Goaf drilling directional peeping device and goaf detection method

Abstract

The invention provides a goaf drilling directional peeping device and a goaf detection method. The goaf drilling directional peeping device comprises a shell, one end, in the first direction, of the shell is provided with a first end face, and a poisonous and harmful gas detection sensor and a temperature sensor are installed on the shell; the space video azimuth calibration device comprises a first camera, a first camera azimuth sensor, a first illuminating lamp and a first positioning assembly; the lateral detection device comprises a second illuminating lamp, a laser distance measuring sensor and a second camera; and the data transmission device comprises a transmission line, one part of the transmission line is located in the shell, and the transmission line is connected with the toxic and harmful gas detection sensor, the temperature sensor, the space video orientation calibration device and the lateral detection device. Therefore, according to the goaf drilling directional peeping device, the goaf detection efficiency and the detection precision can be improved.

Description

Technical Field

[0001] The invention relates to the field of geological disaster exploration in open-pit coal mines, and in particular to a goaf drilling directional peep device and a goaf detection method. Background Art

[0002] In the exploration of hidden goafs in open-pit coal mines, geophysical exploration and engineering exploration are mainly used. Among them, engineering drilling is the main exploration method, which can rely on dense drilling to delineate the approximate location of the goaf, but it often encounters complex geological conditions and poor quality of drilled cores. At this time, borehole television recording becomes a key technical means to obtain borehole geological information. With the advancement of technology, although ordinary borehole television can obtain basic information such as the height of the top and bottom plates of the goaf, smoke and water in the goaf through the camera, it has solved some of the detection problems of hidden goafs in open-pit coal mines to a certain extent, but the key information obtained is relatively limited, and the specific composition of toxic and harmful gases in the smoke-containing goaf cannot be obtained. When the borehole is close to the cavity wall of the goaf, the actual development direction and development depth of the goaf of the small coal mine cannot be identified, and the detection error is large, which may cause the staff to re-delineate the drilling position based on limited and erroneous geological information and personal experience, and carry out detection work again, affecting the production progress and engineering safety of the coal mine, and the overall detection efficiency is low. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the embodiments of the present invention provide a goaf drilling directional peek device and a goaf detection method.

[0004] The goaf drilling directional peek device of the embodiment of the present invention comprises:

[0005] A shell, wherein the length direction of the shell is a first direction, the shell has a first end surface at one end of the first direction, and a toxic and harmful gas detection sensor and a temperature sensor are installed on the shell;

[0006] A spatial visual image orientation calibration device, the spatial visual image orientation calibration device comprising a first camera, a first camera orientation sensor, a first lighting lamp and a first positioning component, the first camera, the first camera orientation sensor and the first lighting lamp are arranged on the first end surface, the first camera and the first lighting lamp are oriented away from the housing in the first direction, and the first positioning component is arranged in the housing;

[0007] A lateral detection device, the lateral detection device comprising a second illuminator, a laser ranging sensor and a second camera, the second illuminator, the laser ranging sensor and the second camera being arranged on a peripheral side of the shell, and the second illuminator and the second camera being oriented away from the shell in a radial direction of the shell;

[0008] A data transmission device, the data transmission device includes a transmission line, a part of which is located in the shell, and the transmission line is connected to the toxic and harmful gas detection sensor, the temperature sensor, the spatial visual orientation calibration device and the lateral detection device.

[0009] Therefore, the goaf drilling directional peek device according to the embodiment of the present invention can improve the goaf detection efficiency and detection accuracy.

[0010] In some embodiments, a plurality of the first lighting lamps and a plurality of the first camera position sensors are disposed on the first end surface.

[0011] In some embodiments, the first camera is located at the center of the first end surface, and two first lighting lamps and two first camera orientation sensors are provided on the first end surface, the two first lighting lamps are located on both sides of the first camera in the second direction, and the two first camera orientation sensors are located on both sides of the first camera in the third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other.

[0012] In some embodiments, the shell is a cylindrical structure extending along the first direction, and the shell includes a first cylinder and a second cylinder that are detachably connected in the first direction, the first end face is arranged on the side of the first cylinder facing away from the second cylinder, and the first positioning assembly is located in the second cylinder.

[0013] In some embodiments, the outer peripheral contour of the first end surface is circular, and the outer diameter of at least a portion of the outer peripheral surface of the first cylinder increases in the first direction away from the first end surface;

[0014] The first positioning component is an electronic compass component.

[0015] In some embodiments, the shell includes a third cylinder and a fourth cylinder, and the two ends of the third cylinder in the first direction are respectively connected to the second cylinder and the fourth cylinder, the outer diameter of the third cylinder is smaller than the outer diameters of the second cylinder and the fourth cylinder, the second lighting lamp, the laser ranging sensor and the second camera are arranged on the outer peripheral surface of the third cylinder, and the toxic and harmful gas detection sensor and the temperature sensor are arranged on the fourth cylinder.

[0016] In some embodiments, the shell includes a transparent glass cover, which is an annular structure extending along the first direction, and the transparent glass cover is sleeved on the outside of the third cylinder. The transparent glass cover is connected to the second cylinder and the fourth cylinder at both ends of the first direction, and the outer diameters of the transparent glass cover, the second cylinder and the fourth cylinder are equal, and the second lighting lamp, the laser ranging sensor and the second camera are located inside the transparent glass cover.

[0017] In some embodiments, a plurality of the laser ranging sensors and a plurality of the second cameras are disposed on the outer circumference of the third cylinder, and the plurality of the laser ranging sensors and the plurality of the second cameras are alternately disposed on the outer circumference of the third cylinder in sequence, and the number of the laser ranging sensors and the number of the second cameras are both greater than or equal to three;

[0018] A plurality of circles of the second lighting lamps are arranged on the outer circumferential surface of the third cylinder at intervals in the first direction, each circle of the second lighting lamps includes a plurality of the second lighting lamps arranged in the circumferential direction, and a plurality of the second cameras are located between two circles of the second lighting lamps in the first direction.

[0019] In some embodiments, the fourth cylinder has a second end surface at one end facing away from the third cylinder in the first direction, and the toxic and harmful gas detection sensor and the temperature sensor are arranged on the second end surface;

[0020] The data transmission device includes a detachable end head, which is detachably connected to the second end face. A sleeve is provided on the side of the detachable end head facing away from the fourth cylinder. The transmission line passes through the sleeve, the detachable end head and the second end face in sequence and extends into the shell.

[0021] The present invention also proposes a method for detecting a goaf area using the goaf drilling directional peek device, comprising the following steps:

[0022] Before the goaf borehole directional peep device enters the borehole, the spatial visual image orientation calibration device and the lateral detection device are turned on and calibrated so that the orientations of the first camera, the second camera, the laser ranging sensor and the first positioning component coincide with each other;

[0023] Turn on the lateral detection device, put the goaf borehole directional peep device into the borehole and lower it, during the descent of the goaf borehole directional peep device, use the first camera and the second camera to record the video, use the temperature sensor to detect the temperature, and the video data and temperature detection data of the first camera, the second camera and the temperature sensor can be transmitted to the electronic display device through the transmission line of the data transmission device;

[0024] After the goaf drilling directional peep device descends into the cavity of the goaf, the temperature sensor detects the temperature of the goaf. When the temperature sensor detects that the temperature of the goaf is greater than or equal to 70°C, it is determined that the goaf does not meet the detection condition, and the goaf drilling directional peep device is pulled up and leaves the goaf;

[0025] The temperature sensor detects that the temperature of the goaf is less than 70°C, and uses the toxic and harmful gas detection sensor to detect at least one of carbon dioxide, carbon monoxide, sulfur dioxide, hydrogen, oxygen, hydrogen sulfide and methane in the goaf, and transmits the gas content data obtained by the detection through the transmission line;

[0026] Determine the extension direction of the goaf by using the horizontal distance from the drilling position to the wall of the goaf measured by the laser ranging sensor, the video inside the goaf detected by the first camera and the second camera, and the real-time azimuth detected by the first positioning group;

[0027] The data detected by the first positioning assembly are used to determine the height of the bottom plate, the height of the top plate and the depth of the drilling hole in the goaf. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of a goaf drilling directional peek device according to an embodiment of the present invention.

[0029] Figure 2 is a schematic diagram of a spatial visual image orientation calibration device according to an embodiment of the present invention.

[0030] Figure 3 is a schematic diagram of a lateral detection device according to an embodiment of the present invention.

[0031] Figure 4 is a schematic diagram of a data transmission device according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] 1. Shell, 11. First end surface, 12. Second end surface, 13. First cylinder, 14. Second cylinder, 15. Third cylinder, 16. Fourth cylinder, 17. Transparent glass cover;

[0034] 2. a spatial visual orientation calibration device, 21. a first camera, 22. a first camera orientation sensor, 23. a first lighting lamp, 24. a first positioning component, 25. a compass analog signal processor, 26. a three-axis magnetic field sensor, 27. a two-axis tilt sensor, 28. a circuit board;

[0035] 3. lateral detection device, 31. second lighting lamp, 32. laser ranging sensor, 33. second camera;

[0036] 41. Toxic and harmful gas detection sensor, 42. Temperature sensor;

[0037] 5. Data transmission device, 51. Removable terminal, 52. Sleeve, 53. Transmission line. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0039] The following describes the goaf drilling directional viewing device according to an embodiment of the present invention with reference to the accompanying drawings. Figures 1 to 4 As shown, the goaf drilling directional peeping device according to an embodiment of the present invention includes a shell 1, a spatial visual orientation calibration device 2, a lateral detection device 3 and a data transmission device 5.

[0040] The length direction of the housing 1 is the first direction, and the housing 1 has a first end face 11 at one end in the first direction. Specifically, the housing 1 is a cylindrical structure extending along the first direction, and the outer peripheral contour of the cross section of the housing 1 is circular. The housing 1 includes a first barrel 13 and a second barrel 14 that are detachably connected in the first direction, and the first end face 11 is arranged on a side of the first barrel 13 that is away from the second barrel 14. For example, the first barrel 13 and the second barrel 14 are threadedly connected, or the first barrel 13 and the second barrel 14 are connected by a buckle.

[0041] The housing 1 includes a third barrel 15 and a fourth barrel 16. The two ends of the third barrel 15 in the first direction are connected to the second barrel 14 and the fourth barrel 16 respectively. The outer diameter of the third barrel 15 is smaller than the outer diameters of the second barrel 14 and the fourth barrel 16. That is, the first barrel 13, the second barrel 14, the second barrel 14 and the fourth barrel 16 are connected in sequence, and the third barrel 15 and the second barrel 14 and the fourth barrel 16 define an annular groove on the outer peripheral surface of the housing 1. For example, the housing 1 (the first barrel 13, the second barrel 14, the second barrel 14 and the fourth barrel 16) is made of aluminum alloy paramagnetic metal.

[0042] A toxic and harmful gas detection sensor 41 and a temperature sensor 42 are installed on the housing 1. The toxic and harmful gas detection sensor 41 and the temperature sensor 42 are arranged on the fourth cylinder 16. Specifically, the toxic and harmful gas detection sensor 41 is used to detect whether there is harmful gas in the environment and measure its concentration, and the temperature sensor 42 is used to measure the temperature. The fourth cylinder 16 has a second end face 12 at one end facing away from the third cylinder 15 in the first direction, and the toxic and harmful gas detection sensor 41 and the temperature sensor 42 are arranged on the second end face 12. The first end face 11 and the second end face 12 are located at both ends of the housing 1 in the first direction.

[0043] like Figure 1 and Figure 2 As shown, the spatial visual image orientation calibration device 2 includes a first camera 21 , a first camera orientation sensor 22 , a first lighting lamp 23 and a first positioning component 24 .

[0044] The first camera 21, the first camera orientation sensor 22 and the first illumination lamp 23 are arranged on the first end surface 11, and the orientation of the first camera 21 and the orientation of the first illumination lamp 23 are opposite to the housing 1 in the first direction. Specifically, the orientation of the first camera 21 and the orientation of the first illumination lamp 23 are opposite to the first barrel 1 in the first direction. The outer peripheral contour of the first end surface 11 is circular, and the outer diameter of at least part of the outer peripheral surface of the first barrel 13 increases in the first direction away from the first end surface 11, that is, at least part of the outer peripheral surface of the first barrel 13 is a conical surface, so as to facilitate the housing 1 to descend in the drilled hole.

[0045] In some embodiments, a plurality of first lighting lamps 23 and a plurality of first camera orientation sensors 22 are provided on the first end surface 11. Specifically, the first camera 21 is located at the center of the first end surface 11, and two first lighting lamps 23 and two first camera orientation sensors 22 are provided on the first end surface 11. The two first lighting lamps 23 are located on both sides of the first camera 21 in the second direction, so as to facilitate improving the brightness of the first camera 21. The two first camera orientation sensors 22 are located on both sides of the first camera 21 in the third direction, and the first camera orientation sensors 22 are used to determine the direction and posture of the first camera 21. Any two of the first direction, the second direction and the third direction are perpendicular to each other.

[0046] like Figure 2 and Figure 3As shown, the first positioning component 24 is arranged in the housing 1. Specifically, the first positioning component 24 is located in the second cylinder 14. The first positioning component 24 is an electronic compass component, and the electronic compass is a device for determining the direction of the detection device relative to the magnetic north. The first positioning component 24 includes a compass analog signal processor 25, a three-axis magnetic field sensor 26, a two-axis tilt sensor 17 and a circuit board 28 located in the second cylinder 14. The compass analog signal processor 25, the three-axis magnetic field sensor 26 and the two-axis tilt sensor 17 are arranged on the circuit board 28, and the magnetic field strength information and direction information measured by the three-axis magnetic field sensor 26 and the tilt angle information measured by the two-axis tilt sensor 17 can be transmitted to the compass analog signal processor 25 through the circuit board 28, and the magnetic north direction is calibrated by the compass analog signal processor 25. The measurement information of the first camera orientation sensor 22, the laser ranging sensor 32, the second camera 33 and the magnetic north orientation of the compass analog signal processor 25 are coordinated on the circuit board 28, so that the spatial video orientation calibration device 2 and the lateral detection device 3 can determine the specific recording orientation.

[0047] Among them, with regard to the application of the electronic compass in the present invention, on the one hand, the detection device (directional peep device for drilling holes in goaf areas) is suitable for extension and retraction in the vertical direction to achieve the horizontality of the electronic compass. On the other hand, when water accumulates in the goaf areas, the detection device is designed to be completely immersed in the water. There are errors in the horizontal geomagnetic field vector values ​​represented by the X and Y directions. The size of the error is affected by the position and tilt angle of the detection device. Therefore, a dual-axis inclination sensor 27 is used to compensate for the magnetic field value of the electronic compass.

[0048] When the detection device is in absolute horizontal position, the positive direction of the X-axis is set to 0 degrees, and the azimuth value ω (horizontal plane vector value) of the geomagnetic field in the horizontal plane is determined by the following formula:

[0049]

[0050] θ y The vector value of the earth's magnetic field in the Y direction measured by the three-axis magnetic field sensor 26;

[0051] θ x The three-axis magnetic field sensor 26 measures the vector value of the earth's magnetic field in the X direction;

[0052] When the detection device is in a tilted state, the geomagnetic field measures the positive tilt angle through the dual-axis tilt sensor 27. And the lateral inclination angle μ are used to correct the two vector values ​​of the geomagnetic field in the X and Y directions:

[0053]

[0054] is the vector value of the Earth's magnetic field in the Y direction in the tilted state;

[0055] is the vector value of the geomagnetic field in the X direction in the tilted state;

[0056] θ z The vector value of the earth's magnetic field in the Z direction measured by the three-axis magnetic field sensor 26;

[0057] μ is the positive tilt angle of the detection device field in the north-south direction measured by the dual-axis tilt sensor 27;

[0058] The dual-axis tilt sensor 27 measures the lateral tilt angle of the detection device field in the east-west direction.

[0059] Direction value Finally, the following formula is used to determine:

[0060]

[0061] is the final azimuth of the detection device after correction.

[0062] like Figure 1 and Figure 3 As shown, the lateral detection device 3 includes a second illuminator 31, a laser distance sensor 32 and a second camera 33. The second illuminator 31, the laser distance sensor 32 and the second camera 33 are arranged on the peripheral side of the shell 1, and the direction of the second illuminator 31 and the direction of the second camera 33 are facing away from the shell 1 in the radial direction of the shell 1. The laser distance sensor 32 is used to detect the distance between the shell 1 and the drilling position to the wall of the goaf. Specifically, the second illuminator 31, the laser distance sensor 32 and the second camera 33 are arranged on the outer peripheral surface of the third cylinder 15, that is, the second illuminator 31, the laser distance sensor 32 and the second camera 33 are arranged in the groove formed by the third cylinder 15, and the laser distance sensor 32 is used to measure the distance from the drilling position to the wall of the goaf. The lateral detection device 3 realizes the comparison of rock mass coordinate information through the lateral second camera 33 and the laser distance sensor 32, and realizes the structural identification and position recording of the rock layer in the borehole.

[0063] In some embodiments, the housing 1 includes a transparent glass cover 17, which is an annular structure extending along the first direction, and is sleeved on the outside of the third cylinder 15. The transparent glass cover 17 is connected to the second cylinder 14 and the fourth cylinder 16 at both ends in the first direction. The outer diameters of the transparent glass cover 17, the second cylinder 14, and the fourth cylinder 16 are equal, and the second lighting lamp 31, the laser ranging sensor 32, and the second camera 33 are located in the transparent glass cover 17, so that the transparent glass cover 17 can protect the second lighting lamp 31, the laser ranging sensor 32, and the second camera 33.

[0064] In some embodiments, a plurality of laser ranging sensors 32 and a plurality of second cameras 33 are disposed on the outer circumference of the third barrel 15, and the plurality of laser ranging sensors 32 and the plurality of second cameras 33 are alternately disposed on the outer circumference of the third barrel 15 in sequence, and the number of the laser ranging sensors 32 and the number of the second cameras 33 are both greater than or equal to three. For example, the number of the laser ranging sensors 32 and the number of the second cameras 33 are both three, and the three laser ranging sensors 32 and the three second cameras 33 are evenly alternately disposed on the outer circumference of the third barrel 15 in sequence.

[0065] A plurality of circles of second lighting lamps 31 are arranged on the outer circumferential surface of the third cylinder 15 at intervals in the first direction. Each circle of second lighting lamps 31 includes a plurality of second lighting lamps 31 arranged in the circumferential direction. The plurality of second cameras 33 are located between two circles of second lighting lamps 31 in the first direction.

[0066] like Figure 4 As shown, the data transmission device 5 includes a transmission line 53, a part of which is located in the housing 1, and the transmission line 53 is connected to the toxic and harmful gas detection sensor 41, the temperature sensor 42, the spatial visual orientation calibration device 2 and the lateral detection device 3. Thus, the output line 53 can be used to output the measurement data of the toxic and harmful gas detection sensor 41, the temperature sensor 42, the spatial visual orientation calibration device 2 and the lateral detection device 3. That is, the output line 53 can facilitate the centralized transmission of data, and multi-source data can be transmitted together, so as to realize the transmission of data such as the borehole depth, the extended orientation of the goaf, the toxic and harmful gas composition, and the horizontal distance between the borehole and the cavity wall of the goaf involved in the goaf detection.

[0067] In some embodiments, the data transmission device 5 includes a detachable end head 51, which is detachably connected to the second end face 12, and a sleeve 52 is provided on the side of the detachable end head 51 facing away from the fourth cylinder 16, and the transmission line 53 passes through the sleeve 52, the detachable end head 51 and the second end face 12 in sequence and extends into the housing 1. For example, the detachable end head 51 includes two nuts, one nut is threadedly connected to the boss on the second end face 12, and the other nut is connected to the sleeve 52, and the sleeve 52 can protect the transmission line 53.

[0068] According to the embodiment of the present invention, the directional peeping device for drilling in the goaf area is equipped with a first camera orientation sensor 22, a laser ranging sensor 32, a second camera 33 and a first positioning component 24 (electronic compass), so that the first camera 21, the laser ranging sensor 32 and the second camera 33 can be calibrated in three-dimensional space through the first positioning component 24 (electronic compass). The electronic compass is used to compare the orientation of the drilling video to improve the detection quality, thereby realizing the extended spatial orientation determination of the goaf area.

[0069] The lateral laser ranging sensor 32 (laser sensor) and the lateral second camera 33 of the lateral detection device 3 record the spatial distance and image between the rock mass structures inside the borehole, and identify the horizontal distance between the borehole and the cavity wall in the goaf. The housing 1 is equipped with a toxic and harmful gas detection sensor 41 and a temperature sensor 42, so as to avoid the two tasks of lowering the toxic and harmful gas detection sensor 41 and the temperature sensor 42 from the borehole separately. By lowering the borehole TV integrated into the third step, repeated drilling, temperature measurement and gas detection work can be avoided, shortening the working time, reducing the time of exposure to the surface of the goaf, reducing the danger, greatly simplifying the operation process of the work, realizing multiple uses of one hole, obtaining multiple data in one operation, and improving work efficiency.

[0070] Therefore, the goaf drilling directional peek device according to the embodiment of the present invention can improve the goaf detection efficiency and detection accuracy.

[0071] The present invention also proposes a method for detecting a goaf using the goaf drilling directional peek device according to an embodiment of the present invention. The method for detecting a goaf according to an embodiment of the present invention comprises the following steps:

[0072] Before the directional peep device for drilling in the goaf enters the borehole, the spatial vision orientation calibration device 2 and the lateral detection device 3 are turned on, and the spatial vision orientation calibration device 2 and the lateral detection device 3 are calibrated so that the orientations of the first camera 21, the second camera 33, the laser ranging sensor 32 and the first positioning component 24 coincide.

[0073] Specifically, in the geological survey task of the goaf of an open-pit coal mine, the goaf drilling directional peeping device according to an embodiment of the present invention is placed at the borehole mouth, the spatial video orientation calibration device 2 and the lateral detection device 3 are adjusted, the first camera 21, the first camera orientation sensor 22, the laser ranging sensor 32 and the second camera 33 are turned on, and the heading angle of the first camera orientation sensor 22 is aligned with the due north direction of the horizontal plane so that it is proofread with the orientation of the picture taken by the first camera 21 and the second camera 33. The calibrated azimuth is transmitted to the circuit board 28, and then the electronic compass component is compared and calibrated with the signal of the first camera orientation sensor 22 received by the circuit board 28, so as to achieve the coincidence of the orientation of the first camera 21, the laser ranging sensor 32, the second camera 33 and the first positioning component 24 (electronic compass component) of the drilling TV.

[0074] The lateral detection device 3 is turned on, and the goaf borehole directional peep device is placed in the borehole and lowered. During the lowering process of the goaf borehole directional peep device, the first camera 21 and the second camera 33 are used to record the video, and the video data of the first camera 21 and the second camera 33 can be transmitted to the electronic display device through the transmission line 53 of the data transmission device 5. The first positioning component 24 (three-axis magnetic field sensor 26) records the elevation data from the borehole mouth to the goaf, so as to achieve the correspondence between the rock formation video data and the altered data, and the video data is transmitted to the electronic display device through the transmission line 53.

[0075] After the goaf drilling directional peep device descends into the goaf, the temperature sensor 42 detects the temperature of the goaf. If the temperature sensor 42 detects that the temperature of the goaf is greater than or equal to 70°C, it is determined that the goaf does not meet the detection conditions, and the goaf drilling directional peep device is pulled up and leaves the goaf. Specifically, if the temperature sensor 42 detects that the temperature of the goaf is greater than or equal to 70°C, the temperature sensor 42 issues an alarm to determine that the goaf does not meet the detection conditions, and the goaf drilling directional peep device is urgently withdrawn. If the temperature sensor 42 detects that the temperature of the goaf is less than 70°C and greater than -40°C, the detection work continues.

[0076] The temperature sensor 42 detects that the temperature of the goaf is less than 70°C, and uses the toxic and harmful gas detection sensor 41 to detect at least one of carbon dioxide, carbon monoxide, sulfur dioxide, hydrogen, oxygen, hydrogen sulfide and methane in the goaf, and transmits the detected gas content data through the transmission line 53.

[0077] The horizontal distance from the drilling position to the wall of the goaf measured by the laser ranging sensor 32, the image inside the goaf detected by the first camera 21 and the second camera 33, and the real-time azimuth detected by the first positioning component 24 are used to determine the extension direction of the goaf, thereby facilitating the next step of precise drilling coordinates.

[0078] The data detected by the first positioning component 24 is used to determine the height of the floor and roof of the goaf and the depth of the borehole. Specifically, the first positioning component 24 can be used to determine the depth of the borehole during the process of the borehole descending into the goaf. After entering the goaf, the first positioning component 24 can be used to determine the height of the floor and roof of the goaf.

[0079] Therefore, the goaf detection method according to the embodiment of the present invention has the advantages of improving detection accuracy and improving detection efficiency.

[0080] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0081] 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 the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0082] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0084] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics 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.

[0085] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A directional peek device for drilling holes in goaf, characterized in that: include: A shell, wherein the length direction of the shell is a first direction, the shell has a first end surface at one end of the first direction, and a toxic and harmful gas detection sensor and a temperature sensor are installed on the shell; A spatial visual image orientation calibration device, the spatial visual image orientation calibration device comprising a first camera, a first camera orientation sensor, a first lighting lamp and a first positioning component, the first camera, the first camera orientation sensor and the first lighting lamp are arranged on the first end surface, the first camera and the first lighting lamp are oriented away from the housing in the first direction, and the first positioning component is arranged in the housing; A lateral detection device, the lateral detection device comprising a second illuminator, a laser ranging sensor and a second camera, the second illuminator, the laser ranging sensor and the second camera being arranged on a peripheral side of the shell, and the second illuminator and the second camera being oriented away from the shell in a radial direction of the shell; A data transmission device, the data transmission device includes a transmission line, a part of which is located in the shell, and the transmission line is connected to the toxic and harmful gas detection sensor, the temperature sensor, the spatial visual orientation calibration device and the lateral detection device.

2. The goaf drilling directional peek device according to claim 1, characterized in that: The first end surface is provided with a plurality of the first lighting lamps and a plurality of the first camera position sensors.

3. The goaf drilling directional peek device according to claim 2, characterized in that: The first camera is located at the center of the first end surface, and two first lighting lamps and two first camera orientation sensors are provided on the first end surface. The two first lighting lamps are located on both sides of the first camera in the second direction, and the two first camera orientation sensors are located on both sides of the first camera in the third direction. Any two of the first direction, the second direction and the third direction are perpendicular to each other.

4. The goaf drilling directional peek device according to claim 2, characterized in that: The shell is a cylindrical structure extending along the first direction, and includes a first cylinder and a second cylinder detachably connected in the first direction. The first end surface is arranged on the side of the first cylinder facing away from the second cylinder, and the first positioning assembly is located in the second cylinder.

5. The goaf drilling directional peek device according to claim 4, characterized in that: The outer peripheral contour of the first end surface is circular, and the outer diameter of at least a portion of the outer peripheral surface of the first cylinder increases in the first direction away from the first end surface; The first positioning component is an electronic compass component.

6. The goaf drilling directional peek device according to claim 4, characterized in that: The shell includes a third cylinder and a fourth cylinder, and the two ends of the third cylinder in the first direction are respectively connected to the second cylinder and the fourth cylinder, and the outer diameter of the third cylinder is smaller than the outer diameters of the second cylinder and the fourth cylinder. The second lighting lamp, the laser ranging sensor and the second camera are arranged on the outer peripheral surface of the third cylinder, and the toxic and harmful gas detection sensor and the temperature sensor are arranged on the fourth cylinder.

7. The goaf drilling directional peek device according to claim 6, characterized in that: The shell includes a transparent glass cover, which is an annular structure extending along the first direction. The transparent glass cover is sleeved on the outside of the third cylinder. The two ends of the transparent glass cover in the first direction are connected to the second cylinder and the fourth cylinder. The outer diameters of the transparent glass cover, the second cylinder and the fourth cylinder are equal. The second lighting lamp, the laser ranging sensor and the second camera are located in the transparent glass cover.

8. The goaf drilling directional peek device according to claim 6, characterized in that: A plurality of the laser ranging sensors and a plurality of the second cameras are arranged on the outer circumference of the third cylinder, and the plurality of the laser ranging sensors and the plurality of the second cameras are arranged alternately in sequence on the outer circumference of the third cylinder, and the number of the laser ranging sensors and the number of the second cameras are both greater than or equal to three; A plurality of circles of the second lighting lamps are arranged on the outer circumferential surface of the third cylinder at intervals in the first direction, each circle of the second lighting lamps includes a plurality of the second lighting lamps arranged in the circumferential direction, and a plurality of the second cameras are located between two circles of the second lighting lamps in the first direction.

9. The goaf drilling directional peek device according to claim 6, characterized in that: The fourth cylinder has a second end surface at one end facing away from the third cylinder in the first direction, and the toxic and harmful gas detection sensor and the temperature sensor are arranged on the second end surface; The data transmission device includes a detachable end head, which is detachably connected to the second end face. A sleeve is provided on the side of the detachable end head facing away from the fourth cylinder. The transmission line passes through the sleeve, the detachable end head and the second end face in sequence and extends into the shell.

10. A method for detecting goaf using the goaf drilling directional peek device according to any one of claims 1 to 9, characterized in that: The following steps are included Before the goaf borehole directional peep device enters the borehole, the spatial visual image orientation calibration device and the lateral detection device are turned on and calibrated so that the orientations of the first camera, the second camera, the laser ranging sensor and the first positioning component coincide with each other; Turn on the lateral detection device, put the goaf borehole directional peep device into the borehole and lower it, during the descent of the goaf borehole directional peep device, use the first camera and the second camera to record the video, use the temperature sensor to detect the temperature, and the video data and temperature detection data of the first camera, the second camera and the temperature sensor can be transmitted to the electronic display device through the transmission line of the data transmission device; After the goaf drilling directional peep device descends into the cavity of the goaf, the temperature sensor detects the temperature of the goaf. When the temperature sensor detects that the temperature of the goaf is greater than or equal to 70°C, it is determined that the goaf does not meet the detection condition, and the goaf drilling directional peep device is pulled up and leaves the goaf; The temperature sensor detects that the temperature of the goaf is less than 70°C, and uses the toxic and harmful gas detection sensor to detect at least one of carbon dioxide, carbon monoxide, sulfur dioxide, hydrogen, oxygen, hydrogen sulfide and methane in the goaf, and transmits the gas content data obtained by the detection through the transmission line; Determine the extension direction of the goaf by using the horizontal distance from the drilling position to the wall of the goaf measured by the laser ranging sensor, the video inside the goaf detected by the first camera and the second camera, and the real-time azimuth detected by the first positioning group; The data detected by the first positioning component are used to determine the height of the bottom plate, the height of the top plate and the depth of the drilling hole in the goaf.

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