A foot-stepping wellbore hoisting platform for ultra-deep vertical shafts and its application method.

Abstract

This invention relates to the field of mine shaft equipment technology, and discloses an in-shaft attitude sensing device and its usage method for an ultra-deep vertical shaft support shoe stepping type shaft hoisting platform. It includes a top-level hoisting platform, an intermediate working platform, a middle working platform, and a bottom working platform arranged sequentially from top to bottom inside the shaft. The key feature is the inclusion of a tensioning ring. Several tensioning cylinders are uniformly fixedly installed circumferentially on the outer side of the tensioning ring, and multiple hydraulic cylinders are fixedly connected to the upper surface of the tensioning ring. The lower ends of the top-level and intermediate hoisting platforms are movably connected to the output ends of the hydraulic cylinders. This invention has the following advantages and effects: it effectively ensures the horizontal state of the working platform during shaft fixing, avoiding instability of workers or equipment placement due to platform tilt, greatly reducing the possibility of threats to worker safety caused by platform tilt, and providing a safe and stable working environment for construction.

Description

Technical Field

[0001] This invention relates to the field of mine shaft equipment technology, and in particular to an in-shaft attitude sensing device and its usage method for an ultra-deep vertical shaft support shoe stepping type shaft hoisting platform. Background Technology

[0002] In ultra-deep vertical shaft construction, the stepping shoe device is a commonly used lifting and supporting equipment inside the shaft. Its main functions include fixing the device by contacting the shaft wall through the stepping shoe mechanism, and using the extension and retraction of the stepping cylinder to drive the hoisting platform to step up and down inside the shaft. However, traditional support-boot stepping devices only provide basic support and stepping functions. While the horizontally positioned support-boot cylinders provide horizontal fixing force when supporting the well wall, as ultra-deep vertical shaft projects extend to deeper areas, the concrete of the well wall in deep sections (typically below 800 meters) is prone to strength decay over time under complex environments of high temperature and humidity (such as geothermal gradients causing well wall temperatures to reach 30-50℃ and relative humidity above 80%). Improper construction can also lead to local defects such as honeycombing and pitting. When resisting the self-weight of the hoisting platform and various loads generated during construction, these defects reduce the bearing capacity and friction capacity of the well wall at different positions on the same horizontal level. When the hoisting platform is fixed to the inner wall of the well casing, the support-boot cylinders directly act on the platform, causing it to tilt, posing a serious threat to the personal safety of workers. Therefore, a support-boot stepping type well casing hoisting platform attitude sensing device and its usage method for ultra-deep vertical shafts are proposed. Summary of the Invention

[0003] The purpose of this invention is to provide an in-well attitude sensing device and method for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform. It can effectively ensure the horizontal state of the wellbore hoisting platform during the fixing process, avoid the instability of the workers' standing or the unstable placement of the equipment due to the tilt of the working platform, and greatly reduce the threat to the personal safety of the workers caused by the tilt of the hoisting platform.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a wellbore attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore lifting platform, comprising a top-level lifting platform, a middle working platform, a middle lifting platform and a bottom-level working platform arranged sequentially from top to bottom inside the wellbore, and a tensioning ring. A plurality of tensioning cylinders are uniformly fixedly installed circumferentially on the outer side of the tensioning ring. A plurality of hydraulic cylinders are fixedly connected to the upper surface of the tensioning ring. The lower ends of the top-level lifting platform and the middle lifting platform are movably connected to the output ends of the hydraulic cylinders, respectively. A box parallel to the upper surface of the middle lifting platform is fixedly installed at the center. A central groove is formed at the center of the bottom wall of the box, and a gravity ball is arranged inside the central groove. A plurality of edge grooves are formed at the edges of the bottom wall of the box, and pressure sensors are fixedly installed inside the edge grooves. A channel groove is formed between the central groove and the edge grooves. A controller is fixedly installed on the middle working platform, and the controller is electrically connected to the hydraulic cylinders and the pressure sensors, respectively.

[0005] By adopting the above technical solution, the device is arranged sequentially from top to bottom in the wellbore: a top-level lifting plate, an intermediate working plate, another intermediate lifting plate, and a bottom-level working plate. If the lifting plate tilts due to the tilt of the support ring, the gravity ball in the central groove is subjected to gravity and rolls through the channel groove to the edge groove at the lowest point, pressing on the pressure sensor at that position and generating a pressure signal. The controller receives the signals from each pressure sensor, determines the position of the gravity ball in the edge groove, and thus determines the tilt direction of the top-level and intermediate lifting plates. Based on the attitude data, the controller adjusts the hydraulic cylinders in the corresponding positions to lift the lowest points of the top-level and intermediate lifting plates, counteracting the tilt of the support ring. Due to the influence of the pressure sensor, the gravity ball rolls along the channel groove to the central groove. After the gravity ball detaches from the pressure sensor, it resets, and the controller stops adjusting the hydraulic cylinder. This corrects the posture of the top and middle lifting platforms, keeping them level. This ensures the horizontal state of the working platform during the wellbore fixing process. In summary, this device effectively guarantees the horizontal state of the working platform during wellbore fixing, avoiding situations such as unstable standing of workers or unstable placement of equipment due to the tilt of the working platform. It greatly reduces the possibility of the tilt of the lifting platform threatening the personal safety of workers and provides a safe and stable working environment for construction.

[0006] A further configuration of the present invention includes: distributed strain sensors for sensing the stress on the beam grid structure are fixedly installed on both the top-level and intermediate-level hanging platforms; lidar sensors 3 for sensing the attitude of the wellbore hanging platform are fixedly installed on both the top-level and bottom-level working platforms; inertial measurement units are fixedly installed circumferentially on the outer surfaces of both the top-level and intermediate-level hanging platforms; distributed stress and distance detection sensors for sensing the stress on the support shoe are provided; hydraulic sensors for sensing the tension and stepping states are fixedly installed on both the stepping cylinder and the tensioning cylinder; and the stepping cylinder, tensioning cylinder, hydraulic cylinder, distributed strain sensors, lidar sensors 3, hydraulic sensors, inertial measurement units, and distributed stress and distance detection sensors are electrically connected to the controller via wires.

[0007] By adopting the above technical solutions, distributed strain sensors are used to sense the stress on the beam grid structure, distributed stress and distance detection sensors can sense the stress on the support shoes and the distance information between them and the well wall, lidar sensor 3 uses lidar technology to sense the attitude of the wellbore hoisting platform, and inertial measurement unit and inertial navigation technology in the well assist in sensing changes in the attitude of the hoisting platform. Pressure sensors on the stepping cylinder and tensioning cylinder sense the tensioning and stepping states. The data collected by the above sensors are transmitted to the controller. The controller analyzes and processes the collected multi-source sensor data to realize the automatic sensing of the attitude and stress state of the stepping wellbore hoisting platform in the well, and to grasp the attitude and stress state of the wellbore hoisting platform in the well. This provides support for the leveling and attitude control of the wellbore hoisting platform. Through the controller, the staff can observe the attitude and stress state of the hoisting platform in the well and further discover in a timely manner whether the hoisting platform is level or tilted, so as to ensure the safety of the construction personnel and the smooth progress of the construction.

[0008] A further provision of the present invention is that an oil pump is fixedly installed on the upper surface of the top-level hanging platform, and a gasoline generator is fixedly connected to the upper surface of the top-level hanging platform to provide power to the oil pump. The oil pump is connected to the stepping cylinder, the tensioning cylinder and the hydraulic cylinder through oil pipes.

[0009] By adopting the above technical solution, an independent power unit is integrated on the top-level hanging platform. The gasoline generator converts chemical energy into electrical energy to drive the oil pump. The oil pump, as the power source of the hydraulic system, provides high-pressure hydraulic oil to all actuator cylinders (stepping cylinder, tensioning cylinder, leveling cylinder) through oil pipes.

[0010] A further feature of the present invention is that each of the oil pipes connecting the oil pump to the stepping cylinder, the tensioning cylinder, and the hydraulic cylinder is equipped with a flow control valve.

[0011] By adopting the above technical solution, the flow rate of oil entering each hydraulic component can be adjusted by controlling the preset opening degree of the valve. This allows for control of the action speed and force of each hydraulic component, making the movement, support, and adjustment of the lifting platform more stable and controllable, and improving the stability and reliability of the device operation.

[0012] A further feature of the present invention is that each of the oil pipes connecting the oil pump to the stepping cylinder, the tensioning cylinder, and the hydraulic cylinder is equipped with a flow control valve, and the controller is electrically connected to the flow control valve.

[0013] By adopting the above technical solution, the controller can send an electrical signal to the flow control valve according to the preset program or the received signal to control its opening degree, realizing centralized control and automated operation of the flow control valve. This makes it convenient for staff to remotely adjust the device according to the actual working conditions, and improves the convenience and reliability of horizontal adjustment operation.

[0014] A further feature of the present invention is that an tilt sensor electrically connected to the controller is fixedly connected to the upper surface of the top-level hanging plate.

[0015] By adopting the above technical solution, the tilt sensor can sense the tilt angle of the top-level suspended platform in real time and convert the angle signal into an electrical signal to transmit to the controller. This enables the controller to obtain the tilt information of the suspended platform in a timely manner, providing an accurate basis for the preset opening of the flow control valve. This helps to quickly and accurately adjust the suspended platform to a horizontal state and ensure construction safety.

[0016] A further feature of the present invention is that: a rotating seat is rotatably connected to the top end of the extended end of the hydraulic cylinder, and an incomplete ball wheel is rotatably connected to the top end of the rotating seat; a ball groove is formed on the lower surface of the top plate and the intermediate working plate, and the incomplete ball wheel is movably connected in the ball groove.

[0017] By adopting the above technical solution, this structure enables the hydraulic cylinder to achieve multi-directional relative rotation with the top-level lifting platform and the intermediate working platform. When the working platform is adjusting its posture, it can better adapt to the relative movement between the components, reduce stress concentration caused by uncoordinated movement, and improve the flexibility and reliability of the device.

[0018] A further feature of the present invention is that the number and position of the hydraulic cylinders and pressure sensors correspond one-to-one, the number of hydraulic cylinders and pressure sensors is at least 6, and the plurality of hydraulic cylinders are evenly distributed on the upper surface of the tensioning ring.

[0019] By adopting the above technical solution, multiple hydraulic cylinders cooperate with each other to support the top and middle suspended platforms, increasing the stability and reliability of the support. This allows for a more even distribution of the weight and force on the working platform, providing stronger support and horizontal adjustment capabilities during the adjustment of the working platform's posture, and improving the overall structural stability and accuracy of posture adjustment of the device.

[0020] A method for using an in-well attitude sensing device with a stepping-type wellbore hoisting platform for ultra-deep vertical shaft support includes the following steps: Step 1: When the working platform needs to be fixed in a certain position inside the well barrel for operation, start the tensioning cylinder and control the tensioning cylinder to extend and move towards the inner wall of the well barrel until it is in close contact with the inner wall of the well barrel; Step 2: When the hanging platform tilts, the gravity ball in the central groove is subjected to gravity, and the gravity ball deviates from the center and rolls into the channel groove between the central groove and the edge groove, always rolling towards the lowest point; Step 3: After the gravity ball rolls into a certain edge groove under the action of gravity, it presses on the pressure sensor at that position, generating a pressure signal. The controller receives the signals from each pressure sensor, determines which edge groove the gravity ball is located in, and thus determines the tilt direction of the hanging platform. Step 4: The controller adjusts the hydraulic cylinders in the corresponding positions according to the tilt direction in Step 3, so that the top platform and the middle platform are gradually adjusted to the horizontal direction under the action of the hydraulic cylinders to counteract the effect of the tilt of the support ring, realize the correction of the platform posture, restore it to the horizontal, and reset the gravity ball. Step 5: After the gravity ball is reset, the controller stops adjusting the hydraulic cylinder, thus correcting the posture of the top and middle lifting platforms, thereby ensuring the horizontal state of the working platform during the wellbore fixing process.

[0021] The beneficial effects of this invention are as follows: When the hoisting platform tilts due to the tilting of the support ring, the built-in gravity ball rolls along the channel groove to the edge groove at the lowest point under the action of gravity, triggering the pressure sensor at the corresponding position. The controller can quickly and accurately determine the tilt direction of the hoisting platform, realizing automatic perception of the tilt state. Based on the tilt direction signal fed back by the pressure sensor, the controller automatically adjusts the hydraulic cylinder at the corresponding position. After the gravity ball disengages from the pressure sensor, the gravity ball resets, and the controller stops adjusting the hydraulic cylinder, correcting the attitude of the hoisting platform and restoring it to a horizontal position. This process requires no manual intervention, responds quickly, and effectively ensures that the hoisting platform is always in a horizontal state. By automatically maintaining the horizontal position of the hoisting platform, the horizontal position of the working plate is ensured, avoiding problems such as unstable standing of workers, equipment placement deviation or slippage caused by the tilt of the working plate. This significantly reduces the personal safety risks caused by tilting and provides a safe and stable working environment for construction inside the well. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the vertical cross-sectional structure of the box body of the present invention; Figure 4 This is a schematic diagram of the horizontal cross-sectional structure of the box body of the present invention; Figure 5 This is a top view of the support ring structure of the present invention; Figure 6 This is a cross-sectional view of the support ring of the present invention; Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A; Figure 8 This is a schematic diagram of the connection structure between the rotary seat and the incomplete ball wheel of the present invention; Figure 9 This is a control principle diagram of the present invention.

[0024] In the diagram, 1. Wellbore; 2. Top-level lifting platform; 3. LiDAR sensor; 4. Support shoe; 5. Distributed strain sensor; 6. Intermediate working plate; 7. Stepping cylinder; 8. Tensioning cylinder; 9. Intermediate lifting platform; 10. Column; 11. Bottom-level working plate; 12. Controller; 13. Tensioning ring; 14. Gravity ball; 15. Hydraulic cylinder; 16. Tilt sensor; 17. Ball groove; 18. Rotary seat; 19. Incomplete ball wheel; 20. Oil pump; 21. Box body; 22. Edge groove; 23. Pressure sensor; 24. Channel groove; 25. Center groove. Detailed Implementation

[0025] The technical solution of the present invention will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] Reference Figures 1-9A stepping-type wellbore attitude sensing device for ultra-deep vertical shafts includes a top-level lifting plate 2, an intermediate working plate 6, an intermediate lifting plate 9, and a bottom-level working plate 11 arranged sequentially from top to bottom inside the wellbore 1. Several stepping cylinders 7 are fixedly connected between the intermediate working plate 6 and the intermediate lifting plate 9. Several columns 10 are fixedly connected between the top-level lifting plate 2 and the intermediate working plate 6, and between the intermediate lifting plate 9 and the bottom working plate 11. The device also includes a tensioning ring 13. Several tensioning cylinders 8 are uniformly fixedly installed circumferentially on the outer surface of the tensioning ring 13. A support shoe 4 is fixedly installed at the extended end of each tensioning cylinder 8. Multiple hydraulic cylinders 15 are fixedly connected to the upper surface of the tensioning ring 13. The lower ends of the top-level lifting plate 2 and the intermediate lifting plate 9 are movably connected to the output ends of the hydraulic cylinders 15. The upper surface of the intermediate lifting plate 9... A box 21 parallel to the center of the surface is fixedly installed. A central groove 25 is opened in the center of the bottom wall of the box 21. A gravity ball 14 is set inside the central groove 25. The gravity ball 14 is made of stainless steel. Multiple edge grooves 22 are opened at the edge of the bottom wall of the box 21. The depth of the central groove 25 is 2 to 4 mm. A pressure sensor 23 is fixedly installed inside the edge groove 22. The pressure sensor 23 is used to sense the position of the gravity ball 14 and determine the tilt posture of the hanging platform. A channel groove 24 is opened between the central groove 25 and the edge groove 22. A controller 12 is fixedly installed on the middle working plate 6. The controller 12 is electrically connected to the hydraulic cylinder 15 and the pressure sensor 23 through data lines. The controller 12 is used to receive the electrical signal of the pressure sensor 23 and transmit the electrical signal to the hydraulic cylinder 15 to drive the hydraulic cylinder 15 to extend and retract.

[0027] The device consists of a top-level lifting platform 2, an intermediate working platform 6, an intermediate lifting platform 9, and a bottom-level working platform 11 arranged sequentially from top to bottom within the wellbore 1. The top-level lifting platform 2 is fixedly connected to the intermediate working platform 6, and the intermediate lifting platform 9 is fixedly connected to the bottom working platform 11 via columns 10, forming a stable frame structure that provides basic support for the entire lifting platform system. A stepping cylinder 7 connects the intermediate working platform 6 and the intermediate lifting platform 9. The extension and retraction of the stepping cylinder 7 allows the lifting platform to move step-like within the wellbore, meeting the position adjustment requirements during construction. During the fixing of the working lifting platform, the tensioning cylinder 8 extends, causing the support shoe 4 to press tightly against the inner wall of the wellbore 1, thereby fixing the tensioning ring 13 within the wellbore and providing a stable support point for the entire lifting platform system. If the lifting platform tilts due to the tilting of the tensioning ring 13, the gravity ball 14, under the influence of gravity in the central groove 25, rolls through the channel groove 24 to the edge groove 22 at the lowest point, pressing against the pressure sensor 23 at that location and generating a pressure signal. The controller 12 receives the signals from each pressure sensor. The signal from 23 indicates the location of the gravity ball 14 in the edge groove 22, thus determining the tilt direction of the top-level hanging platform 2 and the middle hanging platform 9. Based on the attitude data, the controller 12 adjusts the hydraulic cylinder 15 in the corresponding position to lift the lowest point of the top-level hanging platform 2 and the middle hanging platform 9, counteracting the influence of the tilt of the tensioning ring 13. The gravity ball 14 rolls along the channel groove 24 to the center groove 25. After the gravity ball 14 is removed from the pressure sensor 23, it resets, and the controller 12 stops adjusting the hydraulic cylinder 15, thus correcting the attitude of the top-level hanging platform 2 and the middle hanging platform 9 and keeping them horizontal. This ensures the horizontal state of the working platform during the fixing process of the well shaft 1. In summary, this device can effectively ensure the horizontal state of the working platform during the fixing process of the well shaft 1, avoiding situations such as unstable standing of operators and unstable placement of equipment due to the tilt of the working platform. It greatly reduces the possibility of the tilt of the hanging platform posing a threat to the personal safety of operators and provides a safe and stable working environment for construction.

[0028] Distributed strain sensors 5 for sensing the stress on the beam grid structure are fixedly installed on the top-level hanging platform 2 and the middle hanging platform 9. LiDAR sensors 3 for sensing the attitude of the shaft hanging platform are fixedly installed on the top-level hanging platform 2 and the bottom working platform 11. Inertial measurement units are fixedly installed circumferentially on the outer surfaces of the top-level hanging platform 2 and the middle hanging platform 9. Distributed stress and distance sensors for sensing the stress on the support shoe 4 are provided. Hydraulic sensors for sensing the tension and stepping states are fixedly installed on the stepping cylinder 7 and the tensioning cylinder 8. The stepping cylinder 7, tensioning cylinder 8, hydraulic cylinder 15, distributed strain sensor 5, LiDAR sensor 3, hydraulic sensor, inertial measurement unit, and distributed stress and distance sensors are electrically connected to the controller 12 via wires. The output signals of the stepping cylinder 7, tensioning cylinder 8, distributed strain sensor 5, LiDAR sensor 3, hydraulic sensor, inertial measurement unit, and distributed stress and distance sensors are all 4-20mA standard current signals. The controller 12 is connected to each sensor via shielded twisted-pair cables. The sensor connection uses a shielded twisted-pair cable with a diameter of 1.5mm² and a grounding resistance of ≤1Ω. Distributed strain sensor 5 is used to sense the stress on the beam structure. Distributed stress and distance detection sensors can sense the stress on the support shoe 4 and its distance from the well wall. The attitude of the wellbore hoisting platform is sensed using the lidar technology of lidar sensor 3. The in-well inertial measurement unit and inertial navigation technology are used to assist in sensing changes in the attitude of the hoisting platform. The pressure sensors on the stepping cylinder 7 and the tensioning cylinder 8 sense the tensioning and stepping states. The data collected by the above sensors are transmitted to the controller 12. The controller 12 analyzes and processes the collected multi-source sensor data to realize the automatic sensing of the attitude and stress state of the stepping wellbore hoisting platform in the well. This further helps to understand the attitude and stress state of the wellbore hoisting platform in the well and provides support for the leveling and attitude control of the hoisting platform. Through the controller 12, the staff can observe the attitude and stress state of the hoisting platform in the well and can promptly detect problems such as whether the hoisting platform is level or tilted, ensuring the safety of the construction personnel and the smooth progress of the construction.

[0029] An oil pump 20 is fixedly installed on the upper surface of the top-level hanging platform 2. A gasoline generator is fixedly connected to the upper surface of the top-level hanging platform 2 to provide power to the oil pump 20. The oil pump 20 is connected to the stepping cylinder 7, the tensioning cylinder 8 and the hydraulic cylinder 15 through oil pipes. An independent power unit is integrated on the top-level hanging platform 2. The gasoline generator converts chemical energy into electrical energy to drive the oil pump 20 to work. The oil pump 20 serves as the power source of the hydraulic system and provides high-pressure hydraulic oil to all the actuator cylinders (stepping cylinder, tensioning cylinder and leveling hydraulic cylinder) through oil pipes.

[0030] The oil pump 20 is equipped with flow control valves on the oil pipes that are connected to the stepping cylinder 7, the tensioning cylinder 8 and the hydraulic cylinder 15 respectively. By controlling the preset opening of the valves, the flow rate of oil entering each hydraulic component can be adjusted, which can control the action speed and force of each hydraulic component, making the movement, support and adjustment of the lifting platform more stable and controllable, and improving the stability and reliability of the device operation.

[0031] Each of the oil pump 20 connected to the oil pipes of the stepping cylinder 7, the tensioning cylinder 8, and the hydraulic cylinder 15 is equipped with a flow control valve. The controller 12 is electrically connected to the flow control valve. The controller 12 includes a signal acquisition module, a data processing module, and a wireless communication module. The sampling frequency of the signal acquisition module is 1kHz. The data processing module uses an ARM Cortex-A53 quad-core processor with a main frequency of 1.5GHz. The wireless communication module supports 4G / 5G dual-mode communication with a transmission rate of ≥10Mbps. The controller 12 can send an electrical signal to the flow control valve according to the preset program or the received signal to control its opening degree. This realizes centralized control and automated operation of the flow control valve, which is convenient for operators to remotely adjust the device according to the actual working conditions and improves the convenience and reliability of horizontal adjustment operation.

[0032] An inclination sensor 16, which is electrically connected to the controller 12, is fixedly connected to the upper surface of the top-level suspended platform 2. The inclination sensor 16 can sense the tilt angle of the top-level suspended platform 2 in real time and convert the angle signal into an electrical signal and transmit it to the controller 12. This allows the controller 12 to obtain the tilt information of the suspended platform in a timely manner, providing an accurate basis for the preset opening degree of the flow control valve. This helps to quickly and accurately adjust the suspended platform to a horizontal state and ensure construction safety.

[0033] The top end of the hydraulic cylinder 15 is rotatably connected to a swivel base 18, and the top end of the swivel base 18 is rotatably connected to an incomplete ball wheel 19. The lower surfaces of the top plate 2 and the intermediate working plate 6 are provided with ball grooves 17, and the incomplete ball wheel 19 is movably connected in the ball grooves 17. This structure enables the hydraulic cylinder 15 to achieve relative rotation in multiple directions with the top plate 2 and the intermediate working plate 6. When the working plate is adjusted in posture, it can better adapt to the relative movement between the components, reduce stress concentration caused by uncoordinated movement, and improve the flexibility and reliability of the device.

[0034] The number and position of the hydraulic cylinders 15 and pressure sensors 23 are one-to-one. There are at least 6 hydraulic cylinders 15 and pressure sensors 23. The multiple hydraulic cylinders 15 are evenly distributed on the upper surface of the support ring 13. The multiple hydraulic cylinders 15 cooperate with each other to support the top plate 2 and the middle plate 9, which increases the stability and reliability of the support. It can more evenly distribute the weight and force of the working plate. During the adjustment of the attitude of the working plate, it provides stronger support force and horizontal adjustment capability, and improves the overall structural stability and attitude adjustment accuracy of the device.

[0035] The hydraulic sensor is connected to the controller 12 via a CAN bus. The data collected by the hydraulic sensor is transmitted to the controller 12 via the CAN bus to monitor parameters such as the pressure of the stepping cylinder 7 and the tensioning cylinder 8. The CAN bus has the advantages of reliable data transmission and strong real-time performance. It can accurately and timely transmit the status information of the stepping cylinder 7 and the tensioning cylinder 8 to the controller 12, so as to facilitate real-time monitoring of the working status of the stepping cylinder 7 and the tensioning cylinder 8. This provides a basis for controlling the action of the stepping cylinder 7 and the tensioning cylinder 8, and ensures the accuracy and safety of the tensioning and stepping operations.

[0036] The hydraulic sensors on the stepping cylinder 7 and the tensioning cylinder 8 are respectively installed at the oil inlet of the rodless chamber and the rod chamber of the cylinder. The range of the hydraulic sensor is 0-30MPa, the accuracy is ±0.1MPa, and the response time is ≤10ms. The hydraulic sensor installed in a suitable position, combined with its large range, high accuracy and fast response time, can accurately measure the pressure change in the cylinder and provide accurate data to the controller 12 so as to accurately determine the working status of the cylinder.

[0037] At least two inertial measurement units (IMUs) are fixedly installed on the top circumferential position of the outer side of the top-level hoisting platform 2 and the middle hoisting platform 9, respectively. Each IMU includes a three-axis accelerometer and a three-axis gyroscope. The accelerometer has a range of ±16g, the gyroscope has a range of ±200° / s, and the zero-bias stability is ≤0.01° / h. Fixing the two IMUs on the top circumferential position of the outer side of the top-level hoisting platform 2 and the middle hoisting platform 9 respectively allows for more accurate acquisition of the attitude change information of the hoisting platform at different positions. The accelerometer range of ±16g and the gyroscope range of ±200° / s can meet the measurement requirements of the hoisting platform under complex motion conditions downhole. The zero-bias stability of ≤0.01° / h ensures the accuracy and stability of the measurement results.

[0038] The inertial measurement unit is an explosion-proof inertial measurement unit with a sampling rate of ≥100Hz. The explosion-proof design meets the requirements of special downhole environments. The high sampling rate can collect inertial data more accurately and adapt to environments where flammable and explosive gases may exist downhole, ensuring the safe operation of the equipment.

[0039] A method for using an in-well attitude sensing device with a stepping-type wellbore hoisting platform for ultra-deep vertical shaft support includes the following steps: Step 1: When the working platform needs to be fixed in a certain position inside the well barrel 1 for operation, start the tensioning cylinder 8, control the tensioning cylinder 8 to start extending, and move towards the inner wall of the well barrel 1 until it is in close contact with the inner wall of the well barrel 1. Step 2: When the hanging platform tilts as the tensioning ring 13 tilts, the gravity ball 14 is subjected to gravity in the central groove 25. The gravity ball 14 deviates from the center and rolls into the channel groove 24 between the central groove 25 and the edge groove 22, always rolling towards the lowest point. Step 3: After the gravity ball 14 rolls into a certain edge groove 22 under the action of gravity, it presses on the pressure sensor 23 at that position and generates a pressure signal. The controller 12 receives the signals from each pressure sensor 23 and determines which edge groove the gravity ball 14 is located in, thereby determining the tilt direction of the hanging platform. Step 4: According to the tilt direction in Step 3, the controller 12 adjusts the hydraulic cylinder 15 in the corresponding position so that the top plate 2 and the middle plate 9 are gradually adjusted to the horizontal direction under the action of the hydraulic cylinder 15 to counteract the effect of the tilt of the tensioning ring 13, realize the correction of the plate posture, restore it to the horizontal, and reset the gravity ball 14. Step 5: After the gravity ball 14 is reset, the controller 12 stops adjusting the hydraulic cylinder 15, thereby correcting the posture of the top plate 2 and the middle plate 9, which enables the working plate to maintain a horizontal state during the fixing process of the wellbore 1.

[0040] The present invention has the following effects: When the hoisting platform tilts due to the tilting of the support ring 13, the built-in gravity ball 14 rolls along the channel groove 24 to the edge groove 22 at the lowest point under the action of gravity, and triggers the pressure sensor 23 at the corresponding position. The controller 12 can quickly and accurately determine the tilt direction of the hoisting platform, realizing automatic perception of the tilt state. According to the tilt direction signal fed back by the pressure sensor 23, the controller 12 automatically adjusts the hydraulic cylinder 15 at the corresponding position. After the gravity ball 14 is removed from the pressure sensor 23, the gravity ball 14 resets, and the controller 12 stops adjusting the hydraulic cylinder 15, correcting the posture of the hoisting platform and restoring it to a horizontal position. This process does not require manual intervention, responds quickly, and effectively ensures that the hoisting platform is always in a horizontal state. By automatically maintaining the horizontal position of the hoisting platform, the horizontal position of the working plate is ensured, avoiding problems such as unstable standing of operators, equipment placement deviation or sliding caused by the tilt of the working plate. It significantly reduces the personal safety risks caused by tilting and provides a safe and stable working environment for construction in the well shaft.

Claims

1. A wellbore attitude sensing device for an ultra-deep vertical shaft with a stepping support shoe, comprising a top-level lifting plate, a middle working plate, a middle lifting plate, and a bottom-level working plate arranged sequentially from top to bottom inside the wellbore, characterized in that, It also includes a tensioning ring, on which several tensioning cylinders are uniformly fixedly installed circumferentially on the outer side. Multiple hydraulic cylinders are fixedly connected to the upper surface of the tensioning ring. The lower ends of the top-level hanging plate and the middle hanging plate are movably connected to the output ends of the hydraulic cylinders, respectively. A box parallel to the middle hanging plate is fixedly installed at the center of the upper surface of the middle hanging plate. A central groove is opened at the center of the bottom wall of the box. A gravity ball is set inside the central groove. Multiple edge grooves are opened at the edge of the bottom wall of the box. Pressure sensors are fixedly installed inside the edge grooves. A channel groove is opened between the central groove and the edge grooves. A controller is fixedly installed on the middle working plate. The controller is electrically connected to the hydraulic cylinders and the pressure sensors, respectively.

2. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 1, characterized in that: Distributed strain sensors for sensing the stress on the beam grid structure are fixedly installed on the top and middle hanging platforms. LiDAR sensors for sensing the attitude of the shaft hanging platform are fixedly installed on the top and bottom working platforms. Inertial measurement units are fixedly installed circumferentially on the outer surfaces of the top and middle hanging platforms. Distributed stress and distance sensors for sensing the stress on the support shoe are provided. Hydraulic sensors for sensing the tension and stepping states are fixedly installed on the stepping cylinder and the tensioning cylinder. The stepping cylinder, tensioning cylinder, hydraulic cylinder, distributed strain sensor, LiDAR sensor, hydraulic sensor, inertial measurement unit, and distributed stress and distance sensors are electrically connected to the controller via wires.

3. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 1, characterized in that: An oil pump is fixedly installed on the upper surface of the top-level hanging platform. The oil pump is connected to the stepping cylinder, the tensioning cylinder and the hydraulic cylinder through oil pipes.

4. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 3, characterized in that: The oil pump is equipped with flow control valves on the oil pipes that are connected to the stepping cylinder, the tensioning cylinder and the hydraulic cylinder respectively, and the controller is electrically connected to the flow control valves.

5. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 1, characterized in that: An angle sensor, which is electrically connected to the controller, is fixedly connected to the upper surface of the top-level hanging platform.

6. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 1, characterized in that: The top end of the hydraulic cylinder is rotatably connected to a rotating base, and the top end of the rotating base is rotatably connected to an incomplete ball wheel. The lower surfaces of the top plate and the middle working plate are provided with ball grooves, and the incomplete ball wheel is movably connected in the ball grooves.

7. The in-well attitude sensing device for an ultra-deep vertical shaft support shoe stepping type wellbore hoisting platform according to claim 1, characterized in that: The number and position of the hydraulic cylinders and pressure sensors correspond one-to-one. There are at least 6 hydraulic cylinders and pressure sensors, and the hydraulic cylinders are evenly distributed on the upper surface of the tensioning ring.

8. A method of using the in-well attitude sensing device for the stepping wellbore hoisting platform of any one of claims 1 to 7 in ultra-deep vertical shafts, characterized in that, Includes the following steps: Step 1: When the working platform needs to be fixed in a certain position inside the well barrel for operation, start the tensioning cylinder and control the tensioning cylinder to extend and move towards the inner wall of the well barrel until it is in close contact with the inner wall of the well barrel; Step 2: When the hanging platform tilts as the support ring tilts, the gravity ball in the central groove is subjected to gravity, and the gravity ball deviates from the center and rolls into the channel groove between the central groove and the edge groove, always rolling towards the lowest point; Step 3: After the gravity ball rolls into a certain edge groove under the action of gravity, it presses on the pressure sensor at that position, generating a pressure signal. The controller receives the signals from each pressure sensor, determines which edge groove the gravity ball is located in, and thus determines the tilt direction of the hanging platform. Step 4: The controller adjusts the hydraulic cylinders in the corresponding positions according to the tilt direction in Step 3, so that the top platform and the middle platform are gradually adjusted to the horizontal direction under the action of the hydraulic cylinders to counteract the effect of the tilt of the support ring, realize the correction of the platform posture, restore it to the horizontal, and reset the gravity ball. Step 5: After the gravity ball is reset, the controller stops adjusting the hydraulic cylinder, thus correcting the posture of the top and middle lifting platforms, thereby ensuring the horizontal state of the working platform during the wellbore fixing process.

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