking function.

[0008] Optionally, a guide structure is provided on the driving plate, and a guide plate is provided between the guide structure and the wire drum. The guide plate is an L-shaped plate fixed on the driving plate, and has a strip-shaped guide groove on it, which is used to prevent the wire rope from deviating. The guide structure includes a guide pulley, a fixed seat, a rotating seat, and a guide groove. The fixed seat is fixed on the driving plate by bolts, and the rotating seat is fixed on the fixed seat by bolts. The guide pulley is rotatably set on the rotating seat, and a groove is provided on the guide pulley. The guide groove is fixedly provided on the rotating seat, and the guide groove outlet is tangent to the guide pulley.

[0009] Optionally, a temperature, humidity and pressure sensor, a network module, a serial port module, a battery, a mounting plate, a camera, a fusion gas sensor, and a power indication structure are fixedly arranged at the bottom of the lifting bracket; the network module and the serial port module are signal-connected; the serial port module and the temperature, humidity and pressure sensor, the fusion gas sensor, and the camera are signal-connected; the network module transmits data to an external terminal through Lora technology; the battery is used to power the temperature, humidity and pressure sensor, the network module, the serial port module, the camera, and the fusion gas sensor; an annular mounting plate is fixedly arranged at the bottom of the lifting bracket; the camera is fixedly connected to the mounting plate by bolts; a power indication structure is arranged at the bottom of the lifting bracket; and a wire rope clip corresponding to the lifting wire is arranged at the top of the lifting bracket.

[0010] Optionally, the power indicator structure includes a charging interface, a secondary power indicator screen, and a connecting plate, the connecting plate is fixed to the bottom of the lifting bracket by bolts, the connecting plate is provided with a charging interface for charging the battery, and the connecting plate is provided with a secondary power indicator screen for displaying the battery power.

[0011] Optionally, a limit switch is provided at the bottom of the driving plate, and a limit column is provided at the top of the lifting bracket corresponding to the position of the limit switch, so as to shut down the lifting motor when the lifting bracket reaches the highest point.

[0012] Preferably, a plurality of limit pins are provided at the bottom of the driving plate, and limit holes are opened at the positions of the limit pins on the lifting bracket. A photoelectric switch is provided at the bottom of the driving plate, which is used to automatically stop when the lifting bracket reaches the highest point, the lowest point or the preset lifting height, or when it encounters an obstacle. The highest point is the height when the limit column contacts the limit switch, and the lowest point is the height when the lifting wire is fully released.

[0013] The present invention also relates to a downhole detection method based on multi-sensor fusion, which uses the downhole detection device based on multi-sensor fusion, and comprises the following steps: Collect various information data of the underground environment based on the sensor group; The information data is divided into normal data and abnormal data according to the preset standards, and the normal data and abnormal data are assigned Value abnormal probability; Determine the prior probability of each information data; Calculating a posterior probability according to the abnormal probability and the prior probability; The abnormal probability of the underground environment is determined based on the posterior probability and the preset posterior probability threshold.

[0014] Optionally, the step of determining the abnormal probability of the environment according to the posterior probability and a preset posterior probability threshold includes: If the posterior probability is less than or equal to the preset posterior probability threshold, the environment is determined to be abnormal. The posterior probability threshold is set when the posterior probability is large, and the environment is determined to be normal.

[0015] Optionally, in the step of determining the abnormal probability of the downhole environment according to the posterior probability and a preset posterior probability threshold, the Bayesian algorithm is: ; In the formula, n is the number of sensors, x i It is i The data collected by the sensors, y It is the default normal parameter state. P(y) is a parameter y The prior probability of P(x i ∣y) At a given parameter y Under the conditions i The probability that the sensor data is normal, P (y|x 1 , x 2 , …, x n ) Given all the sensor data, the parameter y The posterior probability of being in the normal state, y’ are all possible parameter states; P(y') is a parameter y’ The prior probability of P(x i ∣y’) At a given parameter y’ Under the conditions i The probability of sensor data appearing.

[0016] The beneficial effects of the present invention are as follows: The lifting motor controls the lifting wire to realize the lifting action of the lifting bracket, and the detection equipment is placed underground for detection, which realizes the smooth, rapid and accurate lifting of the detection equipment, reduces the labor intensity of the operators, and adapts to the environment of high temperature, high humidity, toxic and harmful gases, and is suitable for the complex and changeable underground environment; The control unit is equipped with a main display screen and a sub-display screen, which can monitor and control the lifting process in real time. The operator can control the lifting speed and height of the control unit, and automatically adjust the speed and power of the lifting motor according to the settings to ensure the stability and safety of the lifting process. According to the record data of the cable well, the size and depth of the well can be obtained, the lifting height can be preset, and the operation can be simplified; The limit switch and photoelectric switch are set to realize the automatic stop function. The lifting position is monitored in real time through the sensor. When the detection device reaches the preset height or encounters an obstacle, the limit switch and photoelectric switch will automatically cut off the power supply of the lifting motor, so that the lifting action stops immediately to protect the detection device from damage; when it is lowered to the working height, it will automatically lock to prevent slipping caused by external force and affect the safety of operation; The sensor group including temperature and humidity sensor, hydrogen sulfide sensor, ammonia sensor, carbon dioxide sensor, methane sensor and oxygen sensor is integrated, so that a single device can monitor multiple environmental parameters underground at the same time through a data bus, which improves the efficiency and convenience of detection; By adopting data synchronization acquisition technology, all sensors sample data at the same time point to avoid data inconsistency caused by time difference, and all collected data are synchronously transmitted back to the ground, ensuring the accuracy and reliability of the data. It also enables the sensor to be seamlessly connected with a variety of industrial equipment and systems, reducing the difficulty of data analysis and processing, and improving the efficiency of data use.

[0017] The sensor group can complete comprehensive detection of environmental parameters in a short period of time and transmit the results back to the ground in real time. At the same time, it can identify and eliminate abnormal data, improve data accuracy and reliability, detect the probability of parameter abnormalities and issue alarms. It adopts data synchronization acquisition technology, and all returned data are highly consistent in time, which facilitates subsequent data analysis and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a three-dimensional structural diagram of a downhole detection device based on multi-sensor fusion of the present invention; Figure 2 It is a three-dimensional structural diagram of a driving board of a downhole detection device based on multi-sensor fusion of the present invention; Figure 3 It is a three-dimensional structural diagram of a guide structure of a downhole detection device based on multi-sensor fusion according to the present invention; Figure 4 It is a structural schematic diagram of a lifting mechanism of a downhole detection device based on multi-sensor fusion according to the present invention; Figure 5 It is a structural schematic diagram of a lifting bracket of a downhole detection device based on multi-sensor fusion according to the present invention; Figure 6 It is a three-dimensional structural diagram of a power indicator structure of a downhole detection device based on multi-sensor fusion according to the present invention; Figure 7 The present invention is a flowchart of a downhole detection method based on multi-sensor fusion.

[0019] Among them: 1. Main display screen; 2. External cover; 3. Equipment compartment; 4. Main power indicator screen; 5. Power switch; 6. Secondary display screen; 7. Emergency switch; 8. Speed ​​control switch; 9. Handle; 10. Lifting switch; 11. Foldable bracket; 12. Lifting wire; 13. Camera; 14. Lifting bracket; 15. Universal wheel; 16. Shell; 17. Drive plate; 18. Wire drum; 19. Bearing seat; 20. Lifting motor; 21. Cable routing hole; 22. Bearing bearing; 23. Guide structure; 231. Fixed seat; 232. Guide To pulley 232; 233, guide groove; 234, rotating seat; 24, limit pin; 25, steering gear; 26, limit switch; 27, reduction gear box; 28, photoelectric switch; 29, coupling; 30, rotating rod; 31, wire rope clamp; 32, network module; 33, fusion gas sensor; 34, serial port module; 35, limit column; 36, temperature, humidity and pressure sensor; 37, limit hole; 38, battery; 39, mounting plate; 40, power indicator structure; 401, charging interface; 402, auxiliary power indicator screen; 403, connecting plate. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0021] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1 A downhole detection device based on multi-sensor fusion, such as Figure 1-Figure 6 As shown, including: A housing 16, wherein the interior of the housing 16 is an equipment compartment 3, the bottom of which is open and a foldable bracket 11 is provided at the bottom; The lifting mechanism is arranged in the equipment cabin 3 and is connected to a lifting bracket 14 via a lifting wire 12. The lifting bracket 14 is located outside and below the housing 16. A camera 13, arranged on the lifting bracket 14, for collecting downhole images; A sensor group, arranged on the lifting bracket 14, is used to collect temperature, humidity, air pressure data, and concentration data of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen in the well; A display, arranged on the housing 16, for displaying the real-time images collected by the camera 13 and the real-time data collected by the sensor group; A control unit, disposed on the top of the housing 16, for controlling the lifting and lowering of the lifting bracket 14 and the speed of the lifting and lowering, and for presetting the lifting height; An alarm device is installed in the equipment compartment 3 and is used to sound an alarm when the temperature, humidity, air pressure data, concentration data of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen are abnormal; Power supply, used for power supply.

[0025] As a preferred solution of this embodiment, an openable and closable outer cover 2 is provided on the top of the shell 16, and a main display screen 1 is provided on the bottom of the outer cover 2. The main display screen 1 is used to display the real-time image collected by the camera 13. The control unit includes a main power indicator screen 4 for displaying the power, a power switch 5 for controlling the power on and off, a sub-display screen 6 for displaying the detection value of the sensor group, an emergency switch 7 for emergency braking, a speed regulating switch 8 for adjusting the lifting speed, and an up and down lifting switch 10 for controlling the up and down lifting.

[0026] As a preferred solution of the above embodiment, a plurality of universal wheels 15 are provided on the side wall of the housing 16 for moving the device after storage during transportation; and a handle 9 is provided on the housing 16 for lifting.

[0027] As a preferred solution of this embodiment, the sensor group includes a temperature, humidity and pressure sensor 36 and a fusion gas sensor 33. The fusion gas sensor 33 integrates concentration sensors of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen.

[0028] As a preferred solution of this embodiment, the lifting structure includes a power box, a drive plate 17, a load-bearing bearing 22, a wire drum 18, a rotating rod 30, a diverter 25, a limit switch 26, a wiring hole 21, a transmission module, a lifting motor 20, a coupling 29, and a reduction box 27. The drive plate 17 is fixedly arranged in the equipment cabin 3, and two groups of bearing seats 19 are fixedly arranged at the bottom of the drive plate 17. The bearing seats 19 are provided with load-bearing bearings 22. The two ends of the rotating rod 30 are respectively arranged on the two load-bearing bearings 22 of the same group. The rotating rod 30 is provided with a diverter 25. The lifting motor 20 is fixedly arranged at the center position of the drive plate 17. The power box is fixedly arranged on the top of the driving plate 17, and is used to supply power to the lifting motor 20. The main power indicator screen 4 is used to display the power of the power box. The output shaft of the lifting motor 20 is connected to the two steering gears 25 in a transmission manner. A wire drum 18 is fixedly arranged on the rotating rod 30, and the lifting wire 12 is wound around the wire drum 18. A plurality of wiring holes 21 are opened on the driving plate 17, and a photoelectric switch 28 is arranged on the driving plate 17. The lifting motor 20 is connected to a reduction box 27, and the reduction box 27 is provided with two output shafts. The two output shafts are respectively connected to the steering gear 25 through a coupling 29, and the lifting motor 20 is provided with an automatic locking function.

[0029] Through the above technical scheme, the lifting motor 20 controls the lifting wire 12 to realize the lifting action of the lifting bracket 14. Specifically, the speed and direction of the lifting motor 20 are respectively controlled by the speed regulating switch 8 and the up and down lifting switch 10. When the power switch 5 is turned on, the lifting motor 20 starts to drive the output shaft of the reduction box 27 to rotate, and the rotating rod 30 is driven to rotate through the steering gear 25, thereby driving the wire drum 18 to rotate, lowering the lifting wire 12, and then lowering the lifting bracket 14, placing the detection equipment on the lifting bracket 14 underground for detection, thereby realizing the smooth, rapid and accurate lifting of the detection equipment, reducing the labor intensity of the operators, and adapting to the environment of high temperature, high humidity, toxic and harmful gases, and suitable for complex and changeable underground environment.

[0030] As a preferred solution of this embodiment, a guide structure 23 is provided on the driving plate 17, and a guide plate is provided between the guide structure 23 and the wire drum 18. The guide plate is an L-shaped plate fixed on the driving plate 17, and a strip-shaped guide groove 233 is provided on the guide plate to prevent the wire rope from running off the track. The guide structure 23 includes a guide pulley 232, a fixed seat 231, a rotating seat 234, and a guide groove 233. The fixed seat 231 is fixedly arranged on the driving plate 17 by bolts, and the rotating seat 234 is fixedly arranged on the fixed seat 231 by bolts. The guide pulley 232 is rotatably arranged on the rotating seat 234, and a groove is provided on the guide pulley 232. The rotating seat 234 is fixedly provided with a guide groove 233, and the outlet of the guide groove 233 is tangent to the guide pulley 232.

[0031] Through the above technical solution, when the lifting wire 12 is lifted, it passes through the grooves on the guide groove 233 and the guide pulley 232, avoiding displacement or jamming during lifting and causing the lifting bracket 14 to shake and affect the detection result, thereby ensuring the stability of the detection result.

[0032] As a preferred solution of the above embodiment, the edge of the guide groove 233 is rounded.

[0033] As a preferred solution of this embodiment, a temperature, humidity and pressure sensor 36, a network module 32, a serial port module 34, a battery 38, a mounting plate 39, a camera 13, a fusion gas sensor 33, and a power indication structure 40 are fixedly arranged at the bottom of the lifting bracket 14. The network module 32 is signal-connected to the serial port module 34, and the serial port module 34 is signal-connected to the temperature, humidity and pressure sensor 36, the fusion gas sensor 33, and the camera 13. The network module 32 transmits data to an external terminal through Lora technology. The battery 38 is used to power the temperature, humidity and pressure sensor 36, the network module 32, the serial port module 34, the camera 13, and the fusion gas sensor 33. An annular mounting plate 39 is fixedly arranged at the bottom of the lifting bracket 14. The camera 13 is fixedly connected to the mounting plate 39 by bolts. A power indication structure 40 is arranged at the bottom of the lifting bracket 14, and a wire rope clip 31 corresponding to the lifting wire 12 is arranged at the top of the lifting bracket 14.

[0034] As a preferred solution of this embodiment, the power indicator structure 40 includes a charging interface 401, a secondary power indicator screen 402, and a connecting plate 403. The connecting plate 403 is fixed to the bottom of the lifting bracket 14 by bolts. The connecting plate 403 is provided with a charging interface 401 for charging the battery 38, and the connecting plate 403 is provided with a secondary power indicator screen 402 for displaying the power of the battery 38.

[0035] As a preferred solution of this embodiment, a limit switch 26 is set at the bottom of the driving plate 17, and a limit column 35 is set at the top of the lifting bracket 14 corresponding to the position of the limit switch 26, which is used to turn off the lifting motor 20 when the lifting bracket 14 reaches the highest point.

[0036] As a preferred solution of this embodiment, a plurality of limit pins 24 are arranged at the bottom of the driving plate 17, and a limit hole 37 is opened at the position of the limit pin 24 of the lifting bracket 14, and a photoelectric switch 28 is arranged at the bottom of the driving plate 17, which is used to automatically stop when the lifting bracket 14 reaches the highest point, the lowest point or the preset lifting height. The highest point is the height when the limit column 35 contacts the limit switch 26, and the lowest point is the height when the lifting wire 12 is fully released.

[0037] The position of the lifting bracket 14 is protected by a dual insurance mechanism of a limit switch 26 and a photoelectric switch 28. The photoelectric switch 28 is sensitive and intelligent. When the photoelectric switch 28 fails, the limit switch 26 can still limit the highest position of the lifting bracket 14 by squeezing the limit column 35, forming a double protection.

[0038] As a preferred solution of this embodiment, the lifting motor 20 is a turbine motor. When the control unit outputs a brake signal, the lifting motor 20 will not rotate due to external force without the next instruction.

[0039] As a preferred solution of this embodiment, a speaker is arranged behind the auxiliary display screen 6, and an alarm sound is emitted through the speaker.

[0040] Example 2 The present invention also relates to a downhole detection method based on multi-sensor fusion, which uses the downhole detection device based on multi-sensor fusion, and comprises the following steps: Collect downhole environmental information data based on the sensor group; The information data is divided into normal data and abnormal data according to the preset standard; the prior probability of the normal state and abnormal state of each information data is preset; According to the classification results of the data, the conditional probability of each data in normal and abnormal states is calculated; The posterior probability is calculated by the Bayesian algorithm, and whether the current environmental parameters are abnormal is determined based on the posterior probability.

[0041] The posterior probability is low, that is, the sensor data deviates greatly from the preset normal parameters, which is an abnormal situation and triggers the alarm mechanism immediately; The posterior probability is high, that is, the sensor data has a small deviation from the preset normal parameters, which is a normal situation, and the detection continues.

[0042] Optionally, the Bayesian algorithm is: ; In the formula, n is the number of sensors, x i It is i The data collected by the sensors, y It is the default normal parameter state. P(y) is a parameter y The prior probability of P(x i ∣y) At a given parameter y Under the conditions i The probability that the sensor data is normal, P (y|x 1 , x 2 , …, x n ) Given all the sensor data, the parameter y The posterior probability of being in the normal state, y’are all possible parameter states; P(y') is a parameter y’ The prior probability of P(x i ∣y’) At a given parameter y’ Under the conditions i The denominator is a normalization factor that ensures that the posterior probability value is between 0 and 1.

[0043] Specific simulation data: If the measured data is as follows (underground temperature is 20°C): Oxygen (O2): 20% (Vol) → Normal Methane (CH4): 35%LEL → Abnormal Carbon monoxide (CO): 50ppm → normal Hydrogen sulfide (H2S): 15ppm → Abnormal Ammonia (NH 3 ): 40ppm → Abnormal Based on the hypothesis, calculate the posterior probability P(y|x 1 ,x 2 ,…,x n ) Approximate value of : Assumptions ϵ = 0.01, for each sensor data: If the data is normal, then P(x i ∣y) =1− ϵ ' (in ϵ ′ is a small number, indicating that under normal conditions, the data still has a small probability of deviation, but for simplicity, we can temporarily set ϵ′=ϵ ).

[0044] If the data is abnormal, P(x i ∣y)=ϵ .

[0045] At the same time, we also need to consider the conditional probability under the abnormal state ¬y: If the data is normal, then P(x i ∣¬y)=ϵ (Because under abnormal conditions, the probability of normal data appearing should be lower).

[0046] If the data is abnormal, P(x i ∣¬y)=1−ϵ.

[0047] Assume a priori probability P(y)=P(¬y)=0.5 (i.e., in the absence of sensor data, normal and abnormal states are considered equally likely).

[0048] Compute the posterior probability: ; in, (1−ϵ) 3 represents the conditional probability product of three normal data, ϵ 2 It represents the conditional probability product of two abnormal data. The denominator considers the conditional probability sum of all possible sensor data combinations under normal and abnormal conditions.

[0049] However, since this formula may be very complicated and difficult to calculate directly in actual calculations (especially when there are a large number of sensors), we usually use some simplified methods or approximate algorithms to estimate the posterior probability. In the above example, in order to simplify the calculation, we assumed that the conditional probabilities of all sensor data are independent of each other, and used the same ϵ value to represent the deviation probability of normal and abnormal data. In practical applications, these assumptions may need to be adjusted and optimized according to specific circumstances.

[0050] Finally, we can judge whether the downhole environmental parameters are abnormal based on the calculated posterior probability. If the posterior probability is very low (for example, lower than a preset threshold), it can be considered that the probability of the downhole environmental parameters being abnormal is very high.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0052] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A downhole detection device based on multi-sensor fusion, characterized in that: include: A lifting mechanism is connected to a lifting bracket via a lifting wire; A sensor group, arranged on the lifting bracket, for collecting information data of the underground environment; The lifting structure includes a power box, a drive plate, a bearing, a wire drum, a rotating rod, a steering gear, a lifting motor, and a coupling. A downhole detection device based on multi-sensor fusion is characterized by comprising: A lifting mechanism connected to a lifting bracket (14) via a lifting wire (12); A sensor group, arranged on the lifting bracket (14), for collecting information data of the underground environment; The lifting structure comprises a power supply box, a driving plate (17), a load-bearing bearing (22), a wire drum (18), a rotating rod (30), a steering gear (25), a lifting motor (20), a coupling (29), and a reduction box (27). A bearing seat (19) and a load-bearing bearing (22) are arranged at the bottom of the driving plate (17). The rotating rod (30) passes through the bearing and is provided with a steering gear (25). The lifting motor (20) is arranged on the driving plate (17) and is powered by the power supply box. The output shaft of the lifting motor (20) is connected to two steering gears (25) via a reduction box (27) and a coupling (29). A wire drum (18) is fixedly arranged on the rotating rod (30) for winding up the lifting wire (12).

2. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: The lifting structure further comprises a limit switch (26) and a wiring hole (21); a plurality of wiring holes (21) are provided on the driving plate (17); a steel wire rope clamp (31) corresponding to the lifting steel wire (12) is provided on the top of the lifting bracket (14); a photoelectric switch (28) is provided on the driving plate (17); and the lifting motor (20) is provided with an automatic locking function.

3. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: It comprises a shell (16), the lifting mechanism is fixedly arranged in the shell (16), the bottom of the shell (16) is open and is used for lifting and lowering a lifting bracket (14), and a foldable bracket (11) is arranged at the bottom of the shell (16).

4. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: The sensor group comprises a temperature, humidity and pressure sensor (36) and a fusion gas sensor (33), wherein the fusion gas sensor (33) integrates concentration sensors of hydrogen sulfide, ammonia, carbon dioxide, methane and oxygen.

5. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: The driving plate (17) is provided with a guide structure (23), the guide structure (23) comprising a guide pulley (232), a fixed seat (231), a rotating seat (234), and a guide groove (233); the fixed seat (231) is fixedly arranged on the driving plate (17) by bolts; the rotating seat (234) is fixedly arranged on the fixed seat (231); the guide pulley (232) is rotatably arranged on the rotating seat (234); and the guide groove (233) is fixedly arranged on the rotating seat (234).

6. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: It also comprises a control unit, which is used for controlling the lifting and lowering of the lifting bracket (14) and the lifting speed, and is used for presetting the lifting height.

7. The downhole detection device based on multi-sensor fusion according to claim 1, characterized in that: A limit switch (26) is arranged at the bottom of the driving plate (17), and a limit column (35) is arranged at the top of the lifting bracket (14) at a position corresponding to the limit switch (26), which is used to turn off the lifting motor (20) when the lifting bracket (14) reaches the highest point. A photoelectric switch (28) is arranged at the bottom of the driving plate (17), which is used to automatically stop the lifting bracket (14) when it reaches the highest point, the lowest point or a preset lifting height.

8. A downhole detection method based on multi-sensor fusion, characterized in that: The downhole detection device based on multi-sensor fusion as claimed in any one of claims 1 to 7 comprises the following steps: Collect various information data of the underground environment based on the sensor group; The information data are divided into normal data and abnormal data according to the preset standard, and abnormal probabilities are assigned to the normal data and the abnormal data respectively; Determine the prior probability of each information data; Calculating a posterior probability according to the abnormal probability and the prior probability; The abnormal probability of the underground environment is determined based on the posterior probability and the preset posterior probability threshold.

9. The downhole detection method based on multi-sensor fusion according to claim 1, characterized in that: The step of determining the abnormal probability of the environment according to the posterior probability and the preset posterior probability threshold comprises: If the posterior probability is less than or equal to the preset posterior probability threshold, the environment is determined to be abnormal. The posterior probability threshold is set when the posterior probability is large, and the environment is determined to be normal.

10. The downhole detection method based on multi-sensor fusion according to claim 1, characterized in that: In the step of determining the abnormal probability of the underground environment according to the posterior probability and the preset posterior probability threshold, the Bayesian algorithm is: ； In the formula, n is the number of sensors, x i It is i The data collected by the sensors, y It is the default normal parameter state. P (y) is a parameter y The prior probability of P(x i ∣y) At a given parameter y Under the conditions i The probability that the sensor data is normal, P(y|x 1 , x 2 , …, x n ) Given all the sensor data, the parameter y The posterior probability of being in the normal state, y’ are all possible parameter states; P(y') is a parameter y’ The prior probability of P(x i ∣y’) At a given parameter y’ Under the conditions i The probability of sensor data appearing.

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