Method for controlling mounting angle of frame lamp

Abstract

The invention provides a support lamp installation angle control method, and relates to the technical field of control, and the method comprises the steps: collecting the depth position and attitude angle data of a lifting device in real time, analyzing the relative position relation between the device and a well wall, and determining the initial incident angle range of a support lamp beam irradiating the surface of the well wall; a frame lamp mechanical adjusting device is driven to execute dynamic angle adjustment through the target angle parameter, illumination data generated by interaction of the adjusted light beam incident angle and the well wall is recorded, and the real-time change trend of light intensity distribution of each depth level in the shaft is obtained; and the risk of the visual blind area of the key monitoring area of the equipment after main illumination power output adjustment is monitored, whether the monitoring blind area exists or not is judged by combining the monitoring requirement for the operation state of the lifting equipment, and local light beam focusing adjustment for a specific area is triggered when the monitoring blind area exists, so that the safety and efficiency of shaft operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bracket lamp control, and in particular to a bracket lamp installation angle control method. BACKGROUND

[0002] The mine hoisting system, as an indispensable core link in mine exploitation, is directly related to the safe transportation of personnel and materials, and the lighting conditions of its operating environment have a crucial impact on work safety and efficiency. Reasonable lighting design not only guarantees the visual needs of workers, but also improves the reliability of equipment monitoring and maintenance. However, in the current installation and use of mine hoisting tower bracket lamps, there are still many deficiencies that need in-depth research and improvement. The existing lighting schemes often ignore the dynamic changes of mine depth and the complexity of equipment running track, resulting in uneven light distribution, especially at different positions of the shaft, the lighting effect is difficult to meet the actual needs. Many methods pay more attention to static installation positions in design, but fail to fully consider the interaction between beam angle and shaft wall, as well as the gradual change of light intensity from the shaft mouth to the shaft bottom, which makes the light in some areas too weak or too strong, affecting the stability of the working environment. In this context, the main challenge of the research is how to adapt to the changes in lighting needs of the hoisting equipment at different depths. The primary problem is that the angle of incidence of the light beam and the shaft wall surface will constantly adjust with the change of depth, if it cannot be accurately matched, it is easy to cause light scattering or improper focusing, affecting the visibility range. This angle change further brings the gradient problem of light intensity distribution, the difference in illumination intensity between the shaft mouth and the shaft bottom is significant, if not controlled, it may form a visual blind area in the key area, increasing the safety hazards. These two factors are closely related, the mismatch of angle directly affects the uniformity of light intensity distribution, and further has a comprehensive impact on the working environment. Therefore, how to dynamically adjust the pitch angle of the bracket lamp during the operation of the hoisting equipment to adapt to the change of the light beam incidence angle at different depths, and optimize the uniformity of light intensity distribution in the shaft, has become the key problem that needs to be solved in this research. SUMMARY

[0003] Based on this, the purpose of the present application is to provide a bracket lamp installation angle control method and system to fundamentally solve the problem of the current operating environment lighting conditions seriously affecting work safety and efficiency.

[0004] The bracket lamp installation angle control method according to an embodiment of the present application mainly includes: Collecting the depth position and attitude angle data of the hoisting equipment, and analyzing the relative position relationship between the equipment and the shaft wall to determine the range of the incident angle of the bracket lamp light beam irradiating the shaft wall surface; Obtaining the roughness and reflection characteristics of the shaft wall surface, and then analyzing the scattering and reflection characteristics of the light beam and the shaft wall surface when they interact, and identifying the light scattering affected area; Adjust the elevation angle of the bracket lamp in the incident angle range according to the light scattering influence area, simulate the distribution state of the light beam path in the shaft under different elevation angles, and determine the target angle parameter; Drive the bracket lamp mechanical adjustment device to adjust the angle through the target angle parameter, record the light intensity data of the adjusted light beam incident angle interacting with the shaft wall, and obtain the light intensity distribution change trend at each depth level in the shaft; According to the light intensity distribution change trend, calculate the light intensity gradient difference at different depths and azimuth angles in the shaft, identify the light intensity insufficient area and excessive concentration area, and generate a light intensity adjustment instruction; According to the light intensity adjustment instruction and the lighting demand at different depths in the shaft, adjust the light emitting power distribution ratio of the main lighting lamp, the auxiliary lighting lamp and the emergency lighting lamp in the bracket lamp group, and adjust the main lighting power output in the deep area; Monitor the visual blind area risk of the key monitoring area after the main lighting power output adjustment through the lighting quality evaluation index, combine the equipment operation state, judge the monitoring blind area, and trigger the local light beam focusing adjustment for the specific area; According to the local light beam focusing adjustment requirement, optimize the light beam incident angle and light intensity distribution, and determine the lighting parameter configuration suitable for different depths.

[0005] Further, the depth position and attitude angle data of the hoisting equipment are collected, and the relative position relationship between the equipment and the shaft wall is analyzed to determine the incident angle range of the bracket lamp light beam irradiating the shaft wall surface, including: Collect the three-axis accelerometer and gyroscope sensor data of the hoisting equipment, fuse the pitch angle and roll angle of the computing equipment in the shaft coordinate system, read the depth encoder data to determine the current depth position, and query the shaft wall radius value at the current depth according to the three-dimensional model of the shaft; According to the pitch angle and roll angle, construct a rotation matrix, transform the initial direction vector of the light beam into a light beam direction vector in the shaft coordinate system through the rotation matrix, and calculate the intersection coordinates of the light beam and the shaft wall in combination with the shaft wall radius value; According to the intersection coordinates and the normal vector calculated according to the shaft wall radius, calculate the included angle between the light beam direction vector and the normal vector, and obtain the light beam incident angle; Select the grid points within the irradiation area boundary, calculate the incident angle of each grid point, count the maximum value, minimum value and average value, and output the incident angle range.

[0006] Further, the shaft wall surface roughness and reflection characteristics are obtained, and the scattering and reflection characteristics of the light beam interacting with the shaft wall surface are analyzed again to identify the light scattering influence area, including: Collecting well wall surface height data, calculating the square average value of the height difference of adjacent points to obtain the surface roughness value, and obtaining the reflectivity data sequence by measuring the reflectivity of different angles through a spectrophotometer; According to the surface roughness value and the incident angle range, a scattering distribution function is selected to calculate the scattering light intensity in each direction, and the specular reflection and diffuse reflection components are extracted by combining the reflectivity data sequence to calculate the scattering light proportion; According to the scattering light proportion, a light propagation probability matrix is constructed to determine the main scattering direction, and the second intersection position of the light and the well wall is tracked to obtain the extended light action area by merging the initial irradiation range; The extended light action area is divided into grids, the cumulative value of the scattering light intensity in each grid is counted, the grid with a cumulative value exceeding a threshold is marked, and the coordinate distribution of the light scattering influence area is output.

[0007] Further, the inclination angle of the bracket lamp in the incident angle range is adjusted according to the light scattering analysis result, the distribution state of the light beam path in the wellbore under different inclination angles is simulated, and the target angle parameter is determined, including: According to the coordinate set of the light scattering influence area, the included angle between the center point of the area and the connecting line of the bracket lamp is calculated as a reference elevation angle, the adjustment range is expanded, and the inclination angle of the bracket lamp is increased; A ray equation is established for each inclination angle, the intersection coordinates of the light beam and the well wall are calculated, the direction of the reflected light is determined, the second intersection point is tracked, and a set of illumination distribution points is formed; The irradiation points of the well wall in the set of illumination distribution points are screened, the average value and the standard deviation of the light intensity are calculated, and the ratio of the irradiation point coverage area to the target area is calculated as the coverage rate; According to the coverage rate and the coefficient of variation, a comprehensive evaluation value is calculated, and the inclination angle with the maximum evaluation value is selected as the target angle parameter.

[0008] Further, the target angle parameter is used to drive the mechanical adjustment device of the bracket lamp to adjust the angle, record the illumination data of the light beam incident angle and the well wall interaction after adjustment, and obtain the light intensity distribution trend of each depth level in the wellbore, including: The target angle parameter is converted into the number of motor control pulses to drive the bracket lamp adjustment device to rotate, the current angle position is fed back, the pulse output is stopped to obtain the actual inclination angle value; According to the actual inclination angle value, the light beam direction vector is calculated, the reflected light signal of the photoelectric sensor is received, the light intensity value is converted, and the data pair is stored; According to the depth encoder value, the depth level is divided, the light intensity value is classified into the corresponding level, the average light intensity value of each level is calculated, the light intensity change rate of adjacent time is calculated, and a data table containing the light intensity distribution trend is output.

[0009] Furthermore, the light intensity gradient differences at different depths and azimuth angles in the wellbore are calculated based on the light intensity distribution change trend, the areas of insufficient light intensity and areas of excessive light intensity are identified, and light intensity adjustment instructions are generated, including: Reading the light intensity values ​​at each depth level and azimuth angle in the light intensity distribution change trend, calculating the depth direction and azimuth direction gradients, and taking the square root of the sum of the squares to obtain a synthetic gradient difference value; Comparing the synthetic gradient difference value with a threshold value, checking whether the light intensity is within the illumination range, and marking areas with insufficient light intensity and areas with excessive light intensity; The light intensity difference ratio is calculated for the insufficient light intensity area to determine the power increase multiple; the gradient excess multiple is calculated for the excessively concentrated area to determine the pitch angle adjustment amount, and the light intensity adjustment instruction including the device address and adjustment parameters is generated.

[0010] Furthermore, the luminous power distribution ratio of the main lighting lamp, auxiliary lighting lamp and emergency lighting lamp in the bracket lamp group is adjusted according to the lighting requirements of the operations at different depths in the wellbore and the light intensity adjustment instruction, and the main lighting power output in the deep area is adjusted, including: Obtain standard illumination values ​​for different depth intervals, calculate target illumination values ​​based on the power adjustment multiples in the light intensity adjustment instruction, convert the values ​​into total power requirements, and allocate the power of the main lighting, auxiliary lighting, and emergency lighting in proportion; Read depth data, calculate the attenuation factor of the deep area, and adjust the power value of the main lighting; keep the power of the auxiliary lighting and emergency lighting unchanged, redistribute the total power, and obtain the actual power setting value of each lamp; The actual power setting value is sent to the driver, the output current is adjusted, the power feedback value is collected, and the main lighting power output adjustment is completed.

[0011] Furthermore, the visual blind spot risk of the key monitoring area after the main lighting power output is adjusted is monitored by the lighting quality assessment index, and the monitoring blind spot is determined in combination with the operating status of the improvement equipment, and the local beam focus adjustment for the specific area is triggered, including: Collect image data of key monitoring areas after adjusting the main lighting power output, extract pixel grayscale values, calculate the dark area ratio and contrast value, and calculate the comprehensive lighting quality score; Comparing the comprehensive score with a threshold, marking the visual blind area, identifying the coordinates of the continuous dark area, and converting them into actual space coordinates; Obtain lifting equipment speed and vibration data, query the monitoring requirements comparison table, and determine the clarity level; If the clarity level is high and the blind spot overlaps with the key part, the center coordinates of the blind spot and the beam coverage angle are calculated, and the zoom control module is driven to adjust the lens group spacing to converge the light beam to the blind spot position.

[0012] Further, the illumination parameter configuration adapted to different depths is determined according to the local light beam focusing adjustment requirement, optimization of light beam incidence angle and light intensity distribution, comprising: The central coordinates and boundary coordinates of the visual blind area are read, the included angle between the light source point and the blind area center point is calculated as the initial incidence angle, and the illumination power requirement value is calculated in combination with the blind area area; The initial incidence angle and illumination power requirement value are input into the ray tracing program, the blind area illumination distribution is calculated, the incidence angle and power output are adjusted, the adjusted illumination distribution is obtained, and the illumination parameter configuration adapted to different depths is determined.

[0013] The application also provides a support lamp installation angle control system, which comprises one or more processors, and a storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above and control the installation angle of the support lamp according to the method.

[0014] The technical scheme provided by the embodiment of the application has the following beneficial effects: The embodiment of the application discloses a support lamp installation angle control method, which collects the position and posture data of the lifting equipment in real time, analyzes the relative position of the equipment and the well wall, and determines the light beam incidence angle range of the support lamp. In combination with the surface characteristics of the well wall, the light beam scattering and reflection characteristics are analyzed, and the potential influence area is identified. The light beam distribution under different pitch angles is simulated through light path calculation, the target angle parameters are determined and dynamic adjustment is performed. The light intensity distribution change in the wellbore is monitored in real time, the light intensity gradient difference in different areas is calculated, and adjustment instructions are generated. The power distribution of the lighting lamp is adjusted according to the operation requirement, and the deep area illumination is optimized. The risk of the blind area is evaluated and the local light beam focusing adjustment is performed, the light beam angle and distribution are continuously optimized, the intelligent illumination control adapted to different depths is realized, and the safety and efficiency of the wellbore operation are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The flowchart of the support lamp installation angle control method of the embodiment of the application.

[0016] Figure 2 The specific flowchart of step S101 of the embodiment of the application.

[0017] Figure 3 The specific flowchart of step S102 of the embodiment of the application.

[0018] Figure 4 The specific flowchart of step S103 of the embodiment of the application.

[0019] Figure 5The specific flowchart of step S104 of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and in detail below with reference to the drawings in the embodiments of the present application. The described embodiments are only some of the embodiments of the present application.

[0021] In an embodiment, the support lamp installation angle control system of the present application mainly consists of three parts of a sensor system, a lighting device and a control system. The sensor system includes a three-axis accelerometer and a gyroscope for real-time monitoring of the attitude change of the lifting device, a depth encoder for accurately measuring the depth position of the device in the shaft, an array of photoelectric sensors arranged along the shaft wall to receive reflected light signals and measure light intensity, a laser profile scanner for collecting shaft wall surface height data to evaluate roughness, and a spectrophotometer for measuring the reflection characteristics of the shaft wall material. Optionally, the system is also configured with a main lighting lamp with adjustable power to provide main operation lighting, an auxiliary lighting lamp equipped with a zoom control module for local focusing, an emergency lighting lamp to ensure basic lighting needs in abnormal situations, and a support lamp mechanical adjustment device driven by a servo motor to realize accurate adjustment of the pitch angle. The control system includes a central processing unit to execute light path calculation, angle optimization and power distribution algorithms, a constant current driver to accurately control the power output of each lighting lamp according to the instructions, an image acquisition device to monitor key areas and identify visual blind areas, and a field bus to realize data communication and instruction transmission between devices.

[0022] During the operation of the system, the entire control process is divided into four main stages. In the initialization stage, after the system is started, it first establishes a three-dimensional model of the shaft through the sensor network, calibrates the positions of each device and sets the basic lighting parameters. In the real-time monitoring stage, when the lifting device is running in the shaft, the accelerometer and gyroscope continuously monitor the attitude change of the device, the encoder tracks the depth position of the device in real time, and the laser scanner and photometer evaluate the shaft wall characteristics at the current position. The dynamic adjustment stage can be based on real-time data to perform the adjustment process, calculate the optimal beam incidence angle and drive the mechanical device to adjust the pitch angle of the support lamp, dynamically adjust the power ratio of the three types of lighting lamps according to the depth change and lighting needs, and trigger the local focusing function of the auxiliary lighting lamp after identifying the visual blind area. In the closed-loop optimization stage, the adjustment effect is monitored by the array of photoelectric sensors, the light intensity distribution trend is analyzed to calculate the lighting quality index, and the angle and power parameters are fine-tuned according to the evaluation results, and the optimized parameters are stored in the lighting configuration table at different depths.

[0023] Referring to Figure 1 , a support lamp installation angle control method according to an embodiment of the present application is shown, which specifically comprises: S101, real-time collection of hoisting equipment depth position and attitude angle data, analysis of the relative position relationship between the equipment and the well wall, and determination of the initial incident angle range of the support light beam irradiating the well wall surface.

[0024] In a possible implementation, as shown in Figure 2 The specific implementation of the step S101 includes the following sub-steps: S1011, real-time collection of three-axis accelerometer and gyroscope sensor original data of the hoisting equipment, taking the gravity component measured by the accelerometer and the angular velocity measured by the gyroscope as the input of Kalman filtering, fusing to obtain the pitch angle and roll angle of the equipment in the wellbore coordinate system, and reading the current depth position value from the depth encoder of the hoisting equipment, and querying the well wall radius value at the current depth according to the pre-established three-dimensional wellbore model.

[0025] S1012, constructing a rotation matrix from the equipment coordinate system to the wellbore coordinate system according to the pitch angle and the roll angle, transforming the initial direction vector of the light beam of the hoisting equipment in the equipment coordinate system to obtain the light beam direction vector in the wellbore coordinate system, and calculating the intersection coordinates of the light beam and the cylindrical well wall in combination with the well wall radius at the current depth.

[0026] S1013, calculating the normal vector pointing to the wellbore center from the intersection coordinates and the well wall radius, calculating the cosine value of the included angle between the light beam direction vector and the normal vector, obtaining the light beam incident angle value through the inverse cosine function, and calculating the irradiation area boundary formed by the light beam projected on the well wall surface according to the incident angle and the well wall curvature radius.

[0027] S1014, selecting a plurality of grid points as sampling positions at a preset interval within the irradiation area boundary, repeatedly calculating the corresponding light beam incident angle for each sampling position, and outputting the upper and lower limit values of the preliminary incident angle range.

[0028] For example, in a deep well operation environment, the hoisting equipment needs to accurately perceive its own attitude to ensure the effective coverage of the lighting system. The three-axis accelerometer perceives the inclination state of the equipment by measuring the components of the gravitational acceleration on the three orthogonal axes of the equipment. When the equipment is inclined, the gravity vector will produce corresponding components in different axes, thereby reflecting the pitch and roll attitudes. The gyroscope measures the angular velocity change of the equipment around each axis, which can quickly respond to the rotational motion of the equipment. Kalman filtering fuses the data of the two sensors, compensates for the integral drift of the gyroscope by using the long-term stability of the accelerometer, and overcomes the sensitivity of the accelerometer to vibration interference by means of the dynamic response capability of the gyroscope.

[0029] Specifically, the depth encoder records the pay-off length of the wire rope through an optical encoder disk or a magnetic encoder, and generates a pulse signal for each rotation angle. The cumulative number of pulses can be converted into the device's pay-off depth. The wellbore three-dimensional model is a digital model established in advance through sonar scanning or laser ranging, which stores the wellbore radius data at different depths. When the device reaches a certain depth, the system queries the corresponding wellbore geometric parameters from the model database to provide basic data for subsequent light beam path calculation.

[0030] In a possible implementation, the construction of the rotation matrix is based on the Euler angle conversion principle. The pitch angle describes the rotation of the device around the lateral axis, and the roll angle reflects the inclination of the device around the longitudinal axis. A 3x3 rotation matrix is constructed through sine and cosine operations to realize coordinate system transformation. The initial direction of the light beam in the device coordinate system is usually perpendicular to the side of the device, and the actual direction in the wellbore coordinate system is obtained after transformation by the rotation matrix. The intersection point calculation of the light beam and the cylindrical wellbore uses the geometric algorithm of the intersection of a ray and a cylindrical surface, and the intersection point coordinates are obtained by solving a quadratic equation.

[0031] It should be noted that the calculation of the incident angle is crucial for evaluating the lighting effect. When the light beam is obliquely incident on the wellbore at a large angle, the light energy distribution is sparse, and the imaging quality decreases. The normal vector points from the intersection point to the center axis of the wellbore, and the angle between the normal vector and the direction vector of the light beam is the incident angle. The shape of the irradiation area depends on the incident angle and the curvature of the wellbore, and a circular spot is formed when the light is normally incident, and an elliptical spot is formed when the light is obliquely incident. The boundary range of the irradiation area can be calculated through geometric projection relationship.

[0032] Preferably, the density of the sampling grid is dynamically adjusted according to the size of the irradiation area to ensure that representative angle distribution data is obtained. The light beam path calculation and incident angle solving process are repeated for each sampling point, and the final statistical angle range reflects the lighting coverage characteristics under the current device posture. This multi-point sampling method can more accurately reflect the light distribution under complex wellbore conditions than single-point measurement, and provides a quantitative basis for subsequent light adjustment and image acquisition optimization.

[0033] S102, the roughness and reflection characteristics of the wellbore surface are obtained, and the scattering and reflection characteristics of the light beam when interacting with the wellbore rock surface are analyzed in combination with the preliminary incident angle range, and the potential influence area of the light scattering problem caused by the roughness and material difference of the wellbore is identified.

[0034] In a possible implementation, as shown in Figure 3 The specific implementation of the step S102 includes the following sub-steps: S1021. Continuously collect surface height data points along the circumference of the well wall using a laser profile scanner, calculate the height difference between each measurement point and the adjacent point, square all height differences, take the average, and then take the square root to obtain the surface roughness value. Simultaneously, use a spectrophotometer to emit incident light of known intensity to the well wall rock, measure the reflected light intensity at different angles, and obtain a reflectivity data sequence.

[0035] S1022. Use the surface roughness value and the obtained preliminary incident angle range as input parameters, select the corresponding scattering distribution function based on the roughness value, and if the roughness value is greater than the preset roughness threshold, use the Lambertian scattering distribution to calculate the scattered light intensity in each direction, and combine the specular reflection component and diffuse reflection component extracted from the reflectivity data sequence to calculate the proportion of scattered light in the total reflected light.

[0036] S1023. Construct a numerical matrix describing the probability of light propagation in various directions based on the scattered light intensity distribution and proportion. Determine the main scattering direction and secondary scattering direction through the matrix element values. Trace the secondary intersection positions of the light in these directions with the well wall. Combine the secondary intersection positions with the initial light beam irradiation range to obtain the expanded light action area.

[0037] S1024. Divide the expanded light action area into grids, count the cumulative value of scattered light intensity in each grid, mark the grids whose cumulative value exceeds a preset intensity threshold as potential impact areas, output the center coordinates and boundary coordinates of all marked grids, and form a distribution map of potential impact areas of light scattering problems caused by well wall roughness and material differences.

[0038] For example, a laser profiling scanner measures surface topography by emitting a laser beam and receiving the reflected signal. As the scanner moves along the circumference of the wellbore, the laser beam strikes the rock surface perpendicularly. The height of each measured point is calculated based on the time delay, or phase difference, of the reflected light. The height difference between adjacent measured points reflects the surface roughness, and this difference is significantly increased when cracks, pits, or protrusions are present on the rock surface. By statistically processing all these height differences, the root mean square (RMS) value can be used to comprehensively reflect the overall surface roughness.

[0039] Specifically, the operating principle of a spectrophotometer is based on the law of reflection of light. The device transmits monochromatic light of a specific wavelength toward the wellbore wall and receives the reflected light at different angles using a rotating detector. The specular reflection component is primarily concentrated in the direction where the reflection angle equals the incident angle, while the diffuse reflection component is evenly distributed in all directions. By measuring the light intensity at different reception angles, these two reflection components can be separated. The mineral composition and surface structure of the rock determine its reflective properties. For example, granite containing quartz has a strong specular reflection surface, while porous sandstone is primarily diffuse reflective.

[0040] In one possible implementation, the Lambertian scattering distribution describes the ideal diffuse reflection characteristics of a rough surface. When the surface roughness exceeds one-tenth of the wavelength of the incident light, the irregular structure of the microscopic surface will scatter the incident light in all directions. The scattered light intensity is proportional to the cosine of the observation angle, which means that the perpendicular direction to the surface scatters the strongest. The preset roughness threshold is usually set to 0.8 microns, and when it exceeds this value, the surface scattering effect is obvious and will significantly affect the imaging quality.

[0041] It should be noted that the construction of the light propagation probability matrix is based on the principle of energy conservation. Each element of the matrix represents the probability value of the light scattering from one direction to another direction. The main diagonal elements represent the specular reflection probability, and the non-diagonal elements represent the diffuse reflection and scattering probability. Through matrix operation, the multiple reflection paths of the light can be tracked, and when the light passes through the first reflection, part of the energy will continue to propagate and produce secondary reflection at other locations.

[0042] For example, the grid division adopts a uniform square grid, and the size of each grid is determined according to the imaging resolution requirement. The cumulative value of the scattered light intensity is obtained by summing the energy of all the light falling into the grid. When the cumulative light intensity of a certain grid exceeds 30% of the direct illumination intensity, the scattered light in this area will interfere with the imaging, forming a halo or blurring effect. By marking these high-intensity scattering areas, subsequent image processing algorithms can be targeted for compensation correction, improving the clarity and reliability of the well wall detection image.

[0043] S103、According to the light scattering analysis result, adjust the pitch angle of the potential influence area support lamp, simulate the distribution state of the light beam path in the wellbore under different pitch angles through light path calculation, compare the illumination effects under different angles to determine the target angle parameter.

[0044] In one possible implementation, as shown in Figure 4 The specific implementation of the step S103 includes the following sub-steps: S1031, according to the potential influence area coordinate set obtained by the light scattering analysis, calculate the included angle between the center point of each area and the horizontal line connected with the current position of the support lamp as the reference pitch angle, expand the adjustment range by a preset angle above and below the reference pitch angle, and drive the pitch angle of the support lamp to increase from the minimum value to the maximum value by the servo motor according to the preset step value.

[0045] S1032, for each pitch angle of the lamp, establish a ray equation from the light emitting point of the lamp along the optical axis direction, calculate the intersection coordinates of the ray and the well wall cylindrical surface, determine the reflected light direction according to the incident angle and the reflection characteristics of the well wall material, trace the second intersection point of the reflected light and the well wall, and form the light distribution point set under this angle by all the intersection coordinates.

[0046] S1033. Filter out the illumination points located on the well wall surface from the illumination distribution point set, calculate the light intensity value received at each illumination point, calculate the average and standard deviation of all light intensity values, divide the standard deviation by the average to obtain the coefficient of variation. If the coefficient of variation is less than the preset uniformity threshold, the lighting at that angle is uniform. Count the ratio of the well wall area covered by the illumination point to the area of ​​the target detection area as the coverage rate.

[0047] S1034. Multiply the coverage rate corresponding to each pitch angle by the first weight coefficient, and multiply the illumination uniformity index by the second weight coefficient. Add the two together to obtain a comprehensive evaluation value, and select the pitch angle with the largest comprehensive evaluation value as the target angle parameter output.

[0048] For example, the identification of potential impact areas is based on the analysis of previous light scattering. These areas are usually distributed in locations where the roughness of the well wall is high or there are cracks. After determining the spatial coordinates of these areas, the system needs to calculate the optimal lighting angle to reduce the impact of scattering. The calculation of the reference elevation angle is based on triangular geometry. The direction vector is obtained by subtracting the coordinates of the lamp position from the coordinates of the center point of the area. The angle between this vector and the horizontal plane is the reference elevation angle. The adjustment range is formed by extending 15 degrees upward and downward on the basis of the reference elevation angle. This design takes into account the irregularities of the well wall surface and equipment installation errors.

[0049] Specifically, the servo motor's stepper control utilizes a pulse drive method, with each pulse corresponding to a 0.5-degree angular change. An internal encoder within the motor provides real-time feedback on the current angular position, ensuring precise angle adjustment. As the pitch angle increases from its minimum value, the system pauses at each angular position for sufficient time to calculate the optical path and collect data. This gradual adjustment method avoids mechanical vibrations caused by rapid movement, ensuring the reliability of measurement data.

[0050] In one possible implementation, the ray equation is based on a parametric representation. The ray originates at the lamp's point of emission, and the direction of the optical axis is determined by the current elevation angle and the lamp's fixed azimuth. Calculating the intersection of the ray and the cylindrical surface of the wellbore wall involves solving a quadratic equation. Substituting the ray equation into the cylindrical surface equation yields the parameter values ​​for the intersection point, and thus the three-dimensional coordinates of the intersection point. The direction of the reflected light follows the law of reflection: the incident light, reflected light, and normal lie in the same plane, and the angle of incidence equals the angle of reflection.

[0051] It should be noted that the coefficient of variation as an index to measure the uniformity of light intensity has the dimensionless characteristic, which is convenient for comparison under different lighting conditions. The standard deviation reflects the dispersion degree of light intensity value, and the average value represents the overall illumination level. When the coefficient of variation is less than 0.2, it indicates that the light intensity distribution is relatively uniform, and the imaging quality can meet the requirement of defect detection. The calculation of coverage rate needs to determine the target detection area, which is usually a cylindrical area with a certain distance extending upwards and downwards from the current depth as the center.

[0052] For example, the setting of the weight coefficient reflects the importance of different evaluation indexes. The first weight coefficient is usually set to 0.6, emphasizing the importance of coverage rate, because sufficient lighting coverage is the premise of obtaining complete well wall image. The second weight coefficient is set to 0.4, reflecting the influence of lighting uniformity on image quality. The calculation of comprehensive evaluation value unifies the performance indexes of two dimensions into the same evaluation system, so that the lighting effects of different pitch angles can be quantitatively compared. The angle with the maximum comprehensive evaluation value is selected as the target parameter, realizing the optimized balance between lighting coverage range and uniformity.

[0053] S104, driving the support lamp mechanical adjustment device to perform dynamic angle adjustment through the target angle parameter, recording the lighting data generated by the interaction between the adjusted beam incidence angle and the well wall, and obtaining the real-time change trend of the light intensity distribution of each depth level in the wellbore.

[0054] In one possible implementation, as shown in Figure 5 The specific implementation of the step S104 includes the following sub-steps: S1041, converting the determined target angle parameter into the number of servo motor control pulses, each pulse corresponding to a fixed angle increment, driving the motor to rotate the support lamp adjustment device through the pulse generator, and the encoder feeding back the current angle position in real time, stopping the pulse output when the difference between the target angle and the feedback angle is less than the angle error threshold, and obtaining the adjusted actual pitch angle value.

[0055] S1042, calculating the direction vector of the light beam in the wellbore coordinate system from the adjusted actual pitch angle value, the photoelectric sensor arranged along the well wall circumference receiving the reflected light signal and outputting the voltage value, calculating the light incidence angle of each sensor position according to the sensor installation position coordinates and the light beam direction vector, and storing the data pairs composed of the voltage value and the corresponding incidence angle after converting the voltage value into the light intensity value.

[0056] S1043, reading the current depth encoder value and dividing the depth levels at fixed intervals upwards and downwards based on the value, classifying the light intensity values in the data pairs according to their corresponding well wall position heights into the corresponding depth levels, and calculating the arithmetic mean of all light intensity values in each level as the representative light intensity value of the level.

[0057] S1044, repeatedly performing the light intensity measurement and the hierarchical division according to the fixed time interval to obtain a sequence of representative light intensity values of each depth level at different time points, calculating a light intensity change rate by dividing the difference between the representative light intensity values of the same level at adjacent time points by the time interval, and outputting a real-time change trend data table containing the light intensity change rate of each depth level over time.

[0058] For example, the pulse control principle of the servo motor is based on the stepping drive technology, and each control pulse makes the motor rotate a fixed angular increment. In the downhole lighting adjustment application, the typical pulse equivalent is set to 0.1 degree, which means that sending 100 pulses can make the support lamp rotate 10 degrees. The target angle parameter comes from the previous lighting effect optimization calculation, and the angle value is converted into the corresponding pulse number through the digital controller. The encoder, as a position feedback element, adopts an optical or magneto-electric principle, can accurately measure the rotation angle of the shaft and convert it into a digital signal.

[0059] Specifically, the setting of the angle error threshold needs to balance the control accuracy and system stability. Too small threshold will cause the motor to start and stop frequently, resulting in mechanical vibration; too large threshold will affect the lighting positioning accuracy. In practice, the error threshold is usually set to 0.2 degrees, which ensures the accuracy of the lighting angle and avoids excessive adjustment. When the actual angle enters the error range of the target angle, the control system determines that the adjustment is completed, and the angle value at this time is used as the reference parameter for subsequent light path calculation.

[0060] In one possible implementation, the arrangement of the photoelectric sensor array follows the equal interval principle. A sensor is installed every 30 degrees along the circumferential direction of the well wall, and is arranged in layers with a vertical interval of 0.5 meters. Each sensor has a certain three-dimensional coordinate, which is obtained through a calibration program during system initialization. The measurement of light intensity is based on the photoelectric effect. The incident light shines on the photosensitive element of the sensor to produce a current signal proportional to the light intensity. After amplification and analog-to-digital conversion, the digital voltage value is obtained.

[0061] It should be noted that the calculation of the incident angle involves spatial geometric relationships. Given the direction vector of the light beam and the sensor position coordinates, the propagation path of the light from the lamp to the sensor can be determined. The normal vector of the well wall at the sensor's location points to the center axis of the wellbore, and the angle between the light direction and the normal vector is the incident angle. This angle directly affects the intensity of the reflected light. According to the Lambert cosine law, the reflected light intensity is proportional to the cosine value of the incident angle.

[0062] For example, the division of depth levels adopts a fixed interval method, with one level per 1 meter. When the device is located at a depth of 50 meters, multiple levels can be divided, such as 48-49 meters, 49-50 meters, 50-51 meters, 51-52 meters, etc. Each level can contain the measurement data of multiple sensors, and the representative light intensity value of the level is obtained by arithmetic mean. This hierarchical statistical method can reflect the differences in lighting conditions in different depth regions. The calculation of the light intensity change rate reveals the dynamic characteristics of the lighting conditions. When the device moves in the wellbore or the wellbore conditions change, the light intensity of each depth level will change accordingly. By continuous monitoring and differential calculation, regions with a sharp drop in light intensity can be identified, which often correspond to wellbore defects or severely rough surfaces. The real-time change trend data table takes time as the horizontal axis and light intensity change rate as the vertical axis, and intuitively displays the evolution process of the lighting conditions of each depth level, providing quantitative basis for subsequent image acquisition parameter adjustment.

[0063] S105, according to the real-time change trend of the light intensity distribution, calculating the light intensity gradient difference of different depth regions and azimuth angles in the wellbore, identifying the light intensity insufficient region and the excessively concentrated region in the monitoring operation, and generating a light intensity adjustment instruction when the gradient difference exceeds the safety standard threshold.

[0064] In a possible implementation, the specific implementation of the step S105 includes the following sub-steps: S1051, reading the light intensity values of each depth level at different azimuth angles from the obtained light intensity distribution real-time change trend data table, calculating the light intensity difference between vertically adjacent two levels divided by the level interval to obtain the depth direction gradient, calculating the light intensity difference between horizontally adjacent two azimuths divided by the azimuth interval to obtain the azimuth direction gradient, and calculating the square sum of the two gradient values and then taking the square root to obtain the combined gradient difference value.

[0065] S1052, comparing the combined gradient difference value with the preset gradient safety standard threshold, and simultaneously checking whether the light intensity of each measurement point is within the preset minimum illumination threshold and maximum illumination threshold, marking the light intensity insufficient region if the light intensity is lower than the minimum illumination threshold, and marking the excessively concentrated region if the light intensity is higher than the maximum illumination threshold and the combined gradient difference value exceeds the gradient safety standard threshold.

[0066] S1053, calculating the difference proportion of the actual light intensity and the minimum illumination threshold for the light intensity insufficient region, determining the light fixture power increase multiple according to the difference proportion, calculating the multiple of the gradient difference value exceeding the safety standard threshold for the excessively concentrated region, determining the light fixture pitch angle adjustment amount according to the exceeding multiple, and combining the power adjustment multiple and the angle adjustment amount to generate a light intensity adjustment instruction containing the device address, the adjustment type and the adjustment parameter.

[0067] For example, the calculation of the light intensity gradient reflects the rate of change of the illumination in space, which is a key indicator for evaluating the uniformity of the illumination. In the wellbore environment, the gradient in the depth direction is reflected by the light intensity difference between adjacent levels. When the light intensity of the upper layer is 800 lux and that of the lower layer is 600 lux, and the level interval is 1 meter, the gradient in the depth direction is 200 lux / meter. The gradient in the azimuth direction is calculated in the same way, reflecting the change of the light intensity at the same depth in different azimuths.

[0068] Specifically, the calculation of the synthetic gradient uses the principle of vector synthesis. The depth gradient and the azimuth gradient can be regarded as two orthogonal components, and the synthetic value is obtained by the Pythagorean theorem. If the depth gradient is 200 lux / meter and the azimuth gradient is 150 lux / meter, then the synthetic gradient is 250 lux / meter. This synthetic value comprehensively reflects the degree of spatial variation of the light intensity in this region, and the larger the value, the more uneven the illumination distribution.

[0069] In one possible implementation, the setting of the illumination threshold is based on the safety specifications of the downhole operation and the imaging quality requirements. The minimum illumination threshold is usually set to 500 lux, below which the image details are difficult to distinguish, affecting the defect detection accuracy. The maximum illumination threshold is set to 3000 lux, and exceeding this value will cause image overexposure, also affecting the detection effect. The gradient safety standard threshold is set to 300 lux / meter, and exceeding this value indicates that there is a significant uneven illumination phenomenon.

[0070] It should be noted that the identification of the light intensity insufficient area not only depends on the absolute light intensity value, but also needs to consider the spatial distribution characteristics. The light intensity of a certain measurement point is 400 lux, which is lower than the minimum threshold of 100 lux, and the difference ratio is 20%. This means that the lighting power of this region needs to be increased by at least 20% to meet the basic requirements. When actually adjusting, the light source characteristic curve also needs to be considered, and the power and light intensity are not completely linearly related.

[0071] For example, the formation of an excessively concentrated area is often caused by improper setting of the light beam angle or local high reflection of the well wall. When the light intensity of a certain area reaches 3500 lux, while the surrounding area only has 1000 lux, the synthetic gradient may exceed 500 lux / meter, far exceeding the safety standard. At this time, the tilt angle of the lamp needs to be adjusted to make the light beam more divergent. The adjustment amount is calculated based on the over-standard multiple, and if the gradient exceeds 67%, the tilt angle needs to be adjusted by 5-10 degrees accordingly. The generation of the light intensity adjustment instruction follows a standardized format, including the device address for identifying the specific lamp unit, the adjustment type for distinguishing between power adjustment or angle adjustment, and the adjustment parameter for giving the specific adjustment value. The instruction is transmitted to the corresponding actuator through the field bus to realize the dynamic optimization of the lighting state. This closed-loop adjustment mechanism can automatically compensate for the effects of environmental changes and equipment aging based on real-time monitoring results, ensuring the stability and reliability of the lighting quality during the entire downhole operation process.

[0072] S106, analyze the operation lighting demand at different depths in the wellbore, adjust the light intensity adjustment instruction, adjust the light power distribution ratio of the main lighting lamp, the auxiliary lighting lamp and the emergency lighting lamp in the support lamp group, and adjust the main lighting power output in the deep area combined with the real-time depth change data.

[0073] In a possible implementation, the specific implementation of the step S106 includes the following sub-steps: S1061, obtain the standard illuminance requirement value corresponding to different depth intervals from the wellbore operation specification, read the power increase multiple or power decrease multiple in the previous light intensity adjustment instruction, multiply the standard illuminance requirement value by the power adjustment multiple to obtain the target illuminance value, convert the target illuminance value into the total power requirement value according to the light efficiency parameter of the lamp, and determine the initial distribution value according to the proportion of 60% of the main lighting lamp, 30% of the auxiliary lighting lamp and 10% of the emergency lighting lamp.

[0074] S1062, obtain real-time depth data through a depth encoder, enter the deep area lighting adjustment process when the depth value is greater than the preset deep area starting depth, calculate the difference between the current depth and the deep area starting depth, divide the difference by the attenuation depth constant to obtain an attenuation factor, add 1 to the attenuation factor to obtain a compensation factor, multiply the initial distribution value of the main lighting lamp by the compensation factor to obtain the adjusted main lighting power value. Keep the initial distribution values of the auxiliary lighting lamp and the emergency lighting lamp unchanged, add the adjusted main lighting power value to the distribution values of the auxiliary lighting lamp and the emergency lighting lamp to obtain a new total, divide the power values of each lamp by the new total and multiply by the total power requirement value to obtain the actual power setting values of the main lighting lamp, the auxiliary lighting lamp and the emergency lighting lamp.

[0075] S1063, send the three actual power setting values to the constant current driver of the corresponding lamp respectively, the driver adjusts the output current according to the setting value to make the lamp reach the target power, and the power monitoring circuit is used to collect the actual power feedback value of each lamp in real time. When the deviation between the feedback value and the setting value is within the allowable range, the main lighting power output adjustment in the deep area is completed.

[0076] For example, the standard illuminance requirement in the wellbore operation specification is based on the operation characteristics and safety requirements at different depths. The shallow area usually performs routine inspection operation, and the standard illuminance is set to 800 lux; the middle layer area involves fine detection, and requires 1200 lux; the deep area has increased light transmission loss, and the basic requirement is increased to 1500 lux. These values are derived from industry safety standards and long-term practical experience.

[0077] Specifically, the application of power adjustment factor embodies the dynamic compensation principle. When the current sequence detection finds that the light intensity in a certain area is less than 20%, the power increase factor is 1.2. Multiply the standard illumination 1200 lux by 1.2 to get the target illumination 1440 lux. The light efficiency parameter of the lamp describes the efficiency of converting electrical power into luminous flux, and the typical LED lamp light efficiency is 100 lumens per watt. Through the conversion relationship between illumination and luminous flux, the total power required to reach the target illumination can be determined.

[0078] In one possible implementation, the initial power allocation ratio of the three types of lamps reflects the importance of different lighting functions. The main lighting lamp undertakes the main task of task lighting, accounting for 60% of the total power; the auxiliary lighting lamp provides supplementary lighting and shadow elimination, accounting for 30%; the emergency lighting lamp ensures basic lighting in abnormal situations, accounting for 10%. This allocation not only meets the normal operation demand, but also reserves safety redundancy.

[0079] It should be noted that the deep layer lighting compensation mechanism is based on the transmission characteristics of light in the shaft. The deep layer starting depth is usually set to 100 meters. Beyond this depth, the light intensity significantly decays after long-distance transmission and multiple reflections. The decay depth constant reflects the decay rate, and the light intensity decays by about 10% for every additional 50 meters of depth. The calculation of the compensation factor ensures that the deep layer area obtains sufficient lighting intensity.

[0080] For example, when the device descends to a depth of 200 meters, the difference from the deep layer starting depth is 100 meters. Divided by the decay depth constant of 50 meters, the decay factor is 2, and the compensation factor is 1 plus 2, which is 3. If the initial allocation value of the main lighting lamp is 600 watts, it will be adjusted to 1800 watts. This large power boost compensates for the light loss in the deep layer. Normalization ensures that the total power does not exceed the system carrying capacity. After adjustment, the main lighting is 1800 watts, plus the auxiliary lighting of 300 watts and the emergency lighting of 100 watts, the new total is 2200 watts. If the total power limit of the system is 2000 watts, the actual power of each lamp is: main lighting 1636 watts, auxiliary lighting 273 watts, and emergency lighting 91 watts. This proportional adjustment maintains the relative relationship and controls the total power. The working principle of the constant current driver is to maintain the output current constant through feedback control. When the set power is 1636 watts and the lamp operating voltage is 48 volts, the driver will stabilize the output current at 34 amperes. The power monitoring circuit measures the actual current through a Hall sensor and calculates the actual power in combination with the voltage value. When the actual power is within ±5% of the set value, the system determines that the adjustment is complete, achieving accurate control of the deep layer area lighting.

[0081] S107, monitor the visual blind area risk of the key monitoring area of the device after the main lighting power output adjustment, combine the improvement of the device operation state monitoring demand, judge whether there is a monitoring blind area, when there is, trigger the local light beam focusing adjustment for the specific area.

[0082] In a possible implementation, the specific implementation of the step S107 includes the following sub-steps: S1071, collect the device key monitoring area image data after the main lighting power adjustment is completed, extract the gray value of each pixel point of the image, obtain the dark area proportion by counting the ratio of the number of pixels with a gray value lower than a preset visible threshold to the total number of pixels, calculate the standard deviation of the gray value difference of all adjacent pixels to obtain a contrast value, and obtain a lighting quality comprehensive score by multiplying the dark area proportion by a first weight and adding the contrast value multiplied by a second weight.

[0083] S1072, compare the lighting quality comprehensive score with a visual blind area determination threshold, if the comprehensive score is lower than the determination threshold, mark that there is a visual blind area, identify the pixel coordinate boundary of the continuous dark area through image segmentation, convert the pixel coordinates into actual space coordinates to obtain the blind area position range, and determine the blind area influence degree according to the size of the dark area proportion.

[0084] S1073, obtain the current lifting speed value and three-axis vibration acceleration value from the device sensor, query a preset monitoring requirement comparison table according to the speed value and the vibration value to obtain a required monitoring clarity level, if the monitoring clarity level is a high level and the blind area position range overlaps with the key monitoring part, calculate the blind area center coordinates as a focusing target point, and determine the required beam coverage angle according to the blind area area.

[0085] S1074, send the focusing target point coordinates and the beam coverage angle to a zoom control module of the auxiliary lighting lamp, drive the step motor to adjust the lens group spacing to change the system focal length, so that the light beam converges at the target point position to form a high-brightness lighting area, and realize local light beam focusing adjustment for a specific blind area.

[0086] For example, the image gray value extraction is a basic step for evaluating the lighting quality. The gray value represents the brightness information of the pixel, and in an 8-bit image, the range is from 0 to 255, where 0 represents pure black and 255 represents pure white. The visible threshold is usually set to 50, and the pixels with a gray value lower than the threshold appear as dark areas in the human eye observation, and the details are difficult to distinguish. When 30% of the pixels in the monitoring area image have a gray value lower than 50, the dark area proportion is 0.3, indicating that there is a serious lighting problem in the area.

[0087] Specifically, the calculation of the contrast reflects the intensity of the image brightness change. The gray value difference between adjacent pixels reflects the local brightness change, and when the gray value of a pixel is 200 and the gray value of the adjacent pixel is 50, the difference is 150. The larger the standard deviation of the difference value of all adjacent pixel pairs, the higher the image contrast. The setting of the weight coefficient reflects the importance of different indicators, and the dark area proportion weight 0.7 emphasizes the basic role of sufficient lighting, and the contrast weight 0.3 reflects the supplementary role of image clarity.

[0088] In one possible implementation, image segmentation techniques are used to accurately locate the visual blind area. Pixels with gray values below 50 are marked by threshold segmentation, and adjacent dark pixels are merged into continuous regions using connected component analysis. The boundary pixel coordinates of each continuous dark region are recorded, and the image coordinates are converted to actual three-dimensional space coordinates through camera calibration parameters. This conversion takes into account the intrinsic and extrinsic parameters of the camera, ensuring the accuracy of blind area positioning.

[0089] It should be noted that the monitoring requirement table is a query table preset according to the running state of the equipment. When the lifting speed is 2 meters per second and the vibration acceleration exceeds 0.5g, the equipment is in a high-speed running state, at which time high-definition monitoring is required to discover potential faults in time. When the speed is less than 0.5 meters per second and the vibration is less than 0.1g, it is in a low-speed stable state, and the monitoring clarity requirement is relatively low. This hierarchical management ensures the rational allocation of resources.

[0090] For example, the working principle of the zoom control module is based on the focal length adjustment of the optical system. The lens group is composed of a front group and a rear group, and the focal length is changed by changing the distance between the two groups. When focusing on a blind area with a diameter of 2 meters at a depth of 100 meters, the control module calculates that the required focal length is 500 millimeters. After receiving the movement instruction, the stepper motor adjusts the lens spacing with an accuracy of 0.01 millimeters, and each step of rotation corresponds to a linear displacement of 0.1 millimeters. The determination of the beam coverage angle is based on the geometric relationship between the blind area area and the distance. If the blind area area is 4 square meters, it is circularly distributed with a radius of about 1.13 meters. When the light fixture is 100 meters away from the center of the blind area, the required beam half angle is 0.64 degrees. The zoom system not only changes the focal length, but also changes the beam divergence angle, so that the light energy is concentrated to irradiate the blind area range. This precise beam control avoids energy waste, while ensuring that the blind area obtains sufficient illumination, improving the safety and detection reliability of deep well operations.

[0091] S108, according to the local beam focusing adjustment requirement, determine the incident angle and power distribution scheme of the support lamp in the monitoring blind area, obtain the corrected light intensity distribution for the visual blind area risk, continuously optimize the beam incident angle and light intensity distribution, and determine the final lighting parameter configuration adapted to different depths.

[0092] In one possible implementation, the specific implementation of the step S108 includes the following sub-steps: S1081. Read the center coordinates and boundary coordinates of the monitoring blind spot from the local beam focus adjustment result, calculate the angle between the line connecting the light source point of the bracket light to the center point of the blind spot and the normal vector of the well wall at that location to obtain the initial incident angle, multiply the blind spot area by the required luminous flux per unit area and divide it by the luminous efficiency of the lamp to obtain the lighting power requirement value, and use the initial incident angle and lighting power requirement value as the basic lighting parameters for the blind spot.

[0093] S1082. Input the basic lighting parameters into the ray tracing program to calculate the illuminance distribution of each point in the blind spot, traverse all grid points in the blind spot to find the point set whose illuminance value is lower than the preset minimum illuminance requirement, fine-tune the incident angle based on the centroid position of the point set so that the center of the light beam is biased toward this position, and at the same time increase the power output in the corresponding direction according to the ratio of the illuminance deficiency, and recalculate the adjusted illuminance distribution.

[0094] S1083. Check whether the illumination of all grid points meets the minimum illumination requirement based on the adjusted illumination distribution. If so, store the current incident angle and power distribution as the optimization parameters for that depth. Repeat the above parameter optimization process as the device moves at different depths, and form a data pair sequence of each depth value and the corresponding optimization parameter.

[0095] S1084. After sorting the data pair sequence by depth, perform piecewise linear interpolation processing, calculate the parameter value of the middle point between two adjacent measured depths at a fixed depth interval, and store the corresponding relationship between the depth and parameters of all measured points and interpolation points as a final lighting parameter configuration table to achieve continuous configuration of lighting parameters at different depths.

[0096] For example, the coordinates of the center and boundary of the blind spot are obtained from the previous image analysis results. These coordinates describe the precise position of the visual blind spot in three-dimensional space. The center of the blind spot is usually selected as the geometric center of the dark area, which is obtained by calculating the arithmetic mean of the coordinates of all boundary points. The determination of the well wall normal vector is based on the cylindrical geometric characteristics of the wellbore. At any point, the normal vector points from the wellbore wall to the center axis of the wellbore. When the light source is 2 meters offset from the center of the wellbore and the center of the blind spot is on the wellbore wall, the angle between the connecting line and the normal vector may reach 30 degrees. This angle directly affects the reflection characteristics of the light.

[0097] Specifically, the required luminous flux per unit area is determined based on visual engineering standards. Underground inspection operations typically require an illumination level of 500 lux. Based on the relationship between illumination and luminous flux, a luminous flux of 500 lumens per square meter is required. If the blind area is 4 square meters, the total required luminous flux is 2000 lumens. Luminaire efficacy describes the efficiency of converting electrical energy into light energy. Modern LED lamps can achieve 120 lumens per watt, requiring approximately 17 watts of power. This calculation method ensures that the lighting power is precisely matched to actual needs.

[0098] In one possible implementation, the light ray tracing program simulates the propagation path of light rays in three-dimensional space. The program divides the blind area into a grid of 0.1 meters x 0.1 meters, with each grid point as a calculation unit. The light rays start from the lamp, pass through the direct and reflected light, and reach each grid point. The illuminance value of each point is calculated according to the law of light intensity decay with distance squared. The calculation of the center of mass position takes into account the spatial distribution of all substandard points, and the center of the area that needs to be supplemented with light is obtained by weighted average.

[0099] It should be noted that the process of fine-tuning the incident angle uses an iterative optimization method. When the initial angle is 30 degrees, if the center of mass deviates from the beam center by 5 degrees, the incident angle is adjusted to 25 degrees, so that the beam center is closer to the center of the dark area. The illumination shortage ratio reflects the gap between the actual illuminance and the target illuminance. If the actual illuminance of an area is 300 lux and the target is 500 lux, the shortage ratio is 40%, and the power in the corresponding direction needs to be increased by more than 40% to compensate for the loss.

[0100] For example, the piecewise linear interpolation process ensures smooth transition of parameters. The optimized parameters at a depth of 100 meters are an incident angle of 25 degrees and a power of 20 watts, and at a depth of 150 meters, the incident angle is 30 degrees and the power is 25 watts. For a depth of 125 meters, the incident angle is calculated to be 27.5 degrees and the power is 22.5 watts by linear interpolation. The fixed depth interval is usually set to 5 meters, so that 10 interpolation points will be generated in the 100-150 meter interval. The final lighting parameter configuration table is stored in a lookup table structure, containing three columns of data: depth value, incident angle, and power allocation. During system operation, the corresponding parameters are quickly queried according to the current depth to achieve real-time lighting adjustment. This pre-computation and storage method avoids the computational burden of real-time optimization and ensures the rapid response of the lighting system. Through continuous parameter configuration, the device can smoothly adjust the lighting state when moving at different depths, avoiding visual discomfort caused by sudden changes and improving the safety and detection quality of underground operations.

[0101] The application also provides a support lamp installation angle control system, characterized in that the system comprises: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method described above and control the installation angle of the support lamp according to the method.

[0102] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the application. It should be understood that the above description is only a specific embodiment of the application and is not intended to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method for controlling the installation angle of a bracket lamp, characterized in that: The method comprises: Collect the depth position and attitude angle data of the lifting equipment, analyze the relative position relationship between the equipment and the well wall, and determine the incident angle range of the bracket light beam irradiating the well wall surface; Obtain the surface roughness and reflection characteristics of the well wall, then analyze the scattering and reflection characteristics of the light beam when it interacts with the well wall surface to identify the area affected by light scattering; Adjust the pitch angle of the bracket lamp within the incident angle range according to the light scattering influence area, simulate the distribution state of the light beam path in the wellbore at different pitch angles, and determine the target angle parameters; The target angle parameter is used to drive the mechanical adjustment device of the bracket lamp to adjust the angle, record the illumination data of the interaction between the incident angle of the light beam and the well wall after the adjustment, and obtain the change trend of the light intensity distribution at each depth level in the wellbore; According to the light intensity distribution change trend, the light intensity gradient difference at different depths and azimuth angles in the wellbore is calculated, the areas of insufficient light intensity and areas of excessive light intensity are identified, and light intensity adjustment instructions are generated; According to the lighting requirements of operations at different depths in the wellbore and the light intensity adjustment instructions, the luminous power distribution ratio of the main lighting lamp, auxiliary lighting lamp and emergency lighting lamp in the bracket lamp group is adjusted, and the main lighting power output in the deep area is adjusted; The visual blind spot risk of the key monitoring area after the main lighting power output adjustment is monitored through the lighting quality assessment index, and the monitoring blind spot is determined in combination with the operating status of the improvement equipment, triggering the local beam focus adjustment for the specific area; According to the local beam focus adjustment requirements, the beam incident angle and light intensity distribution are optimized to determine the lighting parameter configuration suitable for different depths.

2. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The data on the depth position and attitude angle of the lifting equipment is collected, and the relative position relationship between the equipment and the well wall is analyzed to determine the incident angle range of the bracket light beam irradiating the well wall surface, including: Collect data from the lifting equipment's three-axis accelerometer and gyroscope sensors, fuse and calculate the equipment's pitch and roll angles in the wellbore coordinate system, read the depth encoder data to determine the current depth position, and query the wellbore radius value at the current depth based on the wellbore 3D model; Constructing a rotation matrix based on the pitch angle and roll angle, transforming the initial direction vector of the light beam into the beam direction vector in the wellbore coordinate system through the rotation matrix, and calculating the coordinates of the intersection point between the light beam and the wellbore in combination with the wellbore radius value; Calculating a normal vector according to the intersection coordinates and the well wall radius, calculating the angle between the beam direction vector and the normal vector, and obtaining the beam incident angle; Select grid points within the boundary of the irradiation area, calculate the incident angle of each grid point, count the maximum, minimum and average values, and output the incident angle range.

3. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The acquisition of the roughness and reflection characteristics of the well wall surface, analysis of the scattering and reflection characteristics of the light beam when interacting with the well wall surface, and identification of the area affected by light scattering include: Collect the surface height data of the well wall, calculate the square root of the average square of the height difference between adjacent points to obtain the surface roughness value, and use a spectrophotometer to measure the intensity of reflected light at different angles to obtain the reflectivity data sequence; Selecting a scattering distribution function based on the surface roughness value and the range of the incident angle, calculating the scattered light intensity in each direction, extracting the specular reflection and diffuse reflection components in combination with the reflectivity data sequence, and calculating the scattered light ratio; Constructing a light propagation probability matrix based on the scattered light ratio, determining the main scattering direction, tracing the secondary intersection position of the light with the well wall, and combining the initial irradiation range to obtain the extended light action area; The extended light action area is divided into grids, the cumulative value of scattered light intensity in each grid is counted, the grids whose cumulative value exceeds a threshold are marked, and the coordinate distribution of the light scattering influence area is output.

4. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The method of adjusting the pitch angle of the bracket lamp within the incident angle range according to the light scattering analysis results, simulating the distribution state of the light beam path in the wellbore at different pitch angles, and determining the target angle parameters includes: Based on the coordinate set of the light scattering impact area, the angle between the center point of the area and the line connecting the bracket lights is calculated as the reference elevation angle, the adjustment range is expanded, and the pitch angle of the bracket lights is driven to increase gradually; Establish ray equations for each pitch angle, calculate the coordinates of the intersection of the light beam and the well wall, determine the direction of the reflected light, trace the secondary intersection points, and form a set of illumination distribution points; Screening the illumination points on the well wall surface where the illumination distribution points are concentrated, calculating the average and standard deviation of the light intensity, and calculating the ratio of the coverage area of ​​the illumination points to the area of ​​the target area as the coverage rate; A comprehensive evaluation value is calculated according to the coverage rate and the coefficient of variation, and the pitch angle with the maximum evaluation value is selected as the target angle parameter.

5. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The target angle parameter is used to drive the mechanical adjustment device of the bracket lamp to adjust the angle, record the illumination data of the interaction between the incident angle of the adjusted light beam and the well wall, and obtain the light intensity distribution change trend of each depth level in the wellbore, including: Convert the target angle parameter into the number of motor control pulses, drive the bracket light adjustment device to rotate, feedback the current angle position, stop the pulse output to obtain the actual pitch angle value; Calculate the light beam direction vector according to the actual pitch angle value, receive the reflected light signal from the photoelectric sensor, convert it into a light intensity value, and store the data pair; Divide the depth level according to the depth encoder value, classify the light intensity value into the corresponding level, calculate the average light intensity value of each level, calculate the light intensity change rate at adjacent moments, and output a data table containing the light intensity distribution change trend.

6. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The method of calculating the light intensity gradient differences at different depths and azimuth angles in the wellbore based on the light intensity distribution change trend, identifying areas with insufficient light intensity and areas with excessive light intensity, and generating light intensity adjustment instructions includes: Reading the light intensity values ​​at each depth level and azimuth angle in the light intensity distribution change trend, calculating the depth direction and azimuth direction gradients, and taking the square root of the sum of the squares to obtain a synthetic gradient difference value; Comparing the synthetic gradient difference value with a threshold value, checking whether the light intensity is within the illumination range, and marking areas with insufficient light intensity and areas with excessive light intensity; The light intensity difference ratio is calculated for the insufficient light intensity area to determine the power increase multiple; the gradient excess multiple is calculated for the excessively concentrated area to determine the pitch angle adjustment amount, and the light intensity adjustment instruction including the device address and adjustment parameters is generated.

7. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The method adjusts the luminous power distribution ratio of the main lighting lamp, auxiliary lighting lamp and emergency lighting lamp in the bracket lighting group according to the lighting requirements of different depth operations in the wellbore and the light intensity adjustment instruction, and adjusts the main lighting power output in the deep area, including: Obtain standard illumination values ​​for different depth intervals, calculate target illumination values ​​based on the power adjustment multiples in the light intensity adjustment instruction, convert the values ​​into total power requirements, and allocate the power of the main lighting, auxiliary lighting, and emergency lighting in proportion; Read depth data, calculate the attenuation factor of the deep area, and adjust the power value of the main lighting; keep the power of the auxiliary lighting and emergency lighting unchanged, redistribute the total power, and obtain the actual power setting value of each lamp; The actual power setting value is sent to the driver, the output current is adjusted, the power feedback value is collected, and the main lighting power output adjustment is completed.

8. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The visual blind spot risk of the key monitoring area after the main lighting power output is adjusted is monitored by the lighting quality assessment index, and the monitoring blind spot is determined in combination with the operating status of the improvement equipment, and the local beam focus adjustment for the specific area is triggered, including: Collect image data of key monitoring areas after adjusting the main lighting power output, extract pixel grayscale values, calculate the dark area ratio and contrast value, and calculate the comprehensive lighting quality score; Comparing the comprehensive score with a threshold, marking the visual blind area, identifying the coordinates of the continuous dark area, and converting them into actual space coordinates; Obtain lifting equipment speed and vibration data, query the monitoring requirements comparison table, and determine the clarity level; If the clarity level is high and the blind spot overlaps with the key part, the center coordinates of the blind spot and the beam coverage angle are calculated, and the zoom control module is driven to adjust the lens group spacing to converge the light beam to the blind spot position.

9. The method for controlling the installation angle of a bracket lamp according to claim 1, wherein: The step of optimizing the incident angle and light intensity distribution of the light beam according to the local light beam focus adjustment requirement and determining the lighting parameter configuration adapted to different depths includes: Read the center coordinates and boundary coordinates of the visual blind spot, calculate the angle between the light source point and the center point of the blind spot as the initial incident angle, and calculate the lighting power requirement value based on the area of ​​the blind spot; The initial incident angle and lighting power requirement value are input into a ray tracing program, the blind spot illumination distribution is calculated, the incident angle and power output are adjusted, the adjusted illumination distribution is obtained, and the lighting parameter configuration adapted to different depths is determined.

10. A bracket lamp installation angle control system, characterized in that: The system includes: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 9 and control the installation angle of the bracket lamp according to the method.

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