Downhole detection device, system and method
By designing a downhole detection device with multi-stage telescopic cylinder and rotary motor, the problem of goaf detection in complex underground environments is solved, and efficient and safe downhole detection operations are achieved.
Patent Information
- Application Number
- CN202510185933.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-19
- Publication Date
- 2025-05-06
AI Technical Summary
The prior art is difficult to accurately detect the shape and properties of goafs, especially in complex underground environments, traditional fixed three-dimensional laser scanners are difficult to operate, unsafe and inefficient.
A downhole detection device is designed, including a main body, a multi-stage telescopic cylinder, a mounting frame, a telescopic casing, a rotary motor and a three-dimensional laser scanner. Through the cooperation of the multi-stage telescopic cylinder and a rotary motor, flexible adjustment and efficient operation of the downhole detection device are achieved.
It realizes the high flexibility, stability and applicability of the underground detection device, can operate efficiently in complex underground environments, ensures operation safety and accuracy, and has a wide range of application prospects.
Smart Images
Figure CN119933656A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of green mining technology, and in particular to a downhole detection device, system and method. Background Art
[0002] With the increasing demand for the disposal of large quantities of coal-based solid waste, the spatial utilization of coal mine goafs and their overburden has received more and more attention. The technologies of backfill mining, grouting in old goafs, and grouting in adjacent tunnels, which are aimed at relieving the "three-down pressure of coal", have been rapidly developed and applied. Therefore, how to accurately detect the collapse of goafs and spatial conditions and conduct real-time monitoring has become a hot topic and difficulty for scholars.
[0003] Studying the morphology and properties of goafs means accurately understanding the engineering geological conditions of the site, such as the distribution of goafs, collapse of overburden, filling and compaction of goafs, etc. The identification of these conditions can provide accurate basic data for subsequent stability studies of old goafs and goaf management technologies. Summary of the invention
[0004] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.
[0005] To this end, an object of the present disclosure is to provide a downhole detection device.
[0006] The second objective of the present disclosure is to provide a downhole detection system.
[0007] The third objective of the present disclosure is to provide a downhole detection method.
[0008] A fourth objective of the present disclosure is to provide an electronic device.
[0009] A fifth object of the present disclosure is to provide a non-transitory computer-readable storage medium.
[0010] A sixth object of the present disclosure is to provide a computer program product.
[0011] To achieve the above-mentioned purpose, the first aspect of the present disclosure proposes a downhole detection system, including: a main body, a multi-stage telescopic cylinder, a primary mounting frame, a telescopic sleeve and a secondary mounting frame; wherein, a mounting block is installed on the main body, a counterweight box is installed at the rear end of the main body, the multi-stage telescopic cylinder is installed and embedded inside the main body, the primary mounting frame is installed at the telescopic end of the multi-stage telescopic cylinder, the primary mounting frame is connected to the telescopic sleeve, the telescopic sleeve and the multi-stage telescopic cylinder have the same number of stages and are embedded in the mounting block, a longitudinal motor is installed on the primary mounting frame, the secondary mounting frame is installed on the output end of the longitudinal motor, the transverse motor is installed below the secondary mounting frame, and the mounting column is installed at the output end of the transverse motor; moving crawlers are installed on both sides of the main body, an enabling motor is provided inside the main body, and the output end of the enabling motor provides driving force for the moving crawlers.
[0012] According to one embodiment of the present disclosure, a three-dimensional laser scanner is installed on the upper end of the mounting column, and an image acquisition camera is installed above the three-dimensional laser scanner.
[0013] According to one embodiment of the present disclosure, the image acquisition camera is a dust-proof lens.
[0014] To achieve the above-mentioned purpose, the second aspect embodiment of the present disclosure proposes a downhole detection system, comprising: a downhole detection device, an electromagnetic wave detection module and a processor module, wherein the downhole detection device is the device as described in the first aspect embodiment; wherein the downhole detection device enters the goaf area through a preset borehole of the target mined working face, and performs three-dimensional laser scanning and image acquisition on the goaf of the target mined working face to obtain laser scanning data and image acquisition data; the electromagnetic wave detection module is used to perform CT detection on two adjacent preset boreholes of the target mined working face to obtain CT detection data; the processor module is used to process the laser scanning data, the image acquisition data and the CT detection data to determine the goaf data of the target mined working face.
[0015] According to one embodiment of the present disclosure, the laser scanning data, the image acquisition data and the CT detection data are processed to determine the goaf data of the target mined working face, including: determining the goaf area collapse morphology data of the target mined working face based on the image acquisition data, and determining the roof collapse morphology data and accumulated rock block size composition data of the target mined working face based on the laser scanning data, and determining the inter-hole morphology data of the target mined working face based on the CT detection data.
[0016] According to one embodiment of the present disclosure, the method of determining the inter-hole morphological data of the target mined working face based on CT detection data includes: analyzing the CT detection data to determine the absorption coefficient corresponding to the CT detection data; comparing the absorption coefficient with an absorption coefficient threshold, and determining the inter-hole morphological data of the goaf area of the target mined working face based on the comparison result.
[0017] According to one embodiment of the present disclosure, the inter-pore morphological data of the goaf area of the target mined working face is determined based on the comparison result, including: in response to the absorption coefficient being less than the absorption coefficient threshold, determining that the inter-pore morphological data is a dense area morphology; or in response to the absorption coefficient being greater than or equal to the absorption coefficient threshold, determining that the inter-pore morphological data is a void area morphology.
[0018] According to one embodiment of the present disclosure, the three-dimensional laser scanning and image acquisition of the mined space of the target mined working face includes: obtaining an acquisition instruction sent by the processor module; the downhole detection device reaches a specified position based on the acquisition instruction, and adjusts the position and acquisition angle of the three-dimensional laser scanner and image acquisition camera of the downhole detection device through the cooperation of a multi-stage telescopic cylinder, a telescopic sleeve, a transverse motor and a longitudinal motor.
[0019] According to one embodiment of the present disclosure, the processor module is further used to: process the image acquisition data through a clustering algorithm.
[0020] To achieve the above-mentioned purpose, the third aspect embodiment of the present disclosure proposes a downhole detection method, which is characterized in that it includes: monitoring the target mined working face through a downhole detection system to obtain the mining data of the target mined working face, wherein the downhole detection system is the system as described in the second aspect embodiment; determining the mining condition of the target mined working face based on the mining data.
[0021] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present disclosure proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the downhole detection method as described in the third aspect embodiment of the present disclosure.
[0022] To achieve the above-mentioned purpose, the fifth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the downhole detection method as described in the third aspect embodiment of the present disclosure.
[0023] To achieve the above-mentioned purpose, the sixth aspect of the present disclosure proposes a computer program product, including a computer program, which, when executed by a processor, is used to implement the downhole detection method as described in the third aspect of the present disclosure.
[0024] Therefore, the downhole detection device of the embodiment of the present disclosure achieves a high degree of flexibility, stability and applicability. It can not only operate efficiently in the complex environment of the downhole, but also ensure the safety and accuracy of the operation, and has broad application prospects and market potential. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is a schematic diagram of a downhole detection device according to one embodiment of the present disclosure;
[0026] Figure 2 is a schematic diagram of a downhole detection system according to one embodiment of the present disclosure;
[0027] Figure 3 It is a schematic diagram of determining the inter-hole morphological data of a target mined working face based on CT detection data according to one embodiment of the present disclosure;
[0028] Figure 4 It is a schematic diagram of performing three-dimensional laser scanning and image acquisition on the mined area of a target mined working face according to an embodiment of the present disclosure;
[0029] Figure 5 is a plan view of a drilling arrangement according to one embodiment of the present disclosure;
[0030] Figure 6 is a schematic diagram of a downhole detection method according to an embodiment of the present disclosure;
[0031] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION
[0032] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.
[0033] The acquisition, storage, use, and processing of data in the technical solution disclosed in this disclosure are in compliance with the relevant provisions of relevant laws and regulations.
[0034] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.
[0035] In the current technology, my country has done a lot of work in identifying underground goafs using geophysical exploration technology. Some technologies, such as transient Rayleigh wave method, geological radar, elastic wave CT, ultrasonic imaging logging, etc., have reached international standards. At present, the research on the collapse and destruction law of overburden rock in goafs focuses on the development height and damage range of collapse zones and fracture zones. There are only a few experimental studies specifically on the porosity and compression characteristics of rocks in collapse zones and theoretical porosity analysis for the prediction of the height of the collapse zone. It is very necessary to master the collapse morphology of overburden rock in new and old goafs, reasonably determine the compaction of underground cavities and collapsed rock blocks in the goaf, and the development of delamination and cracks in the rock mass. The three-dimensional laser scanning of goaf detection correctly estimates the porosity and connectivity of the collapsed rock mass (block) in the goaf, which is very necessary for the reasonable determination of grouting technology. However, traditional fixed three-dimensional laser scanners are difficult to assemble, inconvenient to operate, have long operation time, low work efficiency, and poor safety.
[0036] In order to solve the above problems, the present disclosure proposes a downhole detection device.
[0037] Figure 1 is a schematic diagram of a downhole detection device according to an embodiment of the present disclosure, such as Figure 1 As shown, the downhole detection device includes: a main body, a multi-stage telescopic cylinder, a primary mounting frame, a telescopic sleeve and a secondary mounting frame.
[0038] Among them, a mounting block is installed on the main body, a counterweight box is installed at the rear end of the main body, a multi-stage telescopic cylinder is embedded in the main body, a first-level mounting frame is installed at the telescopic end of the multi-stage telescopic cylinder, a telescopic sleeve is connected to the first-level mounting frame, the telescopic sleeve and the multi-stage telescopic cylinder have the same number of stages and are embedded in the mounting block, a longitudinal motor is installed on the first-level mounting frame, a second-level mounting frame is installed on the output end of the longitudinal motor, a transverse motor is installed under the second-level mounting frame, and a mounting column is installed at the output end of the transverse motor.
[0039] Moving crawlers are installed on both sides of the main body, and an enabling motor is arranged inside the main body. The output end of the enabling motor provides driving force for the moving crawlers.
[0040] It should be noted that the multi-stage telescopic cylinder can be of various types, and no limitation is made herein. For example, the multi-stage telescopic cylinder can be a hydraulic cylinder or a pneumatic cylinder, which achieves a long stroke through a series of nested piston rods of different diameters. This type of cylinder can provide a large linear motion range for downhole detection devices in a compact space, and is therefore very useful in applications that require a long stroke but have limited installation space.
[0041] It should be noted that the primary mounting frame and the secondary mounting frame are provided with fixing components, which can be used to install fixed detection equipment, and the corresponding detection equipment can be determined according to actual detection needs.
[0042] The counterweight box is used to install a fixed counterweight assembly to balance the downhole detection device. The specific specifications of the counterweight assembly can be determined according to the downhole detection device after installation. In a possible implementation method, the counterweight assembly can be replaced by soil or sand.
[0043] In the disclosed embodiment, a 3D laser scanner is installed on the upper end of the mounting column, and an image acquisition camera is installed above the 3D laser scanner. In order to improve the quality of image acquisition, the image acquisition camera is a dustproof lens.
[0044] In one possible implementation method, when working, first drill a hole in the goaf, and the drilling direction should be a horizontal or inclined non-vertical hole. Add sand or soil counterweights in the counterweight box of the device to balance the front weight, then place the device in the drill hole, use the downhole detection device to drive the device to move to the edge of the goaf, and then the multi-stage telescopic cylinder drives the first-stage mounting frame to extend outward, and the telescopic guide tube plays a guiding and stabilizing role. The first-stage mounting frame extends outward to drive the three-dimensional laser scanner and the image acquisition camera to extend forward into the goaf. When extended into the goaf, the multi-stage telescopic cylinder stops moving, and the longitudinal motor drives the second-stage mounting frame to move outward. The frame moves, and the secondary mounting frame drives the 3D laser scanner downward, then the 3D laser scanner and the image acquisition camera work at the same time, the transverse motor rotates to drive the mounting column and then drives the 3D laser scanner to rotate horizontally, and then scans the information of this angle. After scanning this angle, the longitudinal motor drives the secondary mounting frame to rotate upward by an angle, and the transverse motor repeats the above process to rotate within a range of less than 360 degrees to scan the lateral area within the next angle range, and the above process is repeated to realize the collection of spatial position shape information and image information in the entire goaf, which is convenient for the subsequent calculation and judgment of the collapse situation in the goaf.
[0045] Therefore, the downhole detection device of the embodiment of the present disclosure achieves a high degree of flexibility, stability and applicability. It can not only operate efficiently in the complex environment of the downhole, but also ensure the safety and accuracy of the operation, and has broad application prospects and market potential.
[0046] Figure 2 is a schematic diagram of a downhole detection system according to an embodiment of the present disclosure. Figure 2 As shown, the system includes: a downhole detection device 210, an electromagnetic wave detection module 220 and a processor module 230.
[0047] Among them, the downhole detection device enters the goaf area through the preset drill hole of the target mined working face, and performs three-dimensional laser scanning and image acquisition on the goaf of the target mined working face to obtain laser scanning data and image acquisition data.
[0048] It should be noted that the downhole detection device in the embodiment of the present disclosure is Figure 1 The device shown in the embodiment. The specific detection steps can refer to the contents in the above embodiment.
[0049] The electromagnetic wave detection module is used to perform CT detection on two adjacent preset boreholes of the target mined working face to obtain CT detection data.
[0050] In the disclosed embodiment, computed tomography (CT) detection is a technology that uses X-rays to scan a human body or an object from multiple angles and generates cross-sectional images through computer processing. By performing CT detection on two adjacent preset boreholes of the target mined working surface, detailed internal structure information of the target mined working surface can be obtained without destroying the sample.
[0051] The processor module is used to process the laser scanning data, the image acquisition data and the CT detection data to determine the goaf data of the target mined working face.
[0052] In the embodiments of the present disclosure, the processor module may be a computer, a server, etc., or a cloud server with data processing capabilities, etc., without any limitation herein.
[0053] In one possible implementation, laser scanning data, image acquisition data and CT detection data are processed to determine the goaf data of the target mined working face. The goaf area collapse morphology data of the target mined working face can be determined based on the image acquisition data, the roof collapse morphology data and the accumulated rock block size composition data of the target mined working face can be determined based on the laser scanning data, and the inter-hole morphology data of the target mined working face can be determined based on the CT detection data.
[0054] In the above embodiment, the hole-to-hole morphological data of the target mined working face is determined based on the CT detection data, and the Figure 3 Further explanation, including:
[0055] S301, analyzing the CT detection data to determine the absorption coefficient corresponding to the CT detection data.
[0056] It should be noted that the absorption coefficient is an important parameter that describes the material's ability to absorb X-rays. It plays a central role in the CT imaging process because the formation of images depends on the different absorption characteristics of different tissues or materials to X-rays.
[0057] By processing the CT detection data to obtain the absorption coefficient, the absorption coefficient distribution of the internal structure of the material can be analyzed to find defects such as cracks and holes between two adjacent preset drilling holes.
[0058] S302, comparing the absorption coefficient with an absorption coefficient threshold, and determining the inter-hole morphological data of the goaf area of the target mined working face based on the comparison result.
[0059] In the disclosed embodiment, the absorption coefficient threshold is a critical value for judging that the area corresponding to the CT detection data is a void area. It should be noted that different mined working faces have different absorption coefficient thresholds, and the absorption coefficient threshold may be designed in advance, may be determined according to the actual working conditions of the target mined working face, or may be obtained through experiments.
[0060] In one possible implementation, in response to the absorption coefficient being less than an absorption coefficient threshold, the inter-pore morphology data is determined to be a dense region morphology, or in response to the absorption coefficient being greater than or equal to the absorption coefficient threshold, the inter-pore morphology data is determined to be a void region morphology.
[0061] In the above embodiment, three-dimensional laser scanning and image acquisition are performed on the mined space of the target mined working face, and the Figure 4 Further explanation, including:
[0062] S401, obtaining a collection instruction sent by a processor module.
[0063] It should be noted that the collection instructions can be input into the processor module by the operator, or can be automatically generated by the processor module based on the current working conditions of the target mined working face, and no limitation is made here.
[0064] S402, the downhole detection device reaches the specified position based on the acquisition instruction, and adjusts the position and acquisition angle of the three-dimensional laser scanner and image acquisition camera of the downhole detection device through the cooperation of the multi-stage telescopic cylinder, telescopic sleeve, horizontal motor and vertical motor.
[0065] In one possible implementation, the drilling detection technology can be used first. The state of the roof after the initial collapse is observed in the two lanes and between the frames of the working face through visual observation, three-dimensional laser scanning and other means; the goaf of the mined working face with typical mining time is selected, and a total of N observation points are set up. Through the adjacent working face lanes, drilling and three-dimensional laser borehole observation are carried out to the goaf with different mining times. The drilling reaches different positions such as the side of the lane and the middle of the working face, and the state of the falling and accumulation of gangue in the goaf of the comprehensive mining face at different periods after mining is finely explored to obtain key parameters such as the collapse morphology of the roof and the block composition of the accumulated rock blocks, and transmit them to the real-time monitoring system of the image of the monitoring unit above and below the well. Then, the downhole detection device is placed along the borehole, and the downhole detection device equipped with a high-precision, high-density three-dimensional laser scanning device is placed into the goaf through the borehole. In a possible implementation, the preset borehole can be as follows Figure 5 As shown, Figure 5 Lay out the plane for drilling holes.
[0066] In one possible implementation, the configuration parameters of the three-dimensional laser scanning device may be an angular resolution (0.65 / 0.93 seconds) and a high speed data acquisition rate of up to 2 million points / second.
[0067] The downhole detection device arrives at the monitoring point according to the program setting and turns on the light. It uses the visual rotating dust-proof high-precision camera on board. Multiple downhole detection devices transmit the collapse morphology of the goaf area to the monitoring system through excitation signals and feedback signals. Then the quality of the low-light image taken by the dust-proof lens scanning robot is processed to enhance the image contrast, so that the recognition of the voids in the goaf area is more prominent. The processed image is processed and transmitted to the processor module, and the void ratio is output. The collapse morphology is observed, and the roof collapse morphology data is transmitted to the processor module. At the same time, electromagnetic wave CT detection is performed in two adjacent boreholes. The detection range is the area between the two adjacent boreholes. One hole is equipped with an excitation device and the other hole is equipped with a receiving device. The electromagnetic wave absorption coefficient in the area is obtained by detection. According to the distribution of the electromagnetic wave absorption coefficient, when the absorption coefficient is higher than the absorption coefficient threshold γ, it can be considered that there is a crack space in the area, that is, the roof of the area is damaged. When the absorption coefficient is less than γ, it can be considered that the collapse area in the area is dense and there are fewer voids, and the collapse morphology of the goaf area is transmitted to the monitoring system.
[0068] Since the working environment underground is generally dark and dusty, the collected image data may have poor imaging effects, which will affect subsequent image processing and judgment. In order to solve this problem, in one possible implementation, the processor module is also used to: process the image acquisition data through a clustering algorithm.
[0069] It should be noted that the clustering algorithm may be a K-means algorithm. By processing with the clustering algorithm, the image contrast may be enhanced, making the recognition of voids in the goaf more prominent.
[0070] Figure 6 is a schematic diagram of a downhole detection method according to an embodiment of the present disclosure, such as Figure 6 As shown, the method includes:
[0071] S601, monitor the target mined working face through the downhole detection system to obtain the mined-out data of the target mined working face.
[0072] It should be noted that the downhole detection system in the embodiment of the present disclosure is Figure 2 The system shown in the embodiment.
[0073] S602, determining the goaf condition of the target mined working face based on the goaf data.
[0074] In the embodiment of the present disclosure, after the mined-out data is acquired, the mined-out data may be analyzed and processed.
[0075] In one possible implementation, a three-dimensional image of a target mined working face may be created based on the mined-out data.
[0076] In another possible implementation method, the risk of disaster occurring in the target mined working face and the location where the risk occurs can also be predicted based on the mined-out data.
[0077] In the embodiment of the present disclosure, the target mined working face is first monitored by the downhole detection system to obtain the mined-out data of the target mined working face, and then the mined-out working condition of the target mined working face is determined based on the mined-out data. Figure 2 The system shown in the embodiment monitors the target mined working face and can detect potential structural unstable areas in advance, so as to take measures to prevent ground collapse or underground structural instability. Real-time monitoring and data analysis can help issue safety warnings in time, reduce the probability of mining accidents and other accidents, and improve the safety of underground construction.
[0078] In order to implement the above embodiment, the present disclosure further provides an electronic device 700, Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present disclosure, such as Figure 7 As shown, the electronic device 700 includes: a processor 701 and a memory 702 that is communicatively connected to the processor, the memory 702 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 701 to implement the present disclosure. Figure 7 A downhole detection method according to an embodiment.
[0079] In order to implement the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the above embodiments. Figure 6 A downhole detection method according to an embodiment.
[0080] In order to implement the above embodiments, the present disclosure also provides a computer program product, including a computer program. When the computer program is executed by a processor, the computer program implements the above embodiments. Figure 7 A downhole detection method according to an embodiment.
[0081] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.
[0082] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.
[0083] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.
[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that contains, stores, communicates, propagates or transmits a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.
[0087] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0088] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.
[0089] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
[0090] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.
Claims
1. A downhole detection device, characterized in that: include: Main body, multi-stage telescopic cylinder, primary mounting frame, telescopic sleeve and secondary mounting frame; Wherein, a mounting block is installed on the main body, a counterweight box is installed at the rear end of the main body, the multi-stage telescopic cylinder is installed and embedded inside the main body, the telescopic end of the multi-stage telescopic cylinder is installed with the first-level mounting frame, the first-level mounting frame is connected with the telescopic sleeve, the telescopic sleeve has the same number of stages as the multi-stage telescopic cylinder and is embedded in the mounting block, the first-level mounting frame is installed with a longitudinal motor, the second-level mounting frame is installed on the output end of the longitudinal motor, the transverse motor is installed below the second-level mounting frame, and the mounting column is installed at the output end of the transverse motor; Moving crawlers are installed on both sides of the main body, and an enabling motor is arranged inside the main body. The output end of the enabling motor provides driving force for the moving crawlers.
2. The downhole detection device according to claim 1, characterized in that: A three-dimensional laser scanner is installed on the upper end of the installation column, and an image acquisition camera is installed above the three-dimensional laser scanner.
3. The downhole detection device according to claim 2, characterized in that: The image acquisition camera is a dust-proof lens.
4. A downhole detection system, characterized in that: include: A downhole detection device, an electromagnetic wave detection module and a processor module, wherein the downhole detection device is a device as claimed in any one of claims 1 to 3; The downhole detection device enters the mined-out area through a preset borehole of the target mined working face, and performs three-dimensional laser scanning and image acquisition on the mined-out area of the target mined working face to obtain laser scanning data and image acquisition data; The electromagnetic wave detection module is used to perform CT detection on two adjacent preset boreholes of the target mined working face to obtain CT detection data; The processor module is used to process the laser scanning data, the image acquisition data and the CT detection data to determine the mined-out data of the target mined working face.
5. The downhole detection system according to claim 4, characterized in that: The processing of the laser scanning data, the image acquisition data and the CT detection data to determine the goaf data of the target mined working face includes: The goaf collapse morphological data of the target mined working face are determined based on the image acquisition data, the roof collapse morphological data and the block size composition data of the target mined working face are determined based on the laser scanning data, and the inter-hole morphological data of the target mined working face are determined based on the CT detection data.
6. The downhole detection system according to claim 5, characterized in that: The determining of the inter-hole morphological data of the target mined working face based on the CT detection data includes: Analyzing the CT detection data to determine an absorption coefficient corresponding to the CT detection data; The absorption coefficient is compared with an absorption coefficient threshold, and the inter-hole morphological data of the goaf area of the target mined working face is determined based on the comparison result.
7. The downhole detection system according to claim 6, characterized in that: The determining of the inter-hole morphological data of the goaf area of the target mined working face based on the comparison result includes: In response to the absorption coefficient being less than the absorption coefficient threshold, determining that the inter-pore morphology data is a dense area morphology; or, In response to the absorption coefficient being greater than or equal to the absorption coefficient threshold, the inter-pore morphology data is determined to be a void area morphology.
8. The downhole detection system according to claim 4, characterized in that: The three-dimensional laser scanning and image acquisition of the mined space of the target mined working face includes: Obtaining a collection instruction sent by the processor module; The downhole detection device reaches the specified position based on the acquisition instruction, and adjusts the position and acquisition angle of the three-dimensional laser scanner and image acquisition camera of the downhole detection device through the cooperation of a multi-stage telescopic cylinder, a telescopic sleeve, a transverse motor and a longitudinal motor.
9. The downhole detection system according to claim 4, characterized in that: The processor module is further configured to: The image acquisition data is processed by a clustering algorithm.
10. A downhole detection method, characterized in that: include: Monitoring the target mined working face by a downhole detection system to obtain goaf data of the target mined working face, wherein the downhole detection system is a system as claimed in any one of claims 4 to 9; The mined-out condition of the target mined working face is determined based on the mined-out data.