CN104612668A - Directional drill section measuring and positioning system and method - Google Patents
Directional drill section measuring and positioning system and method Download PDFInfo
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- CN104612668A CN104612668A CN201410799923.8A CN201410799923A CN104612668A CN 104612668 A CN104612668 A CN 104612668A CN 201410799923 A CN201410799923 A CN 201410799923A CN 104612668 A CN104612668 A CN 104612668A
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- 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
- E21B47/00—Survey of boreholes or wells
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Abstract
The invention discloses a directional drill section measuring and positioning system and method. The method includes the steps that displacement signals of a drill rod are collected, and the displacement signals are converted into first displacement pulse signals and second displacement pulse signals; the first displacement pulse signals and the second displacement pulse signals are collected, and directional data of the drill rod are obtained according to the first displacement pulse signals and the second displacement pulse signals; drill rod head signals of the drill rod are identified; displacement coordinates of the drill rod are calculated according to the first displacement pulse signals, the second displacement pulse signals, the directional data of the drill rod and the drill rod head signals. In this way, a three-dimensional view of a directional drill hole section is obtained according to the obtained displacement coordinates of the drill rod, and the pipe penetrating success rate of a directional drill is increased.
Description
Technical field
The present invention relates to oil exploration technology field, particularly relate to a kind of Directional Drilling profile sampling towed system and method.
Background technology
In recent years, in petroleum pipeline is built, the caliber of directional drilling crossing is increasing, and pass through geology and become increasingly complex, the technical barrier occurred in construction also gets more and more.For ensureing that pipeline returns the smooth enforcement of dragging, in the urgent need to measuring the shape of directional drill hole section, be used for monitoring the hole quality of Directional Drilling.But not effective technological means obtains the 3-D view of directional drill hole section at present.
Summary of the invention
For prior art Problems existing, embodiments provide a kind of Directional Drilling profile survey navigation system and method.
The invention provides a kind of Directional Drilling profile survey navigation system, described system comprises:
Displacement signal acquisition unit, institute's displacement signal, for gathering the displacement signal of drilling rod, is converted to the first displacement pulse signals, the second displacement pulse signals by described displacement signal acquisition unit;
First recognition unit, described first recognition unit, for gathering described first displacement pulse signals, the second displacement pulse signals, obtains the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals;
Second recognition unit, described second recognition unit is for identifying the drilling rod head signal of described drilling rod;
Displacement location unit, described displacement location unit is used for the displacement coordinate calculating described drilling rod according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
In such scheme, described navigation system also comprises:
Clock unit, described clock unit is connected with described displacement location unit, for recording the time calculating described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.
In such scheme, described system also comprises:
Memory cell, described memory cell is connected with described displacement location unit, for the displacement coordinate of writing time and described drilling rod according to the storage format real-time storage pre-set;
Display unit, described display unit is connected with described displacement location unit, for showing the displacement of described drilling rod in real time according to the displacement coordinate of described drilling rod.
In such scheme, described displacement signal acquisition unit specifically for: by outer coding unit, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals.
In such scheme, described first recognition unit specifically for: dividing potential drop, sensing process are carried out to described first displacement pulse signals, described second displacement pulse signals, obtain the bearing data of described drilling rod; Wherein,
When described drilling rod advances, described first displacement pulse signals phase place is prior to described second displacement pulse signals phase place;
When described drilling rod retreats, described second displacement pulse signals phase place is prior to described first displacement pulse signals phase place.
In such scheme in, described system also comprises: the first probe unit and the second probe unit; Wherein,
Described displacement signal acquisition unit also for:
Send the first identification signal to described first probe unit, described first probe unit generates the first voltage signal according to described first identification signal; Or,
Send the second identification signal to described second probe unit, described first probe unit generates the second voltage signal according to described second identification signal;
According to described first voltage signal, described second recognition unit determines that described drilling rod head is drilling rod microcephaly, according to described second voltage signal, described second recognition unit determines that described drilling rod head is drilling rod major part.
In such scheme, described first voltage signal is not more than described second voltage signal;
The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1.
In such scheme, described displacement location unit specifically for:
Within the time of presetting, record the first quantity N1 of described first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of described second displacement pulse signals of described drilling rod under fallback state;
The displacement data of described drilling rod is calculated according to formula S=N1-N2-ERR0-ERR1;
The direction of displacement of described drilling rod is determined according to the bearing data of described drilling rod;
The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement; Wherein,
The distance that displacement pulse signals is corresponding 1 centimetre.
The present invention is a kind of Directional Drilling profile survey localization method also, and described method comprises:
Gather the displacement signal of drilling rod, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals;
Gather described first displacement pulse signals, the second displacement pulse signals, obtain the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals;
Identify the drilling rod head signal of described drilling rod;
The displacement coordinate of described drilling rod is calculated according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
In such scheme, described method also comprises: record calculates the time of described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.
In such scheme, described method also comprises: the displacement coordinate of writing time and described drilling rod according to the storage format real-time storage pre-set;
The displacement of described drilling rod is shown in real time according to the displacement coordinate of described drilling rod.
In such scheme, the described bearing data obtaining described drilling rod according to described first displacement pulse signals, described second displacement pulse signals comprises:
Dividing potential drop, sensing process are carried out to described first displacement pulse signals, described second displacement pulse signals, obtains the bearing data of described first displacement pulse signals, described second displacement pulse signals; Wherein,
When described drilling rod advances, described first displacement pulse signals is prior to described second displacement pulse signals;
When described drilling rod retreats, described second displacement pulse signals is prior to described first displacement pulse signals.
In such scheme, the drilling rod head signal of the described drilling rod of described identification comprises:
Send the first identification signal, generate the first voltage signal according to described first identification signal; Or,
Send the second identification signal, generate the second voltage signal according to described second identification signal;
Determine that described drilling rod head is drilling rod microcephaly according to described first voltage signal, determine that described drilling rod head is drilling rod major part according to described second voltage signal.
In such scheme, described first voltage signal is not more than described second voltage signal;
The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1.
In such scheme, comprise according to the displacement coordinate that the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal calculate described drilling rod:
Within the time of presetting, record the first quantity N1 of described first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of described second displacement pulse signals of described drilling rod under fallback state;
The displacement data of described drilling rod is calculated according to formula S=N1-N2-ERR0-ERR1;
The direction of displacement of described drilling rod is determined according to the bearing data of described drilling rod;
The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement; Wherein,
The distance that displacement pulse signals is corresponding 1 centimetre.
The invention provides Directional Drilling profile sampling towed system and method, gather the displacement signal of described drilling rod, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals; Gather described first displacement pulse signals, the second displacement pulse signals, obtain the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals; Identify the drilling rod head signal of described drilling rod; The displacement coordinate of described drilling rod is calculated according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal; So, in oil exploration, rod boring displacement measurement precision can reach 0.1 meter, and can obtain the 3-D view of directional drill hole section according to the drilling rod displacement coordinate got, and improves the success rate that directional drilling pipeline passes through.
Accompanying drawing explanation
The Directional Drilling profile survey navigation system overall structure schematic diagram that Fig. 1 provides for the embodiment of the present invention one;
The circuit diagram of the first recognition unit that Fig. 2 provides for the embodiment of the present invention one;
The circuit diagram of the second recognition unit that Fig. 3 provides for the embodiment of the present invention one;
The circuit diagram of the first contact that Fig. 4 provides for the embodiment of the present invention one;
Fig. 5 provides the circuit diagram of Section Point for the embodiment of the present invention one;
The circuit diagram of the memory cell that Fig. 6 provides for the embodiment of the present invention one;
The circuit diagram of the 3rd tie point that Fig. 7 provides for the embodiment of the present invention one;
The circuit diagram of the control chip C8051F310 that Fig. 8 provides for the embodiment of the present invention one;
The circuit connection diagram of common cathode four segment numeral pipe Q1, Q2, Q3, Q4 that Fig. 9 provides for the embodiment of the present invention one;
The circuit diagram of the driving chip HC595 that Figure 10 provides for the embodiment of the present invention one;
Figure 11 for the embodiment of the present invention two provide to brill profile survey localization method schematic flow sheet.
Detailed description of the invention
In various embodiment of the present invention, in order to improve the success rate that directional drilling pipeline passes through, hole section shape after Directional Drilling pore-forming is accurately measured, the invention provides a kind of Directional Drilling profile survey navigation system and method, gather the displacement signal of drilling rod, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals; Gather described first displacement pulse signals, the second displacement pulse signals, obtain the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals; Identify the drilling rod head signal of described drilling rod; The displacement coordinate of described drilling rod is calculated according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
Below by drawings and the specific embodiments, technical scheme of the present invention is described in further detail.
Embodiment one
The present embodiment provides a kind of Directional Drilling profile survey navigation system, and as shown in Figure 1, described system comprises: displacement signal acquisition unit 11, first recognition unit 12, second recognition unit 13, displacement location unit 14; Wherein,
Institute's displacement signal, for gathering the displacement signal of drilling rod, is converted to the first displacement pulse signals A, the second displacement pulse signals B by described displacement signal acquisition unit 11;
Described first recognition unit 12, for gathering described first displacement pulse signals A, the second displacement pulse signals B, obtains the bearing data of described drilling rod according to described first displacement pulse signals A, described second displacement pulse signals B;
Described second recognition unit 13 is for identifying the drilling rod head signal of described drilling rod; Wherein, described drilling rod head comprises: drilling rod major part and drilling rod microcephaly.
Described displacement location unit 14 is for calculating the displacement coordinate of described drilling rod according to described first displacement pulse signals A, described second displacement pulse signals B, the bearing data of described drilling rod, described drilling rod head signal.
Particularly, described system also comprises: outer coding unit 15; Described displacement signal acquisition unit 11 is connected with described outer coding unit 15, when described Directional Drilling work, described displacement signal acquisition unit 11 gathers the displacement signal of described Directional Drilling drilling rod, by outer coding unit 15, institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B; Wherein, institute's displacement signal is standard current signal; Described first displacement pulse signals A, the second displacement pulse signals B are data signal, and described first moves the differential signal that pulse signal A and described second displacement pulse signals B is phase 180 degree.
When institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B by described displacement signal acquisition unit 11, described first recognition unit 12 specifically for: dividing potential drop, sensing process are carried out to described first displacement pulse signals A, described second displacement pulse signals B, obtain the bearing data of institute drilling rod.Wherein, when described drilling rod advances, described first displacement pulse signals A phase place is prior to described second displacement pulse signals B phase place; When described drilling rod retreats, described second displacement pulse signals B phase place is prior to described first displacement pulse signals A phase place.
Particularly, the circuit diagram of described first recognition unit 12 as shown in Figure 2, comprising: the first resistance R1, the second resistance R2, the 3rd resistance R3, the 4th resistance R4, the first not gate U1, first and door U2, second and door U3; Wherein, described first resistance R1 is used for carrying out dividing potential drop to described first displacement pulse signals A, and described first displacement pulse signals A is adjusted to about 3.3V.Similarly, described second resistance R2 is used for carrying out dividing potential drop to described second displacement pulse signals B, and described second displacement pulse signals B is adjusted to about 3.3V.
Then, through described first not gate U1, first and the sensing circuit that forms of door U2 and second and door U3 sensing process is carried out to described first displacement pulse signals A, the second displacement pulse signals B, obtain the bearing data of described drilling rod, the bearing data of described drilling rod is sent to described displacement location unit 14, with the direction of displacement making described displacement location unit 14 determine described drilling rod according to described bearing data.
Particularly, when described drilling rod advances, described sensing circuit exports the 3rd pulse signal P1 according to described first displacement pulse signals A and described second displacement pulse signals B.When described drilling rod retreats, described sensing circuit exports the 4th pulse signal P2 according to described first displacement pulse signals A and described second displacement pulse signals B.Described 3rd pulse signal P1 and described 4th pulse signal P2 is the bearing data of described drilling rod.
Meanwhile, described sensing circuit exports the 7th pulse signal F1 of the distance that representative is advanced simultaneously; 8th pulse signal F2 of the distance that representative retreats.
In practical application, described first not gate U1 can be realized by 74LV04 chip, and described first can be realized by HC08 chip with door U2 and described second and door U3.
Here, described 3rd resistance R3 and the 4th resistance R4 is for the protection of circuit, and the resistance of described first resistance R1, the second resistance R2 can be 4.7K, and the resistance of described 3rd resistance R3, the 4th resistance R4 is 4.7K.
Here, described system also comprises: the first probe unit 16, second probe unit 17; Wherein, described displacement signal acquisition unit 11 also for:
Send the first identification signal to described first probe unit 16, described first probe unit 16 generates the first voltage signal according to described first identification signal; Or,
Send the second identification signal to described second probe unit 17, described first probe unit 16 generates the second voltage signal according to described second identification signal;
When described first probe unit 16 generates the first voltage signal according to described first identification signal, when described first probe unit 16 generates the second voltage signal according to described second identification signal, described second recognition unit 13 specifically for: determine that described drilling rod head is drilling rod microcephaly according to described first voltage signal, determine that described drilling rod head is drilling rod major part according to described second voltage signal.
Particularly, because described displacement signal acquisition unit 11 is fixed on described drilling rod by guide tracked Spring loaded arms, when described displacement signal acquisition unit 11 is walked in described drill rod body, described guide tracked Spring loaded arms is in primary importance, because the position height of described drilling rod microcephaly is higher than the body of rod, when described displacement signal acquisition unit 11 is through drilling rod microcephaly, described displacement signal acquisition unit 11 can drive guide tracked Spring loaded arms to arrive the second place, now, described displacement signal acquisition unit 11 sends the first identification signal to described first probe unit 16, described first probe unit 16 generates the first voltage signal according to described first identification signal, and described first voltage signal is sent to described second recognition unit 13.Wherein, the height of the described second place is greater than the height of described primary importance.
When described displacement signal acquisition unit 11 is through drilling rod major part, diameter due to described drilling rod major part is greater than the diameter of drill rod body and described drilling rod microcephaly, now, described displacement signal acquisition unit 11 can drive guide tracked Spring loaded arms to arrive the 3rd position, described displacement signal acquisition unit 11 sends the second identification signal to described second probe unit 17, and described second probe unit 17 generates the second voltage signal according to described second identification signal; And described second voltage signal is sent to described second recognition unit 13.Wherein, the height of described 3rd position is greater than the height of the described second place, and described first voltage signal and described second voltage signal are low frequency signal; Described first voltage signal is not more than described second voltage signal; The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1, and described walking error can measure demarcation in advance.
The walking error getting described drilling rod major part when described second recognition unit 13 is ERR0, the walking error of described drilling rod microcephaly is after ERR1, be ERR0 by the walking error of described drilling rod major part, the walking error of described drilling rod microcephaly is that ERR1 is sent to described displacement location unit 14, when determining the displacement coordinate of described drilling rod to make described displacement location unit 14, be the walking error of ERR0 or described drilling rod microcephaly using the walking error of described drilling rod major part be that ERR1 revises data as fixed error, improve positioning precision.
Here, the circuit diagram of described second recognition unit 13 as shown in Figure 3, comprising: the second not gate U4, the 3rd not gate U5, the 3rd with door U6, first threshold decision circuit U7 and Second Threshold decision circuit U8;
When described second recognition unit 13 receives the first voltage signal of described first probe unit 16 transmission, when first threshold decision circuit U7 judges that described first voltage signal exceeds default voltage threshold, the circuit that described first voltage signal forms with door U6 through described second not gate U4, the 3rd is processed described first voltage signal, make the waveform rising edge of described first voltage signal more precipitous, similar and square wave, and then reduce and cause error because the rise time is long.Export the 5th pulse signal P3, described 5th pulse signal P3 represents drilling rod major part.
Similarly, when described second recognition unit 13 receives the second voltage signal of described second probe unit 17 transmission, when Second Threshold decision circuit U8 judges that described second voltage signal is less than default voltage threshold, described second voltage signal is processed described second voltage signal through described 3rd not gate U5 and the 3rd and door U6, make the waveform rising edge of described second voltage signal more precipitous, similar and square wave, and then reduce and cause error because the rise time is long.Export the 6th pulse signal P4, described 6th pulse signal P4 represents drilling rod microcephaly.
During practical application, described second not gate U4, the 3rd not gate U5 can be realized by SN7414N chip, and the described 3rd can be realized by HC08 chip with door U6.
When the walking error getting described drilling rod major part is ERR0, the walking error of described drilling rod microcephaly is after ERR1, described displacement location unit 14 specifically for:
Within the time of presetting, record the first quantity N1 of first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of second displacement pulse signals of described drilling rod under fallback state; The displacement data of described drilling rod is calculated according to formula (1), wherein, the distance that displacement pulse signals is corresponding 1 centimetre.
S＝N1-N2-ERR0-ERR1 (1)
Such as, in 10 minutes, the N1 under forward travel state is 1000, and the N2 under fallback state is 100, and drilling rod is respectively through drilling rod major part 1 time, and first microcephaly 1 time, then obtain corresponding distance S
0=(1000-100)=900 centimetre, this distance comprises the walking error of walking on curved surface through drilling rod major part and microcephaly, and walking error is demarcated as ERR0, ERR1, then actual travel distance S=S by measuring in advance
0-ERR0-ERR0.
Further, described displacement location unit 14 determines the direction of displacement of described drilling rod according to the bearing data of described drilling rod; The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement.
Here, described navigation system also comprises: clock unit 18, memory cell 19, display unit 20 and power supply unit 21; Wherein,
Described clock unit 18 is connected with described displacement location unit 14, and for clock timing, record calculates the time data of described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit 14.
Described memory cell 19 is connected with described displacement location unit 14, for the displacement data of writing time and described drilling rod according to the storage format real-time storage pre-set.
Particularly, described clock unit 18 can be realized by clock chip DS1302, and described displacement location unit 14 is connected with the second contact JP2 of described clock unit 18 by the first contact JP1.Wherein, as shown in Figure 4, the circuit diagram of described second contact JP2 as shown in Figure 5 for the circuit diagram of described first contact JP1.
Described displacement location unit 14 reads the chronometric data of clock unit 18 by monobus DS1302_IO.Wherein, DS1302_SCSK and DS1302_RST is for controlling pin.
Described memory cell 19 can by storage card (SD, Secure Digital) realize, described memory cell 19 is by Serial Peripheral Interface (SPI) (SPI, Serial Peripheral Interface) be connected with described displacement location unit 14, by the control command that displacement location unit 14 described in described SPI interface transmits, carry out storage according to described control command to the data received to control, storage format is the data format pre-defined, and comprises the rod boring displacement data of writing time and record.Wherein, the control pin of described memory cell 19 is respectively: SDOUT, SDSCK, SDDIN and SDCS; Described SDOUT is the output of control SD card data; Described SDSCK is the system clock of control SD card; Described SDDIN is the inputs of SD card data; Described SDCS is control SD card gating.The circuit diagram of described memory cell 19 as shown in Figure 6.
Described storage format and can be crept into distance and realizes according to sequence number, time, and such as, within 48 seconds, have recorded data on September 16th, 2,014 32 points, creep into distance for 23cm, so storage format can be as shown in table 1.
The storage format of table 1 memory cell 19
| Sequence number | Time | Creep into distance (cm) |
| 1 | 20140901163248 | 23 |
Wherein, can comprise multirow data in table 1, the interval between each row of data can be set to 8 characters, is .txt file.
Described display unit 20 is connected with described displacement location unit 14, shares displacement data, the direction of displacement of described drilling rod with described displacement location unit 14; For showing the displacement of described drilling rod in real time according to the displacement coordinate of described drilling rod.
Particularly, described display unit 20 is connected with described displacement location unit 14 by the first tie point JP1, the 3rd tie point JP3, and described display unit 20 can show displacement data in real time by control chip C8051F310, four common cathode four segment numeral pipes Q1, Q2, Q3, Q4.Wherein, the circuit diagram of described 3rd tie point JP3 as shown in Figure 7; As shown in Figure 8, the circuit connection diagram of described common cathode four segment numeral pipe Q1, Q2, Q3, Q4 as shown in Figure 9 for the circuit diagram of described control chip C8051F310.Described control chip C8051F310 is connected with the 5th tie point JP5 of described common cathode four segment numeral pipe Q1, Q2, Q3, Q4 by the 4th tie point JP4.
After described control chip C8051F310 gets the 7th pulse signal F1 and the 8th pulse signal F2, by opening and shutoff of pin LED_SW1, LED_SW2, LED_SW3, LED_SW4 control Q1, Q2, Q3, Q4 charactron, control the position choosing of corresponding positions charactron respectively, show displacement data in real time.Described charactron Q1, Q2, Q3, Q4 can be realized by metal-oxide-semiconductor BSS123.
The driving chip of described charactron Q1, Q2, Q3, Q4 is HC595, and described control chip C8051F310 is controlled driving chip HC595 by HC595_SH, HC595_ST, HC595_DS pin, drives each charactron respective field.Wherein, the circuit diagram of the driving chip HC595 of described control chip as shown in Figure 10.
Here, described power supply unit 21 is for powering for the second recognition unit 13 described in described displacement location unit 14, described display unit 20 machine.Described power supply unit 21 can be realized by lithium battery.
In practical application, described displacement location unit 14 can be realized by single-chip microcomputer C8051F340.
The Directional Drilling profile survey navigation system that the present embodiment provides achieves the real time record that horizontal directional drill creeps into distance, provides reliable drilling direction coordinate setting for large aperture directional drill hole section profile detects.Proved by industrial performance test, the Directional Drilling profile survey navigation system that the present embodiment provides is applied in the directional drill hole section profile detection of large aperture, meet examination criteria requirement, can realize automatically gathering unmanned, and creep into distance measurement accurately, Directional Drilling for Pipeline Crossing can be widely used in and creep in distance parameter testing.
Embodiment two
Corresponding to embodiment one, the present invention also provides a kind of Directional Drilling profile survey localization method, and as shown in figure 11, described method mainly comprises the following steps:
Step 1110, gathers the displacement signal of described drilling rod, institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B;
In this step, gathered the displacement signal of described drilling rod by displacement signal acquisition unit, institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B;
Particularly, described displacement signal acquisition unit is connected with described outer coding unit, when described Directional Drilling work, described displacement signal acquisition unit gathers the displacement signal of described Directional Drilling drilling rod, by outer coding unit, institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B; Wherein, institute's displacement signal is standard current signal; Described first displacement pulse signals A, the second displacement pulse signals B are data signal, and described first dfisplacement pulse a-signal and described second displacement pulse signals B signal are the differential signal of phase 180 degree.
Step 1111, gathers described first displacement pulse signals A, the second displacement pulse signals B, obtains the bearing data of described drilling rod according to described first displacement pulse signals A, described second displacement pulse signals B;
In this step, when institute's displacement signal is converted to the first displacement pulse signals A, the second displacement pulse signals B by described displacement signal acquisition unit, by the first recognition unit 12, dividing potential drop, sensing process are carried out to described first displacement pulse signals A, described second displacement pulse signals B, obtain the bearing data of described drilling rod.Wherein, when described drilling rod advances, described first displacement pulse signals A phase place is prior to described second displacement pulse signals B phase place; When described drilling rod retreats, described second displacement pulse signals B phase place is prior to described first displacement pulse signals A phase place.
Particularly, the circuit diagram of described first recognition unit as shown in Figure 2, comprising: the first resistance R1, the second resistance R2, the 3rd resistance R3, the 4th resistance R4, the first not gate U1, first and door U2, second and door U3; Wherein, by described first resistance R1, dividing potential drop is carried out to described first displacement pulse signals A, described first displacement pulse signals A is adjusted to about 3.3V.Similarly, by described second resistance R2, dividing potential drop is carried out to described second displacement pulse signals B, described second displacement pulse signals B is adjusted to about 3.3V.
Then, through described first not gate U1, first and the sensing circuit that forms of door U2 and second and door U3 sensing process is carried out to described first displacement pulse signals A, the second displacement pulse signals B, obtain the bearing data of described drilling rod, the bearing data of described drilling rod is sent to described displacement location unit, with the direction of displacement making described displacement location unit determine described drilling rod according to described bearing data.
Particularly, when described drilling rod advances, described sensing circuit exports the 3rd pulse signal P1 according to described first displacement pulse signals A and described second displacement pulse signals B.When described drilling rod retreats, described sensing circuit exports the 4th pulse signal P2 according to described first displacement pulse signals A and described second displacement pulse signals B.Described 3rd pulse signal P1 and described 4th pulse signal P2 is the bearing data of described drilling rod.
Meanwhile, described sensing circuit exports the 7th pulse signal F1 of the distance that representative is advanced simultaneously; 8th pulse signal F2 of the distance that representative retreats.
In practical application, described first not gate U1 can be realized by 74LV04 chip, and described first can be realized by HC08 chip with door U2 and described second and door U3.
Here, described 3rd resistance R3 and the 4th resistance R4 is for the protection of circuit, and the resistance of described first resistance R1, the second resistance R2 can be 4.7K, and the resistance of described 3rd resistance R3, the 4th resistance R4 is 4.7K.
Step 1112, identifies the drilling rod head signal of described drilling rod;
In this step, send the first identification signal by described displacement signal acquisition unit to the first probe unit, described first probe unit generates the first voltage signal according to described first identification signal; Or,
Send the second identification signal to the second probe unit, described first probe unit generates the second voltage signal according to described second identification signal;
When described first probe unit generates the first voltage signal according to described first identification signal, when described first probe unit generates the second voltage signal according to described second identification signal, described second recognition unit is used for: determine that described drilling rod head is drilling rod microcephaly according to described first voltage signal, determines that described drilling rod head is drilling rod major part according to described second voltage signal.
Particularly, because described displacement signal acquisition unit is fixed on described drilling rod by guide tracked Spring loaded arms, when described displacement signal acquisition unit walking is in described drill rod body, described guide tracked Spring loaded arms is in primary importance, because the position height of described drilling rod microcephaly is higher than the body of rod, when described displacement signal acquisition unit is through drilling rod microcephaly, described displacement signal acquisition unit can drive guide tracked Spring loaded arms to arrive the second place, now, described displacement signal acquisition unit sends the first identification signal to described first probe unit, described first probe unit generates the first voltage signal according to described first identification signal, and described first voltage signal is sent to described second recognition unit.Wherein, the height of the described second place is greater than the height of described primary importance.
When described displacement signal acquisition unit is through drilling rod major part, diameter due to described drilling rod major part is greater than the diameter of drill rod body and described drilling rod microcephaly, now, described displacement signal acquisition unit can drive guide tracked Spring loaded arms to arrive the 3rd position, described displacement signal acquisition unit sends the second identification signal to described second probe unit, and described second probe unit generates the second voltage signal according to described second identification signal; And described second voltage signal is sent to described second recognition unit.Wherein, the height of described 3rd position is greater than the height of the described second place, and described first voltage signal and described second voltage signal are low frequency signal; Described first voltage signal is not more than described second voltage signal; The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1, and described walking error can measure demarcation in advance.
The walking error getting described drilling rod major part when described second recognition unit is ERR0, the walking error of described drilling rod microcephaly is after ERR1, be ERR0 by the walking error of described drilling rod major part, the walking error of described drilling rod microcephaly is that ERR1 is sent to described displacement location unit, when determining the displacement coordinate of described drilling rod to make described displacement location unit, be the walking error of ERR0 or described drilling rod microcephaly using the walking error of described drilling rod major part be that ERR1 revises data as fixed error, improve positioning precision.
Here, the circuit diagram of described second recognition unit as shown in Figure 3, comprising: the second not gate U4, the 3rd not gate U5, the 3rd with door U6, first threshold decision circuit U7 and Second Threshold decision circuit U8;
When described second recognition unit receives the first voltage signal of described first probe unit transmission, when first threshold decision circuit U7 judges that described first voltage signal exceeds default voltage threshold, the circuit that described first voltage signal forms with door U6 through described second not gate U4, the 3rd is processed described first voltage signal, make the waveform rising edge of described first voltage signal more precipitous, similar and square wave, and then reduce and cause error because the rise time is long.Export the 5th pulse signal P3, described 5th pulse signal P3 represents drilling rod major part.
Similarly, when described second recognition unit receives the second voltage signal of described second probe unit transmission, when Second Threshold decision circuit U8 judges that described second voltage signal is less than default voltage threshold, described second voltage signal is processed described second voltage signal through described 3rd not gate U5 and the 3rd and door U6, make the waveform rising edge of described second voltage signal more precipitous, similar and square wave, and then reduce and cause error because the rise time is long.Export the 6th pulse signal P4, described 6th pulse signal P4 represents drilling rod microcephaly.
During practical application, described second not gate U4, the 3rd not gate U5 can be realized by SN7414N chip, and the described 3rd can be realized by HC08 chip with door U6.
Step 1113, calculates the displacement coordinate of described drilling rod according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
In this step, the walking error getting described drilling rod major part when described displacement location unit is ERR0, and the walking error of described drilling rod microcephaly is after ERR1, described displacement location unit specifically for:
Within the time of presetting, record the first quantity N1 of first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of second displacement pulse signals of described drilling rod under fallback state; The displacement data of described drilling rod is calculated according to formula (1), wherein, the distance that displacement pulse signals is corresponding 1 centimetre.
S＝N1-N2-ERR0-ERR1 (1)
Such as, in 10 minutes, the N1 under drilling rod forward travel state is 1000, and the N2 under fallback state is 100, and drilling rod is respectively through drilling rod major part 1 time, and first microcephaly 1 time, then obtain corresponding distance S
0=(1000-100)=900 centimetre, this distance comprises the walking error of walking on curved surface through drilling rod major part and microcephaly, and walking error is demarcated as ERR0, ERR1, then actual travel distance S=S by measuring in advance
0-ERR0-ERR0.
Further, described displacement location unit determines the direction of displacement of described drilling rod according to the bearing data of described drilling rod; The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement.
Here, move after positioning unit determines the displacement coordinate of described drilling rod according to described displacement data, described direction of displacement when described, described method also comprises: record calculates the time of described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.The displacement coordinate of writing time and described drilling rod according to the storage format real-time storage pre-set, shows the displacement of described drilling rod in real time according to the displacement coordinate of described drilling rod.
Particularly, calculated the time of described drilling rod displacement coordinate by clock unit record, described clock unit is connected, for clock timing with described displacement location unit, record calculates the time data of described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.
By the displacement coordinate of writing time described in memory cell real-time storage and described drilling rod, described memory cell is connected with described displacement location unit, for the displacement data of writing time and described drilling rod according to the storage format real-time storage pre-set.
Particularly, described clock unit can be realized by clock chip DS1302, and described displacement location unit is connected with the second contact JP2 of described clock unit by the first contact JP1.Wherein, as shown in Figure 4, the circuit diagram of described second contact JP2 as shown in Figure 5 for the circuit diagram of described first node JP1.
Described displacement location unit reads the chronometric data of clock unit by monobus DS1302_IO.Wherein, DS1302_SCSK and DS1302_RST is for controlling pin.
Described memory cell can be realized by storage card SD card, described memory cell is connected with described displacement location unit 14 by SPI interface, by the control command of displacement location unit transmission described in described SPI interface, carry out storage according to described control command to the data received to control, storage format is the data format pre-defined, and comprises the rod boring displacement data of writing time and record.Wherein, the control pin of described memory cell is respectively: SDOUT, SDSCK, SDDIN and SDCS; Described SDOUT is the output of control SD card data; Described SDSCK is the system clock of control SD card; Described SDDIN is the inputs of SD card data; Described SDCS is control SD card gating.The circuit diagram of described memory cell as shown in Figure 6.
Described storage format and can be crept into distance and realizes according to sequence number, time, and such as, within 48 seconds, have recorded data on September 16th, 2,014 32 points, creep into distance for 23cm, so storage format can be as shown in table 1.
The storage format of table 1 memory cell
| Sequence number | Time | Creep into distance (cm) |
| 1 | 20140901163248 | 23 |
Wherein, can comprise multirow data in table 1, the interval between each row of data can be set to 8 characters, is .txt file.
After described displacement location unit calculates the displacement coordinate of described drilling rod, shown the displacement of described drilling rod by display unit.
Particularly, described display unit is connected with described displacement location unit by the first tie point JP1, the 3rd tie point JP3, shares displacement data, the direction of displacement of described drilling rod with described displacement location unit; For showing the displacement of described drilling rod in real time according to the displacement coordinate of described drilling rod.
Here, described display unit can show the displacement data of drilling rod wherein in real time by control chip C8051F310, four common cathode four segment numeral pipes Q1, Q2, Q3, Q4, and the circuit diagram of described 3rd tie point JP3 as shown in Figure 7; As shown in Figure 8, the circuit connection diagram of described common cathode four segment numeral pipe Q1, Q2, Q3, Q4 as shown in Figure 9 for the circuit diagram of described control chip C8051F310.Described control chip C8051F310 is connected with the 5th tie point JP5 of described common cathode four segment numeral pipe Q1, Q2, Q3, Q4 by the 4th tie point JP4.
After described control chip C8051F310 gets the 7th pulse signal F1 and the 8th pulse signal F2, by opening and shutoff of pin LED_SW1, LED_SW2, LED_SW3, LED_SW4 control Q1, Q2, Q3, Q4 charactron, control the position choosing of corresponding positions charactron respectively, show displacement data in real time.Described charactron Q1, Q2, Q3, Q4 can be realized by metal-oxide-semiconductor BSS123.
Here, the driving chip of described charactron Q1, Q2, Q3, Q4 is HC595, and described control chip C8051F310 is controlled driving chip HC595 by HC595_SH, HC595_ST, HC595_DS pin, drives each charactron respective field.
Wherein, described displacement location unit, described display unit, described second recognition unit are powered by power supply unit.Described power supply unit can be realized by lithium battery.
In practical application, described displacement location unit can be realized by single-chip microcomputer C8051F340.
The above, be only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention, and all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (15)
1. a Directional Drilling profile survey navigation system, is characterized in that, described system comprises:
Displacement signal acquisition unit, institute's displacement signal, for gathering the displacement signal of drilling rod, is converted to the first displacement pulse signals, the second displacement pulse signals by described displacement signal acquisition unit;
First recognition unit, described first recognition unit, for gathering described first displacement pulse signals, the second displacement pulse signals, obtains the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals;
Second recognition unit, described second recognition unit is for identifying the drilling rod head signal of described drilling rod;
Displacement location unit, described displacement location unit is used for the displacement coordinate calculating described drilling rod according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
2. navigation system as claimed in claim 1, it is characterized in that, described navigation system also comprises:
Clock unit, described clock unit is connected with described displacement location unit, for recording the time calculating described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.
3. navigation system as claimed in claim 2, it is characterized in that, described system also comprises:
Memory cell, described memory cell is connected with described displacement location unit, for the displacement coordinate of writing time and described drilling rod according to the storage format real-time storage pre-set;
Display unit, described display unit is connected with described displacement location unit, for showing the displacement of described drilling rod in real time according to the displacement coordinate of described drilling rod.
4. navigation system as claimed in claim 1, is characterized in that, described displacement signal acquisition unit specifically for: by outer coding unit, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals.
5. navigation system as claimed in claim 1, is characterized in that, described first recognition unit specifically for: dividing potential drop, sensing process are carried out to described first displacement pulse signals, described second displacement pulse signals, obtain the bearing data of described drilling rod; Wherein,
When described drilling rod advances, described first displacement pulse signals phase place is prior to described second displacement pulse signals phase place;
When described drilling rod retreats, described second displacement pulse signals phase place is prior to described first displacement pulse signals phase place.
6. navigation system as claimed in claim 1, it is characterized in that, described system also comprises: the first probe unit and the second probe unit; Wherein,
Described displacement signal acquisition unit also for:
Send the first identification signal to described first probe unit, described first probe unit generates the first voltage signal according to described first identification signal; Or,
Send the second identification signal to described second probe unit, described first probe unit generates the second voltage signal according to described second identification signal;
According to described first voltage signal, described second recognition unit determines that described drilling rod head is drilling rod microcephaly, according to described second voltage signal, described second recognition unit determines that described drilling rod head is drilling rod major part.
7. navigation system as claimed in claim 6, it is characterized in that, described first voltage signal is not more than described second voltage signal;
The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1.
8. navigation system as claimed in claim 1, is characterized in that, described displacement location unit specifically for:
Within the time of presetting, record the first quantity N1 of described first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of described second displacement pulse signals of described drilling rod under fallback state;
The displacement data of described drilling rod is calculated according to formula S=N1-N2-ERR0-ERR1;
The direction of displacement of described drilling rod is determined according to the bearing data of described drilling rod;
The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement; Wherein,
The distance that displacement pulse signals is corresponding 1 centimetre.
9. a Directional Drilling profile survey localization method, is characterized in that, described method comprises:
Gather the displacement signal of drilling rod, institute's displacement signal is converted to the first displacement pulse signals, the second displacement pulse signals;
Gather described first displacement pulse signals, the second displacement pulse signals, obtain the bearing data of described drilling rod according to described first displacement pulse signals, described second displacement pulse signals;
Identify the drilling rod head signal of described drilling rod;
The displacement coordinate of described drilling rod is calculated according to the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal.
10. localization method as claimed in claim 9, it is characterized in that, described method also comprises: record calculates the time of described drilling rod displacement coordinate, and described writing time is sent to described displacement location unit.
11. localization methods as claimed in claim 9, it is characterized in that, described method also comprises: the displacement coordinate of writing time and described drilling rod according to the storage format real-time storage pre-set;
The displacement of described drilling rod is shown in real time according to the displacement coordinate of described drilling rod.
12. localization methods as claimed in claim 10, is characterized in that, the described bearing data obtaining described drilling rod according to described first displacement pulse signals, described second displacement pulse signals comprises:
Dividing potential drop, sensing process are carried out to described first displacement pulse signals, described second displacement pulse signals, obtains the bearing data of described first displacement pulse signals, described second displacement pulse signals; Wherein,
When described drilling rod advances, described first displacement pulse signals is prior to described second displacement pulse signals;
When described drilling rod retreats, described second displacement pulse signals is prior to described first displacement pulse signals.
13. localization methods as claimed in claim 9, is characterized in that, the drilling rod head signal of the described drilling rod of described identification comprises:
Send the first identification signal, generate the first voltage signal according to described first identification signal; Or,
Send the second identification signal, generate the second voltage signal according to described second identification signal;
Determine that described drilling rod head is drilling rod microcephaly according to described first voltage signal, determine that described drilling rod head is drilling rod major part according to described second voltage signal.
14. localization methods as claimed in claim 13, it is characterized in that, described first voltage signal is not more than described second voltage signal;
The walking error of described drilling rod major part is ERR0, and the walking error of described drilling rod microcephaly is ERR1.
15. localization methods as claimed in claim 9, is characterized in that, comprise according to the displacement coordinate that the bearing data of described first displacement pulse signals, described second displacement pulse signals, described drilling rod, described drilling rod head signal calculate described drilling rod:
Within the time of presetting, record the first quantity N1 of described first displacement pulse signals of described drilling rod under forward travel state, record the second quantity N2 of described second displacement pulse signals of described drilling rod under fallback state;
The displacement data of described drilling rod is calculated according to formula S=N1-N2-ERR0-ERR1;
The direction of displacement of described drilling rod is determined according to the bearing data of described drilling rod;
The displacement coordinate of described drilling rod is determined according to described displacement data, described direction of displacement; Wherein,
The distance that displacement pulse signals is corresponding 1 centimetre.
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