CN106197237B - A kind of judgment method of the measurement point of no-dig technique guide instrument - Google Patents
A kind of judgment method of the measurement point of no-dig technique guide instrument Download PDFInfo
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- CN106197237B CN106197237B CN201610585892.5A CN201610585892A CN106197237B CN 106197237 B CN106197237 B CN 106197237B CN 201610585892 A CN201610585892 A CN 201610585892A CN 106197237 B CN106197237 B CN 106197237B
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- transmitter
- measurement point
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- instrument
- receiving instrument
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
Abstract
The invention discloses a kind of judgment method of the measurement point of no-dig technique guide instrument, used no-dig technique guide instrument includes transmitter and receiving instrument, characterized by the following steps: 1) transmitter generates an asymmetric bipolar field；2) measurement point being moved to the receiving instrument in guiding approach, the component that antenna measurement in the receiving instrument obtains the X-axis of the magnetic field strength of the measurement point, Y-axis and Z axis is respectively Bx, By and Bz, judges measurement point in the first half region or later half region at the midpoint of the antenna of the transmitter according to magnetic field strength.
Description
Technical field
The present invention relates to no-dig technique field, especially a kind of judgment method of the measurement point of no-dig technique guide instrument.
Background technique
With the extensive development of urban construction, needs to be laid in city and cut dirty pipe or the energy (liquefied gas, natural gas
Deng) supply pipe, more common method is that box cut carrys out pipe laying and sunkens cord, this will cause environmental pollution, cause traffic jam, and deposit
In construction safety hidden danger.
Therefore, also have been developed using no-dig laying pipelines technique at present, i.e., it is a kind of utilize rock and soil drilling means, road surface not
Ditching in the case where not destroying surface layer in large area, is laid with, the construction technology of reparation and replacement underground utilities.Use no-dig technique
Technology have many advantages, such as the period is short, at low cost, pollution less, have a safety feature, and will not influence normal traffic order.
No-dig laying pipelines technique application is wider for horizontally-guided progressive method, is equipped with using the guidance of no-dig technique guide instrument
The drilling rod of drill bit comes in realize before being oriented.No-dig technique guide instrument include provide the real-time operating condition-depth of drill bit, inclination angle and
Hour direction allows the operator on ground to grasp drilling track in real time timely to be corrected to subsequent operation, to protect
Card presses set route track accurate pointing, completes trenchless pipelaying.
It is used widely in no-dig technique guide instrument because wireless topology is simple and convenient.The instrument system include issue
Emitter, on the ground tracking receiving instrument and synchronization indicator.With trenchless technology install underground installation such as cable, optical cable, water pipe,
Need first to make a call to a pilot hole when coal gas.When making pilot hole, a drill bit is provided with a transmitter.By being mounted on underground
Transmitter on drill bit issues the bipolar field of an alternation, operates portable tracking receiving instrument, In by ground handling operator
The state of subterranean drill bit and transmitter is found and tracked on ground, and the state of transmitter includes transmitter clock position, and inclination angle is bored
Depth of head, and the direction of drilling etc..
A kind of highly desirable expectation can exactly directly find the relative position and direction of receiving instrument and transmitter, so as to straight
It connects and receiving instrument is put into above transmitter.But due to precision problem, receiving instrument is not able to satisfy guiding in the state of at present
Required precision.It is some to propose high-precision method due to requiring requirement between mutiple antennas and antenna to have sufficiently large distance, cause
It can not achieve in portable equipment.
Currently used guidance method be using transmitter issue bipolar field some features, by several steps come
Find and track the transmitter of underground.Some can provide more accurate searching and tracking, such as Patent No.
The United States Patent (USP) of US6496008 describes such a method, has symmetry using the bipolar field that transmitter generates, together
More than one place may be present in the magnetic line of force in sample intensity and direction, the two symmetrical point (preceding guiding points are utilized in this method
With rear guiding point) feature above the axis of emitter antenna and in this two o'clock magnetic field and horizontal plane.Find first from
A bit of receiving instrument recently, then looks for another symmetrical point again, and this mode must use former and later two points.It is as shown in Figure 1
The distribution map of emitter antenna radiation field on the vertical plane, it is shown that in the size and Orientation of No. 2 points and No. 5 point magnetic lines of force
All, thus the magnetic field vector of receiving instrument measurement can not distinguish No. 2 points and No. 5 points, same problem occur in No. 1 point and
No. 4 points, No. 3 points and No. 6 points.
One relatively accurate quick guidance method is provided using forward and backward point guiding method, but there are also many for this method
It can be with improved place.Forward and backward point guiding method requires operator that will travel to and fro between forward and backward point in underground one drilling rod of every increase
Between.In addition, round-trip forward and backward point may will increase the chance of traffic accident when guiding passes through road；Another drawback is
When passing through the water surface, finds forward and backward point and make marks to determine drilling direction and not practical.
Summary of the invention
The technical problem to be solved by the present invention is in view of the above-mentioned problems of the prior art, providing a kind of quick and pacifying
The judgment method of the measurement point of full no-dig technique guide instrument.
The technical scheme of the invention to solve the technical problem is: a kind of measurement point of no-dig technique guide instrument is sentenced
Disconnected method, used no-dig technique guide instrument includes transmitter and receiving instrument, characterized by the following steps:
1) transmitter generates an asymmetric bipolar field；
2) receiving instrument is moved to a measurement point in guiding approach, the antenna measurement in the receiving instrument obtains
The component of the X-axis of the magnetic field strength of the measurement point, Y-axis and Z axis is respectively Bx, By and Bz, judges measurement point according to magnetic field strength
In the first half region or later half region at the midpoint of the antenna of the transmitter.
In a preferred embodiment of the invention, in step 1), the transmitter (1) is asymmetric using phase-modulation
Signal generates asymmetric bipolar field.
In presently preferred embodiment, in step 1), the transmitter (1) is produced using AM modulated signal
Raw asymmetry bipolar field.
In step 2), the receiving instrument includes first filter (21), second filter (22), the first PLL route
(31) and the 2nd PLL route (32), the receiving instrument receive two peak values of the frequency spectrum for the signal that the transmitter (1) generates,
The first filter (21) filters one of peak value, and the second filter (22) filters another peak value, and described first
PLL route (31) is by the first filter (21) filtered signal frequency multiplied by coefficient a, the 2nd PLL route (31)
By the second filter (22) filtered signal frequency multiplied by coefficient b, according to the phase difference of two PLL circuit outputs, from
And judge the polarity of measurement point.
When using phase-modulation asymmetric signal, a crest frequency is Fc* (N-1)/N, another crest frequency is
Fc* (N+1)/N, coefficient a are (N-1)/2, and coefficient b is (N+1)/2.
Compared with the prior art, the advantages of the present invention are as follows: asymmetric bipolar field is generated by transmitter, so that ground
On receiving instrument can determine its polarity after finding a measurement point, judge the region where it, avoid operator's
It measures back and forth, improves the safety and speed of operation, the measurement being also able to achieve under some specific environments.
Detailed description of the invention
Fig. 1 is the distribution map of the emitter antenna radiation field of the prior art on the vertical plane；
Fig. 2 is the spatial distribution map of the emitter antenna radiation field of the prior art；
Fig. 3 is the schematic diagram of the antenna of receiving instrument of the invention；
Fig. 4 is schematic diagram of the magnetic field that measures of first antenna in X/Y plane；
Fig. 5 is schematic diagram of the magnetic field that measures of first antenna in XZ plane；
Fig. 6 is schematic diagram of the magnetic field that measures of first antenna in YZ plane；
Fig. 7 is schematic diagram of the magnetic field that measures of the second antenna in X/Y plane；
Fig. 8 is schematic diagram of the magnetic field that measures of the second antenna in XZ plane；
Fig. 9 be after the second tested rotating platform the magnetic field that measures in the schematic diagram of X/Y plane；
Figure 10 is that receiving instrument is located at the schematic diagram right above transmitter；
Figure 11 is is received magnetic field signal waveform in No. 2 point vertical antennas；
Figure 12 is is received magnetic field signal waveform in No. 5 point vertical antennas；
Figure 13 is a kind of phase-modulation asymmetric signal waveform；
Figure 14 is fast modulation signal waveform；
Figure 15 is Fast carrier signal waveform；
Figure 16 is the carrier signal waveform sent；
Figure 17 is the signal waveform after receiving instrument synchronous modulation；
Figure 18 is the signal waveform after receiving instrument differentiates；
Figure 19 is the signal waveform that receiving instrument is received in No. 2 points；
Figure 20 is the signal waveform that receiving instrument is received in No. 5 points；
Figure 21 is the structure of block diagram of receiving instrument.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
A kind of guidance method of no-dig technique guide instrument, used no-dig technique guide instrument include transmitter 1 and receiving instrument.
Referring to Fig. 1 and Fig. 2, common no-dig technique guide instrument is arranged in the transmitter 1 of underground and is provided with antenna, day
The axis that the axis of line bores room with drilling machine is coaxial or parallel, and the axis of an antenna perpendicular to transmitter 1 passes through the plane at antenna midpoint,
Thus the magnetic field space on ground is divided into two parts: the first plane A and the second plane B, the first plane A, which is located at, to be passed through in antenna
The side of the plane of point, the second plane B are located at the other side of the plane by antenna midpoint.
Referring to Fig. 5, in receiving instrument setting there are two dimensional antenna, one of them be located at the surface of another antenna and
With a certain distance, two dimensional antennas are respectively first antenna 51 and the second antenna 52, and three axis of each antenna are mutual
Perpendicular, each axis of antenna can be made of two concatenated coils, and each coil is got up with copper foils for shielding, two three-dimensionals
Antenna is mounted in a nonconducting shell, shell typically plastic casing.Wherein the second antenna 52 is mounted in first day
The surface of line 51, the distance of two antennas preferably can be 50 centimetres, and the corresponding antenna axis of two antennas all points to
Identical direction.
Guidance method of the invention, an antenna in receiving instrument are then used for finding a target point, another antenna
In the direction for determining transmitter 1, specifically, include the following steps:
1) transmitter 1 generates an asymmetric bipolar field；
2) receiving instrument is moved to guiding approach (from entering to bore the route passed through to the region pilot hole gone out brill point)
On a measurement point, one of them (first antenna 51) measurement of two dimensional antennas obtains the magnetic field strength of the measurement point
The component of X-axis, Y-axis and Z axis is respectively Bx, By and Bz, judges that the spatial position of target point and receiving instrument is closed according to magnetic field strength
It is the first object point T1 so that it is determined that nearest,.Measurement includes: first half of the measurement point at the midpoint of the antenna of the transmitter 1
Region (such as the first plane A) or later half region (such as the second plane B)；The spatial relation of first object point T1 and receiving instrument
Degree of closeness including the direction of point T1 from receiving instrument to first object and receiving instrument and first object point T1.
The position first object point T1: referring to fig. 4~Fig. 6, if Bz < 0, and Bx, By, Bz are three axis of receiving instrument antenna
To the magnetic-field component of measurement, thenThus three angle parameters Ax, Ay, Az are obtained,If receiving instrument is placed on the surface of transmitter 1, by last 3m
Calibrate magnetic field strength B3mThe distance of transmitter 1 is calculated,X1 and y1:x1=Ax*D, y1=Bx*D are calculated, and
In the coordinate (Kx*x1, Ky*y1) of the display screen display first object point T1 of receiving instrument, wherein Kx and Ky is according to for spy
Determine the constant selection of the optimal user experience of positioning system.
Direction and degree of closeness are shown on the display screen of receiving instrument, and operator can be according to direction and degree of closeness information
Receiving instrument is moved to target point, the method from the spatial position of obtained magnetic field strength estimation first object point T1, Ke Yiyu
Document in background technique is identical, and details are not described herein.
3) direction obtained according to step 2) and degree of closeness, are moved to the second target point T2, two three-dimensionals for receiving instrument
Another (second antenna 52) in antenna measure the magnetic field strength X-axis of target point, Y-axis and Z axis component be respectively B2x,
B2y and B2z.
The position of receiving instrument makes 51 face first object point T1 of first antenna, then the magnetic field of 51 position of first antenna is hung down
Directly.And the range difference due to the second antenna 52 and first antenna 51 relative to transmitter 1, the second antenna 52 not the first mesh of face
Punctuate T1, therefore the magnetic field of 52 position of the second antenna is not vertical.
Referring to figs. 7 and 8, the magnetic-field component in the direction x and y: B2x and B2y is measured by the second antenna 52.
It is more accurate in order to measure, receiving instrument is rotated, so that antero posterior axis of the magnetic field strength along receiving instrument, referring to Fig. 9.
The angle a of the second antenna 52 and transmitter 1 is calculated according to the magnetic field strength of the second target point T2, andOnce the direction of 1 axis of transmitter is estimated out, then the direction of drill bit drilling determines that.
In this application, before drill bit enters ground, two antennas in receiving instrument will do depth correction.When receiving instrument is in
When the surface of transmitter 1, Bx is zero in two antenna components.Two dimensional antennas all calculate the depth of transmitter 1, two depths
The difference of degree be used to evaluation whether the measurement of extraneous factor influence depth.If depth difference and the distance difference of two antennas ratio
It is larger, illustrate that depth measurement is influenced by extraneous factor, need to correct, may further be used to judge whether that magnetic field is interfered, thus
The reliability for ensuring to fathom.
Referring to Figure 10, receiving instrument is located at the surface of transmitter 1 at this time, measures three of magnetic field strength by first antenna 51
Component is B1x、B1y、B1z, calculate the total magnetic intensity of first antenna 51:Then second is repeated
The measurement of antenna 52,
Pass through the calibration magnetic field strength B in last 3m3mThe distance of transmitter 1 is calculated, Thus the distance between two antennas difference is calculated.
In ideal conditions, the distance between two antennas difference is known consistent difference.
Above-mentioned guidance method step 1) and 2) in, it is necessary first to transmitter 1 generate an asymmetric magnetic field, so
Afterwards, an antenna in receiving instrument could judge the polarity of measurement point according to the magnetic field strength of measurement point.
Transmitter 1 generates and emits an asymmetric bipolar field in ground lower edge guiding approach, this magnetic field has very little
Or there is no DC component, using this asymmetric bipolar field, the position of the symmetric points in asymmetric bipolar field can be eliminated
Uncertainty.
In one embodiment, it is to utilize AM modulated signal, AM modulation that transmitter 1, which generates the mode of asymmetric bipolar field,
Asymmetry bipolar field caused by signal can be used for amplitude modulated signal, and referring to Figure 11 and Figure 12, each byte is with just
Half waveform starts, but the shape of waveform is not important, can be sine wave, is also possible to square wave.For convenience of description, following magnetic
The label at field midpoint is continued to use shown in Fig. 1.To be received magnetic field signal waveform, Figure 12 in No. 2 point vertical antennas shown in Figure 11
Shown in be received magnetic field signal waveform in No. 5 point vertical antennas.The waveform of No. 2 points and No. 5 points known to above-mentioned two width figure
Be it is different, thus can distinguish No. 2 points and No. 5 points.
In another embodiment, it is asymmetric using phase-modulation that transmitter 1, which generates the mode of asymmetric bipolar field,
Signal, signal shown in Figure 13 can be used to realize the generation and asymmetric differentiation of asymmetric bipolar field, using sinusoidal letter
For number.
Every N (N is waveform number of semi-periods of oscillation, it is necessary to be odd number) a half period, carrier signal phase are inverted, this reverse phase
It has polarized and magnetic field but has produced the DC component of a very little at the same time, this DC component directly affects the accurate of polar discrimination
Property.DC component can be reduced by increasing N, and reducing N can make asymmetric differentiation simpler.Preferably, N value is 5~30.Here, with
It is illustrated for N=5.Figure 14 show fast modulation signal, and Figure 15 show fast modulation carrier signal, above-mentioned load
Wave signal carries out phase-modulation with the real data of transmitter 1.If a byte is 0, carrier signal itself is transmitted.
If a byte is 1, the phase of carrier signal is inverted, and each byte includes the half period of M carrier signal, such as Figure 16
It is shown.
The process below receiving instrument use on ground carrys out the signal of demodulation synchronous modulation.The fast velocity modulation shown in Figure 14
Signal quadrature (multiplication) of the signal of system to receiving, obtained signal is as shown in figure 17, and the signal of the above phase-modulation uses
Common byte of sync and character synchronization method.After the signal agreement received, which obtains, to be synchronized, receiving instrument can go out every respectively
A byte is 1 or 0, as shown in figure 18.
Then, the signal received is multiplied to obtain original polarized signal with PROTOCOL value by receiving instrument.In No. 2 points,
Perpendicular to the antenna on ground, to receive signal as shown in figure 19；In No. 5 points, signal such as Figure 20 is received perpendicular to the antenna on ground
It is shown.Two signals have different asymmetry.The asymmetry of the available a point of receiving instrument avoids nonpolarity not in this way
The nonuniqueness of symmetric magnetic field.
Receiving instrument uses structure as shown in figure 21 to judge the asymmetry of signal.Receiving instrument receives the frequency spectrum of signal
There are two peak values, wherein first crest frequency is Fc* (N-1)/N, second crest frequency is Fc* (N+1)/N, and Fc is carrier wave
Frequency.
There are two the peak values that filter is used to filtered received signal in receiving instrument.Wherein corresponding first filtering of first peak value
Device 21, second peak value correspond to second filter 22.It is the first PLL route 31 after first filter 21, the first PLL route 31 will
Filtered signal frequency is multiplied by coefficient a (in the present embodiment, a is (N-1)/2 times), and signal frequency is after first filter 21
It is (Fc* (N-1)/N* (N+1)).It is the 2nd PLL route 32 after second filter 22, the 2nd PLL route 32 is by filtered signal
Frequency is multiplied by coefficient b (in the present embodiment, b is (N+1)/2 times), and signal frequency is (Fc* (N- after the 2nd PLL route 32
1)/N*(N+1)).Polarity depending on the input signal received, the signal phase difference of two PLL circuit outputs be 0 degree or
180 degree.The signal of two PLL circuit outputs is all input into a phase difference device 4, if phase difference is in -90 degree and 90 degree
Between, then the signal received is positive polarity；If phase difference is except -90 degree and 90 degree, the signal received is cathode
Property.The polarity of discriminating measurement point as a result, judges where measurement point to be the first plane A or the second plane B.
Claims (4)
1. a kind of judgment method of the measurement point of no-dig technique guide instrument, used no-dig technique guide instrument include transmitter (1) and
Receiving instrument, characterized by the following steps:
1) transmitter (1) generates an asymmetric bipolar field；
2) receiving instrument is moved to a measurement point in guiding approach, the antenna measurement in the receiving instrument obtains the survey
The component for measuring the X-axis of magnetic field strength of point, Y-axis and Z axis is respectively Bx, By and Bz, judges measurement point in institute according to magnetic field strength
State the first half region or later half region at the midpoint of the antenna of transmitter (1):
The receiving instrument includes first filter (21), second filter (22), the first PLL route (31) and the 2nd PLL route
(32), the receiving instrument receives two peak values of the frequency spectrum for the signal that the transmitter (1) generates, the first filter (21)
Filter one of peak value, the second filter (22) filters another peak value, and the first PLL route (31) is by described
One filter (21) filtered signal frequency is multiplied by coefficient a, and the 2nd PLL route (31) is by the second filter (22)
Filtered signal frequency is multiplied by coefficient b, according to the phase difference of two PLL circuit outputs, to judge the polarity of measurement point.
2. the judgment method of the measurement point of no-dig technique guide instrument as described in claim 1, it is characterised in that: in step 1),
The transmitter (1) generates asymmetric bipolar field using phase-modulation asymmetric signal.
3. the judgment method of the measurement point of no-dig technique guide instrument as described in claim 1, it is characterised in that: in step 1),
The transmitter (1) generates asymmetric bipolar field using AM modulated signal.
4. the judgment method of the measurement point of no-dig technique guide instrument as claimed in claim 2, it is characterised in that: when utilization phase tune
When asymmetric signal processed, a crest frequency is Fc* (N-1)/N, another crest frequency is Fc* (N+1)/N, and coefficient a is (N-
1) it is waveform number of semi-periods of oscillation that/2, coefficient b, which is (N+1)/2, N, and Fc is carrier frequency.
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| CN201610585892.5A CN106197237B (en) | 2016-07-22 | 2016-07-22 | A kind of judgment method of the measurement point of no-dig technique guide instrument |
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| US6496008B1 (en) * | 2000-08-17 | 2002-12-17 | Digital Control Incorporated | Flux plane locating in an underground drilling system |
| CN1769645A (en) * | 2004-11-03 | 2006-05-10 | 长沙中联重工科技发展股份有限公司 | Guide positioning method and positioning instrument for horizontal directional drilling |
| CN102822630A (en) * | 2010-02-12 | 2012-12-12 | 马夸特机械电子有限责任公司 | Method for measuring a position |
| CN103899251A (en) * | 2014-04-16 | 2014-07-02 | 黄山金地电子有限公司 | Drill bit of non-excavation drilling machine and positioning method of drill bit |
-
2016
- 2016-07-22 CN CN201610585892.5A patent/CN106197237B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6496008B1 (en) * | 2000-08-17 | 2002-12-17 | Digital Control Incorporated | Flux plane locating in an underground drilling system |
| CN1769645A (en) * | 2004-11-03 | 2006-05-10 | 长沙中联重工科技发展股份有限公司 | Guide positioning method and positioning instrument for horizontal directional drilling |
| CN102822630A (en) * | 2010-02-12 | 2012-12-12 | 马夸特机械电子有限责任公司 | Method for measuring a position |
| CN103899251A (en) * | 2014-04-16 | 2014-07-02 | 黄山金地电子有限公司 | Drill bit of non-excavation drilling machine and positioning method of drill bit |
Non-Patent Citations (1)
| Title |
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| 水平定向钻进随钻测量方法及定位技术研究;徐涛;《中国博士论文全文数据库 基础科学辑A011-23》;20071115;第11第5段-第15页第1段，第91页第4段-第107页第1段，第114页第1段-第121页第1段，附图1.12、图7.1-7.6 * |
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