CN103277090A - Drill pipe locating method and device based on dipulse magnetic moment measurement - Google Patents

Abstract

The invention provides a drill pipe locating method and device based on dipulse magnetic moment measurement. The drill pipe locating device comprises two pulse magnetic moment units, a ground measuring unit and a ground calculating and displaying unit, wherein the two pulse magnetic moment units are both mounted in a non-magnetic drill pipe, the ground measuring unit and the ground calculating and displaying unit are respectively arranged on the ground and are communicated in a wireless mode, and each pulse magnetic moment unit comprises a magnetic field coil, a microcontroller, a high-voltage capacitor, two linkage electronic control switches, a clock chip, a voltage-multiplying boosting unit and a battery pack. When each micro controller is driven by each clock chip to control each linkage electronic control switch A to be connected and each linkage electronic control switch B to be disconnected, each high-voltage capacitor is charged. When each micro controller is driven by each clock chip to control each linkage electronic control switch A to be disconnected and each linkage electronic control switch B to be connected, the high-voltage capacitor discharges to generate a magnetic field. The voltage-multiplying boosting unit achieves the conversion of energy voltages of the battery pack. The drill pipe locating method and device based on the dipulse magnetic moment measurement can carry out real-time dynamic compensation on magnetic field environment, and is high in measuring precision.

Description

Drilling rod orientation method and device based on the measurement of dipulse magnetic moment

Technical field

The present invention relates to a kind of drilling rod bearing unit of measuring based on the dipulse magnetic moment, and relate to a kind of drilling rod orientation method, belong to the guiding technique field in the directional drilling.

Background technology

Trenchless technology is emerging construction technology, can carry out the construction of underground pipeline under the situation of road pavement " belly breaking " not.It is the core of non-excavation technology that horizontal orientation creeps into, and directional technology is the key that horizontal orientation creeps into.

Present directional technology, the mode that adopts Magnetic Sensor, gyroscope to combine with accelerometer is mostly measured azimuth and the inclination angle of drilling rod.Magnetic Sensor is subject to the influence that external magnetic is disturbed, and gyrostatic drift is bigger, and accelerometer error under dynamic environment is bigger, thereby the mode that adopts Magnetic Sensor, gyroscope to combine with accelerometer, and certainty of measurement is not high.Also have a kind of electronic compass to be applied to technology in the non-excavating construction, but complicated in mechanical structure, and to around magnetic field environment very responsive, uses limited and measure error big (above 5%).

Summary of the invention

In view of this, the invention provides a kind of drilling rod bearing unit of measuring based on the dipulse magnetic moment, only need 2 pulse magnetic moment unit to finish magnetic field generation function in the drilling rod and get final product, need not accelerometer, also need not gyroscope.

The present invention also provides a kind of drilling rod orientation method, can position two pulse magnetic moment unit, and calculate azimuth and the angle of slope of no magnetic drilling rod according to position coordinates, be applicable to that the drill bit that dark (degree of depth reaches 8 meters) the non-excavation of underground spy is crept into carries out guide-localization.

A kind of drilling rod bearing unit based on dipulse magnetic moment location, this drilling rod bearing unit comprises pulse magnetic moment unit a, pulse magnetic moment unit b, ground survey unit and ground calculating display unit, pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the drilling rod, and ground survey unit and ground calculate that display unit is separately positioned on the ground and both pass through radio communication; Pulse magnetic moment unit a and pulse magnetic moment unit b are used for timesharing and produce magnetic field, the ground survey unit is used for gathering the parameter of environmental magnetic field, and the parameter that display unit base area planar survey unit collection is calculated on ground is calculated the position of drilling rod and drill bit direction and shown;

Two pulse magnetic moment unit include field coil, microcontroller, high-voltage capacitance, interlock electric-controlled switch A, interlock electric-controlled switch B, clock chip, multiplication of voltage boosting unit and battery pack; The multiplication of voltage boosting unit is connected with an end of field coil by interlock electric-controlled switch A, the multiplication of voltage boosting unit is connected with the other end of field coil by interlock electric-controlled switch B, high-voltage capacitance one end is connected with interlock electric-controlled switch A, the other end is connected with interlock electric-controlled switch B, microcontroller is connected with clock chip with the control end of interlock electric-controlled switch A, the control end of interlock electric-controlled switch B respectively, and battery pack is given the power supply of multiplication of voltage boosting unit and high-voltage capacitance respectively;

When control interlock electric-controlled switch A under the driving of microcontroller at clock chip connects and links electric-controlled switch B disconnection, high-voltage capacitor charging then, when control interlock electric-controlled switch A under the driving of microcontroller at clock chip disconnects and interlock electric-controlled switch B when connecting, high-voltage capacitance discharge generation magnetic field then; The multiplication of voltage boosting unit is realized the conversion of battery voltage.

It is magnetic gradient tensor instrument that display unit is calculated on described ground.

A kind of drilling rod orientation method of drilling rod bearing unit, its concrete grammar step is as follows:

Step 1: pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the head of drilling rod, and make the axially parallel of the axial and drilling rod of field coil in two pulse magnetic moment unit;

Step 2: display unit and ground survey unit are calculated in ground be separately positioned on the road surface of drilling rod top, utilize total station survey to go out the inclination angle of ground survey unit, and regulate and make it be in level and keep inactive state;

Step 3: when drilling rod does not stretch into undergroundly, and two pulse magnetic moment unit are not when producing magnetic field, and the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₀With magnetic induction intensity output B ₀

Step 4: with drilling rod stretch into during down to the precalculated position, external microcontroller sends control signal to clock chip, make pulse magnetic moment unit a produce magnetic field and pulse magnetic moment unit b does not produce magnetic field, the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₁With magnetic induction intensity output B ₁External microcontroller sends control signal to clock chip, makes pulse magnetic moment unit b produce magnetic field and pulse magnetic moment unit a does not produce magnetic field, and the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₂With magnetic induction intensity output B ₂, and calculate the position r(x of two pulse magnetic moment unit, y respectively according to formula (1) and formula (2), z), described position r based on coordinate be: the dead ahead with the ground survey unit is X-axis, the three-dimensional system of coordinate (x that sets up with the right-hand rule, y, z);

$r_1=\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]={3[G_1-G_0]}^{-1}(B_1-B_0)---\left(1\right)$

$r_2=\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]={3[G_2-G_0]}^{-1}(B_2-B_0)---\left(2\right)$

Step 5: the dead ahead of establishing the ground survey unit is 0 °, is the positive direction of angle counterclockwise, and then display unit is tried to achieve drilling rod according to formula (3) and formula (4) relative bearing is calculated on ground;

$\mathrm{\α}=\arccos \frac{x_2-x_1}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}---\left(3\right)$

Try to achieve the angle of slope of drilling rod according to formula (4);

$\mathrm{\β}=\arccos \frac{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2+{(z_2-z_1)}^2}}---\left(4\right)$

Wherein, α is the angle that drilling rod is treated direction and the X-axis of operation, and β is the angle that drilling rod is treated direction and the XOY plane of operation;

Just obtain the position of drilling rod and the direction of rod bit through above-mentioned steps.

Beneficial effect:

(1) drilling rod bearing unit of the present invention adopts pulse magnetic moment unit, it can produce stronger magnetic field under the mode that battery powered situation is boosted by capacitance voltage-multiplying, and two pulse magnetic moment unit are by the mode of time synchronized, take turns transmitted pulse magnetic field according to certain time interval, in the intermittent phase of pulse, environmental magnetic field can be gathered in the ground survey unit, eliminates the influence such as drift, inhomogeneities of environmental magnetic field in real time.

(2) drilling rod orientation method of the present invention is by the gradient acquisition time environmental magnetic field and the pulse magnetic moment that the environmental magnetic field that superposeed disturbs, and then accurately calculates gradient and the three-component magnetic moment of pulse magnetic moment, its certainty of measurement height.

Description of drawings

Fig. 1 is the composition diagram that the present invention is based on the drilling rod bearing unit of dipulse magnetic moment location.

Fig. 2 is the composition diagram of pulse magnetic moment of the present invention unit.

Fig. 3 is the definition of coordinate system of the present invention and direction.

The specific embodiment

Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.

As shown in Figure 1, the invention provides a kind of drilling rod bearing unit based on dipulse magnetic moment location, this drilling rod bearing unit comprises pulse magnetic moment unit a, pulse magnetic moment unit b, ground calculating display unit and ground survey unit, the ground survey unit adopts magnetic gradient tensor instrument, and ancillary equipment is no magnetic drilling rod and total powerstation; Pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the drilling rod, and ground survey unit and ground calculate that display unit is separately positioned on the ground and both pass through radio communication; Pulse magnetic moment unit a and pulse magnetic moment unit b are used for timesharing and produce magnetic field, the ground survey unit is used for gathering the parameter of environmental magnetic field, and the parameter that display unit base area planar survey unit collection is calculated on ground is calculated the position of drilling rod and drill bit direction and shown.

As shown in Figure 2, two pulse magnetic moment unit include field coil, microcontroller, high-voltage capacitance, interlock electric-controlled switch A, interlock electric-controlled switch B, clock chip, multiplication of voltage boosting unit and battery pack; The multiplication of voltage boosting unit is connected with an end of field coil by interlock electric-controlled switch A, the multiplication of voltage boosting unit is connected with the other end of field coil by interlock electric-controlled switch B, high-voltage capacitance one end is connected with interlock electric-controlled switch A, the other end is connected with interlock electric-controlled switch B, microcontroller is connected with clock chip with the control end of interlock electric-controlled switch A, the control end of interlock electric-controlled switch B respectively, and battery pack is given the power supply of multiplication of voltage boosting unit and high-voltage capacitance respectively.

Wherein field coil by close around solenoid and the core material of pole shape form, the quadratic surface (sphere or ellipsoid) of standard is processed at the two ends of magnetic core, to guarantee that it can be by uniform magnetization farthest, this design can produce bigger magnetic field energy with smaller volume.

The multiplication of voltage boosting unit can provide bigger electric current (being not less than 10A) when big voltage (being not less than 200V) is provided, and the lasting regular hour (being not less than 1ms).

When control interlock electric-controlled switch A under the driving of microcontroller at clock chip connects and links electric-controlled switch B disconnection, high-voltage capacitor charging then, when control interlock electric-controlled switch A under the driving of microcontroller at clock chip disconnects and interlock electric-controlled switch B when connecting, high-voltage capacitance discharge generation magnetic field then; The multiplication of voltage boosting unit is realized the conversion of battery voltage.

A kind of drilling rod orientation method, the core of this method are two pulse magnetic moments are positioned, and calculate azimuth and the angle of slope of drilling rod then according to position coordinates, and its concrete grammar step is as follows:

Step 1: pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the head of no magnetic drilling rod, and both are 1m apart, and makes the axially parallel of the axial and no magnetic drilling rod of field coil in two pulse magnetic moment unit;

Step 2: display unit and ground survey unit are calculated in ground be separately positioned on the road surface of no magnetic drilling rod top, utilize total station survey to go out the inclination angle of ground survey unit, and regulate and make it be in level and keep inactive state;

Step 3: when no magnetic drilling rod does not stretch into undergroundly, and two pulse magnetic moment unit are not when producing magnetic field, and display unit record magnetic gradient tensor this moment instrument measurement environment field gradients tensor output G is calculated on ground ₀With magnetic induction intensity output B ₀

Step 4: will not have the magnetic drilling rod stretch into during down to the precalculated position, external microcontroller sends control signal to clock chip, make pulse magnetic moment unit a produce magnetic field and pulse magnetic moment unit b when not producing magnetic field, display unit record tensor magnetic gradiometer this moment measurement environment field gradients tensor output G is calculated on ground ₁With magnetic induction intensity output B ₁External microcontroller sends control signal to clock chip, makes pulse magnetic moment unit b produce magnetic field and pulse magnetic moment unit a when not producing magnetic field, and the gradient tensor output G of display unit record tensor magnetic gradiometer this moment measurement environment is calculated on ground ₂With magnetic induction intensity output B ₂, and calculate the position r(x of two pulse magnetic moment unit, y respectively according to formula (1) and formula (2), z), described position r based on coordinate be: the dead ahead with the ground survey unit is X-axis, the three-dimensional system of coordinate (x that sets up with the right-hand rule, y, z);

$r_1=\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=3{[G_1-G_0]}^{-1}(B_1-B_0)---\left(1\right)$

$r_2=\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=3{[G_2-G_0]}^{-1}(B_2-B_0)---\left(2\right)$

Can get $r_1=\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=3\×{\left[\begin{array}{ccc}69.99& 1.74& 63.60\\ 1.74& 14.08& -79.11\\ 63.60& -79.11& -84.07\end{array}\right]}^{-1}\left[\begin{array}{c}-132.09\\ 129.33\\ 148.21\end{array}\right]=\left[\begin{array}{c}1.09\\ 1.49\\ 5.10\end{array}\right];$

${\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="2013101811466100003DEST\_PATH\_IMAGE001.png"\; state="\{\{state\}\}">r</figure-callout>}}_2=\left[\begin{array}{c}{x}_2\\ y_2\\ {\mathrm{<figure-callout\; id="2"\; label="z"\; filenames="2013101811466100003DEST\_PATH\_IMAGE001.png"\; state="\{\{state\}\}">z</figure-callout>}}_2\end{array}\right]=3\&times;{\left[\begin{array}{ccc}31.42& 3.06& 29.30\\ 3.06& -2.50& -39.33\\ 29.30& -39.33& -28.91\end{array}\right]}^{-1}\left[\begin{array}{c}-74.44\\ 79.38\\ 68.88\end{array}\right]=\left[\begin{array}{c}1.30\\ 1.78\\ 6.04\end{array}\right];$

Step 5: as shown in Figure 3, the dead ahead of establishing the ground survey unit is 0 ° of direction, is the positive direction of angle counterclockwise, and then display unit is tried to achieve no magnetic drilling rod according to formula (3) and formula (4) relative bearing is calculated on ground;

$\mathrm{\&alpha;}=\mathrm{arrc}\cos \frac{x_2-x_1}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}---\left(3\right)$

Try to achieve the angle of slope of no magnetic drilling rod according to formula (4);

$\mathrm{\&beta;}=\arccos \frac{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2+{(z_2-z_1)}^2}}---\left(4\right)$

Wherein, α is the angle that no magnetic drilling rod is treated direction and the X-axis of operation, and β treats the angle of direction and the XOY plane of operation for no magnetic drilling rod;

Can get

Just obtain not having the position of magnetic drilling rod and the direction of no magnetic rod bit through above-mentioned steps.

If the inclination angle that utilizes inclinator to record no magnetic drilling rod is 69.2 °, the azimuth that records no magnetic drilling rod by the targeted electronic compass is 54.1 °, as seen the result that records of method provided by the invention is consistent (error is less than 0.1 °), i.e. certainty of measurement height of the present invention with the test result of inclinator, electronic compass.

In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (3)

1. drilling rod bearing unit based on dipulse magnetic moment location, it is characterized in that, this drilling rod bearing unit comprises pulse magnetic moment unit a, pulse magnetic moment unit b, ground survey unit and ground calculating display unit, pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the drilling rod, and ground survey unit and ground calculate that display unit is separately positioned on the ground and both pass through radio communication; Pulse magnetic moment unit a and pulse magnetic moment unit b are used for timesharing and produce magnetic field, the ground survey unit is used for gathering the parameter of environmental magnetic field, and the parameter that display unit base area planar survey unit collection is calculated on ground is calculated the position of drilling rod and drill bit direction and shown;

Two pulse magnetic moment unit include field coil, microcontroller, high-voltage capacitance, interlock electric-controlled switch A, interlock electric-controlled switch B, clock chip, multiplication of voltage boosting unit and battery pack; The multiplication of voltage boosting unit is connected with an end of field coil by interlock electric-controlled switch A, the multiplication of voltage boosting unit is connected with the other end of field coil by interlock electric-controlled switch B, high-voltage capacitance one end is connected with interlock electric-controlled switch A, the other end is connected with interlock electric-controlled switch B, microcontroller is connected with clock chip with the control end of interlock electric-controlled switch A, the control end of interlock electric-controlled switch B respectively, and battery pack is given the power supply of multiplication of voltage boosting unit and high-voltage capacitance respectively;

When control interlock electric-controlled switch A under the driving of microcontroller at clock chip connects and links electric-controlled switch B disconnection, high-voltage capacitor charging then, when control interlock electric-controlled switch A under the driving of microcontroller at clock chip disconnects and interlock electric-controlled switch B when connecting, high-voltage capacitance discharge generation magnetic field then; The multiplication of voltage boosting unit is realized the conversion of battery voltage.

2. the drilling rod bearing unit of measuring based on the pulse magnetic moment as claimed in claim 1 is characterized in that, it is magnetic gradient tensor instrument that display unit is calculated on described ground.

3. drilling rod orientation method of drilling rod bearing unit according to claim 1 is characterized in that its concrete grammar step is as follows:

Step 1: pulse magnetic moment unit a and pulse magnetic moment unit b are installed in the head of drilling rod, and make the axially parallel of the axial and drilling rod of field coil in two pulse magnetic moment unit;

Step 2: display unit and ground survey unit are calculated in ground be separately positioned on the road surface of drilling rod top, utilize total station survey to go out the inclination angle of ground survey unit, and regulate and make it be in level and keep inactive state;

Step 3: when drilling rod does not stretch into undergroundly, and two pulse magnetic moment unit are not when producing magnetic field, and the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₀With magnetic induction intensity output B ₀

Step 4: with drilling rod stretch into during down to the precalculated position, external microcontroller sends control signal to clock chip, make pulse magnetic moment unit a produce magnetic field and pulse magnetic moment unit b does not produce magnetic field, the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₁With magnetic induction intensity output B ₁External microcontroller sends control signal to clock chip, makes pulse magnetic moment unit b produce magnetic field and pulse magnetic moment unit a does not produce magnetic field, and the display unit record gradient tensor output G that this moment, the ground survey unit measured is calculated on ground ₂With magnetic induction intensity output B ₂, and calculate the position r(x of two pulse magnetic moment unit, y respectively according to formula (1) and formula (2), z), described position r based on coordinate be: the dead ahead with the ground survey unit is X-axis, the three-dimensional system of coordinate (x that sets up with the right-hand rule, y, z);

$r_1=\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=3{[G_1-G_0]}^{-1}(B_1-B_0)---\left(1\right)$

$r_2=\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=3{[G_2-G_0]}^{-1}(B_2-B_0)---\left(2\right)$

Step 5: the dead ahead of establishing the ground survey unit is 0 °, is the positive direction of angle counterclockwise, and then display unit is tried to achieve drilling rod according to formula (3) and formula (4) relative bearing is calculated on ground;

$\mathrm{\&alpha;}=\arccos \frac{x_2-x_1}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}---\left(3\right)$

Try to achieve the angle of slope of drilling rod according to formula (4);

$\mathrm{\&beta;}=\arccos \frac{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2}}{\sqrt{{(x_2-x_1)}^2+{(y_2-y_1)}^2+{(z_2-z_1)}^2}}---\left(4\right)$

Wherein, α is the angle that drilling rod is treated direction and the X-axis of operation, and β is the angle that drilling rod is treated direction and the XOY plane of operation;

Just obtain the position of drilling rod and the direction of rod bit through above-mentioned steps.

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