Probe control direction directional detection device and method based on angle attitude parameters

Abstract

The invention relates to a probe control direction directional detection device and method based on angle attitude parameters, and belongs to the technical field of drilling geophysical exploration. The invention aims to provide a probe control direction directional detection device and method based on angle attitude parameters to solve the problems in the prior art, and the probe control direction directional detection device comprises a probe main body, a rotating shaft and a rotating shaft driving assembly; two ends of the rotating shaft are respectively connected with the probe main body and the rotating shaft driving assembly; a signal excitation device, a signal receiving device and a plurality of attitude sensors are arranged on the probe main body. According to the invention, a posture sensing system fused by a triaxial accelerometer and a gyroscope is adopted, a real-time feedback closed-loop system is constructed through a directional control device, and axial rotation and pitching two-degree-of-freedom adjustment is realized in combination with a control motor. Compared with a traditional single-axis mechanical adjustment mode, the azimuth calibration precision is improved by more than 40%, and the dynamic attitude compensation capability is achieved.

Description

Technical Field

[0001] The present invention relates to a probe control direction and orientation detection device and method based on angular attitude parameters, belonging to the technical field of borehole geophysical exploration detection. Background Art

[0002] In the field of borehole geophysical exploration, existing equipment such as in-hole transient electromagnetic instruments and in-hole ground penetrating radars that rely on electromagnetic waves can complete better detection work without making the probe closely adhere to the inner wall of the borehole; different from such equipment that relies on electromagnetic wave detection, geophysical exploration equipment that relies on stress waves such as signals is limited by the detection principle and method, and cannot ensure close contact between the detection probe and the inside of the borehole during the entire detection process; the detection probes of signal types in the borehole often have a certain directionality and only perform excitation and reception along a fixed direction, which will cause significant errors in the detection orientation when the orientation of the probe in the borehole cannot be determined; in addition, the attitude feedback and actuator of the existing system lack a closed-loop control mechanism and cannot correct the probe offset caused by borehole wall friction and drill pipe deformation in real time, resulting in a significant deviation between the measured point spatial coordinates and the actual preset values.

[0003] These technical defects seriously restrict the reliability and effectiveness of borehole signal detection technology. Especially in detection scenarios such as concealed structures in coal mines and muddy interlayers that require fine investigation, the existing equipment is difficult to meet the high-precision orientation detection requirements. Summary of the Invention

[0004] The purpose of the present invention is to provide a probe control direction and orientation detection device and method based on angular attitude parameters for the problems existing in the prior art.

[0005] The technical solution provided by the present invention to solve the above technical problems is: a probe control direction and orientation detection device based on angular attitude parameters, including a probe body, a rotating shaft, and a rotating shaft driving component;

[0006] Both ends of the rotating shaft are respectively connected to the probe body and the rotating shaft driving component;

[0007] A signal excitation device, a signal reception device, and several attitude sensors are provided on the probe body.

[0008] A further technical solution is that the detection device further includes a housing, and the probe body, the rotating shaft, and the rotating shaft driving component are all installed in the housing.

[0009] A further technical solution is that the number of the attitude sensors is three.

[0010] A further technical solution is that three connecting rods are provided on the probe body, one end of the three connecting rods is fixed on the probe body, and the other end is fixed on the rotating shaft; the attitude sensors are installed on the connecting rods.

[0011] A further technical solution is that two telescopic rods are provided on the probe body, and the signal excitation device and the signal receiving device are respectively fixed on the two telescopic rods.

[0012] A further technical solution is that the front part of the housing is conical.

[0013] A probe control direction and orientation detection method based on angular attitude parameters specifically includes the following steps:

[0014] Step 1: The orientation detection device performs device self-check through a wireless communication module, and calibrates the parameters of the three-axis accelerometer and gyroscope of the attitude sensor;

[0015] Step 2: After the orientation detection device is sent to the predetermined depth of the drill hole, start the attitude sensor;

[0016] Step 3: According to the spatial coordinate requirements of the preset measurement points, the orientation control device calls the attitude control algorithm to generate an azimuth adjustment instruction, and the rotating shaft drives the attitude sensor to perform axial rotation and pitch angle adjustment, so that the probe direction gradually approaches the target azimuth;

[0017] Step 4: When the error between the real-time azimuth parameter feedback by the attitude sensor and the preset value is less than 5°, lock the control motor rotation mechanism, and then the telescopic rod drives the signal excitation device and the signal receiving device to rise, so that the excitation and receiving devices are in close contact with the hole wall;

[0018] Step 5: Start the geophysical data acquisition function of the detection probe, and synchronously record the spatio-temporal correspondence relationship between the angular attitude parameters and the geophysical signals;

[0019] Step 6: After completing the detection of the current measurement point, the orientation control device automatically calculates the spatial coordinates of the next measurement point, and repeats steps 3 to 5 for continuous detection of multiple target points until the data acquisition of all preset measurement points is completed.

[0020] A further technical solution is that the attitude control algorithm in step 3 specifically includes the following steps:

[0021] Step 1: Calculate the azimuth angle, pitch angle and roll angle of the probe in real time according to the data of the attitude sensor;

[0022] Step 2: Determine the attitude error e(t) according to the preset attitude angle δ d and the real-time attitude angle δ(t);

[0023] Step 3: Construct the sliding mode surface s(t);

[0024] Step 4: Determine the dynamic gain K(t) of adaptive adjustment;

[0025] Step 5: Generate the control instruction u(t).

[0026] A further technical solution is that the synovial surface s(t) in step three is as follows:

[0027]

[0028] e(t) = δ d -δ(t)

[0029] Where: s(t) is the synovial surface; e(t) is the attitude error; λ is the sliding mode surface weight coefficient; δ d is the preset attitude angle; δ(t) is the real-time attitude angle.

[0030] A further technical solution is that the control command u(t) in step five is as follows:

[0031]

[0032] Where: s(t) is the synovial surface; K(t) is the dynamically adjusted adaptive gain; tanh(·) is the hyperbolic tangent function; β is the damping coefficient; K0 is the initial gain; τ max is the maximum output torque of the motor; J is the rotational inertia of the probe.

[0033] The present invention has the following beneficial effects:

[0034] 1. An attitude perception system integrating a three-axis accelerometer and a gyroscope is adopted. A real-time feedback closed-loop system is constructed through a directional control device, and axial rotation and pitch two-degree-of-freedom adjustment are realized by combining a control motor. Compared with the traditional single-axis mechanical adjustment method, the azimuth calibration accuracy is improved by more than 40%, and it has the ability of dynamic attitude compensation.

[0035] 2. The digital signal processing module can realize the millisecond-level spatio-temporal data synchronization of attitude parameters and geophysical exploration signals, ensuring the timeliness and accuracy of data correlation.

[0036] 3. The adaptive multi-target detection algorithm supports the automatic generation of the optimal detection sequence for N measuring points.

[0037] 4. The attitude control algorithm of adaptive sliding mode solves the problems of excessive control torque or jitter that occur in the drilling environment such as sudden changes in hole wall friction due to the traditional sliding mode control relying on fixed gains. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of the outside of the directional detection device;

[0039] Figure 2 is a schematic structural diagram of the inside of the directional detection device;

[0040] Figure 3 is a schematic structural diagram of the directional control;

[0041] Figure 4 is the internal structure diagram of the attitude sensor;

[0042] Figure 5 is the flow chart of the attitude control algorithm of the adaptive sliding mode;

[0043] Figure 6 is the measurement state diagram of the telescopic excitation and receiving device. Detailed implementation manners

[0044] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0045] As Figures 1 - 4 shown, a probe control direction and orientation detection device based on angular attitude parameters of the present invention includes a probe body 4, a rotating shaft, and a rotating shaft driving assembly; both ends of the rotating shaft are respectively connected to the probe body 4 and the rotating shaft driving assembly; a signal excitation device 2 (the signal can be an elastic wave or an electromagnetic wave), a signal receiving device 3, and three attitude sensors 5 are provided on the probe body 4.

[0046] The present invention obtains data through three attitude sensors 5, then drives the probe body 4 to rotate through the rotating shaft driving assembly to reach a preset attitude angle, and then collects geophysical exploration data through the signal excitation device 2 and the signal receiving device 3.

[0047] As Figure 1 shown, in this embodiment, in order to protect the probe body 1, preferably, the detection device further includes a housing 6, and the probe body 4, the rotating shaft, and the rotating shaft driving assembly are all installed in the housing 6.

[0048] In this way, the probe body 4, the rotating shaft, and the rotating shaft driving assembly are protected by the housing 6. The front conical design of the housing 6 can make the crushed stones in the hole slide down along the cone to the surrounding of the orientation detection device, avoiding the problem of blockage in the hole during long-distance detection.

[0049] As Figure 2 and Figure 3 shown, in this embodiment, in order to better control the selection of the probe body 1, therefore, three connecting rods are provided on the probe body 4. One end of the three connecting rods is fixed on the probe body 4, and the other end is fixed on the rotating shaft; the attitude sensors 5 are installed on the connecting rods.

[0050] As Figure 1 and Figure 4As shown in the figure, in this embodiment, in order to make the excitation and receiving device fit tightly with the hole wall, two telescopic rods are provided on the probe body 4, and the signal excitation device 2 and the signal receiving device 3 are respectively fixed on the two telescopic rods. In this way, at the initial stage of the present invention, the signal excitation device 2 and the signal receiving device 3 are retracted into the housing 6. When the probe body 4 rotates to the preset attitude angle, the two telescopic rods automatically extend and retract, driving the signal excitation device 2 and the signal receiving device 3 to rise to fit tightly with the hole wall, and then geophysical exploration data is collected.

[0051] A probe control direction and orientation detection method based on angle attitude parameters specifically includes the following steps:

[0052] Step 1: The orientation detection device performs device self-check through the wireless communication module, and calibrates the parameters of the three-axis accelerometer and gyroscope of the attitude sensor 5;

[0053] Step 2: After the orientation detection device is sent to the predetermined depth of the borehole, start the attitude sensor 5;

[0054] Step 3: According to the spatial coordinate requirements of the preset measurement point, the orientation control device calls the attitude control algorithm to generate an azimuth adjustment instruction, and the rotating shaft drives the attitude sensor 5 to perform axial rotation and pitch angle adjustment, so that the probe direction gradually approaches the target azimuth;

[0055] Among them, the attitude control algorithm specifically includes the following steps:

[0056] Step 1: Calculate the azimuth angle, pitch angle and roll angle of the probe in real time according to the data of the attitude sensor;

[0057]

[0058] In the formula: θ, Ψ are the pitch angle, roll angle and azimuth angle respectively; A x , A y , A z are the data of the three-axis accelerometer; M x , M y are the data of the magnetometer; Δθ, are the dynamic correction terms of the gyroscope;

[0059] The accelerometer is vulnerable to probe vibration or instantaneous acceleration interference. To improve the angle stability, high-frequency noise is suppressed by gyroscope integration correction, that is, the gyroscope correction term can be obtained by integrating the gyroscope angular velocity data. The formula is:

[0060] Δθ = ∫ω θ (t)dt, Δφ = ∫ω φ (t)dt

[0061] Among them, ω θω(t) is the angular velocity of the pitch angle θ at time t; ω φ ω(t) is the angular velocity of the roll angle at time t;

[0062] Step 2: Determine the attitude error e(t) according to the preset attitude angle δ d and the real-time attitude angle δ(t) (i.e., the real-time pitch angle or roll angle);

[0063]

[0064] In the formula: s(t) is the sliding mode surface, which is a virtual surface used to control the target design to constrain the error dynamic behavior to a first-order linear system; e(t) is the attitude error; λ is the sliding mode surface weight coefficient, which adjusts the weight ratio of the error and the error change rate in the sliding mode surface, and the range of values is 0.5 to 2; t is the time;

[0065] Step 3: Construct the sliding mode surface s(t);

[0066]

[0067] Step 4: Determine the dynamically adaptive adjusted gain K(t);

[0068]

[0069] In the formula: s(t) is the sliding mode surface; K(t) is the dynamically adaptive adjusted gain, which is a function of time t; tanh(·) is the hyperbolic tangent function; β is the damping coefficient; K0 is the initial gain; τ max is the maximum output torque of the motor; J is the moment of inertia of the probe rotation.

[0070] Step 5: Generate the control command u(t) to uniformly constrain the dynamic behavior of the attitude error to the sliding mode surface, drive the system state to the sliding mode surface and slide along this surface, so as to achieve the control target of the system;

[0071]

[0072] Step 4: When the error between the real-time azimuth parameter feedback by the attitude sensor 5 and the preset value is less than 5°, lock the control motor rotation mechanism, and then the telescopic rod drives the signal excitation device 2 and the signal receiving device 3 to rise, so that the excitation and receiving devices are in close contact with the hole wall;

[0073] Step 5: Start the geophysical data acquisition function of the detection probe, and synchronously record the spatio-temporal correspondence relationship between the angle attitude parameters and the geophysical signals;

[0074] Step 6: After the detection of the current measurement point is completed, the orientation control device automatically calculates the spatial coordinates of the next measurement point, and repeats steps 3 to 5 to continuously detect multiple target points until the data acquisition of all preset measurement points is completed.

[0075] As described above, there is no restriction in any form on the present invention. Although the present invention has been disclosed through the above embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments with equivalent changes by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the technical content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A probe control direction and orientation detection device based on angular attitude parameters, characterized in that, It includes a probe body (4), a rotating shaft, and a rotating shaft drive assembly; Both ends of the rotating shaft are respectively connected to the probe body (4) and the rotating shaft drive assembly; A signal excitation device (2), a signal receiving device (3), and several attitude sensors (5) are provided on the probe body (4).

2. The probe control direction and orientation detection device based on angular attitude parameters according to claim 1, wherein The detection device further includes a housing (6), and the probe body (4), the rotating shaft, and the rotating shaft drive assembly are all installed in the housing (6).

3. The probe control direction and orientation detection device based on angular attitude parameters according to claim 1, wherein The number of the attitude sensors (5) is three.

4. The probe control direction and orientation detection device based on angular attitude parameters according to claim 3, wherein Three connecting rods are provided on the probe body (4). One ends of the three connecting rods are fixed on the probe body (4), and the other ends are fixed on the rotating shaft; the attitude sensors (5) are installed on the connecting rods.

5. The probe control direction and orientation detection device based on angular attitude parameters according to claim 1, wherein, Two telescopic rods are provided on the probe body (4), and the signal excitation device (2) and the signal receiving device (3) are respectively fixed on the two telescopic rods.

6. The probe control direction and orientation detection device based on angular attitude parameters according to claim 2, characterized in that The front part of the housing (6) is conical.

7. A probe control direction and orientation detection method based on angular attitude parameters, characterized in that, This method uses a probe control direction and orientation detection device based on angle attitude parameters described in any one of claims 1-6 for detection, specifically including the following steps: Step 1: The orientation detection device performs device self-check through a wireless communication module, and calibrates the parameters of the three-axis accelerometer and gyroscope of the attitude sensor (5); Step 2: After sending the orientation detection device to the predetermined depth of the borehole, start the attitude sensor (5); Step 3: According to the spatial coordinate requirements of the preset measurement points, the orientation control device calls the attitude control algorithm to generate an azimuth adjustment instruction, and the rotating shaft drives the attitude sensor (5) to perform axial rotation and pitch angle adjustment, so that the probe direction gradually approaches the target azimuth; Step 4: When the error between the real-time azimuth parameter feedback by the attitude sensor (5) and the preset value is less than 5°, lock the control motor rotation mechanism, and then the telescopic rod drives the signal excitation device (2) and the signal receiving device (3) to rise, so that the excitation and receiving devices are in close contact with the hole wall; Step 5: Start the geophysical data acquisition function of the detection probe, and synchronously record the spatio-temporal correspondence between the angle attitude parameters and the geophysical signals; Step 6: After completing the detection of the current measurement point, the orientation control device automatically calculates the spatial coordinates of the next measurement point, and repeats steps 3 to 5 for continuous detection of multiple target points until the data acquisition of all preset measurement points is completed.

8. A probe control direction and orientation detection method based on angular attitude parameters according to claim 7, characterized in that, The attitude control algorithm in step 3 specifically includes the following steps: Step 1: Calculate the azimuth angle, pitch angle, and roll angle of the probe in real time according to the data of the attitude sensor; Step 2. Determine the attitude error e(t) according to the preset attitude angle δ d and the real-time attitude angle δ(t); Step 3: Construct the sliding mode surface s(t); Step 4: Determine the dynamic gain K(t) of adaptive adjustment; Step 5: Generate the control instruction u(t).

9. A probe control direction orientation detection method based on angular attitude parameters according to claim 8, characterized in that, The sliding mode surface s(t) in step 3 is: e(t) = δ d -δ(t) Where: s(t) is the sliding surface; e(t) is the attitude error; λ is the sliding mode surface weight coefficient; δ d is the preset attitude angle; δ(t) is the real-time attitude angle.

10. A probe control direction orientation detection method based on angular attitude parameters according to claim 8, characterized in that, The control instruction u(t) in step 5 is: where: s(t) is the sliding surface; K(t) is the dynamically adjusted adaptive gain; tanh(·) is the hyperbolic tangent function; β is the damping coefficient; K0 is the initial gain; τ max is the maximum output torque of the motor; J is the rotational inertia of the probe.

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