CN104612605A - Gyro type drilling rod positioning method used for coal mine - Google Patents
Gyro type drilling rod positioning method used for coal mine Download PDFInfo
- Publication number
- CN104612605A CN104612605A CN201410758860.1A CN201410758860A CN104612605A CN 104612605 A CN104612605 A CN 104612605A CN 201410758860 A CN201410758860 A CN 201410758860A CN 104612605 A CN104612605 A CN 104612605A
- Authority
- CN
- China
- Prior art keywords
- sensor
- drilling rod
- axis
- steps
- measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000003245 coal Substances 0.000 title abstract 2
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 230000004807 localization Effects 0.000 claims description 8
- 230000007547 defect Effects 0.000 abstract 1
- 238000011017 operating method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a gyro type drilling rod positioning method used for a coal mine. The gyro type drilling rod positioning method comprises the following steps that A, a sensor is calibrated on the horizontal plane and in the midline direction; B, the sensor is moved, and three-axis acceleration data and three-axis angular speed data are collected and output; C, the sensor is fixed to a drilling rod, and the azimuth angle and the inclined angle of the drilling rod are read. According to the gyro type drilling rod positioning method, the defects in the prior art can be overcome, and the measurement accuracy of drilling angle real-time data is improved.
Description
Technical field
The present invention relates to Reconnaissance Survey technical field, especially a kind of colliery gyro ceremony drilling rod localization method.
Background technology
Current domestic down-hole drilling parameter measurement generally uses the conventional mechanical survey tools such as angle rule, tilt gauge, cotton rope and tape measure, the drawbacks such as existence measurement human error, program are loaded down with trivial details, inconvenient operation.Except traditional measuring method, magnetic compass, these relatively senior measuring apparatuss of ZJSD-1 boring laser digital position indicator in addition, but circumferentor is by the factor such as magnetic material and electromagnetic field serious interference, and add human error, certainty of measurement is very low.Although ZJSD-1 holes, laser digital position indicator measurement operation is more simple to operate than traditional measurement method, certainty of measurement also relative traditional measurement method increases, but operating procedure is still more loaded down with trivial details on the whole, and human error is comparatively large, and operating procedure and certainty of measurement also need further raising.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of colliery gyro ceremony drilling rod localization method, can solve the deficiencies in the prior art, improve the operating procedure of existing measuring method complexity, improve the measuring accuracy to drilling angle real time data.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows.
A kind of colliery gyro ceremony drilling rod localization method, comprises the following steps:
A, reference-calibrating
Horizontal plane and the demarcation of center line direction are carried out to sensor;
B, output azimuth and inclination angle
Movable sensor, sensor internal carries out data and resolves and output transducer inclination angle and azimuth;
C, sensor is fixed on drilling rod and reads drilling rod azimuth and inclination angle.
As preferably, in steps A, specifically comprise the following steps:
A1, on a sensor a lasing area light source is installed, this surface of light source and sensor axis line parallel, area source is projected in top, tunnel and forms straight line, adjustment sensor makes this straight line overlap with top, tunnel center line or two center line reference points, using the dead-center position of this position of sensor as the azimuthal measurement of drilling rod;
A2, sensor is fixed on horizontal stand, keeps now 3-axis acceleration data, the foundation that now acceleration information is demarcated as horizontal plane when measuring; Be put in by sensor on adjustable support, regulate support, make the 3-axis acceleration data of sensor identical with the horizontal brief acceleration data of preserving before this, now the position of sensor is as the dead-center position of drilling rod measurement of dip angle;
A3, using the position that determines in above-mentioned two steps zero point as drilling rod horizontal plane and center line direction, carry out Zero calibration and preserve.
As preferably, in step C, sensor is fixed on magnetic clamp, uses magnetic clamp to be adsorbed on the guide pass of drilling rod, and keep the axis being parallel of sensor and drilling rod.
While the present invention makes bore direction parameter Real-time Obtaining, more accurate than other existing measuring method results, system is more reliable, and measurement operation is easier, and anti-magnetic interference, time saving and energy saving, reference data with a high credibility can be provided for geological analysis.
Detailed description of the invention
A kind of colliery gyro ceremony drilling rod localization method, comprises the following steps:
The demarcation of benchmark
Horizontal level and laneway midline are two benchmark (inclination angle and azimuthal dead-center position) measured, and need to carry out horizontal plane and the demarcation of center line direction to sensor in measuring process.
1, laneway midline alignment
Sensor is installed a lasing area light source, this surface of light source and instrument shaft line parallel, area source is projected in top, tunnel and forms straight line, adjustment sensor makes this straight line overlap with top, tunnel center line (or two center line reference points), now sensor axis overlaps at horizontal plane inner projection in theory with center line, using the dead-center position of this position of sensor as the azimuthal measurement of drilling rod.
2, sensor levels adjustment
Sensor is placed on the horizontal stand being adjusted to level in advance, keeps now 3-axis acceleration data, using the foundation that now acceleration information is demarcated as horizontal plane when measuring.
When measuring, sensor being put on adjustable support, regulating support, making the 3-axis acceleration data of sensor identical with the horizontal brief acceleration data of preserving before this, can be considered the level of sensor maintenance this moment.Using the dead-center position of this position of sensor as drilling rod measurement of dip angle.
3, zero point, state was demarcated
After the adjustment of above two steps, can sensor Ref be demarcated zero point, demarcate (preserve zero point state) now state as the zero point of drilling rod inclination angle and azimuth determination.
Azimuth and inclination angle export
After completing sensor Ref demarcation, random movable sensor, acceleration transducer on sensor and gyroscope survey data will change in real time, using 3-axis acceleration data and three axis angular rate data as original input data, carry out filtering, attitude algorithm, error concealment, the inclination angle of last output transducer in real time and azimuth, and display is on a sensor.Be fixed on drilling rod by this instrument, and keep axis parallel with drill rod axis, sensor will export azimuth and the inclination angle of drilling rod in real time, after sensor has once been demarcated, can take multiple measurements before being powered off to the multiple bore positions under same tunnel.
Fixing of sensor
Only use 3-axis acceleration data and three axle magnetometer data as input in step B, direct output transducer inclination angle and azimuth, owing to not using magnetometer data, magnetic field on sensor without impact, and because drilling rod is cylindric, and the drilling rod size of various rig is identical with each portion of model, being fixed on of sensor is made drilling rod also to keep parallel with drill rod axis more difficult, in most of rig, there is the guide pass that two parallel with drilling rod, lead for drilling rod feeding, can by sensor magnet adsorption on guide level, and keep sensor axis with outside guide rail along parallel, so the data that go out of sensor measurement are just in time equal with azimuth with the inclination angle of drilling rod.This fixing means is simple and convenient, and does not affect certainty of measurement.
The three-axis gyroscope that the gyroscope that the present invention uses is Invensense, LASER Light Source is level gauge laser module.
In prior art, measuring method has two kinds: bevel protractor is measured and electronic compass is measured.
Bevel protractor measure adopt the instrument such as protractor, cotton rope to measure more, this measuring method due to accuracy of measurement tool low, measuring process manually participates in too much, causing precision very low, same drilling rod, needs repetitive measurement to average to reduce error, bothersome effort.Traditional measurement once probably needs about 15 minutes.
Electronic compass is measured, and existing electronic compass is divided into two kinds, and one adopts fibre optic gyroscope to measure, and the method instrument precision is high, and error is 0.5 degree/360 degree.But price is very expensive, price is not at more than 10 ten thousand yuan to 200,000 yuan etc.Gyroscope+acceleration that another kind of employing is traditional, assisting magnetic meter is calibrated.The maximum shortcoming of the method is that survey data is very responsive to magnetic field (Hard Magnetic and soft magnetism), as long as sensor proximity has Hard Magnetic or soft magnetic materials, greatly will affect certainty of measurement.Certainty of measurement is at 3 degree ~ 4 degree/360 degree.These two kinds of measuring method single measurement time about 2-3 minute.
The above two kinds of measuring methods of contrast: this method adopts the scheme of gyroscope+acceleration, concentrate the advantage of existing electronic compass product, both avoided the impact of magnetic field on sensor accuracy class, and made again cost greatly reduce, precision is at 0.5 degree/360 degree ~ 1.0 degree/360 degree.Too much preparation is not needed, without the need to taking multiple measurements same drilling rod in measuring process.Repetitive measurement has very high repeatability.This method single measurement time about 2-3 minute.
Precision: error that the program is surveyed and measurement relative angle are directly proportional, and as sensor rotation 360 degree, error is 1 degree, so rotates 180 degree, error is at about 0.5 degree, and error and the relative angle turned present linear relationship roughly.
Concrete correction data refers to following table:
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and manual just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (3)
1. a colliery gyro ceremony drilling rod localization method, is characterized in that comprising the following steps:
A, reference-calibrating
Horizontal plane and the demarcation of center line direction are carried out to sensor;
B, output azimuth and inclination angle
Movable sensor, sensor internal carries out data and resolves and output transducer inclination angle and azimuth;
C, sensor is fixed on drilling rod and reads drilling rod azimuth and inclination angle.
2. colliery gyro ceremony drilling rod localization method according to claim 1, is characterized in that: in steps A, specifically comprises the following steps:
A1, on a sensor a lasing area light source is installed, this surface of light source and sensor axis line parallel, area source is projected in top, tunnel and forms straight line, adjustment sensor makes this straight line overlap with top, tunnel center line or two center line reference points, using the dead-center position of this position of sensor as the azimuthal measurement of drilling rod;
A2, sensor is fixed on horizontal stand, keeps now 3-axis acceleration data, the foundation that now acceleration information is demarcated as horizontal plane when measuring; Be put in by sensor on adjustable support, regulate support, make the 3-axis acceleration data of sensor identical with the horizontal brief acceleration data of preserving before this, now the position of sensor is as the dead-center position of drilling rod measurement of dip angle;
A3, using the position that determines in above-mentioned two steps zero point as drilling rod horizontal plane and center line direction, carry out Zero calibration and preserve.
3. the colliery gyro ceremony drilling rod localization method improved according to claim 1, it is characterized in that: in step C, sensor is fixed on magnetic clamp, uses magnetic clamp to be adsorbed on the guide pass of drilling rod, and keep the axis being parallel of sensor and drilling rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410758860.1A CN104612605A (en) | 2014-12-12 | 2014-12-12 | Gyro type drilling rod positioning method used for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410758860.1A CN104612605A (en) | 2014-12-12 | 2014-12-12 | Gyro type drilling rod positioning method used for coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104612605A true CN104612605A (en) | 2015-05-13 |
Family
ID=53147230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410758860.1A Pending CN104612605A (en) | 2014-12-12 | 2014-12-12 | Gyro type drilling rod positioning method used for coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104612605A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698758A (en) * | 2016-04-21 | 2016-06-22 | 广东华尔辰海上风电工程有限责任公司 | Method and device for measuring verticality of offshore wind power steel pile |
| CN109441431A (en) * | 2018-10-31 | 2019-03-08 | 河南大有能源股份有限公司新安煤矿 | A kind of coal mining drilling drift angle dipmeter |
| CN110905408A (en) * | 2019-11-29 | 2020-03-24 | 天津中探微科科技有限公司 | Coal mine underground drilling machine hole opening orientation equipment and method |
| CN110924862A (en) * | 2019-11-29 | 2020-03-27 | 天津中探微科科技有限公司 | Directional open hole measuring device and method for drilling machine |
-
2014
- 2014-12-12 CN CN201410758860.1A patent/CN104612605A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698758A (en) * | 2016-04-21 | 2016-06-22 | 广东华尔辰海上风电工程有限责任公司 | Method and device for measuring verticality of offshore wind power steel pile |
| CN109441431A (en) * | 2018-10-31 | 2019-03-08 | 河南大有能源股份有限公司新安煤矿 | A kind of coal mining drilling drift angle dipmeter |
| CN109441431B (en) * | 2018-10-31 | 2022-04-15 | 河南大有能源股份有限公司新安煤矿 | Drilling declination inclination angle measuring instrument for coal mine |
| CN110905408A (en) * | 2019-11-29 | 2020-03-24 | 天津中探微科科技有限公司 | Coal mine underground drilling machine hole opening orientation equipment and method |
| CN110924862A (en) * | 2019-11-29 | 2020-03-27 | 天津中探微科科技有限公司 | Directional open hole measuring device and method for drilling machine |
| CN110924862B (en) * | 2019-11-29 | 2022-06-14 | 天津中探微科科技有限公司 | Directional open hole measuring device and method for drilling machine |
| CN110905408B (en) * | 2019-11-29 | 2022-06-14 | 天津中探微科科技有限公司 | Coal mine underground drilling machine hole opening orientation equipment and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104101361B (en) | Inertial platform angle sensor error calibration compensation method | |
| CN203769763U (en) | Azimuth and obliquity combined measuring instrument for drilling | |
| EP3221665B1 (en) | Inertial carousel positioning | |
| CN104612605A (en) | Gyro type drilling rod positioning method used for coal mine | |
| CN102134989A (en) | Method for point measurement of well by gyroscopic inclinometer | |
| CN106640046A (en) | Face angle testing device of rotary tool | |
| CN107390155A (en) | A kind of Magnetic Sensor calibrating installation and method | |
| CN104502252A (en) | Method for testing anisotropic permeability tension | |
| CN104453856B (en) | Three position compensation algorithms of the single axis fiber gyro in oil well deviational survey | |
| CN103438903B (en) | The calibration steps of orientation error of orientation device | |
| CN103089244A (en) | Laser azimuth instrument | |
| CN106885584A (en) | Inclinometer composition error test device and measuring method | |
| CN111059434A (en) | Angle measuring instrument for geological engineering | |
| CN104406566B (en) | Intelligent comprehensive geologic survey instrument for mine and measuring method of intelligent comprehensive geologic survey instrument | |
| CN205940327U (en) | Geological engineering angular instrument | |
| CN114509090B (en) | Error correction device and method for inclinometer for coal mine | |
| CN106917621A (en) | Small-bore single gyro horizontal well spin orientation inclination measurement device and method | |
| CN204255373U (en) | A kind of mining gyro attitude measurement instrument | |
| CN204286414U (en) | A kind of mine intelligent comprehensive geological measuring instrument | |
| CN206756137U (en) | Rotate robot scaling equipment | |
| CN104192166B (en) | Rail attitude measurement method based on earth magnetism sensing and device | |
| CN104653133B (en) | Occurrence correction device of non-directional centering geological body in inclined shaft | |
| CN102235166A (en) | Method for adjusting coaxality and orthogonality of acceleration sensor and magnetic sensor | |
| CN204851231U (en) | Rig trompil locater | |
| CN203584413U (en) | Measuring instrument for geological drill hole orientation angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150513 |