Underground deep horizontal salt rock cavern morphology detection device and method

Abstract

The invention discloses an underground deep horizontal type salt rock cavern morphology detection device and method, and relates to the technical field of salt rock cavern detection devices.The detection device comprises a detector and a ground monitoring system, and the ground monitoring system is connected with the detector through an optical cable and communicates with the detector; the ground monitoring system comprises a ground center console and a monitor, and the ground center console is connected with the monitor through a video interface; the detector comprises a cabin body, a propulsion system, a battery pack, a control system, a sonar detector, a positioning system and an obstacle avoidance system. The battery pack and the control system are mounted in the cabin body; the sonar detector is mounted at the front end of the cabin body; the positioning system comprises a sonar detector, a gyroscope, a depth meter and a Doppler velocimeter; the obstacle avoidance system comprises an infrared distance measuring sensor, and the infrared distance measuring sensor is installed at the front end of the cabin body; the propulsion system, the sonar detector, the positioning system and the obstacle avoidance system are in signal connection with the control system. According to the invention, detection and measurement of the morphology of the horizontal salt rock cavern can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of salt rock cavity detection devices, and in particular to a device and method for detecting the morphology of underground deep horizontal salt rock cavity. Background Art

[0002] At present, my country is the world's largest carbon emitter. In order to achieve the goal of carbon neutrality by 2060, it has been vigorously promoting the use of clean energy such as wind energy, solar energy, and natural gas. However, solar energy and wind energy are affected by factors such as seasons, weather, and day and night changes. They also need supporting energy storage systems to achieve power generation and self-peaking, while natural gas mainly relies on imports. Therefore, in order to solve the energy storage problem of new energy and ensure the safety of traditional energy reserves, the construction of underground gas storage is urgent.

[0003] Salt rock has become an internationally recognized ideal energy storage site due to its low permeability, good rheological properties, and certain damage self-healing ability. my country's salt rock resources are rich and widely distributed, with proven geological reserves exceeding 4450 billion tons, and buried depths ranging from tens of meters to four kilometers, which has good geological conditions for the construction of underground energy storage. In order to speed up the construction of underground salt rock storage, the traditional single-well convection cavity construction method is changed to a double-well convection method, and the large horizontal salt rock cavities left after the mining of salt mines are fully utilized as gas storage. Whether it is a newly built horizontal cavity or an old horizontal salt rock cavity, its morphology must be detected before it is used as a storage reservoir to determine its stability and economy, and finally give a conclusion on whether it can serve as a gas storage reservoir. However, the current cavity measurement device can only realize the vertical cavity morphology measurement, and the horizontal cavity morphology measurement is still in the exploratory stage.

[0004] Therefore, there is an urgent need in the art for a horizontal salt karst cavity morphology detection device to achieve detection and measurement of the horizontal salt karst cavity morphology. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for detecting the morphology of deep underground horizontal salt rock karst cavities, so as to solve the problems existing in the above-mentioned prior art and realize the detection and measurement of the morphology of horizontal salt rock karst cavities.

[0006] To achieve the above object, the present invention provides the following solutions: The present invention provides an underground deep horizontal salt rock karst cavity morphology detection device, comprising a detector and a ground monitoring system, wherein the ground monitoring system is connected to the detector via an optical cable and communicates with the detector; The ground monitoring system includes a ground central console and a monitor, wherein the ground central console is provided with a video interface, and the ground central console is connected to the monitor via the video interface; The detector includes a cabin, a propulsion system, a battery pack, a control system, a sonar detector, a positioning system and an obstacle avoidance system; the propulsion system includes a horizontal three-dimensional vector thruster and a vertical thruster installed on the cabin; the battery pack and the control system are installed in the cabin, and the battery pack supplies power to the propulsion system, the control system, the sonar detector, the positioning system and the obstacle avoidance system; the sonar detector is installed at the front end of the cabin; the positioning system includes the sonar detector, a gyroscope, a depth gauge and a Doppler speedometer, the gyroscope and the depth gauge are arranged in the cabin, and the Doppler speedometer is arranged at the bottom of the cabin; the obstacle avoidance system includes an infrared ranging sensor, and the infrared ranging sensor is installed at the front end of the cabin; the propulsion system, the sonar detector, the positioning system and the obstacle avoidance system are respectively connected to the control system signal.

[0007] In one embodiment, the cabin body includes an aluminum alloy cylindrical hollow tube and sealing covers fixed to the front and rear ends of the aluminum alloy cylindrical hollow tube, a frame is fixedly provided inside the cabin body, and the battery pack and the control system are installed on the frame.

[0008] In one embodiment, the sealing cover is welded and fixed on the aluminum alloy cylindrical hollow tube, a circuit hole is reserved on the sealing cover, and the circuit in the circuit hole is sealed with the sealing cover by a sealing ring.

[0009] In one embodiment, the aluminum alloy cylindrical hollow tube is provided with a waterproof and anti-corrosion coating on the outside, and the frame is made of polypropylene material.

[0010] In one embodiment, the aluminum alloy cylindrical hollow tube has an outer diameter of 120 mm, a length of 1.2 m, and a wall thickness of 12 mm.

[0011] In one embodiment, one infrared ranging sensor is installed on each of the two sides and the middle of the front end of the cabin.

[0012] In one embodiment, the control system includes a main control board and a power module, a power supply module, an obstacle avoidance module, a measurement module, a positioning module and a data storage module which are signal-connected to the main control board.

[0013] In one embodiment, the battery pack is a lithium battery pack.

[0014] In one embodiment, the maximum working pressure of the sonar detector is 40 MPa, and the maximum working temperature is 100°C.

[0015] The present invention also provides a method for detecting the morphology of underground deep horizontal salt rock karst cavities, based on the above-mentioned device for detecting the morphology of underground deep horizontal salt rock karst cavities, comprising the following steps: S1: Select the horizontal salt rock karst cavity to be detected based on the geological data of salt mining and cavity formation; S2: Repair the vertical shaft of the horizontal salt rock cavity and fill the horizontal salt rock cavity with water to ensure that the detector can be smoothly lowered, moved in the cavity and recovered; S3: lowering the detector from the shaft, and during the lowering process, turning on the ground monitoring system and the positioning system to monitor the lowering position in real time; S4: After the detector is lowered into the horizontal salt rock cavity, the propulsion system, the sonar detector and the obstacle avoidance system are turned on. When the detector moves in the horizontal salt rock cavity, the sonar detector is used to scan the horizontal cavity morphology, and the real-time detection data is transmitted to the ground console through the optical cable to perform three-dimensional reconstruction to obtain the cavity morphology; S5: After the detection is completed, the sonar detector is turned off, and the horizontal cavity morphology map obtained in step S4 and the data of the positioning system are used to plan the best return path, and a command is issued through the ground central control console to control the detector to return to the shaft; S6: Distribute the power of the propulsion system through the ground central console, adjust the posture of the detector so that the detector is parallel to the direction of the shaft, and use the optical cable to take the detector out of the shaft.

[0016] S7: Process and analyze the information stored in the ground central console to obtain the shape, size and volume of the horizontal salt rock cavity, and the detection work is completed.

[0017] Compared with the prior art, the present invention has achieved the following technical effects: The present invention lowers the detector into the horizontal salt rock cavity through a vertical shaft, feeds back the position of the detector according to the positioning system in the detector, uses the propulsion system to realize the free movement of the detector in the cavity, and completes automatic obstacle avoidance and cavity morphology scanning through the obstacle avoidance system and the sonar detector. The detection and scanning data are transmitted to the ground central control station by an optical cable, and three-dimensional reconstruction is performed to obtain the cavity morphology. The information stored in the ground central control station is processed and analyzed to obtain the shape, size and volume of the horizontal salt rock cavity, thereby realizing the detection and measurement of the horizontal salt rock cavity morphology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of the structure of a detector in an embodiment of the present invention; Figure 2 is a schematic diagram of a partial cross-sectional structure of a detector in an embodiment of the present invention; Figure 3 It is a schematic diagram of the underground deep horizontal salt rock karst cavity morphology detection device in the embodiment of the present invention during detection; Figure 4 Schematic diagram of the control system in an embodiment of the present invention.

[0020] In the figure: 100-underground deep horizontal salt rock karst cavity morphology detection device, 1-detector, 2-ground monitoring system, 3-optical cable, 4-cabin, 5-battery pack, 6-sonar detector, 7-horizontal three-dimensional vector thruster, 8-vertical thruster, 9-infrared ranging sensor, 10-aluminum alloy cylindrical hollow tube, 11-sealing cover, 12-main control board, 13-power module, 14-power supply module, 15-obstacle avoidance module, 16-measurement module, 17-positioning module, 18-data storage module, 19-horizontal salt rock karst cavity, 20-vertical shaft. DETAILED DESCRIPTION

[0021] 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.

[0022] The purpose of the present invention is to provide a device and method for detecting the morphology of a deep underground horizontal salt rock karst cavity, so as to solve the problems existing in the prior art and realize the detection and measurement of the morphology of a horizontal salt rock karst cavity.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Embodiment 1 like Figure 1-Figure 4 As shown, this embodiment provides an underground deep horizontal salt rock karst cavity morphology detection device 100, including a detector 1 and a ground monitoring system 2, the ground monitoring system 2 is connected to the detector 1 through an optical cable 3 and communicates with the detector; The ground monitoring system 2 includes a ground console and a monitor. The ground console is provided with an external serial port and a video interface. The ground console is connected to an optical cable 3 via an external serial port, and communicates with the detector 1 via the optical cable 3. The ground console is connected to the monitor via a video interface, and can output a three-dimensional reconstruction image of the cavity in real time. The optical cable 3 is used to transmit control signals, sonar detection information and sensor information in the detector 1, and can also recover the detector 1 from the shaft 20; the density of the optical cable 3 is close to that of the brine, and it is a self-suspended optical cable, which reduces the energy loss of the detector 1 dragging the optical cable 3; The detector 1 includes a cabin 4, a propulsion system, a battery pack 5, a control system, a sonar detector 6, a positioning system and an obstacle avoidance system; the propulsion system includes a horizontal three-dimensional vector thruster 7 and a vertical thruster 8 installed on the cabin 4, which can realize the forward, backward, steering, ascent and descent operations of the detector 1 in the cavity; the battery pack 5 and the control system are installed in the cabin 4, and the battery pack 5 supplies power to the propulsion system, the control system, the sonar detector 6, the positioning system and the obstacle avoidance system, and the battery pack 5 adopts a lithium battery pack; the sonar detector 6 is installed at the front end of the cabin 4; the positioning system includes the sonar detector 6, a gyroscope, a depth gauge and a Doppler velocimeter, the gyroscope and the depth gauge are arranged in the cabin 4, and the Doppler velocimeter is arranged at the bottom of the cabin 4; the sonar detector 6 transmits the scanning results to the ground console through the optical cable 3, completes the three-dimensional reconstruction of the cavity, and preliminarily determines the position of the detector 1 in the explored cavity; the gyroscope determines the position of the detector 1 according to the gravity field and the angular velocity of the earth's rotation The true north direction is determined by the depth gauge according to the pressure and sound waves, and the Doppler velocimeter determines the movement speed of the detector 1 according to the frequency difference between the emitted and reflected electromagnetic waves. The positioning system is used to input the measurement data into the control system, and the control system then uses the optical cable 3 to transmit the data to the ground console to provide data support for the movement of the detector 1 in the cavity. The obstacle avoidance system includes an infrared ranging sensor 9, which is installed at the front end of the cabin 4. An infrared ranging sensor 9 is installed on both sides and the middle of the front end of the cabin 4. The three infrared ranging sensors 9 respectively detect the fan-shaped areas in the left front, the front and the right front, and transmit the real-time detection information to the control system. The control system calculates the direction and speed of the propulsion system according to the fuzzy control rules, thereby realizing the obstacle avoidance function. The propulsion system, the sonar detector 6, the positioning system and the obstacle avoidance system are respectively connected to the control system signal.

[0025] Limited by the salt rock cavity making and brine extraction process, the general cavity making and brine extraction pipe diameters are around 180mm or 155mm, and with the increase of operation time, the pipe column diameter gradually becomes smaller. Therefore, in order to ensure the smooth lowering and recovery of the detector 1, the maximum diameter of the detector 1 should not exceed 120mm, and the length should not be greater than 1.5m. In this embodiment, the cabin 4 includes an aluminum alloy cylindrical hollow tube 10 and a sealing cover 11 fixed to the front and rear ends of the aluminum alloy cylindrical hollow tube 10. The outer diameter of the aluminum alloy cylindrical hollow tube 10 is 120mm, the length is 1.2m, and the wall thickness is 12mm.

[0026] In this embodiment, the exterior of the aluminum alloy cylindrical hollow tube 10 is provided with a waterproof and anti-corrosion coating, which has a waterproof and anti-corrosion effect. The sonar detector 6 meets the pressure resistance standard. It is fixed at the front end of the cabin 4, and can achieve 360° radial scanning to scan the morphology of the cavity. The maximum working pressure of the sonar detector 6 is 40MPa, and the maximum working temperature is 100°C. During the detection process, data can be transmitted to the control system in real time. The detector 1 can work continuously in a cavity with a pressure not exceeding 40MPa and a temperature not exceeding 100°C. The sealing cover 11 is welded and fixed to the aluminum alloy cylindrical hollow tube 10 by high-pressure welding. A circuit hole is reserved on the sealing cover 11, and the circuit in the circuit hole is sealed with a sealing ring and the sealing cover 11. A frame is fixed inside the cabin 4, and the frame is made of polypropylene material. The battery pack 5 and the control system are installed on the frame.

[0027] In this embodiment, the control system includes a main control board 12 and a power module 13, a power supply module 14, an obstacle avoidance module 15, a measurement module 16, a positioning module 17 and a data storage module 18 connected to the main control board 12 by signal. The central console is connected to the main control board 12 through an optical cable 3, the obstacle avoidance module 15 is connected to the main control board 12 through a first input interface, the measurement module 16 is connected to the main control board 12 through a second input interface, the positioning module 17 is connected to the main control board 12 through a third input interface, the power module 13 is connected to the main control board 12 through a first output interface, the power supply module 14 is connected to the main control board 12 through a second output interface, and the data storage module 18 is connected to the main control board 12 through a third output interface. The power module 13 is used to adjust the power distribution problem, including the power distribution of the horizontal three-dimensional vector thruster 7 and the vertical thruster 8; the power supply module 14 reasonably distributes the power of the battery pack 5 to the propulsion system, control system, sonar detector 6, positioning system and obstacle avoidance system; the obstacle avoidance module 15 is used to analyze and process the data of the infrared ranging sensor 9 to realize the automatic obstacle avoidance function; the measurement module 16 is used to preliminarily analyze and process the data of the sonar detector 6; the positioning module 17 is used to comprehensively analyze and process the data of the sonar detector 6, gyroscope, depth meter and Doppler speed meter to determine the position of the device; the data storage module 18 is used to temporarily store the data collected by the obstacle avoidance module 15 and the measurement module 16.

[0028] In the present invention, the detector can be lowered into the horizontal cavity through the vertical shaft, and complete the measurement work in a high temperature and high pressure environment by using its own battery and return from the vertical shaft, thus avoiding the voltage drop problem caused by long-distance ground power supply and the limitation of the equipment length by the inclined shaft.

[0029] The propulsion system of the detector of the present invention comprises a horizontal three-dimensional vector propeller and a vertical propeller, which can not only ensure that the detector can move freely in the horizontal direction of the cavity, but also can move up and down according to the position of the sediment in the cavity.

[0030] The obstacle avoidance system of the detector of the present invention comprises three infrared ranging sensors, namely left, middle and right. The kinetic energy of the propulsion system is distributed according to the real-time data detected by the infrared ranging sensors in combination with fuzzy control rules, thereby realizing automatic obstacle avoidance.

[0031] During the cavity measurement process, the detector of the present invention uses sonar to perform 360° radial scanning while transmitting the scanning information to the ground control console through an optical cable to complete real-time cavity three-dimensional morphology reconstruction, and further guide the running trajectory of the detector in the cavity based on the reconstructed morphology.

[0032] Embodiment 2 like Figure 3 As shown, this embodiment provides a method for detecting the morphology of a deep underground horizontal salt rock karst cavity. Based on the device 100 for detecting the morphology of a deep underground horizontal salt rock karst cavity described in the first embodiment, a detector 1 is placed from a vertical shaft 20 with a diameter greater than 140 mm into a horizontal salt rock karst cavity 19 filled with brine. The position of the detector 1 in the cavity is determined according to the scanning data of its own positioning system and the sonar detector 6. The monitoring personnel use the ground monitoring system 2 to observe and control the next movement of the detector to complete the scanning detection of the entire karst cavity. The specific detection process includes the following steps: S1: According to the geological data of salt mining and cavity formation, a horizontal salt rock cavity 19 to be detected is selected; wherein the buried depth of the horizontal salt rock cavity 19 does not exceed 3000m, the length is greater than 200m and less than 1000m, and the diameter of the shaft of the vertical shaft 20 is greater than 140mm; S2: Repair the vertical shaft 20 of the horizontal salt rock cavity 19 and fill the horizontal salt rock cavity 19 with water to ensure that the detector 1 can be smoothly lowered, moved in the cavity and recovered; S3: lowering the detector 1 from the shaft 20, turning on the ground monitoring system 2 and the positioning system during the lowering process to monitor the lowering position in real time; hanging a projectile during the lowering process and dropping it when it reaches the dissolution cavity position; S4: After the detector 1 is lowered into the horizontal salt rock cavity 19, the propulsion system, the sonar detector 6 and the obstacle avoidance system are turned on. When the detector 1 moves in the horizontal salt rock cavity 19, the sonar detector 6 is used to perform a 360° radial scan of the horizontal salt rock cavity 19, and the real-time detection data is transmitted to the ground control console through the optical cable 3 for three-dimensional reconstruction to obtain the cavity morphology; the ground operator gives reasonable instructions to drive according to the three-dimensional reconstruction graphics and the positioning system to ensure that the detector 1 moves on the specified route; when there are obstacles on the route, the obstacle avoidance system and human-assisted methods are used to change the route of the detector 1 to avoid the obstacles; S5: After the detection is completed, the sonar detector 6 is turned off, and the horizontal cavity morphology map obtained in step S4 and the data of the positioning system are used to plan the best return path, and a command is issued through the ground central control console to control the detector 1 to return to the shaft 20 along the path with the least obstacles; S6: Distribute the power of the propulsion system through the ground central console, adjust the posture of the detector 1, make the detector 1 parallel to the direction of the shaft 20, so as to facilitate the smooth removal of the detector 1 from the shaft 20. After the adjustment is in place, use the optical cable 3 to remove the detector 1 from the shaft 20; S7: The information stored in the ground central control console is processed and analyzed in detail to obtain the precise shape, size and volume of the horizontal salt rock cavity 19, and the detection work is completed.

[0033] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A device for detecting the morphology of underground deep horizontal salt rock karst cavities, characterized in that: It includes a detector and a ground monitoring system, wherein the ground monitoring system is connected to the detector via an optical cable and communicates with the detector; The ground monitoring system includes a ground central console and a monitor, wherein the ground central console is provided with a video interface, and the ground central console is connected to the monitor via the video interface; The detector includes a cabin, a propulsion system, a battery pack, a control system, a sonar detector, a positioning system and an obstacle avoidance system; the propulsion system includes a horizontal three-dimensional vector thruster and a vertical thruster installed on the cabin; the battery pack and the control system are installed in the cabin, and the battery pack supplies power to the propulsion system, the control system, the sonar detector, the positioning system and the obstacle avoidance system; the sonar detector is installed at the front end of the cabin; the positioning system includes the sonar detector, a gyroscope, a depth gauge and a Doppler speedometer, the gyroscope and the depth gauge are arranged in the cabin, and the Doppler speedometer is arranged at the bottom of the cabin; the obstacle avoidance system includes an infrared ranging sensor, and the infrared ranging sensor is installed at the front end of the cabin; The propulsion system, the sonar detector, the positioning system and the obstacle avoidance system are respectively connected to the control system signal.

2. The underground deep horizontal salt rock cave morphology detection device according to claim 1 is characterized in that: The cabin body comprises an aluminum alloy cylindrical hollow tube and sealing covers fixed to the front and rear ends of the aluminum alloy cylindrical hollow tube. A frame is fixedly arranged inside the cabin body, and the battery pack and the control system are installed on the frame.

3. The underground deep horizontal salt rock cave morphology detection device according to claim 2 is characterized in that: The sealing cover is welded and fixed on the aluminum alloy cylindrical hollow cylinder. A circuit hole is reserved on the sealing cover. The circuit in the circuit hole is sealed with the sealing cover by a sealing ring.

4. The underground deep horizontal salt rock cave morphology detection device according to claim 2 is characterized in that: The aluminum alloy cylindrical hollow tube is provided with a waterproof and anti-corrosion coating on the outside, and the frame is made of polypropylene material.

5. The underground deep horizontal salt rock cave morphology detection device according to claim 2 is characterized in that: The aluminum alloy cylindrical hollow cylinder has an outer diameter of 120 mm, a length of 1.2 m, and a wall thickness of 12 mm.

6. The underground deep horizontal salt rock cave morphology detection device according to claim 1 is characterized in that: An infrared ranging sensor is respectively installed on both sides and the middle of the front end of the cabin.

7. The underground deep horizontal salt rock cave morphology detection device according to claim 1 is characterized in that: The control system includes a main control board and a power module, a power supply module, an obstacle avoidance module, a measurement module, a positioning module and a data storage module which are signal-connected to the main control board.

8. The underground deep horizontal salt rock cave morphology detection device according to claim 1 is characterized in that: The battery pack is a lithium battery pack.

9. The underground deep horizontal salt rock cave morphology detection device according to claim 1 is characterized in that: The maximum working pressure of the sonar detector is 40MPa and the maximum working temperature is 100°C.

10. A method for detecting the morphology of underground deep horizontal salt rock karst cavities, characterized in that: The underground deep horizontal salt rock karst cavity morphology detection device according to any one of claims 1 to 9 comprises the following steps: S1: Select the horizontal salt rock karst cavity to be detected based on the geological data of salt mining and cavity formation; S2: Repair the vertical shaft of the horizontal salt rock cavity and fill the horizontal salt rock cavity with water to ensure that the detector can be smoothly lowered, moved in the cavity and recovered; S3: lowering the detector from the shaft, and during the lowering process, turning on the ground monitoring system and the positioning system to monitor the lowering position in real time; S4: After the detector is lowered into the horizontal salt rock cavity, the propulsion system, the sonar detector and the obstacle avoidance system are turned on. When the detector moves in the horizontal salt rock cavity, the sonar detector is used to scan the morphology of the horizontal salt rock cavity, and the real-time detection data is transmitted to the ground central control console through the optical cable to perform three-dimensional reconstruction to obtain the cavity morphology; S5: After the detection is completed, the sonar detector is turned off, and the horizontal cavity morphology map obtained in step S4 and the data of the positioning system are used to plan the best return path, and a command is issued through the ground central control console to control the detector to return to the shaft; S6: distributing the power of the propulsion system through the ground central console, adjusting the posture of the detector so that the detector is parallel to the direction of the shaft, and taking the detector out of the shaft using the optical cable; S7: Process and analyze the information stored in the ground central console to obtain the shape, size and volume of the horizontal salt rock cavity, and the detection work is completed.

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