CN113653150B

CN113653150B - Construction method for drilling through sewage pipeline by rotary drilling machine

Info

Publication number: CN113653150B
Application number: CN202111096297.2A
Authority: CN
Inventors: 陈振溢; 李铮; 李亚伟; 许淼鑫
Original assignee: Beijing Urban and Rural Construction Group Co Ltd
Current assignee: Beijing Urban and Rural Construction Group Co Ltd
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2023-01-24
Anticipated expiration: 2041-09-17
Also published as: CN113653150A

Abstract

The invention relates to a construction method for a rotary drilling machine to drill through a sewage pipeline, and belongs to the technical field of sewage pipeline foundation construction. The method comprises the following steps: pressing the pipe body to the position of the sewage pipeline to plug the sewage pipeline; establishing a visual first virtual model based on information of the sewage pipeline; establishing a visual second virtual model based on the posture information of the pipe body; merging the first virtual model and the second virtual model into a visual construction model, and adjusting the motion trajectory of the pipe body based on the visual construction model. The visual construction model is established through the terminal server and the calibration device additionally arranged on the rotary drilling machine, so that the posture of the pipe body is adjusted, and the sewage pipeline can be thoroughly plugged by the pipe body. The method for blocking the sewage pipeline by the pipe body ensures the safety of personnel and improves the construction efficiency.

Description

Construction method for drilling through sewage pipeline by rotary drilling machine

Technical Field

The invention relates to the technical field of sewage pipeline foundation construction, in particular to a construction method for a rotary drilling machine to drill through a sewage pipeline.

Background

Along with the progress of urbanization, the scale of urban construction is continuously enlarged, urban underground pipelines are complicated due to the fact that urban construction is spread everywhere, and the load of a sewage system is more and more serious. The sewage pipeline system and the relevant facilities that itself formed can be endangered certainly to large-scale construction and are occupied to press, and in the work progress of construction building site, sewage conveying pipeline leaks the accident and takes place frequently, how to prevent and handle the sewage conveying pipeline system problem of leaking out fast, has seriously influenced city construction and regional resident's normal life. After the underground sewage pipeline leaks, a part of sewage is left in soil, and the other part of sewage enters underground water along with water flow, so that the pollution of the underground water is caused. Sewage leaks can alter the microbial content of the groundwater. Groundwater is inherently pure and harmless. However, with leakage from the sewer pipes, the groundwater is contaminated, and harmful microorganisms such as bacteria, viruses and parasites are generated. As the underground water is introduced into the living pipeline of people, the harmful microorganisms also enter the living water of people, and harm is caused to the life and the health of people. Groundwater also has a certain capacity for purifying pollutants, but this capacity is relatively weak, and when the purification rate cannot keep up with the pollution rate, water resource pollution is caused. The pollution of the underground water which is an important component of the fresh water resource is difficult to discover, the treatment difficulty is large, and the treatment time is long. The quality of the construction method is directly related to the social benefit and the economic benefit of urban construction. In order to better ensure the engineering quality of the sewage pipeline system, a technical scheme during construction needs to be analyzed and various measures need to be taken, so that the safety and the stability of the use of the sewage pipeline system are ensured.

In recent years, cast-in-place piles are widely applied to the field of foundation pit supporting and pile foundation construction due to the advantages of convenience in construction, low cost and the like. The construction of the cast-in-place pile mainly comprises the processes of pore forming, mud wall protection, steel reinforcement cage hoisting, concrete pouring and the like. The stability of the pore wall of the pore directly influences the quality of the cast-in-place pile body. Hole forming construction is usually performed by using a rotary drilling machine or a percussion drilling machine. In the process of forming the hole, when the sewage pipeline is encountered, the conventional drilling embodiment is not suitable for cutting the sewage pipeline, the construction progress is very slow, and the problem of geological collapse is caused by the exposure of the sewage pipeline.

Chinese patent CN111155513A discloses a method for drilling a well by cooperating a drilling machine and a hydraulic vibration hammer, which comprises the following steps: step one, pile position lofting; step two, inserting and punching an orifice protecting cylinder; step three, mounting a pile casing bottom pipe and a steel pile casing; step four, installing a drilling machine; step five, installing a hydraulic vibration hammer; step six, testing the machine; seventhly, installing a slurry conveying pipe and a pile casing bottom pipe to continue drilling; step eight, pouring concrete: and after drilling to a preset depth, cleaning and checking the hole, then putting a reinforcement cage into the hole, pouring concrete, and pulling the steel casing out of the hole to form the pile. The sinking method can drill very complicated stratum, the drilling speed can be improved by more than 4 times, and the situation of hole wall or orifice collapse can not occur due to the advance support of the steel casing during drilling, so that the pouring amount of concrete can be reduced to the minimum, namely the filling coefficient is minimum, and the material cost is saved. But when facing the underground pipeline with complicated urban complicatedness, the problem that sewage leaks due to the fact that the sewage pipeline is cut cannot be solved.

Chinese patent CN106761792B discloses a sleeve for a full casing pipe drilling machine, which comprises a sleeve, the upper end of the sleeve is connected with a rotary drilling machine, and the lower end of the sleeve is fixedly connected with a hard alloy toothed cutter. Also discloses a method for clearing obstacles in front of the shield tunneling machine cutter head, which comprises the following steps: injecting bentonite into the soil pressure cabin; forming a geological drilling hole, and determining the obstacle clearing construction influence range and the burial depth of an obstacle in front of a shield cutter head by using a drill sticking method; observing underground water level change; determining the sleeve position of the full casing drilling machine and tunneling towards the underground; cleaning soil and barriers in the sleeve; cutting a sleeve opening in the sleeve; clearing the barrier between the sleeve and the shield cutter head; and backfilling sandy soil in the sleeve, and gradually pulling up the sleeve in the backfilling process. The beneficial effects are as follows: the position and the burial depth of the barrier are quickly determined, the full-rotation full-sleeve drilling machine can be used for quickly drilling, the dewatering well is used for reducing the pressure-bearing water level of the surrounding underground, the risk of piping sand flowing is avoided, and the barrier can be cleared from the upper opening of the sleeve. This method increases the construction speed, but still does not solve the problem of cutting the sewage line.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the technical scheme of the invention is to provide a construction method for a rotary drilling machine to drill through a sewage pipeline, which comprises the following steps:

pressing the pipe body to the position of the sewage pipeline to plug the sewage pipeline;

establishing a visual first virtual model based on information of the sewage pipeline;

establishing a visual second virtual model based on the posture information of the pipe body;

merging the first virtual model and the second virtual model into a visual construction model, and adjusting the motion trajectory of the pipe body based on the visual construction model. The established visual construction model can show the construction condition of the current construction area in real time.

Wherein the information of the sewer line includes a distribution position of the sewer line, an inner pipe diameter, a sewage flow path, and a buried depth. The attitude information comprises the current drilling depth, the horizontal inclination angle, the outer pipe diameter size and the deviation axis distance of the pipe body. Obtaining geometric values of a fixed point element and a surface element based on the information of the sewer line, generating a model element of the first virtual model by a preset condition, and generating the first virtual model from the model element. And obtaining geometric values of a fixed point element and a surface element based on the posture information of the pipe body, generating a model element of the second virtual model through a preset condition, and generating the second virtual model by the model element. Wherein the model elements are defined by a point element, a surface element and a preset condition. The constructor can generate a solid shape more conforming to objective rules by self-adjusting element conditions based on the information of the sewage pipeline and the pipe body and establish a virtual model based on the actual state of the sewage pipeline and the pipe body.

According to a preferred embodiment, a spatial reference plane is established according to a plane of soil of a construction area, geometric values of fixed point elements and surface elements are obtained through distribution positions of the sewage pipelines, inner pipe diameters, sewage flow paths and buried depths, corresponding positioning elements and surface elements intersecting with or perpendicular to or parallel to or different from the fixed point elements and the surface elements are selected based on the established spatial reference plane, an appearance line set is established by using the selected elements among the spatial reference plane, the positioning elements and the surface elements, basic distance values of the spatial reference plane and the sewage pipelines are used as preset conditions, the spatial reference plane, the appearance line set and the preset conditions are combined to generate the model elements, and a first virtual model is established through the model elements. The first virtual model thus created can realize high-precision display.

According to a preferred embodiment, a spatial reference plane is established according to a plane of soil in a construction area, geometric values of a fixed point element and a surface element are obtained through a current drilling depth, a horizontal inclination angle, an outer pipe diameter size and an off-axis distance of the pipe body, a corresponding positioning element and a corresponding surface element which are intersected with or perpendicular to or parallel to or different from the fixed point element and the surface element are selected based on the established spatial reference plane, an appearance line set is established by using the selected elements among the spatial reference plane, the positioning element and the surface element, a basic distance value between the spatial reference plane and the sewage pipeline serves as a preset condition, the spatial reference plane, the appearance line set and the preset condition are combined to generate the model element, and a second virtual model is established through the model element. The second virtual model thus created can realize high-precision display.

According to a preferred embodiment, the merging of the first virtual model and the second virtual model into the visualization construction model requires determining spatial elements of the virtual model, based on the principle that the first virtual model and the second virtual model are both generated from different model elements. In the production process of the first virtual model and the second virtual model, the used space datum planes are all the planes of the soil in the construction area, and the two virtual models can be added in an overlapped mode according to the same space datum plane. The spatial elements are defined by spatial warp and weft differences from an observer perspective of the visualization construction model to the visualization model. Based on the spatial warp and weft differences of the visual angle of the observer of the sewage pipeline information and pipe body information distance visualization construction model, the two virtual models are combined by combining the same spatial reference plane. And obtaining the required visual construction model.

According to a preferable implementation method, the dynamic visualization construction model can be formed by showing the real-time state of the pipe body according to the construction area information transmitted in real time and aiming at the track of the pipe body displacement along the construction direction.

According to a preferred embodiment, a construction system for a rotary drilling rig to drill through a sewer line is characterized by comprising at least a drilling rig and a terminal server for building a visualization model and controlling the drilling rig. The terminal server establishes a visual first virtual model based on the information of the sewage pipeline in the region to be constructed; the terminal server establishes a visual second virtual model based on the acquired posture information of the pipe body; and determining a construction plan by using the terminal server, wherein the terminal server constructs a visual model through sewage pipeline information received in real time and the received posture information of the pipe body, and adjusts the pipe body to move according to the planned limited track through controlling a drilling machine based on the construction plan.

According to a preferred embodiment, the sewer line information is obtained by surveying, positioning, inquiring and calculating the sewer line in a construction area before construction, and the attitude information of the pipe body is obtained by monitoring a calibration device additionally arranged on a drilling machine in real time.

According to a preferred embodiment, the calibration device comprises a base and a sensor, wherein the base is arranged on the rotary drilling rig and used for fixing the calibration device on the rotary drilling rig, and the sensor is connected to a terminal server through a connecting line and used for monitoring the attitude data of the pipe body. The sensor passes through the connecting wire and links to each other with terminal server, and the data that the sensor was gathered show the gesture of its body through terminal server's display. By combining the constructed sewage pipeline virtual model, the verticality and the levelness of the sewage pipeline virtual model can be adjusted through the terminal server, so that the optimal plugging effect is achieved. The terminal server controls the electromagnetic push rod, the sensor transmits information to a signal acquisition port of the terminal server in real time through the connecting line, the terminal server outputs corresponding signals according to the data size to drive the electromagnetic push rod, the electromagnetic push rod pushes the hydraulic rod to change the telescopic state of the supporting leg oil cylinder, and the posture of the pipe body clamped by the full-casing drilling machine is adjusted. The calibration device keeps the monitoring state at all times in the descending process of the pipe body. Preferably, the terminal server can provide corresponding virtual models according to the pipe posture data obtained by the sensors at different moments. The terminal server constructs past virtual models for the pipe bodies in different time states and/or space states based on past data sets of the pipe bodies in a time period from the current time to the corresponding time or any time earlier than the current time, and displays the constructed past virtual models through a display to comprehensively observe the movement conditions of the pipe bodies in the time period at all times, so that the planning of the movement tracks of the pipe bodies is facilitated. Preferably, the terminal server is based on a real-time data collection of the sensor at the current moment, and the real-time virtual model of the terminal server can synchronously change according to the real-time change of the pipe body by continuously generating the real-time data of the next moment/position which can cover the data of the previous moment/position along with the continuous transition of the current moment, so that a constructor can confirm the real-time state of the current posture of the pipe body in a non-free and flexible mode through a display, and can judge whether to calibrate and calibrate the degree of the posture of the pipe body based on the relation between the real-time position and the preset track, so as to ensure that the pipe body can be always in a planned path.

According to a preferred embodiment, the terminal server is integrated with a display module and a storage module, the display module displays the real-time virtual model constructed by the terminal server in a visual manner, and the storage module stores the virtual model constructed by the terminal server on a time axis and displays the virtual model on the display module in a retrospective manner when the virtual model needs to be viewed. So as to backtrack faults in the construction process.

According to a preferred embodiment, an auxiliary equipment control system is integrated in the terminal server, the auxiliary equipment control system has an autonomous control capability for controlling all auxiliary functions of the drilling machine, and the auxiliary functions comprise a punching and grabbing device and a heavy hammer, so that the descending depth, grabbing strength and impact strength of the drilling machine can be controlled.

The whole solid construction step of drilling through the sewage pipeline by the rotary drilling machine comprises the following steps:

(S1) carrying out exploration, positioning and measurement on a sewage pipeline in an area to be constructed to obtain the distribution position, the inner pipe diameter, the sewage flow path and the burying depth of the sewage pipeline;

(S2) selecting a pipe body with the outer diameter equal to the pipe diameter of the sewage pipeline, and arranging a drilling machine right above the pipe orifice of the sewage pipeline;

(S3) vertically pressing the pipe body to the position of the sewage pipeline pipe orifice by using the downward pressing rotary force of the drilling machine;

(S4) regulating and controlling the pressing track of the pipe body in real time by using a terminal server, and carrying out corresponding fine adjustment;

(S5) continuously and vertically pressing the pipe body to the position of the sewage pipeline pipe orifice by using the downward pressing rotary force of the drilling machine;

(S6) repeating the step S3 and the step S4 until the pipe orifice of the sewage pipeline is completely plugged;

(S7) moving the drilling machine to a position needing to be constructed, pressing and burying the whole casing, taking soil and sundries from the inside of the whole casing by using the punching and grabbing device, and alternately adding joints of the whole casing and taking soil and sundries from the inside of the hole until the elevation of the cast-in-place pile is reached;

(S8) hoisting and lowering a reinforcement cage in the whole sleeve, fixing the reinforcement cage, and grouting in the pile hole;

and (S9) after grouting is finished, rotating and pulling out the whole sleeve before initial setting by using a drilling machine.

The technical scheme has the advantages that: according to the construction scheme, a pipe body with the outer diameter equal to the pipe diameter of the sewage pipeline is additionally arranged, the pipe body can reasonably select the data of the sewage pipeline survey of the area to be constructed on the basis of the section and the method which meet the construction requirements specified by the specification in a one-to-one correspondence mode, and the best blocking effect of construction beside the sewage pipeline is achieved. Constructors can rapidly judge the position of a main pipeline needing to be plugged according to the burying and releasing condition of an original sewage pipeline in a construction area, plan the sewage flow path in the area, and discharge sewage through branch lines on the premise of not influencing the normal working life of residents in the area. The minimum influence of the construction process is realized, and the construction cost is effectively reduced. Moreover, the conventional means for blocking the sewage pipeline is to send constructors to build a brick wall upstream, the life safety of the constructors cannot be guaranteed, the required blocking range for construction is large, and meanwhile, the brick wall is not easy to remove.

The invention has the beneficial technical effects that:

(1) The collected sewage pipeline information and the collected pipe body information are sent to the terminal server, the terminal server establishes the visual construction model, and the calibration device on the drilling machine can send real-time data of the pipe body, so that real-time updating of the visual construction model is achieved. The terminal server is integrated with an auxiliary equipment control system which can control the verticality and the levelness of the pipe body pressed downwards. Finally, the technical scheme that the sewage pipeline is plugged by using the pipe body can be used for real-time visual regulation and control, and the construction accuracy and the final plugging effect are further improved.

(2) The rig can provide huge gyration moment of torsion, impresses the body in the soil body, through impressing the body sewage pipeline mouth of pipe position, blocks up the sewage pipeline for the geology can not be because of sewage leaks and collapses, guarantees going on smoothly of construction. Simultaneously, borrow the rig and push down the body, need not dispatch constructor shutoff of going into the well, ensured personnel's safety, improved the efficiency of construction.

The method for plugging the sewage pipeline by arranging the pipe body is used, and safe and efficient construction in the area densely provided with the sewage pipeline is realized by additionally arranging the auxiliary equipment calibration device and improving the construction scheme on the premise of not greatly changing the existing equipment. Meanwhile, by adopting the construction method, the blocking operation is not required to be carried out by constructors, and the personnel safety is guaranteed.

Drawings

FIG. 1 is a schematic illustration of a preferred embodiment of a method of constructing a rotary drill rig to drill through sewer lines according to the present invention;

FIG. 2 is a schematic diagram of a two-dimensional graph showing the degree of offset and a visual model showing a dashed line as a reference mark line according to the present invention;

FIG. 3 is a schematic view of a rotary drilling rig using a weight tool according to the preferred embodiment of the present invention;

fig. 4 is a schematic view of a preferred embodiment of the rotary drill rig of the present invention using a flushometer.

List of reference numerals

1: a drilling machine; 2: a sewer line; 3: a tube body; 101: a full sleeve; 102: a punching and grabbing device; 103: a weight dropper; 104: a cutter head; 105: a calibration device; 106: a base; 107: a sensor; 108: a terminal server; 201: a sewer pipe orifice.

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

First, the structure and use of the rotary drilling rig 1 will be explained.

The full casing drilling machine is a novel drilling machine which integrates full hydraulic power, transmission and electromechanical-hydraulic combined control. The full casing protection wall is adopted in the full casing drilling machine drilling grouting pile-forming construction process, so that the formed concrete pile is good in quality, does not generate a large amount of slurry, and is a representative machine of the modern drilling technology. In recent years, the method is widely applied to large-scale building work such as urban subway construction, high-speed rail, bridge punching construction, reinforcement and reinforcement of water storage reservoirs and the like. The main equipment of the full casing drilling machine comprises a drilling machine main machine for providing huge rotary torque; a power station for providing power to the host; a full sleeve for preventing collapse of the hole; and the operation platform is used for operating by an operator. The full-casing rotary drilling rig has a plurality of auxiliary devices, such as a rotary drilling rig or a punching grab for soil taking and hole cleaning; a push bench for drawing pipes; the crawler crane is used for hoisting a host machine, a power station, a reinforcement cage, a full sleeve and the like; the excavator is used for leveling a field, clearing dregs and the like; the heavy hammer is used for breaking hard objects which cannot be punched and grabbed in the hole. Before the drilling machine 1 is in place, the ground below a main machine of the drilling machine 1 is ensured to be flat and firm, the drilling machine is prevented from inclining or collapsing on the ground in the drilling process, and meanwhile, the whole mechanical main body of the drilling machine is ensured to be on the same axis.

It should be noted that in order to avoid that the water pressure generated by the accumulated water at the upstream causes a certain threat to the downstream constructors due to the overlong plugging time, the plugging of the sewage pipeline 2 needs to be performed according to the actual pipeline condition and the water flow intensity in the pipeline according to the water inlets of the upstream well and the junction well. And gas in the well needs to be monitored, and constructors are dispatched to go into the well for plugging. The types of plugging are divided into three types, namely waterless plugging, shallow water plugging and deep water plugging according to the amount of sewage. The method is mainly used for blocking large and medium pipelines by building brick walls by using cementing materials mixed by cement mortar or cement clay. It has and gets the material convenience, and the better advantage of shutoff effect, the shortcoming is that demolish very difficult. The sewer line 2 often requires temporary plugging of the pipes being supplied with water during construction or maintenance, otherwise these operations are not possible. The sewage pipeline 2 cannot realize water cut-off or gas cut-off just by closing a valve like a water supply pipe or a gas pipe. Plugging the sewage pipeline 2 is a time consuming, expensive and dangerous task. There is a need to improve the safety, effectiveness and convenience of plugging of the sewer line 2.

For the above reasons, when the sewage pipeline 2 is required to exist in the construction area, the normal operation of the construction is ensured by adopting a safe, convenient and effective method. The working principle of the invention is as follows: the sewage pipeline 2 in the area to be constructed is surveyed, positioned and measured to obtain the distribution position, the inner pipe diameter, the sewage flow path and the burying depth of the sewage pipeline. According to the investigated information, a pipe body 3 with the outer diameter equal to the pipe diameter of the sewage pipeline is selected, and a drilling machine is arranged right above the sewage pipeline pipe orifice 201. The pipe body 3 is vertically pressed to the position of the sewage pipe orifice 201 by the downward-pressing rotary force of the drilling machine 1. And regulating and controlling the pressing track of the pipe body in real time by using the terminal server, and carrying out corresponding fine adjustment. The pipe body 3 is continuously pressed vertically towards the position of the sewage pipe orifice 201 by the downward-pressing rotary force of the drilling machine 1 until the sewage pipe 2 is plugged. The pipe body 3 is further reinforced, and a gap generated in the construction process is grouted to keep the plugging effect of the pipe body 3 and the sewage pipeline 2. Moving the drilling machine 1 to a position needing construction, pressing and burying the full casing 101, taking soil and sundries in the full casing 101 by using the punching and grabbing device 102, and alternately adding joints of the full casing 101 and taking the soil and the sundries in the hole until the elevation of the cast-in-place pile is reached. Hoisting and placing a reinforcement cage in the full casing 101, fixing the reinforcement cage, and grouting in the pile hole; after grouting is completed, the drilling machine 1 is used for rotating and pulling out the full casing 101 before initial setting. And finishing the construction process.

Examples

The application relates to a construction method for a rotary drilling machine to drill through a sewage pipeline, which comprises the following steps:

the pipe body 3 is pressed down to the position of the sewage pipeline so as to plug the sewage pipeline;

establishing a visual first virtual model based on the information of the sewer pipeline 2;

establishing a visual second virtual model based on the posture information of the pipe body 3;

and superposing the first virtual model and the second virtual model into a visual construction model through the same coordinate system, and controlling the construction current situation in the construction area and adjusting the motion track of the pipe body 3 based on the visual construction model.

Preferably, when the visual second virtual model is created based on the attitude information of the pipe body 3 and when the visual first virtual model is created based on the information of the sewage line 2, the terminal server 108 adopts the same coordinate system and takes the direction in which the vertical attitude of the pipe body 3 is located as the second direction Y and the direction in which the heading of the sewage line 2 is located as the first direction X, and determines the deviation of the heading of the pipe body 3 from the second direction Y and the deviation of the heading of the sewage line 2 from the first direction X in combination with the data of the level meter.

Preferably, the terminal server 108 performs two-dimensional image combination on the first virtual model and the second virtual model in a manner of being in the same scale in a plane opened by the first direction and the second direction. The offset in the third direction perpendicular to the first direction and the second direction is generated due to, for example, a pipe body 3 breaking operation, and is not a core contradiction for the current construction risk, so that even if a lateral gap area occurs, the offset can be compensated in the subsequent grouting operation. And the reduction of construction convenience and operation magnitude brought by two-dimensional modeling brings the reduction of geometric grade to the whole control parameters, and on the contrary, the major construction risks, such as construction risks of pipe bodies 3 or even collapse of the drilling machine 1 caused by sudden fracture and gushing, are greatly avoided.

Preferably, the information of the sewer line 2 includes a distribution position of the sewer line, an inner pipe diameter, a sewage flow path, and a buried depth. Geometric values of the fixed point element and the surface element are obtained based on the information of the sewer pipeline 2, a model element of the first virtual model is generated by a preset condition, and the first virtual model is generated from the model element. The attitude information includes the current drilling depth, horizontal inclination angle, outer pipe diameter size and deviation axis distance of the pipe body 3. Geometric values of the fixed point element and the surface element are obtained based on the posture information of the pipe body 3, a model element of the second virtual model is generated through a preset condition, and the second virtual model is generated by the model element.

Preferably, the model elements are defined by a point element, a surface element and a preset condition.

Preferably, the construction worker can generate a solid shape more conforming to objective laws by performing self-adjustment of element conditions based on the surveyed information of the sewage line 2 and the pipe body 3 and establish a virtual model based on the actual states of the sewage line 2 and the pipe body 3.

Preferably, after merging the first virtual model relating to the sewer line 2 and the second virtual model relating to the tubular body 3 into a visual construction model at least for the drilling rig 1, and before the drilling rig 1 performs a construction project predetermined by the terminal server 108 on the basis of said visual construction model, the trend data relating to the sewer line 2 in the first virtual model is adjusted by said terminal server 108 on the basis of the settling rate f extracted by the rigid tubular body 3 when performing a breaking operation on the tubular body of the sewer line 2 on the side close to the ground surface and the lateral displacement Qs of the sewer line 2 at the time of the breaking operation, wherein the adjustment of said trend data is performed synchronously in a manner correlated with the adjustment of the second virtual model.

Preferably, the pipe body 3 is stored in a timed manner in association with the direction data of the sewage pipeline 2 after the splitting operation, so that a space-time association is established between the direction of the sewage pipeline 2 in the first virtual model and the sinking and deviation of the pipe body 3 in the second virtual model, and thus the terminal server 108 can form another adjusted visual construction model corresponding to the corresponding splitting operation on the basis of the splitting operation of the pipe body 3 in the visual construction model formed by the first virtual model and the second virtual model. In the adjusted other visual construction model, the pipe body 3, the sewer line 2 and the sleeve 101 are displayed in an adjusted two-dimensional view, wherein when the sewer line 2 is deviated during the cutting operation of the pipe body 3, a part (such as the pipe diameter of the sleeve 101, the sewer line 2 or the pipe body 3) deviated toward the inner direction of the drawing is reduced in the two-dimensional view of the adjusted other visual construction model according to a scale suitable for the deviation, and a part (such as the pipe diameter of the sewer line 2 or the pipe body 3) deviated away from the drawing is enlarged in the two-dimensional view of the adjusted other visual construction model according to the scale suitable for the deviation.

Preferably, when the sewage line 2 is settled in the cutting operation of the tubular body 3, the part such as the jacket 101, the sewage line 2 or the tubular body 3 displaced toward the settling direction is moved in the adjusted two-dimensional view of the other visual construction model in a scale suitable for the settlement, and the part such as the jacket 101, the sewage line 2 or the tubular body 3 settled toward the direction away from the drawing is enlarged in a scale suitable for the settlement. It will be appreciated that there are a number of different points in the actual on-site breaking operation and that the drilling through of the sewer line 2 by the tubular body 3 or the complete sleeve 101 is performed a number of times at different time intervals.

Preferably, the scaled and/or moved components are shown by the terminal server 108 on a scale at least 30% higher, in particular an order of magnitude higher, than the degree of deflection and/or settlement, just before the degree of deflection or settlement exceeds a set threshold for the construction project for which the terminal server 108 is intended.

With these preferred solutions of the invention, in the two-dimensional merging of the first virtual model and the second virtual model into a visual construction model at least for the drilling rig 1, the full sleeve 101, the sewer line 2 or the pipe body 3 is displayed visually and with low bandwidth and low computational cost in two dimensions by the terminal server 108 before and during the execution of the construction project predetermined by the drilling rig 1 on the basis of said visual construction model, which is particularly advantageous for the operator or a superior competent department to remotely call up from the terminal server, for example, with a tablet computer or a smartphone, to view the pre-construction and in-construction conditions of the full sleeve 101, the sewer line 2 or the pipe body 3. The construction site determines that the network communication conditions are unstable, thereby reducing the data communication traffic, and particularly leaves a large amount of complex sensor calculation to the terminal server 108, and only transmitting specific data requiring decision making is a very important technical measure.

In addition, in the present invention, for the situation when the threshold is set, while the terminal server 108 and the display module integrated with the terminal server provide visual display to the field operator, the operator is often required to report to the superior leader to determine the emergency measure, and since the field has many parameters, if the settlement parameter or the deviation parameter cannot be reported separately in a visual manner, the superior leader has difficulty in giving a more scientific decision remotely in the field. With the aforementioned design of the invention, the two-dimensional merging of the first and second virtual models into a visual construction model for the drilling rig 1 enables to show the scaled components and/or the moved components in an enlarged scale, for example the end of the sewer line 2 (see fig. 1) close to the tubular body 3 tapering down in a form that is gradually thicker from right to left, which indicates an impermissible offset (in a direction into the paper) of the sewer line 2 when the tubular body 3 performs a breaking operation. To this end, the terminal server 108 sends, in response to a query request at, for example, a smartphone, a two-dimensional image of the visual construction model to the smartphone, wherein the two-dimensional image shows the scaled and/or moved parts on a scale at least 30% higher, in particular an order of magnitude higher, than the degree of offset and/or subsidence; preferably, the two-dimensional image with the zoomed component and/or the moved component is transmitted in contrast to the two-dimensional merging of the first virtual model and the second virtual model into a (original) visualized construction model at least for the drilling rig 1, wherein for the zoomed component and/or the moved component in the two-dimensional image the component in the (original) visualized construction model that was not zoomed (i.e. in the initial position) is shown with a dashed line as a reference mark line, in particular aligned with reference to an origin as first direction and as second direction (such as the left end point of the cross-plane of the full sleeve 101 with the ground). The display is "at least 30% higher, especially an order of magnitude higher" because the smartphone screen scale is often 19:9 to 19.5:9, the display scale of the terminal server 108 as a workstation is usually 16:10 or 4: 3, that is to say, the aspect ratio of the smartphone is significantly greater than that of the display, so that it is inevitable that the field operator subjectively judges that the deviation or the settlement is serious based on the display image of the terminal server 108, and the remote leader subjectively judges that the deviation or the settlement is not serious based on the display image of the smartphone, so that the problem of information asymmetry and difficulty in decision making occurs. For this purpose, in addition to the display scale being modified, the components in the initial position are shown in dashed lines as reference lines, and the terminal server 108 provides accurate offset values for the enlarged offset or settling situation in the angle region for making an accurate decision.

According to a preferred embodiment, a spatial reference plane is established according to a plane of soil in a construction area, a coordinate system established by a terminal server 108 and taking a direction in which a direction of a sewage pipeline 2 is located as a first direction X and a direction in which a vertical posture of a pipe body 3 is located as a second direction Y is obtained through a distribution position, an inner pipe diameter, a sewage flow path and a burying depth of the sewage pipeline 2, geometric values of fixed point elements and surface elements of the sewage pipeline 2 are obtained, corresponding positioning elements and surface elements intersecting with or perpendicular to or parallel to or different from the fixed point elements and the surface elements are selected based on the established spatial reference plane, an appearance line set is established by using the selected elements among the spatial reference plane, the positioning elements and the surface elements, basic distance values of the spatial reference plane and the sewage pipeline 2 are used as preset conditions, the model elements are generated by combining the spatial reference plane, the appearance line set and the preset conditions, and a virtual model is established by the model elements.

According to a preferred embodiment, a space datum plane is established according to a plane of soil in a construction area, a coordinate system established by a terminal server 108 and taking a direction in which a sewage pipeline 2 is arranged as a first direction X and a direction in which a vertical posture of a pipe body 3 is arranged as a second direction Y is obtained through a current drilling depth, a horizontal inclination angle, an outer pipe diameter size and an off-axis distance of the pipe body 3, geometric values of fixed point elements and surface elements of the pipe body 3 are obtained, corresponding positioning elements and surface elements intersecting with or perpendicular to or parallel to or different from the fixed point elements and the surface elements are selected based on the established space datum plane, an appearance line set is established by using the selected elements among the space datum plane, the positioning elements and the surface elements, the space datum plane and a basic distance value of the sewage pipeline 2 serve as preset conditions, the model elements are generated by combining the space datum plane, the appearance line set and the preset conditions, and a virtual model is established by the model elements.

According to a preferred embodiment, the merging of the first virtual model and the second virtual model into the visualization construction model requires determining spatial elements of the virtual model, based on the principle that the first virtual model and the second virtual model are both generated from different model elements. In the calculation process of generating the first virtual model of the sewage pipeline 2 and the second virtual model of the pipe body 3 by the terminal server 108, the spatial reference planes used for generating the two virtual models are the planes of the soil in the construction area, and the two virtual models can be added in an overlapping manner according to the same spatial reference plane. The spatial elements are defined by spatial warp and weft differences from an observer perspective of the visualization construction model to the visualization model. The first virtual model established based on the sewage pipeline 2 information and the second virtual model established based on the pipe body 3 information obtain the spatial longitude and latitude difference from the visual angle of an observer of the visual construction model according to the same coordinate system XY adopted by the first virtual model and the pipe body 3 information, namely the depth scale from the two-dimensional plane of the whole construction area observed by the terminal server 108 to the first virtual model and the depth scale from the two-dimensional plane of the whole construction area observed by the constructor to the first virtual model and the second virtual model and the longitude and latitude distances from the geometric central point of the display picture of the terminal server 108 to the first virtual model and the second virtual model, and the integral visual construction model of the sewage pipeline 2 and the pipe body 3 is observed at multiple angles by combining the same spatial reference plane, so that the observation effect of combining the two virtual models is achieved.

According to a preferred implementation method, a dynamic visualization construction model can be formed by showing the real-time state of the pipe body 3 according to the construction area information transmitted in real time and the track of the pipe body along the construction direction. Preferably, the updating of the real-time state means that after the spatio-temporal correlation is established between the trend of the sewage pipeline 2 in the first virtual model and the subsidence and offset of the pipe 3 in the second virtual model, the corresponding pipe 3 is output to form another visual construction model corresponding to the pipe 3 at the next moment in the visual construction model formed by the first virtual model and the second virtual model. The visualized construction model can be used for two-dimensional modeling, the calculation magnitude is reduced, the geometric grade is reduced by parameter calculation, and the two-dimensional model is displayed visually in a two-dimensional mode with low bandwidth and low calculation cost, so that the replacement time scales of the two visualized construction models can be shortened, and the quick switching of the real-time state can be realized. Preferably, the terminal server may compare a large amount of collected data of the sewage pipeline 2, the pipe body 3, and the full casing 101 to screen settlement and offset information meeting a change trend, and perform only limited parameter operation to achieve faster real-time status display by constructing a virtual model through corresponding fixed point elements, surface elements, and space elements without changing a frame structure integrally displayed by the sewage pipeline 2, the pipe body 3, and the full casing 101.

According to a preferred embodiment, a construction system for a rotary drilling rig to drill through sewer lines is characterized by comprising at least a drilling rig 1 and a terminal server 108, said terminal server 108 being used for building a visualization model and controlling the drilling rig 1. The terminal server 108 establishes a visual first virtual model based on the information of the sewage pipeline 2 in the region to be constructed; the terminal server 108 establishes a visual second virtual model based on the acquired posture information of the pipe body 3; and determining a construction plan by means of the terminal server 108, the terminal server 108 constructing a visualization model from the sewage pipeline 2 information received in real time and the attitude information of the tubular body 3 received, and adjusting the tubular body 3 to move in the planned defined trajectory by controlling the drilling rig 1 based on the construction plan. Preferably, with the aforementioned design scheme, the entire visual construction model can be a two-dimensional combination of the first virtual model and the second virtual model, so that field operators or superior leaders can make scientific decisions according to the two-dimensional models which are more intuitive and have smaller operand magnitude. And the planning of the whole construction plan can respectively construct three-dimensional virtual models of the sewage pipeline 2 and the pipe body 3 by the terminal server 108 under the condition that the network communication condition is stable. The terminal server 108 also adopts the same coordinate system, and obtains a three-dimensional virtual model of the sewage pipeline 2 and the pipe body 3 by taking the direction of the vertical posture of the pipe body 3 as the second direction Y, taking the direction of the trend of the sewage pipeline 2 as the first direction X, and taking the direction perpendicular to the first direction X and the second direction Y as the third direction Z, and combining the monitored data of the sewage pipeline 2 and the pipe body 3. Preferably, the terminal server 108 combines the first virtual model and the second virtual model in a proportional manner in a plane in which the first direction and the second direction are open, and performs model registration on a straight line in the third direction. The sewage line 2 is aligned to the pipe body 3 by an offset in a third direction perpendicular to the first and second directions, thereby forming a visual construction model before construction. The construction model can simulate construction by adjusting the input sewage pipeline 2 information and the input pipe body 3 posture information, so that the whole construction process can be simulated, and a series of problems that the pipe body 3 is pressed too deeply when the breaking operation is missed due to unfamiliarity of the process when construction personnel operate the construction, and the like, which are possibly encountered in the construction process, can be solved.

According to a preferred embodiment, the terminal server is integrated with a display module and a storage module, the display module displays the real-time virtual model constructed by the terminal server in a visual manner, and the storage module stores the virtual model constructed by the terminal server on a time axis and displays the virtual model on the display module in a retrospective manner when the virtual model needs to be viewed. Preferably, when the sewage pipeline 2, the pipe body 3 and the full casing 101 in the virtual model change in sedimentation parameters or offset parameters, the virtual model stored in the storage module may be directly retrieved, the virtual model constructed at the previous moment may be compared with the currently monitored sedimentation parameters or offset parameters, and the same parts may be directly used instead of reducing the amount of operation of the terminal server 108, and only the parts where the sedimentation parameters or offset parameters change are constructed.

According to a preferred embodiment, the terminal server 108 integrates an auxiliary equipment control system with autonomous control capability for controlling all auxiliary functions of the drilling rig 1, including the grappling device 102 and the weight 103.

According to a preferred embodiment, the sewer pipe 2 information is obtained by surveying, locating, inquiring and calculating the sewer pipe 2 in the construction area before construction, firstly marking the specific position on the ground according to the spatial coordinates of the starting point, the ending point and the inflection point of the sewer pipe 2 or the position relation with other buildings in the construction area, and then carrying out axis measurement and section leveling along the axial upper axis of the pipeline. The control points and the level points can be provided by the sewage pipeline 2 construction unit, and the construction unit can be used after retesting without errors. And fixing the points on the ground by using a total station according to the space coordinates of the starting point, the terminal point and the inflection point of the pipeline, and fastening the points to ensure that the sewage pipeline 2 is not broken due to the error of the position arrangement of the drilling machine when the construction is started. Meanwhile, in order to avoid errors, each point needs to be checked. Before calibrating the starting point, the end point and the inflection point of the pipeline, the distribution of the trend of the sewage pipeline is designed to be known, and the specific orientation of each point is considered in combination with the actual terrain. Preferably, the coordinate position data may be used to construct a virtual model through the terminal server 108, so as to visually represent the distribution of the sewer pipe 2 and the flow of sewage in the sewer pipe 2. According to the sewage flow path, the optimal position for plugging the sewage pipeline 2 and the position for leading the sewage to flow through the area through the branch lines are simulated in advance, and then the calculated position of the main pipeline is marked on the ground.

According to a preferred embodiment, the drilling rig 1 is arranged directly above the sewage line pipe opening 201 to be plugged. Based on the data information of the sewage pipe nozzle 201, the appropriate pipe body 3 is aligned with the position of the sewage pipe nozzle 201. Preferably, the drilling rig 1 generally comprises a working device, a wedge clamp device, a vertical device, a flusing and gripping device 102 and a series of auxiliary devices. The pipe body 3 needs to accurately plug the sewage pipeline pipe opening 201 when performing breaking operation, and the calibrating device 105 can be placed on the drilling machine 1 to adjust the verticality and the levelness of the pipe body 3 clamped by the drilling machine 1.

According to a preferred embodiment, the attitude information of the tubular body 3 is monitored in real time by a calibration device 105 attached to the drilling rig 1, the calibration device 105 comprising a base 106 and a sensor 107. The calibration device 105 is installed on the rotary drilling rig by a base 106, the sensor 107 is connected with the terminal server 108 through a connecting line, and the posture of the pipe body 3 is displayed through a display of the terminal server 108 by data collected by the sensor 107. By combining the constructed virtual model of the sewage pipeline 2, the verticality and the levelness of the sewage pipeline can be adjusted through the terminal server 108, so that the optimal plugging effect is achieved. The terminal server 108 controls the electromagnetic push rod, the sensor 107 transmits information to a signal acquisition port of the terminal server 108 in real time in a connection line or wireless communication mode, the terminal server 108 outputs corresponding signals according to the size of data to drive the electromagnetic push rod, and the electromagnetic push rod pushes the hydraulic rod to change the telescopic state of the supporting leg oil cylinder, so that the posture of the pipe body 3 clamped by the full-casing drilling machine 1 is adjusted.

According to a preferred embodiment, the pipe body 3 is pressed vertically towards the sewage pipe nozzle 201 by the downward turning force of the drilling rig 1. The wedge clamp of the drilling machine 1 clamps the pipe body 3 and provides a large torque, so that the pipe body 3 rotates rapidly and cuts soil to move downwards. Preferably, the bottom of the pipe body 3 is designed to be irregular and sharp, so that the construction difficulty is reduced, and the soil body cutting speed is increased.

According to a preferred embodiment, the calibration device 105 remains in the monitoring state at all times during the descent of the tubular body 3.

Preferably, the terminal server 108 can provide corresponding virtual models according to the attitude data of the pipe body 3 obtained by the sensor 107 at different time. The sensor 107 shown in fig. 1 is merely schematic, and may be provided as a current sensor for measuring the work current data of the electric motor, and indirectly deducing the resistance as overcome when the pipe 3 performs the work, or may be in other forms or mounted on other components, for example, as an attitude sensor mounted on the pipe 3 for measuring the attitude of the pipe 3, or as a stroke sensor mounted on a designated portion of the drilling machine 1 for detecting the lowering displacement of the full casing 101.

Preferably, the terminal server 108 constructs a past virtual model for the pipe 3 in different time states and/or space states based on the past data set of the pipe 3 acquired by the sensor 107 in a time period from the current time to the corresponding time or any time earlier than the current time, and displays the constructed past virtual model through the display for observing the movement of the pipe 3 in the time period in all directions at all times, so as to facilitate the planning of the movement track of the pipe 3. Preferably, the terminal server 108 makes the real-time virtual model of the terminal server 108 synchronously change according to the real-time change of the pipe body 3 by continuously generating the real-time data of the next moment/position capable of covering the data of the previous moment/position along with the current moment and continuously advancing based on the real-time data collection of the sensor 107 at the current moment, so that the constructor can confirm the real-time state of the current posture of the pipe body 3 in a non-free and flexible manner through the display, and can judge whether to calibrate and calibrate the degree of the posture of the pipe body 3 based on the relation existing between the real-time position and the preset track, so as to ensure that the pipe body 3 can be always in the planned path.

According to a preferred embodiment, the bottom of the pipe body 3 is designed to be irregular and sharp, so that the construction difficulty is reduced. The pipe body 3 is driven by the drilling machine to rotate 360 degrees and downwards enter the soil body to gradually approach the position of the sewage pipeline pipe orifice 201. The bottom of the pipe body 3 is irregular and sharp, so that soil can be cut more quickly, and the construction speed is accelerated. Preferably, the irregular sharp-pointed portion at the bottom of the tube body 3 can be bent inward in the radial direction and then extended in the axial direction to form a hook structure. The hook structure can make body 3 prick into the soil body, withhold the soil body, can make body 3 not float upwards by the buoyancy that the slip casting produced when slip casting landfill gap after, makes its position not change, still can plug the sewer line mouth of pipe 201.

According to a preferred embodiment, the length of the tubular body 3 is at least 1m greater than the distance of the sewage line pipe mouth 201 to the ground, and the top of said tubular body 3 is trimmed so that leveling is ensured. Preferably, after the height of the tube 3 exposed to the ground is greater than 1m and the top of the tube 3 is kept flat, a gravity pressing plate can be arranged at the reinforced position of the tube 3. After the whole construction process is finished, in the process of pulling the pipe body 3 out of the ground, gravity is applied to the gravity pressing plate, so that the upward friction force generated when the pipe body 3 is pulled upwards by the drilling machine 1 on the soil is reduced or even offset. The friction is reduced or counteracted to prevent the collapse of the ground caused by the soil brought out of the vicinity during the extraction of the tubular body 3. Preferably, the gravity pressing plate can be a wood plate, a steel plate or a steel bar mesh, and the shape and the size of the gravity pressing plate are matched with those of the pipe body 3. Preferably, the gravity exerted on the gravity press plate may be a sandbag.

According to a preferred embodiment, the pipe body 3 is pressed into the position of the sewage pipe orifice 201, and then further reinforced, and the gap generated during the construction process is grouted to maintain the plugging effect of the pipe body 3 and the sewage pipe 2. Preferably, the reinforcing device of the pipe body 3 can be completed by adding a steel pipe frame on the top of the pipe body 3 and arranging a counterweight on the steel pipe frame. The steel pipe frame can be formed by connecting a longitudinal steel pipe and a transverse steel pipe which are longer than the pipe body in diameter through a cross fastener. Preferably, the four ends of the cross-shaped steel pipe frame can be provided with weights which are pressed or hung.

According to a preferred embodiment, the cement mortar used for filling the gap formed during the process of pressing the pipe 3 into the sewage pipeline 201 can be added with sandy soil or fine stones with high fluidity to ensure that the gap can be filled up by itself.

According to a preferred embodiment, the drilling machine 1 is used for driving the full casing 101 to cut the sewer pipe 2 to generate hard and large stones, the heavy hammer 103 is used for crushing the hard objects in the full casing 101, and then the grabbing device 102 is used for grabbing the hard objects in step S7.

According to a preferred embodiment, a cutter head 104 is fixedly connected to the lower end of the full sleeve 101 for cutting the soil and sewer line 2.

For ease of understanding, the principles of operation and method of use of a method of construction of a rotary drill rig to drill through a sewer line of the present invention will be discussed.

1. The sewage pipeline 2 in the area to be constructed is surveyed, positioned and measured to obtain the distribution position, the inner pipe diameter, the sewage flow path and the burying depth of the sewage pipeline. According to the detected information, a pipe body 3 with the outer diameter equal to the pipe diameter of the sewage pipeline is selected, and a drilling machine is arranged right above the sewage pipeline pipe opening 201.

The embodiment provides a preferred embodiment for the problem that the measured data of the sewage pipeline 2 is too complicated and for simplifying the operation flow to facilitate calculation and estimation operations of constructors. The information of the sewage pipeline 2 and the information of the pipe body 3 are subjected to virtual model construction through the terminal server 108, and the flowing process of sewage in the sewage pipeline 2 is displayed in a visual mode. According to the sewage flow path, the optimal position for plugging the sewage pipeline 2 and the position for guiding sewage to flow through the area through the branch lines are simulated in advance, the calculated position of the main pipeline is marked on the ground, and the pipe body 3 is pressed down to plug the sewage pipeline 2 for simulation construction.

In addition, the visual construction model constructed by the terminal server 108 during construction can be a two-dimensional image, so that construction convenience and operation magnitude are reduced, and geometric grade reduction is brought to the overall control parameters, so that major construction risks, such as construction risks caused by sudden fracture and gushing, of the pipe body 3 or the drilling machine 1 are greatly avoided. The two-dimensional image is also useful for an operator or a higher competent department to remotely retrieve and view the pre-construction and in-construction conditions of the full sleeve 101, the sewage pipeline 2 or the pipe body 3 from a terminal server by using a tablet personal computer or a smart phone, for example. The job site determines that the network communication conditions are unstable, thereby reducing data traffic, leaving a large number of complex sensor calculations to the terminal server 108, and only transmitting specific data that requires decision-making.

2. The pipe body 3 is vertically pressed to the position of the sewage pipe orifice 201 by the downward-pressing rotary force of the drilling machine 1. The flushing and grabbing device 102 is used for cleaning soil and sundries in the pipe body 3, and internal concrete is broken and corrected. The pipe body 3 is continuously pressed vertically towards the position of the sewage pipe orifice 201 by the downward-pressing rotary force of the drilling machine 1 until the sewage pipe 2 is plugged. The pipe body 3 is further reinforced, and a gap generated in the construction process is grouted to keep the plugging effect of the pipe body 3 and the sewage pipeline 2.

The present embodiment also provides a preferred embodiment in combination with the above, in view of the problem that the pipe body 3 may be displaced in an undetectable manner during the construction process and the adjustability in the vertical and horizontal orientations for the pipe body to be pressed in. On the drilling machine 1, a calibration device 105 is placed for adjusting the verticality and levelness of the tubular body 3 gripped by the drilling machine 1. The calibration device 105 includes a base 106 and a sensor 107. The calibration device 105 is installed on the rotary drilling rig by a base 106, the sensor 107 is connected with the terminal server 108 through a connecting line, and the posture of the pipe body 3 is displayed through a display of the terminal server 108 by data collected by the sensor 107. By combining the constructed virtual model of the sewage pipeline 2, the verticality and the levelness of the sewage pipeline can be adjusted through the terminal server 108, so that the optimal plugging effect is achieved. Constructor can realize confirming the real-time status of 3 gestures of present body through the display with the mode of non-freedom flexibility to can judge whether to calibrate and the calibration degree 3 gestures of body based on the relation that exists between real-time position and the predetermined orbit, in order to guarantee that body 3 can be in the route of planning all the time.

3. Moving the drilling machine 1 to a position needing construction, pressing and burying the full casing 101, and taking soil and sundries from the interior of the full casing 101 by using the punching and grabbing device 102, wherein the adding of joints of the full casing 101 and the taking of the soil and the sundries from the interior of a hole are alternately carried out until the elevation of the cast-in-place pile is reached. Hoisting and placing a reinforcement cage in the full casing 101, fixing the reinforcement cage, and grouting in pile holes; after grouting is completed, the drilling machine 1 is used for rotating and pulling out the full casing 101 before initial setting. And finishing the construction process.

Throughout this document, the features referred to as "preferably" are only an optional feature and should not be understood as necessarily requiring that such applicant reserves the right to disclaim or delete the associated preferred feature at any time.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not intended to be limiting on the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A method of construction of a rotary drilling rig to drill through a sewer line, the method comprising:

pressing the pipe body (3) downwards to the position of the sewage pipeline to plug the sewage pipeline;

establishing a visual first virtual model based on information of the sewer line (2);

establishing a visual second virtual model based on the posture information of the pipe body (3);

merging the first virtual model and the second virtual model into a visual construction model, and adjusting the motion trajectory of the pipe body (3) based on the visual construction model;

-obtaining geometrical values of a pointing element and a surface element based on information of the sewer line (2), -generating a model element of the first virtual model by preset conditions, -generating the first virtual model from the model element,

obtaining geometric values of a fixed point element and a surface element based on the posture information of the pipe body (3), generating a model element of the second virtual model through a preset condition, and generating the second virtual model by the model element;

the terminal server (108) constructs a visual model through sewage pipeline (2) information received in real time and the received posture information of the pipe body (3);

based on the principle that the first virtual model and the second virtual model are generated by different model elements, the first virtual model and the second virtual model are combined into a visual construction model, and a space element of the virtual model needs to be determined, wherein the space element is used for determining a space warp and weft difference from an observer perspective of the visual construction model to the visual model, so that the two virtual models are combined;

when a visual second virtual model is established based on the posture information of the pipe body (3) and a visual first virtual model is established based on the information of the sewage pipeline (2), the terminal server (108) adopts the same coordinate system, the direction of the vertical posture of the pipe body (3) is taken as a second direction (Y), the direction of the trend of the sewage pipeline (2) is taken as a first direction (X), and the deviation of the trend of the pipe body (3) compared with the second direction (Y) and the deviation of the trend of the sewage pipeline (2) compared with the first direction (X) are determined by combining the data of a gradienter.

2. The method of claim 1, wherein the sewer line (2) information comprises a distribution location of the sewer line, an inner pipe diameter, a sewage flow path and a burial depth.

3. The method of claim 2, wherein the attitude information comprises a current drilling depth of the tubular body (3), a horizontal tilt angle, an outer diameter dimension, and an off-axis distance.

4. A rotary drill through sewer line construction system for performing the rotary drill through sewer line construction method according to one of claims 1 to 3, characterized by comprising at least a drill (1) and a terminal server (108)

The terminal server (108) is used for building a visualization model and controlling the drilling machine (1),

the terminal server (108) establishes a visual first virtual model based on the information of the sewage pipeline (2) in the area to be constructed;

the terminal server (108) establishes a visual second virtual model based on the acquired posture information of the pipe body (3);

and determining a construction plan by using the terminal server (108), wherein the terminal server (108) constructs a visual model through sewage pipeline (2) information received in real time and the received posture information of the pipe body (3), and adjusts the pipe body (3) to move according to the planned limited track through controlling the drilling machine (1) based on the construction plan.

5. The rotary drilling rig sewer line drilling construction system of claim 4, wherein the sewer line (2) information is obtained by surveying, locating, querying and calculating the sewer line (2) in a construction area prior to construction,

the attitude information of the pipe body (3) is obtained by monitoring the calibration device (105) additionally arranged on the drilling machine (1) in real time.

6. The rotary drill through sewer line construction system of claim 5, characterized in that said calibration device (105) comprises a base (106) and a sensor (107), said base (106) being arranged on the drill rig (1) for securing said sensor (107) on the drill rig (1), said sensor (107) being arranged to monitor attitude data of said tubular body (3).

7. The rotary drill through sewer line construction system of claim 6, wherein said terminal server (108) integrates a display module that visualizes a real-time virtual model built by said terminal server (108) and a storage module that displays a past virtual model built by said terminal server (108) in a retrospective manner on a display module.

8. The system of claim 7, characterized in that the terminal server (108) is integrated with an auxiliary control system, which has autonomous control capability for controlling all auxiliary functions of the rig (1), including the grappling device (102) and the weight (103).