CN114662257A - Trenchless pipeline path curvature calculation method and planning method thereof - Google Patents

Abstract

The invention discloses a method for calculating the curvature of a non-excavation pipeline path and a planning method thereof, wherein the method for calculating the curvature of the non-excavation pipeline path comprises the following steps: s1) estimating the position of the drill bit each time a drill rod is added: 1.1) recording the ground position O directly above the drill₂The original position (J, W, G, Q); 1.2) then converting the four parameters into three-dimensional coordinate values: 1.2.1) the drill generates a data point for each advance of a drill rod, the relative height of the drill at the current data point being H_i＝H_i‑1+d*sin(Q_i) Wherein i is the number of the drill rod, the advancing length of the drill rod is d, H₀Setting the first drill rod of the drill bit as i-1; 1.2) converting the three-dimensional coordinates of the drill bit: set the GPS coordinate height of the origin O to G₀Converting the GPS standard coordinate and the relative height of the drill bit into a new GPS coordinate to obtain the coordinate (J) of any data point_i,W_i,G₀+H_i) (ii) a 1.3) convert the new GPS coordinates for each data point to geocentric coordinates (x)_i,y_i,z_i) (ii) a S2) calculating the inclination angle change of the geocentric coordinates of each drill rod.

Description

A method for calculating the curvature of trenchless pipeline path and its planning method

technical field

The invention relates to the technical field of trenchless, in particular to a method for calculating the curvature of a trenchless pipeline path and a method for planning a trenchless pipeline path.

Background technique

With the large-scale development of urban construction, it is necessary to lay sewage interception pipes or energy supply pipes (liquefied gas, natural gas, etc.) Traffic jams and construction safety hazards exist.

Therefore, trenchless pipe laying technology has also been developed and used, that is, a construction method of laying, repairing and replacing underground pipelines without digging trenches on the road surface and without damaging the surface layer of a large area by means of geotechnical drilling and excavation. technology. The use of trenchless technology has the advantages of short cycle, low cost, less pollution, good safety performance, etc., and will not affect the normal traffic order.

The widely used trenchless pipe laying technology is the horizontal steered advance method, which is realized by using a trenchless steerer to guide the drill pipe equipped with the drill bit for directional advancement. The trenchless steering instrument includes providing real-time working conditions of the drill bit - depth, inclination and clock direction, allowing operators on the ground to grasp the drilling trajectory in real time so as to make timely corrections to subsequent operations to ensure accurate orientation according to the established route and trajectory. Complete trenchless pipe laying. It can be seen that the trenchless pipe laying technology has high requirements for the precise measurement of the trenchless guide.

In the process of trenchless construction, an important indicator to measure the construction quality is to see whether the path of the pipeline laying is within the allowable curvature of the engineering design. If the bending degree is not within the allowable range of the design, it may affect the normal operation, safety and service life of the pipeline after being subjected to load, and may cause major accidents in serious cases. Therefore, necessary means and measures are needed to check and supervise the curvature of the construction route during the construction process.

The method currently used is to examine the change in the inclination of the path along the pipe, which is detected by a gravitational acceleration sensor. It is worth noting that the inclination here is the angle between the vertical plane of the pipe and the ground plane. That is to say, the inclination angle only reflects the camber change of the pipeline in the vertical plane; the left and right bending changes of the pipeline are not reflected. Although most of the construction chooses the design method of turning a big bend to avoid the dilemma of the pipeline being subjected to a sharp bend, but due to the complicated underground conditions, the construction process cannot guarantee that the pipeline will always meet the requirements of "big bend"; the most worrying thing is that during the construction process There are no tools and methods to detect and detect changes in camber in time. Therefore, the quality of construction depends entirely on the construction experience and industry ethics of the construction team.

SUMMARY OF THE INVENTION

The first technical problem to be solved by the present invention is to provide a method for calculating the curvature of a trenchless pipeline path to ensure the construction quality, aiming at the shortcomings of the above-mentioned prior art.

The second technical problem to be solved by the present invention is to provide a trenchless pipeline path planning method using the above calculation method.

The technical solution adopted by the present invention to solve the above-mentioned first technical problem is as follows: a method for calculating the curvature of a trenchless pipeline path. And drill bit, it is characterized in that: described method comprises the steps:

S1) Calculate the position of the drill bit each time the drill pipe is added:

1.1) Record the original position (J, W, G, Q) of the ground position O ₂ directly above the drill bit. The above four parameters are the longitude J, latitude W, height G and inclination angle Q in turn. The inclination angle Q is the clamp between the drill bit and the ground plane. horn;

1.2) Then convert the four parameters into three-dimensional coordinate values, and the three-dimensional coordinates take the center of the earth as the coordinate origin:

1.2.1) Set the relative height H ₀ of the starting point O of the drill bit to be 0, the advancing length of the drill pipe to be d, and the drill bit will generate a data point every time a drill pipe is advanced, and the relative height of the drill bit of the current data point is H _i =H _i-1 +d*sin(Q _i ), where i is the number of the drill pipe, the first drill pipe of the drill bit is marked as i=1, and i+1 is added for each additional drill pipe;

1.2) Convert the three-dimensional coordinates of the drill bit:

Let the GPS coordinate height of the starting point O be G ₀ , convert the GPS standard coordinates and the relative height of any drill pipe into new GPS coordinates, and obtain the coordinates of any data point as (J _i , Wi , G ₀ +H _{i )} );

1.3) Convert the new GPS coordinates of each data point into geocentric coordinates (x _i , y _i , z _i );

S2) Calculate the inclination change of the geocentric coordinates of each data point.

According to one aspect of the present invention, in step S2), calculating the change of inclination includes the following steps:

2.1) Calculate the inclination of each data point in three planes in geocentric coordinates:

X-plane inclination angle Qx _i =atan(|(y _i -y _i-1 )/(z _i -z _i-1 )|)

Y plane inclination angle Qy _i =atan(|(x _i -x _i-1 )/(z _i -z _i-1 )|)

Z plane inclination angle Qz _i =atan(|(y _i -y _i-1 )/(x _i -x _i-1 )|)

Among them, Qx ₀ , Qy and Qz ₀ of the starting point O are 0;

2.2) Calculate the change in inclination of each data point relative to the previous data point in three planes:

X-plane inclination change qx _i =|Qx _i -Qx _i-1 |

Y plane inclination change qy _i =|Qy _i -Qy _i-1 |

Z-plane inclination change qz _i =|Qz _i -Qz _i-1 |

The bending degree of the drill pipe, which characterizes the bending degree of the pipeline, is obtained through the change of the inclination angle.

In order to exclude abnormal data, when there is an infinite anomaly in the calculation of the inclination angle, the inclination angle is recorded as 90°.

According to another aspect of the present invention, in step S2), calculating the inclination angle change comprises the following steps:

2.1') According to the geocentric coordinates of each connected three data points, a circle in three-dimensional space is analyzed, and the radius R of the circle is obtained. If R is not infinite, the inclination angle between two adjacent drill pipes changes. The radian of is 2d/R, where d is the advancing length of each drill pipe; if R is infinite, the change in inclination is 0;

2.2') Convert radians to degrees.

The technical solution adopted by the present invention to solve the above-mentioned second technical problem is: a method for planning a trenchless pipeline path, characterized in that: the planning method includes the following steps:

First, obtain the curvature of the pipeline path through the method for calculating the curvature of the trenchless pipeline path as described above;

Then judge whether it meets the engineering design standards: compare the change of inclination angle of each drill pipe with the index required by the project. If the change of the inclination angle is less than the project index, the construction meets the project requirements, otherwise it does not meet the project requirements.

To ensure that the path meets the requirements, therefore, if the engineering requirements are not met, the currently advancing drill pipe is retracted.

Compared with the prior art, the present invention has the advantages that: by using GPS equipment, the curvature changes in all directions can be accurately calculated, thereby ensuring the construction quality.

Description of drawings

FIG. 1 is a schematic diagram of a drilling path of a drilling system used in an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the indicated devices or elements. must have a specific orientation, be constructed and operated in a specific orientation, and since the disclosed embodiments of the present invention can be arranged in different orientations, these directional terms are only for illustration and should not be regarded as limiting, such as "up", "Down" is not necessarily defined as a direction opposite or in line with the direction of gravity. Furthermore, features delimited with "first", "second" may expressly or implicitly include one or more of that feature.

Example 1

The working basis of the present invention is precise GPS location information (the trenchless drilling system to which it is applied includes a directional instrument with GPS data acquisition function), and the construction steps and methods can refer to the applicant's previous application with the application number of 202010609895.4 The heading calculation method disclosed in the Chinese patent, the guiding device and the route planning method disclosed in the Chinese patent with the application number of 202010251440.X.

It is assumed that the trajectory of the drill bit of the drilling system is in a three-dimensional coordinate system. If the coordinate position of the drill bit is known each time the drill pipe is added (the drill bit is located at the front end of the drill pipe at the front of the travel trajectory, which is the prior art), we can know The attitude of each drill pipe in three-dimensional space and the attitude change between drill pipes. The line bending caused by the attitude change is what the present invention is concerned with.

Referring to FIG. 1, a schematic diagram of the drilling path of a trenchless drilling system (that is, the path passed by the drill bit, when the pipe is laid, is the pipeline path) is shown, wherein O is the starting point of drilling, and O ₁ is the drilling system. The current position of the drill, _O2 is the position of the ground directly above the drill. In this embodiment, the camber of the drill pipe of the drilling system is obtained through the following steps:

S1) Calculate the position of the drill bit every time the drill pipe is added according to the GPS position and the data of the gravity acceleration sensor:

1.1) The original recorded position of the ground position O ₂ directly above the drill bit is (J, W, G, Q), and the above four parameters are longitude (J), latitude (w), altitude (G) and inclination (Q), respectively. This is the raw data from the steerer of the trenchless drilling system (where the pilot hand operating the trenchless drilling system is located), where the dip angle Q is the angle between the drill bit and the ground plane;

1.2) Then there are the steps of turning these four parameters into three-dimensional coordinates (the center of the earth is the origin of the coordinates):

1.2.1) Calculate the height H of each drill pipe relative to the starting point O according to the inclination angle Q:

The relative height H ₀ of the starting point O of the drill bit (the position before the drill bit goes into the soil) is set to 0, and the advancing length of the drill pipe is d (if the drill pipe is fully advanced, d is the length of the drill pipe, at this time d is a fixed constant), each time After advancing a drill pipe, the drill bit generates a data point, and the relative height of the drill bit at the current data point is H _i =H _i-1 +d*sin(Q _i ), where i is the number of the drill pipe to set the number of the drill bit. A drill pipe starts to count, recorded as 1, and i+1 for each additional drill pipe;

Here, it is assumed that the inclination angle of the drill bit into the soil (downward) is negative, and the angle of the unearthed (upward) is positive;

1.2.2) Convert the three-dimensional coordinates of the drill bit:

Set the GPS coordinate height of the starting point O as G ₀ , transform the GPS standard coordinates and the relative height calculated in the previous step into new GPS coordinates, and obtain the coordinates of any data point on the route passed by the drill bit as (J _i , W _i , G ₀ +H _i ), note: the original GPS altitude G _i is replaced by G ₀ +H _i here;

1.2.3) Convert the new GPS coordinates of each data point into geocentric coordinates, that is, transform (J _i , Wi , G ₀ +H _i ) into ( _xi , y _i , z _{i )} , the specific conversion algorithm And the formula can refer to the public geophysics knowledge;

S2) Calculate the inclination angle change of two adjacent data points according to the following steps, that is, the inclination angle change of two adjacent drill pipes, so as to obtain the curvature of the drill pipe:

2.1) Use the following formula to calculate the inclination of each data point of the drill bit in three planes (X, Y, and Z planes that are perpendicular to each other) in geocentric coordinates:

X-plane inclination angle Qx _i =atan(|(y _i -y _i-1 )/(z _i -z _i-1 )|)

Y plane inclination angle Qy _i =atan(|(x _i -x _i-1 )/(z _i -z _i-1 )|)

Z plane inclination angle Qz _i =atan(|(y _i -y _i-1 )/(x _i -x _i-1 )|)

Among them, Qx ₀ , Qy, Qz ₀ of the starting point O are initialized to 0;

2.2) Calculate the change in inclination of each data point of the drill bit relative to the previous data point in three planes:

X-plane inclination change qx _i =|Qx _i -Qx _i-1 |

Y plane inclination change qy _i =|Qy _i -Qy _i-1 |

Z-plane inclination change qz _i =|Qz _i -Qz _i-1 |

In the above step 2.1), anomalies may occur when calculating the inclination angle, for example, zi -z _{i -1} is equal to zero, resulting in a zero division anomaly, that is, when an infinite anomaly occurs in the inclination angle calculation, the inclination angle is recorded as 90°.

During construction, the curvature of the drill pipe (that is, the curvature of the pipeline path) may be the change of the inclination of each drill pipe. Therefore, it is only necessary to take the sine of the inclination and convert it into a percentage. For example, the length of the drill pipe for construction is 10 meters, and the engineering requires that the percentage change of the inclination angle of each drill pipe shall not exceed 10%, which means that the inclination angle shall not exceed 6 degrees.

The curvature is defined as the chord height per unit length and is calculated as: (d/q)*(1-COS(q/2)). Among them, d is the length of the drill pipe, and q is the change of the inclination angle (the unit is radian, and the largest of qx, qy, and qz can be taken).

In the specific implementation, the planning method of the pipeline path, on the basis of the calculation result of the bending degree, judges whether it meets the engineering design standard: compare the inclination angle change of each drill pipe calculated above with the index required by the project, if the calculated result is If the change of the inclination angle is less than the engineering index, the construction meets the engineering requirements, otherwise it does not meet the engineering requirements.

The curvature calculation and monitoring of the drill bit trajectory is completed on the basis of the steering record, so the specific calculation of the curvature requires a continuous and complete steering record, that is, at least one record of the current drill bit position and The inclination angle is the GPS position of the ground directly above the drill bit and the inclination angle of the underground drill bit. The position of the starting point and the initial inclination of the drill should be recorded before the project starts. Every time a guide recording is completed, a curvature calculation is required to be activated. If the curvature is not within the allowable range of the project, it is necessary to warn the guide hand to take necessary measures, such as retreating, to ensure that the curvature of the drill bit track is within the allowable range of the construction.

Embodiment 2

In this embodiment, the difference from the above-mentioned first embodiment is that in step S2), the following steps are included:

2.1') According to each connected three data points, a circle in three-dimensional space is analyzed, and the radius R of the circle is obtained. If R is not infinite, the change of inclination angle between two adjacent drill pipes should be 2d/ R (radian), where d is the drilling length of each drill pipe (usually the length of the drill pipe, if the total length of the advancing is not two complete drill pipes, the total length of the two advancing can be used instead); If R is infinite, the change of inclination angle is 0; the radius of the circle from three points can be analyzed by referring to the relevant linear algebra textbooks;

2.2') Convert radian into angle, and the conversion algorithm between radian and angle can refer to the public triangular geometry data.

Claims (6)

1. A trenchless drilling system applied to a trenchless pipeline path curvature calculation method comprises a guide instrument with a GPS data acquisition function, a drill rod and a drill bit, and is characterized in that: the method comprises the following steps:

s1) estimating the position of the drill bit each time a drill rod is added:

1.1) recording the ground position O directly above the drill₂The four parameters are longitude J, latitude W, height G and inclination angle Q in turn, the inclination angle Q is the included angle between the drill bit and the ground plane;

1.2) then converting the four parameters into three-dimensional coordinate values, wherein the three-dimensional coordinate takes the geocenter as a coordinate origin:

1.2.1) setting the relative height H of the starting point O of the drill₀0, the advancing length of the drill rod is d, the drill bit generates a data point every time one drill rod is advanced, and the relative height of the drill bit of the current data point is H_i＝H_i-1+d*sin(Q_i) Wherein i is the number of the drill rods, the first drill rod of the drill bit is set to be 1, and i +1 is added every time one drill rod is added;

1.2) converting three-dimensional coordinates of the drill bit:

set the GPS coordinate height of the origin O to G₀Converting the GPS standard coordinate and the relative height of any drill rod into a new GPS coordinate to obtain the coordinate (J) of any drill rod_i,W_i,G₀+H_i)；

1.3) convert the new GPS coordinates for each data point to geocentric coordinates (x)_i,y_i,z_i)；

S2) calculating a change in inclination of the geocentric coordinates of each data point.

2. The trenchless pipe path tortuosity calculation method of claim 1, wherein: in step S2), calculating the inclination change includes the steps of:

2.1) calculating the inclination angle of each data point in three planes in the geocentric coordinate:

x plane inclination angle Qx_i＝atan(|(y_i-y_i-1)/(z_i-z_i-1)|)

Y plane dip angle Qy_i＝atan(|(x_i-x_i-1)/(z_i-z_i-1)|)

Z plane inclination angle Qz_i＝atan(|(y_i-y_i-1)/(x_i-x_i-1)|)

Wherein Qx of the starting point O₀,Qy,Qz₀Is 0;

2.2) calculating the change of inclination angle of each data point relative to the previous data point in three planes:

variation of X plane inclination qx_i＝|Qx_i-Qx_i-1|

Variation of tilt angle in Y plane qy_i＝|Qy_i-Qy_i-1|

Variation of Z plane inclination qz_i＝|Qz_i-Qz_i-1|

And obtaining the bending degree of the drill rod for representing the bending degree of the pipeline through the inclination angle change.

3. The method for calculating tortuosity of a trenchless pipeline path of claim 2 wherein: when infinite abnormality occurs in the calculation of the inclination angle, the inclination angle is recorded according to 90 degrees.

4. The trenchless pipe path tortuosity calculation method of claim 1, wherein: in step S2), calculating the inclination change includes the steps of:

2.1') resolving a three-dimensional circle according to the geocentric coordinates of each connected three data points, and calculating the radius R of the circle, wherein if the R is not infinite, the radian of the change of the inclination angle between two adjacent drill rods is 2d/R, wherein d is the propelling length of each drill rod; if R is infinite, the inclination angle is changed to 0;

2.2') convert radians to angles.

5. A trenchless pipeline path planning method is characterized in that: the planning method comprises the following steps:

firstly, obtaining the curvature of the pipeline path by the calculation method of the curvature of the trenchless pipeline path according to any claim 1 to 4;

then judging whether the engineering design standard is met: and comparing the inclination angle change of each drill rod with the indexes of engineering requirements, wherein if the inclination angle change is smaller than the engineering indexes, the construction meets the engineering requirements, and otherwise, the construction does not meet the engineering requirements.

6. The trenchless pipeline path planning method of claim 5, wherein: and if the engineering requirements are not met, retracting the currently pushed drill rod.

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