A mine drilling multi-parameter wireless probe rod and a working method thereof

Abstract

The application provides a mine drilling multi-parameter wireless probe rod and a working method thereof, and relates to the technical field of mine detection. A plurality of mutually connected push rods are arranged. A detection device is arranged at the front end of the first push rod to detect the parameters of the wireless probe rod during the advancing process. The detection device comprises a plurality of sensors of various modes. The data transmission devices are arranged at intervals in some of the push rods and are wirelessly connected. Each data transmission device is used to receive the data of the previous data transmission device or the detection device and transmit the data to the subsequent data transmission device or the host. The push rod part provided with the data transmission device is arranged as a reinforced rigid structure, and the push rod part not provided with the data transmission device is arranged as a flexible wear-resistant structure. The plurality of push rods are used to realize the continuity of drilling work, the sensors of various modes are used to collect data to improve the measurement accuracy, and the plurality of wirelessly connected data transmission devices are used to realize the progressive transmission of wireless data, so as to save the heavy cable structure.

Description

Technical Field

[0001] This application relates to the field of mine detection technology, specifically to a multi-parameter wireless probe for mine boreholes and its working method. Background Technology

[0002] However, current mining borehole trajectory measuring instruments require long cables for wired transmission, limiting manual probe pushing to around 100 meters. The cable length is also limited, making it difficult to reach 200 meters, resulting in inefficient or even ineffective strategies. Therefore, a method and structure are needed that can automatically measure drilling depth and probe position video. Summary of the Invention

[0003] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a multi-parameter wireless probe for mining boreholes and its operating method.

[0004] According to one aspect of this application, a multi-parameter wireless probe for mining boreholes is provided, comprising: multiple interconnected push rod segments; a detection device disposed at the front end of a first push rod segment for detecting parameters of the wireless probe during its movement, the detection device including sensors of multiple modes; and a data transmission device comprising multiple wirelessly connected data transmission devices, the multiple data transmission devices being spaced apart in portions of the push rods, each data transmission device being used to receive data from its preceding data transmission device or the detection device and transmit it to its subsequent data transmission device or a host; wherein the push rod portion provided with the data transmission device is configured as a reinforced rigid structure, and the push rod without the data transmission device is configured as a flexible wear-resistant structure.

[0005] According to another aspect of this application, a method for operating a multi-parameter wireless probe for mining boreholes is provided, applied to the aforementioned multi-parameter wireless probe for mining boreholes. The method for operating the multi-parameter wireless probe for mining boreholes includes: acquiring sensor data of multiple modes; obtaining image data and tilt angle data of the probe position based on the sensor data; recording the number of times the push rod is advanced; and calculating the position information of the probe based on the image data, the tilt angle data, and the number of times the push rod is advanced.

[0006] In one embodiment, acquiring sensor data of multiple modalities includes: using the sensor to acquire initial image data and initial tilt angle data of the probe position in real time; obtaining image data and tilt angle data of the probe position based on the sensor data includes: processing the initial image data and the initial tilt angle data through the data transmission device to obtain the image data and the tilt angle data; and transmitting the image data and the tilt angle data to the host.

[0007] In one embodiment, the sensor that acquires the initial image data is located behind the probe position; wherein, the process of processing the initial image data and the initial tilt angle data through the data transmission device to obtain the image data and the tilt angle data includes: determining the orientation of the probe position based on the initial image data; comparing the orientation of the probe position with the initial tilt angle; if the orientation of the probe position and the initial tilt angle match, then determining the initial image and the initial tilt angle as the image data and the tilt angle data, respectively.

[0008] In one embodiment, the distance between adjacent data transmission devices is a fixed value, and recording the number of times the push rod is advanced includes: calculating the number of times the push rod is advanced based on the number of times the data transmission devices are advanced.

[0009] In one embodiment, calculating the number of push rods based on the number of push rods propelled by the data transmission device includes: if the currently propelled push rod is equipped with the data transmission device, then calculating the number of push rods propelled based on the number of push rods between adjacent data transmission devices.

[0010] In one embodiment, calculating the number of push rods advanced based on the number of pushes of the data transmission device includes: if the currently advancing push rod is not equipped with the data transmission device, then calculating the total number of pushes based on the number of pushes of the data transmission device; calculating the partial number of pushes based on the push time and push speed of the previous data transmission device; and calculating the number of push rods advanced based on the total number of pushes and the partial number of pushes.

[0011] In one embodiment, calculating the probe's position information based on the image data, the tilt angle data, and the number of push rod advances includes: comprehensively determining the current direction of travel of the probe based on the image data and the tilt angle data; and calculating the probe's position information based on the current direction of travel and the number of push rod advances.

[0012] In one embodiment, determining the current direction of travel of the probe position based on the image data and the tilt angle data includes: determining the tilt angle sign of the probe position based on the image data; determining the tilt angle magnitude of the probe position based on the tilt angle data; and determining the current direction of travel of the probe position based on the tilt angle sign and tilt angle magnitude.

[0013] In one embodiment, calculating the probe's position information based on the current direction of travel and the number of push rod advances includes: determining the current push rod's advance length based on the number of push rod advances; calculating the current push rod's average advance speed based on the current push rod's advance length and advance duration; and calculating the probe's position information based on the current push rod's average advance speed and the current direction of travel.

[0014] This application provides a multi-parameter wireless probe for mining boreholes and its operating method. It comprises multiple interconnected push rods, each containing a detection device and a data transmission device. The detection device, located at the front end of the first push rod, detects parameters of the wireless probe during its movement and includes sensors with multiple modes. Multiple data transmission devices are wirelessly connected and spaced apart within parts of the push rods. Each data transmission device receives data from its preceding data transmission device or detection device and transmits it to its subsequent data transmission device or host. The push rod section with the data transmission device is designed with a reinforced rigid structure, while the push rod section without the data transmission device is designed with a different rigid structure. The system features a flexible and wear-resistant structure, utilizing multiple push rods to ensure continuous drilling operations. Multi-modal sensors are used to collect data, improving measurement accuracy. Multiple wirelessly connected data transmission devices enable progressive wireless data transfer, eliminating the need for cumbersome cabling. By acquiring multi-modal sensor data, image and tilt data of the probe position are obtained, and the number of push rod advances is recorded. Based on the image data, tilt data, and push rod advances, the probe's position information is calculated. This multi-modal sensor-based automatic data acquisition, combined with the total number of push rod advances, calculates the probe's real-time position, enhancing the automation and accuracy of the drilling operation. Attached Figure Description

[0015] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 This is a schematic diagram of the structure of a multi-parameter wireless probe for mining boreholes provided in an exemplary embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating the working method of a multi-parameter wireless probe for mining boreholes provided in an exemplary embodiment of this application.

[0018] Figure 3This is a structural diagram of an electronic device provided in an exemplary embodiment of this application.

[0019] Explanation of reference numerals in the attached drawings: 1. Push rod; 2. Detection device; 3. Data transmission device; 4. Main unit; 10. Electronic equipment; 11. Processor; 12. Memory; 13. Input device; 14. Output device. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0021] Figure 1 This is a schematic diagram of the structure of a multi-parameter wireless probe for mining boreholes provided in an exemplary embodiment of this application. Figure 1 As shown, the multi-parameter wireless probe for mining boreholes includes: multiple interconnected push rods 1, a detection device 2, and a data transmission device 3. The detection device 2 is located at the front end of the first push rod 1 (e.g., a 20mm diameter carbon fiber hollow tube) and is used to detect parameters of the wireless probe during its movement. The detection device 2 includes sensors with multiple modes. Multiple data transmission devices 3 are wirelessly connected and spaced apart within parts of the push rod 1. Each data transmission device 3 receives data from its preceding data transmission device or detection device and transmits it to its subsequent data transmission device or host 4. The push rod 1 sections with data transmission devices 3 are designed with a reinforced rigid structure, while those without are designed with a flexible, wear-resistant structure. By spaced-aparting data transmission devices 3, the parameter data collected by the detection device 2 can be wirelessly transmitted to the host 4 (which can be a computer, tablet, or mobile phone with a built-in app), thus eliminating the need for numerous cables. This not only reduces drilling difficulty but also significantly reduces the workload of workers. Furthermore, the use of multi-modal sensors to simultaneously collect parameter data improves the accuracy and diversity of the data. Furthermore, this application provides a reinforced rigid structure for the push rod 1 portion equipped with the data transmission device 3 to protect the data transmission device 3, and provides a flexible and wear-resistant structure for the push rod 1 portion without the data transmission device 3, so as to ensure that the push rod 1's advancing trajectory can be changed and extend the time before wear and damage.

[0022] This application provides a multi-parameter wireless probe for mining boreholes. It comprises multiple interconnected push rods, each containing a detection device and a data transmission device. The detection device, located at the front end of the first push rod, detects parameters of the probe during its movement. The detection device includes multiple sensors with various modes. Multiple wirelessly connected data transmission devices are spaced apart within parts of the push rods. Each data transmission device receives data from its preceding data transmission device or detection device and transmits it to its subsequent data transmission device or host. The push rod sections with data transmission devices are designed with a reinforced rigid structure, while those without are designed with a flexible, wear-resistant structure. The multi-section push rods ensure continuous drilling operations, and the multi-modal sensors improve measurement accuracy. The multiple wirelessly connected data transmission devices enable progressive wireless data transmission, eliminating the need for cumbersome cable structures.

[0023] Figure 2 This is a flowchart illustrating the operation method of a multi-parameter wireless probe for mining boreholes provided in an exemplary embodiment of this application. The operation method of this multi-parameter wireless probe for mining boreholes is applied to the aforementioned multi-parameter wireless probe for mining boreholes, such as... Figure 2 As shown, the working method of this multi-parameter wireless probe for mining boreholes includes the following steps:

[0024] Step 210: Acquire sensor data in multiple modes.

[0025] This application employs sensors with multiple modalities to collect parameter data in real time at the probe during the drilling process, thereby recording real-time data during drilling and providing basic data for probe positioning, drilling data acquisition, and other purposes.

[0026] Step 220: Based on the sensor data, obtain the image data and tilt angle data of the probe position.

[0027] After acquiring sensor data, this application obtains image data and tilt data of the probe position based on data acquired by sensors of various modes (including image acquisition sensors and tilt acquisition sensors).

[0028] Step 230: Record the number of pushes made by the pusher.

[0029] Since the length of each push rod is the same, this application determines the total length of the push rod by recording the number of push rods advanced, and then determines the total stroke of the push rod, which facilitates subsequent calculation of probe position information, etc.

[0030] Step 240: Calculate the probe's position information based on image data, tilt angle data, and the number of push rod advances.

[0031] After acquiring image data and tilt data of the probe position, this application combines the number of push rod advances to comprehensively calculate the probe's position information, that is, to determine the probe's detection depth, horizontal position, etc.

[0032] This application provides a method for operating a multi-parameter wireless probe for mining boreholes. It involves setting up multiple interconnected push rods, each containing a detection device and a data transmission device. The detection device, located at the front end of the first push rod, detects parameters of the wireless probe during its movement. The detection device includes sensors with multiple modes. Multiple data transmission devices are wirelessly connected and spaced apart within parts of the push rods. Each data transmission device receives data from its preceding data transmission device or detection device and transmits it to its subsequent data transmission device or host. The push rod section with the data transmission device is designed with a reinforced rigid structure, while the push rod section without the data transmission device is designed with... The system features a flexible and wear-resistant structure, utilizing multi-segment push rods to ensure continuous drilling operations. Multi-modal sensors are employed to collect data, enhancing measurement accuracy. Multiple wirelessly connected data transmission devices enable progressive wireless data transfer, eliminating the need for cumbersome cabling. By acquiring multi-modal sensor data, image and tilt data of the probe position are obtained, and the number of push rod advances is recorded. Based on the image data, tilt data, and push rod advances, the probe's position information is calculated. This multi-modal sensor-based automatic data acquisition, combined with the total number of push rod advances, allows for the calculation of the probe's real-time position, thereby improving the automation and accuracy of the drilling operation.

[0033] In one embodiment, step 210 can be implemented by using a sensor to collect initial image data and initial tilt angle data of the probe position in real time; correspondingly, step 220 can be implemented by processing the initial image data and initial tilt angle data through a data transmission device to obtain image data and tilt angle data; and transmitting the image data and tilt angle data to the host.

[0034] This application can simultaneously acquire initial image data and initial tilt data from the probe using an image sensor and a tilt sensor. The initial image data and initial tilt data are processed to obtain processed image data and tilt data, which are then transmitted to the host computer. This allows operators to view the image data and tilt data in real time on the host computer, and also enables real-time calculation and display of probe position information using the host computer's fast calculation function.

[0035] In one embodiment, the sensor for acquiring initial image data is located behind the probe position; wherein, the specific implementation of step 220 above may be: determining the orientation of the probe position based on the initial image data; comparing the orientation of the probe position with the initial tilt angle; if the orientation of the probe position and the initial tilt angle match, then determining the initial image and the initial tilt angle as image data and tilt angle data, respectively.

[0036] This application utilizes an image sensor to acquire initial image data, including that of a probe, and determines the orientation of the probe position based on this initial image data. It then compares the probe's orientation with its initial tilt angle to determine if they match. Specifically, it checks if the probe's orientation and initial tilt angle contradict each other (e.g., if the initial image data shows the probe is facing downwards, but the initial tilt angle indicates the probe is tilted upwards, this is a contradiction). If a contradiction exists, it is considered a mismatch, and the corresponding initial image and initial tilt angle are directly deleted to avoid interfering with the overall result. If no contradiction exists, it is considered a match, and after matching, the initial image and initial tilt angle are determined as image data and tilt angle data, respectively.

[0037] In one embodiment, the distance between adjacent data transmission devices is a fixed value, and the specific implementation of step 230 above can be: calculating the number of push rods to be pushed based on the number of pushes of the data transmission devices.

[0038] This application minimizes the number of data transmission devices while ensuring data transmission quality by setting the distance between adjacent data transmission devices, for example, one data transmission device for every 10 push rods. This application calculates the advance number of all push rods based on the advance number of the data transmission devices. Specifically, this application can set a signal detection device at the borehole opening. When a data transmission device passes this signal detection device, a counter in the host machine increments by 1, and a number is assigned to the corresponding data transmission device to determine the order of all data transmission devices and set the transmission order for subsequent data transmissions.

[0039] In one embodiment, step 230 can be implemented as follows: if the currently advancing push rod is equipped with a data transmission device, the number of push rods advanced is calculated based on the number of push rods between adjacent data transmission devices.

[0040] If the currently advancing push rod is equipped with a data transmission device, the number of push rods advanced can be calculated directly based on the value in the counter and the number of push rods between adjacent data transmission devices.

[0041] In one embodiment, step 230 can be implemented as follows: if the currently advancing push rod is not equipped with a data transmission device, the total advancing quantity is calculated based on the advancing quantity of the data transmission device; the partial advancing quantity is calculated based on the advancing time and advancing speed of the previous data transmission device; and the advancing quantity of the push rod is calculated based on the total advancing quantity and the partial advancing quantity.

[0042] If the currently advancing push rod is not equipped with a data transmission device, the number of push rod advances can be divided into two parts: the total advance number and the partial advance number. The total advance number refers to the number of push rods that advanced before the previous data transmission device (which can be calculated based on the number of the previous data transmission device). The partial advance number can be estimated based on the advancement time of the previous data transmission device (i.e., the time between the current moment and the advancement time of the previous data transmission device) and the current advancement speed of the push rod. The total number of push rods is calculated by combining the two parts of the advance number.

[0043] In one embodiment, step 240 can be implemented as follows: based on image data and tilt data, determine the current direction of travel of the probe position; based on the current direction of travel and the number of push rod advances, calculate the position information of the probe.

[0044] This application combines image data and tilt data to determine the current direction of travel of the probe (i.e., the current direction of the probe's movement), and calculates the probe's position information by combining the number of push rod advances.

[0045] In one embodiment, step 240 can be implemented as follows: determining the tilt sign of the probe position based on image data; determining the tilt size of the probe position based on tilt data; and determining the current travel direction of the probe position based on the tilt sign and tilt size of the probe position.

[0046] This application divides the probe's travel direction into four orientations: up, down, left, and right (the orientation in the middle can be represented by upper left, lower left, upper right, and lower right), and assigns a symbol to each orientation. For example, lower left is set as (+,+), lower right as (+,-), upper left as (-,+), and upper right as (-,-). The first symbol in parentheses indicates the approximate orientation of the probe, and the second symbol indicates the left or right tilt direction of the probe. This application determines the probe's tilt sign (i.e., the positive and negative signs mentioned above) based on image data, and determines the tilt angle of the probe position based on the tilt angle data. Combining the tilt angle sign and the tilt angle size, the current travel direction of the probe position is comprehensively determined.

[0047] In one embodiment, step 240 can be implemented as follows: determining the current push length of the push rod based on the number of push rods pushed; calculating the average push speed of the current push rod based on the current push length and push duration; and calculating the position information of the probe based on the current average push speed and the current direction of travel.

[0048] This application calculates the current push rod's advance length (i.e., the total length of the push rod entering the borehole) based on the number of push rods advanced and the length of each push rod segment. Based on the advance length and duration, the average advance speed of the current push rod is calculated. This application can calculate the overall average advance speed based on the total length of the push rod entering the borehole, or it can calculate the average advance speed of the most recent push rod segment based on the length of each push rod segment (the last complete push rod segment) and the advance duration of that segment. After calculating the average advance speed, the probe's position information is calculated based on the current advance direction. Specifically, the displacement difference between the probe's current position and its position in the previous cycle (calculation cycle) is: ,in, For displacement difference, v For average propulsion speed, t 1 represents the end time of the previous cycle (i.e., the start time of the current cycle). t 2 represents the end time of the current cycle.

[0049] Below, for reference Figure 3 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0050] Figure 3 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0051] like Figure 3 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0052] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0053] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0054] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0055] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0056] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0057] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0058] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0059] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0060] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0061] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0062] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0063] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0064] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0065] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0066] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0067] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A working method for a multi-parameter wireless probe for mining boreholes, characterized in that, A multi-parameter wireless probe for mining boreholes is provided, comprising: multiple interconnected push rods; a detection device, located at the front end of the first push rod, for detecting parameters of the wireless probe during its movement, the detection device including sensors of various modes; and multiple wirelessly connected data transmission devices, spaced apart within portions of the push rods, each data transmission device receiving data from its preceding data transmission device or the detection device and transmitting it to its subsequent data transmission device or host; wherein the push rod portion equipped with the data transmission device is configured with a reinforced rigid structure, while the push rod without the data transmission device is configured with a flexible, wear-resistant structure; the operating method of the multi-parameter wireless probe for mining boreholes includes: Acquire sensor data in multiple modalities; Based on the sensor data, image data and tilt angle data of the probe position are obtained; Record the number of times the push rod advances; Based on the image data, the tilt angle data, and the number of push rod advances, the position information of the probe is calculated; The acquisition of sensor data in multiple modalities includes: The sensor is used to collect initial image data and initial tilt angle data of the probe position in real time; The process of obtaining image data and tilt angle data of the probe position based on the sensor data includes: The initial image data and the initial tilt angle data are processed by a data transmission device to obtain the image data and the tilt angle data; The image data and the tilt angle data are transmitted to the host computer. The sensor that acquires the initial image data is located behind the probe; wherein, the process of processing the initial image data and the initial tilt angle data through the data transmission device to obtain the image data and the tilt angle data includes: The orientation of the probe position is determined based on the initial image data; Compare the orientation of the probe position with the initial tilt angle; If the orientation of the probe position matches the initial tilt angle, then the initial image and the initial tilt angle are determined to be the image data and the tilt angle data, respectively. The distance between adjacent data transmission devices is a constant, and the number of times the recording pusher advances includes: The number of pushes of the push rod is calculated based on the number of pushes of the data transmission device. The calculation of the probe's position information based on the image data, the tilt angle data, and the number of push rod advances includes: Based on the image data and the tilt angle data, the current direction of travel of the probe is determined comprehensively; Based on the current direction of travel and the number of push rods advanced, calculate the position information of the probe; The calculation of the probe's position information based on the current direction of travel and the number of push rod advances includes: Based on the number of times the push rod has been pushed forward, determine the current push rod's extension length; Calculate the average advance speed of the current push rod based on the current push rod's advance length and advance time; The position information of the probe is calculated based on the average advance speed of the current push rod and the current direction of travel.

2. The method according to claim 1, characterized in that, The calculation of the number of push rod advances based on the number of advances of the data transmission device includes: If the currently advancing push rod is equipped with the data transmission device, the advancement number of the push rod is calculated based on the number of push rods between adjacent data transmission devices.

3. The method according to claim 1, characterized in that, The calculation of the number of push rod advances based on the number of advances of the data transmission device includes: If the currently advancing push rod is not equipped with the data transmission device, the total advancing quantity is calculated based on the advancing quantity of the data transmission device. The partial propulsion quantity is calculated based on the propulsion time and propulsion speed of the previous data transmission device; Based on the total number of pushes and the partial number of pushes, the number of pushes of the push rod is calculated.

4. The method according to claim 1, characterized in that, The process of determining the current direction of travel of the probe based on the image data and the tilt angle data includes: The tilt sign of the probe position is determined based on the image data; The tilt angle of the probe position is determined based on the tilt angle data; Based on the sign and magnitude of the tilt angle at the probe position, the current direction of travel of the probe position is determined.

Images