Goaf drilling directional peeping device and goaf detection method

Abstract

The application provides a goaf drilling directional peeping device and a goaf detection method. The goaf drilling directional peeping device comprises a shell, the shell has a first end face at one end in a first direction, and a toxic and harmful gas detection sensor and a temperature sensor are installed on the shell; a space visual image azimuth calibration device, the space visual image azimuth calibration device comprises a first camera, a first camera azimuth sensor, a first illuminating lamp and a first positioning assembly; a lateral detection device, the lateral detection device comprises a second illuminating lamp, a laser ranging sensor and a second camera; and a data transmission device, the data transmission device comprises a transmission line, a 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 visual image azimuth calibration device and the lateral detection device. Therefore, the goaf drilling directional peeping device can improve the goaf detection efficiency and improve the detection precision.

Description

Technical Field

[0001] This invention relates to the field of geological hazard investigation in open-pit coal mines, specifically to a directional observation device for boreholes in goaf areas and a goaf detection method. Background Technology

[0002] In the exploration of concealed goaf areas in open-pit coal mines, geophysical exploration and engineering exploration methods are mainly employed. Among these, engineering drilling is the primary exploration method, which can roughly delineate the location of the goaf by relying on dense boreholes. However, it often encounters complex geological conditions and poor core sample quality. In such cases, 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 roof and floor of the goaf, smoke and water content within the goaf, and solve some of the detection problems of concealed goaf areas in open-pit coal mines to a certain extent, the key information obtained is relatively limited. It cannot obtain the specific composition of toxic and harmful gases in smoke-bearing goaf areas. When the borehole is close to the cavity wall of the goaf, it is impossible to identify the actual development direction and depth of the goaf in small coal mines. The detection error is relatively large, which may require workers to re-delineate the drilling location based on limited and inaccurate geological information and personal experience, and carry out detection work again, affecting the coal mine production progress and engineering safety, resulting in low overall detection efficiency. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose a directional inspection device for boreholes in goaf areas and a goaf detection method.

[0004] The goaf borehole directional inspection device of this invention includes:

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

[0006] A spatial visual orientation calibration device, comprising a first camera, a first camera orientation sensor, a first illumination lamp, and a first positioning component. The first camera, the first camera orientation sensor, and the first illumination lamp are disposed on the first end face. The orientation of the first camera and the orientation of the first illumination lamp are opposite to the housing in the first direction. The first positioning component is disposed inside the housing.

[0007] A lateral detection device, comprising a second illumination lamp, a laser rangefinder, and a second camera, wherein the second illumination lamp, the laser rangefinder, and the second camera are disposed on the peripheral side of the housing, and the orientation of the second illumination lamp and the orientation of the second camera are opposite to the housing in the radial direction of the housing;

[0008] A data transmission device includes a transmission line, a portion of which is located within the housing. The transmission line is connected to the toxic and harmful gas detection sensor, the temperature sensor, the spatial image orientation calibration device, and the lateral detection device.

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

[0010] In some embodiments, the first end face is provided with a plurality of the first lighting lamps and a plurality of the first camera orientation sensors.

[0011] In some embodiments, the first camera is located at the center of the first end face, and the first end face is provided with two first lights and two first camera orientation sensors. The two first lights are located on both sides of the first camera in a second direction, and the two first camera orientation sensors are located on both sides of the first camera in a third direction. Any two of the first direction, the second direction and the third direction are perpendicular to each other.

[0012] In some embodiments, the housing is a cylindrical structure extending along the first direction, the housing includes a first cylindrical body and a second cylindrical body detachably connected in the first direction, the first end face is disposed on the side of the first cylindrical body facing away from the second cylindrical body, and the first positioning component is located inside the second cylindrical body.

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

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

[0015] In some embodiments, the housing includes a third cylinder and a fourth cylinder, the two ends of the third cylinder being connected to the second cylinder and the fourth cylinder respectively in the first direction, the outer diameter of the third cylinder being 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 being disposed on the outer peripheral surface of the third cylinder, and the toxic and harmful gas detection sensor and the temperature sensor being disposed on the fourth cylinder.

[0016] In some embodiments, the housing 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 transparent glass cover is connected to the second cylinder and the fourth cylinder at both ends in the first direction. The outer diameters of the transparent glass cover, the second cylinder, and the fourth cylinder are equal. The second lighting lamp, the laser rangefinder, and the second camera are located inside the transparent glass cover.

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

[0018] The outer circumferential surface of the third cylinder is provided with multiple rings of second lighting lamps spaced apart in the first direction. Each ring of second lighting lamps includes multiple second lighting lamps arranged in the circumferential direction, and multiple second cameras are located between two rings of second lighting lamps in the first direction.

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

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

[0021] This invention also proposes a goaf detection method using the aforementioned goaf borehole directional inspection device, comprising the following steps:

[0022] Before the drilling directional observation device enters the goaf, the spatial image orientation calibration device and the lateral detection device are activated and calibrated so that the orientations of the first camera, the second camera, the laser rangefinder, and the first positioning component are aligned.

[0023] The lateral detection device is activated, and the goaf borehole directional viewing device is lowered into the borehole. During the descent of the goaf borehole directional viewing device, the first camera and the second camera are used to record video, and the temperature sensor is used to detect temperature. 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 inspection device is lowered 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 conditions, and the goaf drilling directional inspection device is pulled up and removed from the goaf.

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

[0026] The direction of goaf extension is determined by using the horizontal distance from the borehole location to the goaf wall measured by the laser rangefinder, the images inside the goaf detected by the first and second cameras, and the real-time azimuth angle detected by the first positioning group.

[0027] The data obtained by the first positioning component is used to determine the height of the bottom plate, the height of the top plate, and the drilling depth of the goaf. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a goaf borehole directional inspection device according to an embodiment of the present invention.

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

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

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

[0032] Figure label:

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

[0034] 2. Spatial visual orientation calibration device; 21. First camera; 22. First camera orientation sensor; 23. First illumination lamp; 24. First positioning component; 25. Compass analog signal processor; 26. Three-axis magnetic field sensor; 27. Two-axis tilt sensor; 28. Circuit board.

[0035] 3. Lateral detection device; 31. Second illumination light; 32. Laser rangefinder sensor; 33. Second camera;

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

[0037] 5. Data transmission device; 51. Detachable end; 52. Sleeve; 53. Transmission line. Detailed Implementation

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

[0039] The following description, with reference to the accompanying drawings, describes an embodiment of the directional inspection device for boreholes in goaf areas according to the present invention. Figures 1 to 4 As shown, the goaf borehole directional inspection device according to an embodiment of the present invention includes a housing 1, a spatial image orientation calibration device 2, a lateral detection device 3, and a data transmission device 5.

[0040] The length direction of the housing 1 is a first direction, and one end of the housing 1 in the first direction has a first end face 11. Specifically, the housing 1 is a cylindrical structure extending along the first direction, and the outer periphery of the cross-section of the housing 1 is circular. The housing 1 includes a first cylindrical body 13 and a second cylindrical body 14 that are detachably connected in the first direction, and the first end face 11 is located on the side of the first cylindrical body 13 facing away from the second cylindrical body 14. For example, the first cylindrical body 13 and the second cylindrical body 14 are threaded together, or the first cylindrical body 13 and the second cylindrical body 14 are connected by a snap-fit.

[0041] The housing 1 includes a third cylindrical body 15 and a fourth cylindrical body 16. The two ends of the third cylindrical body 15 are connected to the second cylindrical body 14 and the fourth cylindrical body 16 respectively in a first direction. The outer diameter of the third cylindrical body 15 is smaller than the outer diameter of the second cylindrical body 14 and the fourth cylindrical body 16. That is, the first cylindrical body 13, the second cylindrical body 14, the second cylindrical body 14, and the fourth cylindrical body 16 are connected in sequence, and the third cylindrical body 15, the second cylindrical body 14, and the fourth cylindrical body 16 define an annular groove on the outer peripheral surface of the housing 1. For example, the housing 1 (first cylindrical body 13, second cylindrical body 14, second cylindrical body 14, and fourth cylindrical body 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 located on the fourth cylinder 16. Specifically, the toxic and harmful gas detection sensor 41 is used to detect the presence of harmful gases in the environment and measure their concentration, and the temperature sensor 42 is used to measure the temperature. The fourth cylinder 16 has a second end face 12 at the end facing away from the third cylinder 15 in a first direction, and the toxic and harmful gas detection sensor 41 and the temperature sensor 42 are located on the second end face 12. The first end face 11 and the second end face 12 are located at opposite ends of the housing 1 in the first direction.

[0043] like Figure 1 and Figure 2 As shown, the spatial visual orientation calibration device 2 includes a first camera 21, a first camera orientation sensor 22, a first illumination 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 disposed on the first end face 11. The orientation of the first camera 21 and the orientation of the first illumination lamp 23 are opposite to the housing 1 in a first direction. Specifically, the orientation of the first camera 21 and the orientation of the first illumination lamp 23 are opposite to the first cylindrical body 1 in a first direction. The outer periphery of the first end face 11 is circular, and at least a portion of the outer diameter of the outer periphery of the first cylindrical body 13 increases in the first direction away from the first end face 11, that is, at least a portion of the outer periphery of the first cylindrical body 13 is a conical surface, thereby facilitating the descent of the housing 1 within the borehole.

[0045] In some embodiments, a plurality of first illumination lamps 23 and a plurality of first camera orientation sensors 22 are provided on the first end face 11. Specifically, the first camera 21 is located at the center of the first end face 11, and two first illumination lamps 23 and two first camera orientation sensors 22 are provided on the first end face 11. The two first illumination lamps 23 are located on both sides of the first camera 21 in a second direction, thereby facilitating the improvement of 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 a third direction, and the first camera orientation sensors 22 are used to determine the orientation and attitude 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 housed within the housing 1. Specifically, the first positioning component 24 is located within the second cylindrical body 14. The first positioning component 24 is an electronic compass assembly, which is a device used to determine the direction of a detection device relative to magnetic north. The first positioning component 24 includes a compass analog signal processor 25, a triaxial magnetic field sensor 26, a dual-axis tilt sensor 17, and a circuit board 28, all located within the second cylindrical body 14. The compass analog signal processor 25, the triaxial magnetic field sensor 26, and the dual-axis tilt sensor 17 are mounted on the circuit board 28. The magnetic field strength and direction information measured by the triaxial magnetic field sensor 26, and the tilt angle information measured by the dual-axis tilt sensor 17, can be transmitted through the circuit board 28 to the compass analog signal processor 25, and the magnetic north direction can be calibrated by the compass analog signal processor 25. The measurement information from the first camera orientation sensor 22, the laser rangefinder sensor 32, and the second camera 33, along with the magnetic north direction from the compass analog signal processor 25, are combined on the circuit board 28 to enable the spatial visual orientation calibration device 2 and the lateral detection device 3 to determine the specific recording orientation.

[0047] Regarding the application of the electronic compass in this invention, on the one hand, the detection device (the goaf borehole directional inspection device) is adapted to be extended and retracted in the vertical direction, so that the electronic compass is horizontal. On the other hand, in the case of water accumulation in the goaf, the detection device is designed to be completely submerged in the water. The geomagnetic field vector values ​​of the horizontal plane represented by the X and Y directions have errors. The magnitude of the error is affected by the location and tilt angle of the detection device. Therefore, a dual-axis tilt sensor 27 is used to compensate for the magnetic field value of the electronic compass.

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

[0049]

[0050] θ y The vector component of the geomagnetic field in the Y direction is measured by the triaxial magnetic field sensor 26;

[0051] θ x The vector component of the Earth's magnetic field in the X direction is measured by the triaxial magnetic field sensor 26;

[0052] When the detection device is tilted, the geomagnetic field is measured by the dual-axis tilt sensor 27 to determine the positive tilt angle. The two component vectors of the geomagnetic field in the X and Y directions are corrected using the lateral tilt angle μ.

[0053]

[0054] This represents the vector component of the geomagnetic field in the Y direction under tilted conditions.

[0055] This represents the vector component of the geomagnetic field in the X direction under tilted conditions.

[0056] θ z The vector component of the geomagnetic field in the Z direction was measured by the triaxial 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 lateral tilt angle of the detection device field in the east-west direction is measured by the dual-axis tilt sensor 27.

[0059] Azimuth value The final determination is made using the following formula:

[0060]

[0061] This is the final azimuth angle of the corrected detection device.

[0062] like Figure 1 and Figure 3 As shown, the lateral detection device 3 includes a second illumination lamp 31, a laser rangefinder 32, and a second camera 33. The second illumination lamp 31, laser rangefinder 32, and second camera 33 are located on the peripheral side of the housing 1. The orientation of the second illumination lamp 31 and the orientation of the second camera 33 are radially opposite to the housing 1. The laser rangefinder 32 is used to detect the distance from the housing 1 and the borehole location to the goaf wall. Specifically, the second illumination lamp 31, laser rangefinder 32, and second camera 33 are located on the outer peripheral surface of the third cylinder 15, that is, within a groove formed by the third cylinder 15. The laser rangefinder 32 is used to measure the distance from the borehole location to the goaf wall. The lateral detection device 3 uses the lateral second camera 33 and laser rangefinder 32 to compare rock mass coordinate information, thereby achieving structural identification and location recording of the rock strata within the borehole.

[0063] In some embodiments, the housing 1 includes a transparent glass cover 17, which is an annular structure extending along a first direction. The transparent glass cover 17 is fitted over the outside of the third cylindrical body 15, and its two ends in the first direction are connected to the second cylindrical body 14 and the fourth cylindrical body 16. The outer diameters of the transparent glass cover 17, the second cylindrical body 14, and the fourth cylindrical body 16 are equal. The second lighting lamp 31, the laser rangefinder 32, and the second camera 33 are located inside the transparent glass cover 17, thereby protecting the second lighting lamp 31, the laser rangefinder 32, and the second camera 33.

[0064] In some embodiments, a plurality of laser rangefinders 32 and a plurality of second cameras 33 are provided on the outer peripheral surface of the third cylinder 15. The plurality of laser rangefinders 32 and the plurality of second cameras 33 are arranged alternately in sequence on the outer peripheral surface of the third cylinder 15, and the number of laser rangefinders 32 and the number of second cameras 33 are both greater than or equal to three. For example, the number of laser rangefinders 32 and the number of second cameras 33 are both three, and the three laser rangefinders 32 and the three second cameras 33 are arranged alternately and uniformly in sequence on the outer peripheral surface of the third cylinder 15.

[0065] Multiple rings of second lighting lamps 31 are spaced apart on the outer circumferential surface of the third cylinder 15 in the first direction. Each ring of second lighting lamps 31 includes multiple second lighting lamps 31 arranged in the circumferential direction. Multiple second cameras 33 are located between two rings 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 portion of which is located inside the housing 1. The transmission line 53 is connected to the toxic and harmful gas detection sensor 41, the temperature sensor 42, the spatial image orientation calibration device 2, and the lateral detection device 3. Therefore, the output line 53 can be used to output measurement data from the toxic and harmful gas detection sensor 41, the temperature sensor 42, the spatial image orientation calibration device 2, and the lateral detection device 3. In other words, the output line 53 facilitates centralized data transmission, allowing multi-source data to be transmitted simultaneously, enabling the transmission of data related to goaf detection, such as borehole depth, goaf extension orientation, toxic and harmful gas composition, and the horizontal distance between the borehole and the goaf cavity wall.

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

[0068] According to an embodiment of the present invention, the goaf borehole directional observation device is equipped with a first camera orientation sensor 22, a laser rangefinder 32, a second camera 33, and a first positioning component 24 (electronic compass). This allows the first camera 21, the laser rangefinder 32, and the second camera 33 to be calibrated in three-dimensional space through the first positioning component 24 (electronic compass). The electronic compass is used to compare the orientation with the borehole image, thereby improving the detection quality and realizing the determination of the extended spatial orientation of the goaf.

[0069] The lateral detection device 3 uses a lateral laser ranging sensor 32 (laser sensor) and a lateral second camera 33 to record the spatial distance and images between rock structures inside the borehole, identifying the horizontal distance between the borehole and the cavity wall within the goaf. A toxic and harmful gas detection sensor 41 and a temperature sensor 42 are installed on the housing 1, thus avoiding the need to separately lower these two sensors from the borehole. By integrating them into the third step of borehole television lowering, repeated drilling, temperature measurement, and gas detection are avoided, shortening working time, reducing exposure time to the goaf surface, lowering risks, greatly simplifying the operation process, and enabling multiple uses from a single borehole, acquiring multiple data points in one operation, thus improving work efficiency.

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

[0071] The present invention also proposes a goaf detection method using a goaf borehole directional inspection device according to an embodiment of the present invention. The goaf detection method according to an embodiment of the present invention includes the following steps:

[0072] Before the directional inspection device for drilling in the goaf enters the borehole, the spatial image orientation calibration device 2 and the lateral detection device 3 are activated, and the spatial image 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 range sensor 32 and the first positioning component 24 are aligned.

[0073] Specifically, during geological exploration in the goaf of an open-pit coal mine, the goaf borehole directional viewing device according to the embodiment of the present invention is placed at the borehole opening. The spatial image orientation calibration device 2 and the lateral detection device 3 are adjusted, and the first camera 21, the first camera orientation sensor 22, the laser rangefinder 32, and the second camera 33 are turned on. 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 calibrated with the orientation of the images captured by the first camera 21 and the second camera 33. The calibrated orientation angle is transmitted to the circuit board 28, and then the electronic compass assembly is compared and calibrated with the signal received by the first camera orientation sensor 22 from the circuit board 28, so as to realize the alignment of the orientation of the first camera 21, the laser rangefinder 32, the second camera 33 and the first positioning assembly 24 (electronic compass assembly) of the borehole television.

[0074] The lateral detection device 3 is activated, and the goaf borehole directional viewing device is lowered into the borehole. During the descent of the goaf borehole directional viewing device, the first camera 21 and the second camera 33 record video. The video data from the first camera 21 and the second camera 33 can be transmitted to the electronic display device via the transmission line 53 of the data transmission device 5. Meanwhile, the first positioning component 24 (triaxial magnetic field sensor 26) records the elevation data from the borehole opening to the goaf, so as to realize the correspondence between the recorded rock strata data and the recorded data. The video data is transmitted to the electronic display device via the transmission line 53.

[0075] After the directional drilling device for the goaf is lowered into the goaf, temperature sensor 42 detects the temperature of the goaf. If temperature sensor 42 detects a temperature of 70°C or higher, it determines that the goaf does not meet the detection conditions, and the directional drilling device is pulled up and removed from the goaf. Specifically, if temperature sensor 42 detects a temperature of 70°C or higher, it issues an alarm to indicate that the goaf does not meet the detection conditions and urgently withdraws the directional drilling device. If temperature sensor 42 detects a temperature of less than 70°C but greater than -40°C, the detection work continues.

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

[0077] The horizontal distance from the borehole location to the goaf wall measured by the laser rangefinder 32, the images inside the goaf detected by the first camera 21 and the second camera 33, and the real-time azimuth angle detected by the first positioning component 24 are used to determine the direction of goaf extension, thereby facilitating the coordinates of precise drilling in each step.

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

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

[0080] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0084] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for detecting goaf areas, characterized in that, Based on a goaf borehole directional inspection device, the goaf borehole directional inspection device includes: A housing, wherein the length direction of the housing is a first direction, the housing has a first end face at one end of the first direction, and a toxic and harmful gas detection sensor and a temperature sensor are installed on the housing; A spatial visual orientation calibration device, comprising a first camera, a first camera orientation sensor, a first illumination lamp, and a first positioning component. The first camera, the first camera orientation sensor, and the first illumination lamp are disposed on the first end face. The orientation of the first camera and the orientation of the first illumination lamp are opposite to the housing in the first direction. The first positioning component is disposed inside the housing. A lateral detection device, comprising a second illumination lamp, a laser rangefinder, and a second camera, wherein the second illumination lamp, the laser rangefinder, and the second camera are disposed on the peripheral side of the housing, and the orientation of the second illumination lamp and the orientation of the second camera are opposite to the housing in the radial direction of the housing; A data transmission device, the data transmission device including a transmission line, a portion of which is located inside the housing, the transmission line being connected to the toxic and harmful gas detection sensor, the temperature sensor, the spatial image orientation calibration device, and the lateral detection device; The goaf detection method includes the following steps: Before the drilling directional observation device enters the goaf, the spatial image orientation calibration device and the lateral detection device are activated and calibrated so that the orientations of the first camera, the second camera, the laser rangefinder, and the first positioning component are aligned. The lateral detection device is activated, and the goaf borehole directional viewing device is lowered into the borehole. During the descent of the goaf borehole directional viewing device, the first camera and the second camera are used to record video, and the temperature sensor is used to detect temperature. 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 inspection device is lowered 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 conditions, and the goaf drilling directional inspection device is pulled up and removed from the goaf. The temperature sensor detects that the temperature in the goaf is less than 70°C. The toxic and harmful gas detection sensor detects at least one of carbon dioxide, carbon monoxide, sulfur dioxide, hydrogen, oxygen, hydrogen sulfide and methane in the goaf. The detected gas content data is transmitted through the transmission line. The direction of goaf extension is determined by using the horizontal distance from the borehole location to the goaf wall measured by the laser rangefinder, the images inside the goaf detected by the first and second cameras, and the real-time azimuth angle detected by the first positioning group. The data obtained by the first positioning component is used to determine the height of the bottom plate, the height of the top plate, and the drilling depth of the goaf.

2. The goaf detection method according to claim 1, characterized in that, The first end face is provided with a plurality of first lighting lamps and a plurality of first camera orientation sensors.

3. The goaf detection method according to claim 2, characterized in that, The first camera is located at the center of the first end face. The first end face is provided with two first lights and two first camera orientation sensors. The two first lights are located on both sides of the first camera in the second direction. 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 detection method according to claim 2, characterized in that, The housing is a cylindrical structure extending along the first direction. The housing includes a first cylindrical body and a second cylindrical body that are detachably connected in the first direction. The first end face is located on the side of the first cylindrical body facing away from the second cylindrical body, and the first positioning component is located inside the second cylindrical body.

5. The goaf detection method according to claim 4, characterized in that, The outer periphery of the first end face is circular, and at least a portion of the outer diameter of the outer periphery of the first cylinder increases in the first direction away from the first end face; The first positioning component is an electronic compass component.

6. The goaf detection method according to claim 4, characterized in that, The housing includes a third cylinder and a fourth cylinder. The two ends of the third cylinder are connected to the second cylinder and the fourth cylinder, respectively, in the first direction. 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 rangefinder sensor, and the second camera are disposed on the outer peripheral surface of the third cylinder. The toxic and harmful gas detection sensor and the temperature sensor are disposed on the fourth cylinder.

7. The goaf detection method according to claim 6, characterized in that, The housing includes a transparent glass cover, which is an annular structure extending along the first direction. The transparent glass cover is fitted over the outside of the third cylinder. The transparent glass cover is connected to the second cylinder and the fourth cylinder at both ends in the first direction. The outer diameters of the transparent glass cover, the second cylinder, and the fourth cylinder are equal. The second lighting lamp, the laser rangefinder, and the second camera are located inside the transparent glass cover.

8. The goaf detection method according to claim 6, characterized in that, The outer circumferential surface of the third cylinder is provided with a plurality of laser ranging sensors and a plurality of second cameras, which are arranged alternately in sequence on the outer circumferential surface of the third cylinder, and the number of laser ranging sensors and the number of second cameras are both greater than or equal to three. The outer circumferential surface of the third cylinder is provided with multiple rings of second lighting lamps spaced apart in the first direction. Each ring of second lighting lamps includes multiple second lighting lamps arranged in the circumferential direction, and multiple second cameras are located between two rings of second lighting lamps in the first direction.

9. The goaf detection method according to claim 6, characterized in that, The fourth cylinder has a second end face at the end facing away from the third cylinder in the first direction, and the toxic and harmful gas detection sensor and the temperature sensor are disposed on the second end face. The data transmission device includes a detachable end, which is detachably connected to the second end face. The detachable end has a sleeve on the side facing away from the fourth cylinder. The transmission line passes through the sleeve, the detachable end, and the second end face in sequence and extends into the housing.

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