CN103382833A - Trenchless guiding instrument and measuring method applying guiding instrument - Google Patents

Abstract

The invention discloses a trenchless guiding instrument. A drilling machine applied to the trenchless guiding instrument comprises a drilling machine power head and a drill rod mounted on the drilling machine power head; the drilling machine power head is connected with a gear wheel; the gear wheel is meshed with a rack fixed onto a drilling rig; the trenchless guiding instrument comprises a probe, mounted on a drill bit at the tail end of the drill rod, a tracking receiver and a synchronization indicator, and is characterized by further comprising a drill rod displacement measuring device; the drill rod displacement measuring device comprises a drill rod online detection unit arranged close to the ground part of the drill rod, a gear tooth counting unit used for counting the tooth number of rotation of the gear wheel or the displacement of the rack, and a signal processing unit used for receiving signals from the drill rod online detection unit and the tooth counting unit so as to compute the depth of the drill bit; the signal processing unit is arranged in the tracking receiver or the synchronization indicator. As the yaw angle signal is free from influences of environment factors, an accurate depth value of the drill bit can be obtained and the normal operation of the trenchless conduction is ensured.

Description

Non-excavation guide instrument and use the measuring method of this guide instrument

Technical field

The present invention relates to a kind of non-excavation guide instrument, the especially a kind of degree of depth and yaw angle measuring method of using this guide instrument.

Background technology

Extensive development along with urban construction, need to lay in the city and cut dirty pipe or the energy (liquefied gas, natural gas etc.) supply pipe, method commonly used is that box cut comes pipe laying to sunken cord, and this can cause environment pollution, cause traffic jam, and have construction safety hidden danger.

Therefore, at present also application no-dig laying pipelines technique, namely a kind ofly utilize the rock and soil drilling means, in the situation that not ditching of road surface, do not destroy top layer in large area, lay, repair and change the construction technology of underground utilities.Use trenchless technology to have the advantages such as the cycle is short, cost is low, pollute less, security performance is good, and can not affect normal traffic order.

What the no-dig laying pipelines technique application was wider is the horizontally-guided progressive method, and it is to utilize the drilling rod that drill bit is equipped with in non-excavation guide instrument guiding to carry out coming in to realize before orientation.Operating mode-degree of depth, inclination angle and the hour direction that provides drill bit real-time is provided non-excavation guide instrument, allow the operating personnel on ground grasp drilling track in real time in order to follow-up operation is revised timely, to guarantee completing trenchless pipelaying by set route track accurate pointing.This shows, no-dig laying pipelines technique has very high requirement for the accurate measurement of non-excavation guide instrument.

and the method that existing non-excavation guide instrument fathoms can be by wired or wireless mode, yet wire transmission equipment is installed complicated, and can only calculate the current degree of depth take whole drilling rod as least unit, lack real-time and precision, can not satisfy the needs of practical operation, and wireless topology is relatively simple, comprise underground probe, tracking receiving instrument and synchronization indicator on the ground, send signal by the underground probe that is arranged on drill bit, follow the tracks of receiving instrument by the terrestrial operation personnel operation, after the definite vertical release position of drill bit with respect to ground, receive according to the tracking of this some position guide instrument the degree of depth that information that guide instrument receives probe is calculated drill bit, it is 2004100321021.8 the disclosed a kind of non-excavation guide instrument of Chinese patent application as application number, and application number is 201220627817.8 the disclosed a kind of non-excavation guide instrument of Chinese patent, all to have adopted above-mentioned method to obtain depth data.

Yet in practice of construction, complicated uncertain because of construction environment inevitably can run into a lot of interference sources, crosses when dark when bit depth, follows the tracks of receiving instrument and can therefore can't measure the degree of depth of drill bit, and can only show inclination angle and the hour direction of drill bit.

Summary of the invention

First technical problem to be solved by this invention is the shortcoming for above-mentioned prior art, and a kind of non-excavation guide instrument is provided, and can fathom accurately, to guarantee normally carrying out of non-excavating construction.

Second technical problem to be solved by this invention is to provide a kind of measuring method of using above-mentioned non-excavation guide instrument.

the present invention solves the technical scheme that above-mentioned first technical problem adopts: a kind of non-excavation guide instrument, the rig that described non-excavation guide instrument is used comprises drill power head, be arranged on the drilling rod on drill power head, described non-excavation guide instrument comprises the probe that is arranged on drilling rod end drill bit, follow the tracks of receiving instrument and synchronization indicator, it is characterized in that, described non-excavation guide instrument also comprises the drilling rod displacement measuring device, described drilling rod displacement measuring device comprises the drilling rod online detection unit that arranges near the drilling rod above ground portion, detect in real time the displacement detecting unit of drilling rod displacement, and thereby the signal that receives drilling rod online detection unit and displacement detecting unit calculates the signal processing unit of bit depth or yaw angle.

In one embodiment, described drill power head is connected with gear, gear and the tooth bar engagement that is fixed on drilling cramp, and described displacement detecting unit comprises that detection of gear is rotated or the number of teeth counting unit of the number of teeth that tooth bar moved.

In another embodiment, described drill power head is arranged on drilling cramp, is provided with the slide rheostat that is connected to signal processing unit on described drilling cramp, is provided with brush on drill power head, described brush and slide rheostat electrical contact.

The present invention solves the technical scheme that above-mentioned second technical problem adopt: a kind of measuring method of non-excavation guide instrument, use non-excavation guide instrument as above, and it is characterized in that, comprise the steps:

1) current demand signal that detects according to the drilling rod online detection unit of signal processing unit judges whether drilling rod is installed on rig, if having, signal processing unit records the inclination alpha of the current drill bit that probe sends ₁, and carry out step 2);

2) signal processing unit according to the displacement detecting unit at rod boring the displacement Δ L of the calculated signals drilling rod after a period of time within above-mentioned a period of time, the direction of motion of judgement drilling rod, and record the inclination alpha of current drill bit ₂

3) signal processing unit obtains the air line distance Δ S of the origin-to-destination bit location of above-mentioned a period of time according to Δ L, calculates the depth variance Δ H of drill bit in above-mentioned a period of time according to formula Δ H=Δ Scos α, wherein

When measuring first, Δ H is the real-time deep of drill bit, obtains the real-time deep of drill bit in conjunction with Δ H with the degree of depth that measures for the first time when measuring for the second time, by that analogy.

The movement locus of supposing described drilling rod is straight line, Δ S=Δ L.

The movement locus of supposing described drilling rod is circular arc, $\mathrm{\ΔS}=2\·\frac{180\·\mathrm{\ΔL}}{\mathrm{\π}({\mathrm{\α}}_2-{\mathrm{\α}}_1)}\sin \frac{({\mathrm{\α}}_2-{\mathrm{\α}}_1)}{2}.$

In step 1) in, when there is no drilling rod on rig, the drilling rod online detection unit does not produce signal; When drilling rod was installed on rig, the drilling rod online detection unit produced an induced signal, and signal processing unit is equipped with drilling rod on rig according to this induced signal judgement this moment.

Signal processing unit also calculates the real-time driftage position of drill bit according to Δ E=Δ Psin β, wherein, Δ E is the yaw angle variable quantity of drill bit, and Δ P is that the air line distance of drill bit origin-to-destination bit location in above-mentioned a period of time is at the projection of horizontal plane, β ₁Be the yaw angle of above-mentioned a period of time initial time probe axis in the horizontal plane projection, β ₂For above-mentioned finish time a period of time the probe axis in the yaw angle of horizontal plane projection,

When measuring for the first time, select a reference data line, obtain the real-time driftage position of drill bit in conjunction with Δ E; Obtain the real-time driftage position of drill bit in conjunction with Δ E with the driftage position that measures for the first time when measuring for the second time, by that analogy.

Compared with prior art, the invention has the advantages that: by detecting the displacement of drilling rod in a period of time, can be similar in conjunction with yaw angle and obtain the variable quantity (being the variable quantity of bit depth) of the interior rod boring degree of depth during this period of time; Because the signal at inclination angle is not disturbed by environmental factor, not only can obtain bit depth value comparatively accurately, to guarantee normally carrying out of non-excavating construction, and strengthened the scope of depth survey, the degree of depth that the maximum detection amount is 30 meters has enlarged range of application.

Description of drawings

Fig. 1 is drilling rod above ground portion schematic diagram of the present invention;

Fig. 2 is the schematic diagram of displacement detecting of the present invention another embodiment of unit;

Fig. 3 is the schematic diagram of an embodiment of number of teeth counting unit of the present invention;

Fig. 4 is the schematic diagram of another embodiment of number of teeth counting unit of the present invention;

Fig. 5 is the schematic diagram of an embodiment of depth calculation of the present invention;

Fig. 6 is the schematic diagram of another embodiment of depth calculation of the present invention;

Fig. 7 is that yaw angle variable quantity of the present invention calculates schematic diagram.

The specific embodiment

Embodiment is described in further detail the present invention below in conjunction with accompanying drawing.

Referring to Fig. 1, Fig. 3 and Fig. 4, the part of drilling rod 1 on ground, it is arranged on the drill power head 21 of rig, drives drilling rod 1 by drill power head 21 and advances or retreat.

Non-excavation guide instrument includes the probe that is arranged on drilling rod 1 end drill bit place, follow the tracks of receiving instrument, synchronization indicator, and drilling rod displacement measuring device, drilling rod displacement measuring device comprise drilling rod online detection unit 31, number of teeth counting unit 32 and signal processing unit 33.Signal processing unit 33 can be arranged on to be followed the tracks of in receiving instrument or synchronization indicator, also can be for independently installing.

Wherein, drilling rod online detection unit 31 for detection of whether drilling rod 1 is installed on current rig is used for creeping into, and it is arranged on the position of close drilling rod 1 on rig, and is preferred, is proximity transducer.When there is no drilling rod 1 on rig, drilling rod online detection unit 31 does not produce signal; When drilling rod 1 was installed on rig, drilling rod online detection unit 31 produced an induced signal, and is delivered to signal processing unit 33 due to the existence of drilling rod 1, and signal processing unit 33 judgements are equipped with drilling rod 1 on rig this moment thus.

Drill power head 21 is arranged on drilling cramp 22, is connected with gear 23, and gear 23 also can roll on tooth bar 24 with tooth bar 24 engagements, and tooth bar 24 is fixedly mounted on drilling cramp 22 along drilling rod 1 bearing of trend.After 21 driving of the drilled mechanomotive force of gear 23, rotary rolling produces reaction force on tooth bar 24, drives drill power head 21 and moves, and drives thus drilling rod 1 and advances or retreat.

Number of teeth counting unit 32 arranges near gear 23 or tooth bar 24, gear sensor preferably, when the tooth top of gear 23 or tooth bar 24 near the time, due to electromagnetic induction, gear sensor produces a pulse signal, and signal processing unit 33 can record the number of teeth that gear 23 or tooth bar 24 moved thus.When gear 23 rotates or drill power head 21 when moving along tooth bar 24, the monodentate of gear 23 or tooth bar 24 all can produce a signal during by number of teeth counting unit 21, and be delivered to signal processing unit 33, thereby signal processing unit 33 obtains monodentate by the total quantity of number of teeth counting unit 21 by the number of signals that produces.Between the time point of two detections, according to the monodentate number that passes through, the geometric parameter of combination gear 23 or tooth bar 24, can calculate the displacement of drill power head 21 thus, when on rig, drilling rod 1 being installed, the displacement of drill power head 21 namely is equivalent to the displacement (length of advancing or retreating) of drilling rod 1.

Drill power head 21 is in the process that moves forward and backward, the monodentate of gear 23 or tooth bar 24 is different with respect to the moving direction of number of teeth counting unit 21, number of teeth counting unit 21 can produce different signals (can arrange two gear sensors herein, when moving forward and backward two gear sensors to receive the order of signal different), signal processing unit 33 can judge according to the unlike signal that receives the direction that current drill power head 21 moves.

Referring to Fig. 2, for the alternative embodiment of number of teeth counting unit 32, be provided with slide rheostat 34 on drilling cramp 22, be connected to signal processing unit 33, be provided with brush 35 on drill power head 21, slide rheostat 34 has good electric property with brush 35 and contacts.When drill power head 21 moves when driving brush 35 and moving on slide rheostat 34, cause the output resistance of slide rheostat 34 to change, thereby affect the output size of electric current and voltage, signal processing unit 33 can calculate according to the signal output intensity of slide rheostat 34 distance that in a period of time, brush 35 slips on slide rheostat 34, thereby obtain the displacement of drill power head 21, namely obtain the displacement of drilling rod 1.

Alternative, also can on driving unit head 21, laser range finder or ultrasonic range finder be set, on drilling cramp 22, target is set, can obtains the displacement of drill power head 21 by laser or ultrasonic measurement to the distance of target, namely obtain the displacement of drilling rod 1.

The probe of non-excavation guide instrument is arranged on the drill bit of drilling rod 1 end, obtain drilling rod 1 creep into displacement after, this displacement is the displacement of drill bit, can calculate thus the real-time degree of depth of drill bit of drilling rod 1.Referring to Fig. 5, a is the position of putting drill bit first detection time-upper measuring point, and b is second position of putting drill bit detection time-lower measuring point, α ₁Be the inclination angle of upper measuring point a, α ₂Be the inclination angle of lower measuring point b, the signal that above-mentioned two angle values can be sent by the probe of non-excavation guide instrument obtains, and this signal can not be subject to the interference of environmental factor; Δ S is the air line distance between upper measuring point a and lower measuring point b, in the present embodiment, the deformation trace of supposing drilling rod 1 is straight line, Δ S=Δ L, Δ L is the displacement of drilling rod 1 mentioned above, when drilling rod 1 advances Δ L on the occasion of, when drilling rod 1 retreats, Δ L is negative value, Δ H is the depth variance of drill bit between two time points that detect.

Adopt average angle method compute depth variation delta H, get

Δ H=Δ Lcos α, Δ P=sin α Δ L, Δ P are that drill bit starting point in institute's section computing time (namely go up measuring point and a) arrives the air line distance of terminal point (namely descending measuring point b) position in the projection of horizontal plane.In the work progress of reality, drilling rod 1 advances or the track that retreats is not the straight line between upper measuring point a and lower measuring point b, track with the approximate drilling rod 1 of the straight line between 2 o'clock, when two time point infinite approachs detecting, the straight line of going up between measuring point a and lower measuring point b can infinitely approach the track of drilling rod 1 reality.

Alternative, the displacement that also can suppose drilling rod 1 is a circular arc, referring to Fig. 6, at this moment,

$\mathrm{\ΔS}=2\·\frac{180\·\mathrm{\ΔL}}{\mathrm{\π}({\mathrm{\α}}_2-{\mathrm{\α}}_1)}\sin \frac{({\mathrm{\α}}_2-{\mathrm{\α}}_1)}{2},\mathrm{\ΔH}=\mathrm{\ΔS}\·\cos \mathrm{\α},$

$\mathrm{\ΔP}=2\·\frac{180\·\mathrm{\ΔL}}{\mathrm{\π}({\mathrm{\α}}_2-{\mathrm{\α}}_1)}\sin \frac{({\mathrm{\α}}_2-{\mathrm{\α}}_1)}{2}\sin \frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2}.$ When measuring for the first time, the degree of depth of benchmark is zero, the current real-time degree of depth is Δ H, can obtain the real-time degree of depth of current drill bit by the degree of depth and the current Δ H that calculates of the drill bit that records for the first time when measuring for the second time, when drill bit advances Δ H on the occasion of, when drill bit retreats Δ H be negative value, by that analogy.

On this basis, can also calculate drill bit yaw angle variable quantity during this period of time, referring to Fig. 7, signal processing unit 33 calculates the driftage location variation Δ E of drill bit in above-mentioned a period of time according to Δ E=Δ Psin β, wherein

β ₁For putting the probe axis first detection time at the yaw angle of horizontal plane projection, β ₂Be to put the probe axis in the yaw angle of horizontal plane projection second detection time, when measuring for the first time, need to select a reference direction, when usually burying with drill bit, the probe axis calculates the reference data line of driftage position being projected as of horizontal plane, obtains current real-time driftage position with this reference data line.Obtain the real-time driftage position of drill bit in conjunction with Δ E with the driftage position that measures for the first time when measuring for the second time, by that analogy.

The real-time deep that signal processing unit 33 obtains after with above-mentioned measurement and driftage position are sent to follows the tracks of receiving instrument (be located at when signal processing unit 33 and need not to transmit when following the tracks of in receiving instrument), so that the operating personnel of hand-held this tracking receiving instrument in time command the rig operating personnel to carry out suitable operation.

The above is only the preferred embodiment of the present invention, should be pointed out that for the ordinary skill in the art, not breaking away under principle prerequisite of the present invention, can also make various deformation and improvement, and this also should be considered as protection scope of the present invention.

Claims (8)

1. non-excavation guide instrument, the rig that described non-excavation guide instrument is used comprises drill power head (21), be arranged on the drilling rod (1) on drill power head (21), described non-excavation guide instrument comprises the probe that is arranged on drilling rod (1) end drill bit, follow the tracks of receiving instrument and synchronization indicator, it is characterized in that, described non-excavation guide instrument also comprises the drilling rod displacement measuring device, described drilling rod displacement measuring device comprises the drilling rod online detection unit (31) that arranges near drilling rod (1) above ground portion, detect in real time the displacement detecting unit of drilling rod (1) displacement, and receive drilling rod online detection unit (31) thereby and the signal calculating bit depth of displacement detecting unit or the signal processing unit (33) of yaw angle.

2. non-excavation guide instrument as claimed in claim 1, it is characterized in that, described drill power head (21) is connected with gear (23), gear (23) and tooth bar (24) engagement that is fixed on drilling cramp (22), described displacement detecting unit comprises that detection of gear (23) is rotated or the number of teeth counting unit (32) of the number of teeth that tooth bar (24) moved.

3. non-excavation guide instrument as claimed in claim 1, it is characterized in that, described drill power head (21) is arranged on drilling cramp (22), be provided with the slide rheostat (34) that is connected to signal processing unit (33) on described drilling cramp (22), be provided with brush (35) on drill power head (21), described brush (35) and slide rheostat (34) electrical contact.

4. the measuring method of a non-excavation guide instrument, use non-excavation guide instrument as described in any one in claim 1-3, it is characterized in that, comprises the steps:

1) current demand signal that detects according to drilling rod online detection unit (31) of signal processing unit (33) judges whether drilling rod (1) is installed on rig, if have, signal processing unit (33) records the inclination alpha of the current drill bit of probe transmission ₁, and carry out step 2);

2) signal processing unit (33) is according to the displacement Δ L of the calculated signals drilling rod (1) of displacement detecting unit after drilling rod (1) creeps into a period of time within above-mentioned a period of time, judge the direction of motion of drilling rod (1), and record the inclination alpha of current drill bit ₂

3) signal processing unit (33) obtains the air line distance Δ S of the origin-to-destination bit location of above-mentioned a period of time according to Δ L, calculates the depth variance Δ H of drill bit in above-mentioned a period of time according to formula Δ H=Δ Scos α, wherein When measuring first, Δ H is the real-time deep of drill bit, obtains the real-time deep of drill bit in conjunction with Δ H with the degree of depth that measures for the first time when measuring for the second time, by that analogy.

5. measuring method as claimed in claim 4, is characterized in that, the movement locus of described drilling rod (1) is straight line, Δ S=Δ L.

6. measuring method as claimed in claim 4, is characterized in that, the movement locus of described drilling rod (1) is circular arc, $\mathrm{\ΔS}=2\·\frac{180\·\mathrm{\ΔL}}{\mathrm{\π}({\mathrm{\α}}_2-{\mathrm{\α}}_1)}\sin \frac{({\mathrm{\α}}_2-{\mathrm{\α}}_1)}{2}.$

7. measuring method as described in any one in claim 4-6, is characterized in that, in step 1) in, when there is no drilling rod (1) on rig, drilling rod online detection unit (31) does not produce signal; When drilling rod (1) was installed on rig, drilling rod online detection unit (31) produced an induced signal, and signal processing unit (33) is equipped with drilling rod (1) on rig according to this induced signal judgement this moment.

8. measuring method as claimed in claim 4, it is characterized in that, signal processing unit (33) also calculates the real-time driftage position of drill bit according to Δ E=Δ Psin β, wherein, Δ E is the yaw angle variable quantity of drill bit, Δ P is that the air line distance of drill bit origin-to-destination bit location in above-mentioned a period of time is at the projection of horizontal plane, β ₁Be the yaw angle of above-mentioned a period of time initial time probe axis in the horizontal plane projection, β ₂For above-mentioned finish time a period of time the probe axis in the yaw angle of horizontal plane projection,

When measuring for the first time, select a reference data line, obtain the real-time driftage position of drill bit in conjunction with Δ E; Obtain the real-time driftage position of drill bit in conjunction with Δ E with the driftage position that measures for the first time when measuring for the second time, by that analogy.

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