CN-121994107-A - Carnallite ore-forming thickness measuring device and method based on unmanned ship

CN121994107ACN 121994107 ACN121994107 ACN 121994107ACN-121994107-A

Abstract

The invention provides a carnallite ore formation thickness measuring device and method based on an unmanned ship, wherein the measuring device comprises an unmanned ship platform, a drilling measuring unit, a stratum identifying unit and a control scheduling unit, the unmanned ship platform is used for autonomous navigation and fixed point maintenance in a salt lake or a salt pan water area, the drilling measuring unit is arranged in the middle of the unmanned ship platform and is used for vertical drilling at a target measuring point, the stratum identifying unit comprises an upper interface and a lower interface which are used for identifying the upper and lower interfaces of a carnallite ore layer based on data acquired by a data acquisition module, the carnallite ore formation thickness is calculated according to a drill rod pressing depth difference value corresponding to the upper interface and the lower interface, and the control scheduling unit is used for carrying out path planning and task scheduling on the unmanned ship platform and controlling the drilling measuring unit to carry out automatic fixed point measurement. The invention realizes full-automatic and periodic measurement of the ore-forming thickness of carnallite, is suitable for salt lake resource investigation and dynamic monitoring, and has wide engineering application prospect.

Inventors

LI XUELONG
Xiang Binglan
ZHU LEI
LIU XU
LI MENGYUN

Assignees

中冶武勘工程技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260123

Claims (10)

1. The carnallite ore-forming thickness measuring device based on the unmanned ship comprises an unmanned ship platform and is characterized in that a drilling measuring unit, a stratum identifying unit and a control scheduling unit are arranged on the unmanned ship platform; The unmanned ship platform is used for autonomous navigation and fixed-point maintenance in a saline lake or saline field water area; The drilling measurement unit is arranged in the middle of the unmanned ship platform and is used for vertically drilling at a target measuring point; The stratum identification unit comprises a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring the bit resistance moment and the drill rod pressing depth data in real time in the drilling process of the drilling measurement unit, and the data processing module is used for identifying the upper and lower interfaces of the carnallite layer based on the data acquired by the data acquisition module and calculating to obtain the carnallite ore thickness according to the drill rod pressing depth difference value corresponding to the upper interface and the lower interface; The control scheduling unit is used for receiving a preset measurement period or measurement task, planning a path and scheduling the task for the unmanned ship platform, and controlling the drilling measurement unit to automatically perform fixed-point measurement.
2. The carnallite ore thickness measuring device based on the unmanned ship is characterized in that the data acquisition module of the stratum identification unit comprises a torque sensor and a depth detection device, wherein the torque sensor is used for acquiring the resistance moment of a drill bit in the drilling process in real time, the depth detection device is used for acquiring the real-time pressing depth of a drill rod, the torque sensor and the depth detection device respectively transmit acquired resistance moment of the drill bit and pressing depth signals of the drill rod to the data processing module, a dynamic stratum specific energy response model is arranged in the data processing module, the data processing module is used for identifying the position of the drill bit entering an upper interface of a carnallite ore layer from a water layer and the position of the drill bit penetrating the carnallite ore layer into a lower interface of a lower silt layer based on the torque change characteristic, and the carnallite ore thickness is calculated according to the pressing depth difference value of the drill rod corresponding to the upper interface and the lower interface.
3. The carnallite ore thickness measuring device based on the unmanned ship is characterized in that the control scheduling unit comprises a control module, a storage module, a positioning module and a communication module which are in communication connection, wherein the control module is used for controlling navigation control and task scheduling of an unmanned ship platform, the positioning module adopts a Beidou satellite positioning system and is used for realizing autonomous navigation and fixed point maintenance of the unmanned ship in a saline lake water area, the communication module is used for realizing data interaction among the unmanned ship platform, a stratum identification unit, a drilling measurement unit and a shore-based control end, and the storage module is used for storing measurement data and historical measurement records.
4. The carnallite ore thickness measuring device based on the unmanned ship according to claim 1 or 2, wherein the unmanned ship platform (1) comprises a ship body (11) and a propulsion system (12), the ship body (11) is made of a salt corrosion resistant composite material, and the control scheduling unit (4) is in communication connection with a control system of the ship body (11) and the propulsion system (12) and controls navigation and task scheduling of the unmanned ship platform.
5. The carnallite ore thickness measuring device based on the unmanned ship is characterized by comprising a drilling driving mechanism (21), a lifting mechanism (22), a drill rod (23) and a drill bit (24), wherein the lifting mechanism (22) is used for controlling vertical downward pressing and recycling of the drill rod (23), the drilling driving mechanism (21) is used for driving the drill rod (23) and the drill bit (24) to conduct rotary drilling operation, the torque sensor (31) is arranged between the drilling driving mechanism (21) and the drill rod (23), the depth detecting device (32) is arranged on the lifting mechanism (22), the drilling driving mechanism (21) and the lifting mechanism (22) are controlled to automatically work through a control module, the stratum identifying unit further comprises an inertia measuring unit (34) and an environment temperature sensor (33), the inertia measuring unit (34) is arranged on an unmanned ship platform (1) and used for collecting vertical acceleration of the unmanned ship platform (1) floating on the water surface, the environment temperature sensor (33) is arranged on the bottom of the unmanned ship platform (1) or on the bottom of the unmanned ship platform (22), and the temperature and the brine is not subjected to real-time correction by the temperature data of the temperature lake viscosity measuring and the temperature lake by the lifting mechanism.
6. The device for measuring the ore formation thickness of carnallite based on the unmanned ship according to claim 4, wherein the control scheduling unit drives the unmanned ship platform and the drilling measuring unit to perform multiple automatic measurements on the same area or the same measuring point according to a preset time interval or a task rule, so as to obtain data of the change of the ore formation thickness of carnallite along with time; the propulsion system of the unmanned ship platform adopts an electric propeller propulsion mode, an anti-adhesion coating is arranged on the surface of a propeller, a control module of the control scheduling unit presets a self-cleaning control strategy of the propeller, and when any one of the following conditions is met, the anti-salt precipitation cleaning action is automatically triggered: The unmanned ship completes drilling measurement tasks for preset times; The propeller operating current exceeds a preset threshold; the unmanned ship reaches a preset time interval; After triggering the salt-formation-preventing cleaning action, the control module controls the propeller to execute forward and reverse rotation alternate operation so as to strip the attached salt crystals by utilizing water flow scouring and centrifugal action.
7. The carnallite ore-forming thickness measuring method based on the unmanned ship is characterized by comprising the following steps of: s1, automatically navigating to a target position by an unmanned ship platform according to coordinates of a measuring point, and starting a drilling measurement unit to drill downwards at a preset speed; s2, in the drilling process, the stratum identification unit acquires the bit resistance moment and the drill rod pressing depth data in real time, Identifying the upper interface position of the drill bit entering the carnallite layer from the water layer based on the acquired resistance moment and drill rod pressing depth data, and the lower interface position of the drill bit penetrating the carnallite layer and entering the lower silt layer; S3, calculating to obtain the carnallite ore thickness according to the drill rod pressing depth difference value corresponding to the upper interface and the lower interface.
8. The unmanned ship-based carnallite ore formation thickness measuring method according to claim 7, wherein: In the S2 step, the stratum identification unit acquires the bit resistance moment in real time And depth of compaction under drill pipe Simultaneously, the angular speed of the drill rod is acquired in real time Vertical acceleration of unmanned ship platform Brine temperature Eliminating the influence of waves on the bit pressure through a floating platform correction model, establishing a depth-viscosity coupling model to strip brine parasitic torque, and synthesizing a dynamic stratum specific energy response index Monitoring Identifying a point in time at which a step-wise abrupt change in the characteristic index occurs And the time point of the drop-off mutation Thereby identifying the upper and lower interface positions of the carnallite mineral layer, wherein the dynamic stratum specific energy response index at any time t The calculation formula of (t) is: , Wherein, the The formation breaking torque corrected at the time t is, Is the effective weight on bit after wave compensation at the moment t, For the drilling rate at the moment of the drilling measuring unit t, As the stick-slip enhancement factor, To prevent a small amount of denominator zero; acquisition in step S3 And Drill rod pressing depth corresponding to moment And And calculating the difference value of the two to obtain the carnallite ore thickness.
9. The unmanned ship-based carnallite ore formation thickness measurement method according to claim 8, wherein the effective weight on bit The calculation is as follows: , Wherein, the For the real-time acquisition of vertical acceleration by the IMU, For a temperature-corrected brine dynamic viscosity coefficient, For the current depth of penetration of the drill rod, G is standard acceleration; corrected formation crushing torque The calculation method of (a) is as follows: , Wherein, the Outputting total torque for the motor; No-load mechanical friction force of the system; Is the dynamic viscosity coefficient of brine, is the temperature Is a function of (2); because the difference between the early and late temperatures of the salt lake is large, the viscosity change of brine is obvious, and a temperature correction factor is introduced: ; the immersion depth of the current drill rod is set; is the drill pipe angular velocity.
10. The carnallite ore thickness measuring method based on the unmanned ship is characterized in that a positioning module and a communication module are arranged on a platform of the unmanned ship, in the S1 step, measuring tasks and measuring point coordinate information are issued to the platform of the unmanned ship through a shore-based control end, the platform of the unmanned ship automatically navigates to a target position according to the measuring point coordinates and achieves fixed point maintenance through the positioning module on the platform, and the measuring result calculated in the S3 step is sent to the shore-based control end.

Description

Carnallite ore-forming thickness measuring device and method based on unmanned ship Technical Field The invention belongs to the technical field of salt lake mineral resource exploration and monitoring, and particularly relates to a device and a method for realizing full-automatic and periodic measurement of underwater carnallite ore thickness by using an unmanned ship to carry an automatic drilling and sensing recognition device. Background Carnallite is a typical evaporated salt mineral, an important component of potassium salt resources, and the ore formation process mainly occurs in salt lake or salt pan environments. Under natural conditions, carnallite is formed by salt crystallization reaction in the evaporation and concentration processes of brine, and the thickness of the ore is jointly influenced by various factors such as brine concentration, evaporation intensity, temperature change, hydrodynamic conditions and the like. Because carnallite belongs to salt crystallization type ore bodies, the ore layers are not formed at one time and exist stably for a long time, but show obvious dynamic change characteristics. In an actual salt lake environment, the carnallite ore layer at the same measuring point position may be thickened and thinned along with the time, and even be recrystallized after being locally dissolved. Therefore, in the process of salt lake resource exploration, reserve evaluation and exploitation management, periodic and repeated measurement of the carnallite thickness in the same area is often required to obtain the real state of the change of the ore layer along with time, so that a basis is provided for subsequent production decisions. Currently, the measurement of carnallite ore formation thickness is mainly performed manually. The common method comprises the steps of measuring the water depth and calculating the thickness of the ore layer by combining the total depth in an initial exploration stage, manually drilling and sampling in a detailed exploration stage, and judging the upper and lower interfaces of the ore layer by an operator according to the drilling hand feeling or sampling condition. The method has the defects that on one hand, the traditional mode of total depth and water depth reduction cannot accurately reflect the influence of underwater topography fluctuation and a silt layer, the measurement error is large, on the other hand, the manual drilling and sampling process has strong experience dependence on operators, the subjectivity of a measurement result is obvious, and the requirement of repeated measurement on consistency and comparability is difficult to meet. In addition, salt lake brines are often highly corrosive and the measurement operations area is in a remote, unmanned environment. The manual driving boat or personnel wades to carry out drilling operation, so that the labor intensity is high, and safety risks such as equipment corrosion and personnel falling into water exist. Under the application scene that needs long-term, regularly carry out the measurement, the cost of operation and the potential safety hazard of manual mode will further enlarge, are difficult to satisfy the actual demand of carnallite mineralization thickness continuous monitoring. In summary, it is difficult to realize high-frequency, automatic and safe measurement of the ore-forming thickness of carnallite while ensuring the measurement accuracy in the prior art. Therefore, there is a need for an unmanned measuring device and system that can operate for a long period in a salt lake environment, support timing or automatic measurement on demand, so as to solve the problems of low efficiency, high risk and difficult repetition of the existing manual measurement. Disclosure of Invention Aiming at the problems that the existing carnallite ore-forming thickness measuring method has low measuring precision, relies on manual experience, has high operation risk and is difficult to meet the periodic and repeated measuring requirements of salt crystal ore bodies, the invention provides a carnallite ore-forming thickness measuring device and method based on an unmanned ship, so as to realize long-term, automatic and safe monitoring of the thickness of an underwater carnallite ore layer. In order to achieve the technical aim, the invention provides a carnallite ore formation thickness measuring device based on an unmanned ship, which comprises an unmanned ship platform, wherein a drilling measuring unit, a stratum identifying unit and a control scheduling unit are arranged on the unmanned ship platform; The unmanned ship platform is used for autonomous navigation and fixed-point maintenance in a saline lake or saline field water area; The drilling measurement unit is arranged in the middle of the unmanned ship platform and is used for vertically drilling at a target measuring point; The stratum identification unit comprises a data acquisition module and a data processing module, wherein the