CN115164859A - North-seeking orientation method and north-seeking orientation system of orientation instrument - Google Patents
North-seeking orientation method and north-seeking orientation system of orientation instrument Download PDFInfo
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- CN115164859A CN115164859A CN202210692770.1A CN202210692770A CN115164859A CN 115164859 A CN115164859 A CN 115164859A CN 202210692770 A CN202210692770 A CN 202210692770A CN 115164859 A CN115164859 A CN 115164859A
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- 238000005553 drilling Methods 0.000 claims abstract description 96
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
A drilling hole orientation method and an orientation system of an orientation instrument relate to the technical field of geological survey and comprise the step of placing the orientation instrument on a calibration table. And measuring the influence stability of the environmental magnetic field at the position of the orientation instrument by using the MEMS gyroscope and the magnetic sensor which are arranged in the orientation instrument. And judging whether the influence stability of the environmental magnetic field is less than or equal to a preset index, if so, carrying out baseline-free north seeking orientation, and if not, carrying out baseline north seeking orientation. The direction finder can realize baseless north seeking orientation and baselined north seeking orientation. And whether baseless north seeking orientation can be carried out or not is judged firstly, if the baseless north seeking orientation can be carried out, baselines do not need to be arranged, the fast orientation can be carried out, the operation is simple, and if the field conditions do not meet the baseless north seeking orientation conditions, the baseless north seeking orientation and the baseline north seeking orientation can be carried out.
Description
Technical Field
The application relates to the technical field of geological survey, in particular to a north-seeking orientation and a north-seeking orientation system of an orientation instrument.
Background
Water and gas are two main disaster sources in the underground coal mine, water drainage and gas drainage through drilling are the most effective modes for preventing the disasters, and whether the drilling can meet design requirements is directly related to the gas drainage effect and the water discharge effect. The drilling orientation accuracy of the drilling equipment is the first link for ensuring that the drilling reaches the design requirement.
At present, two main types of underground drilling orientation equipment for coal mines are provided, namely, a built-in fiber-optic gyroscope north-seeking orientation instrument, which can only work in an approximately horizontal state, and is high in price and small in application range. The other type of the equipment is a six-axis or nine-axis MEMS gyroscope-based direction finder, the equipment cannot realize a baseline-free automatic north-seeking function, so that a roadway baseline must be laid, the direction finder is aligned with the roadway baseline, a roadway center line with a known azimuth angle is used as an initial reference angle, the method is complicated in operation process, and the process needs to be repeated for each drill orientation, so that the time is long.
Disclosure of Invention
The embodiment of the application provides a north-seeking orientation and a north-seeking orientation system of an orientation instrument, and aims to solve the problems that a drilling orientation process of drilling equipment for a coal mine is complicated and the application range is small.
A north-seeking orientation method of an orientation instrument comprises the following steps:
placing the orientation device on a calibration table;
measuring the influence stability of the environmental magnetic field at the position of the orientation instrument by using an MEMS gyroscope and a magnetic sensor which are arranged in the orientation instrument;
and judging whether the influence stability of the environmental magnetic field is less than or equal to a preset index, if so, carrying out baseline-free north-seeking orientation, and if not, carrying out baseline north-seeking orientation.
Further, the measuring the environmental magnetic field influence stability of the position of the orientation device by using the MEMS gyroscope and the magnetic sensor built in the orientation device includes:
taking the azimuth angle of the current position measured by the magnetic sensor as an initial reference angle of the MEMS gyroscope;
rotating the calibration table, selecting at least 3 square points, measuring the azimuth angle of each square point by using a magnetic sensor, and measuring the azimuth angle of each square point by using an MEMS gyroscope;
and calculating the difference value of the two azimuth angles of each azimuth point, and taking the maximum difference value as the influence stability of the environmental magnetic field.
Further, the direction finder has a forward laser beam and a top laser beam, and the baseline-less north-seeking orientation includes:
taking the azimuth angle of the current position measured by the magnetic sensor as an initial reference angle of the MEMS gyroscope;
and arranging the orientation indicator on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope to be consistent with the azimuth angle of the target drilling point, and simultaneously aligning the forward laser beam of the orientation indicator to the target drilling point to finish orientation.
Further, the baseline-less north-seeking orientation further comprises:
after the direction to be determined is finished, the direction finder is placed back to the calibration table and is shut down;
when the north seeking orientation needs to be carried out on the next target drilling point, the orientation instrument is started, and the azimuth angle of the current position measured by the magnetic sensor is used as the initial reference angle of the MEMS gyroscope;
and arranging the orientation device on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope to be consistent with the azimuth angle of the next target drilling point, aligning the forward laser beam of the orientation device to the next target drilling point, and finishing orientation.
Further, the direction finder has a forward laser beam and a top laser beam, said baseline north seeking orientation comprising:
arranging a roadway baseline;
arranging a calibration table below a roadway baseline, and placing a direction finder on the calibration table;
rotating the calibration table to enable the top laser beam of the direction finder to coincide with the roadway baseline;
taking a known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope;
and arranging the orientation indicator on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope to be consistent with the azimuth angle of the target drilling point, and simultaneously aligning the forward laser beam of the orientation indicator to the target drilling point to finish orientation.
Further, after the step of using the known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope, the method further includes:
after the top laser beam of the orientation instrument is superposed with the roadway baseline, the orientation instrument acquires and memorizes the deviation value of the azimuth angle of the current position measured by the magnetic sensor and the azimuth angle of the roadway baseline.
Further, after the calibration stage is disposed below the roadway baseline and the orientation device is placed on the calibration stage, the method further includes:
and after the orientation device is placed on the calibration table, leveling the calibration table.
Also provided is a north-seeking orientation system, comprising:
the calibration platform is arranged on a preset field;
the orientation device comprises an MEMS gyroscope, a magnetic sensor, a first calculation module and a judgment module, wherein the first calculation module is used for measuring the environmental magnetic field influence stability by utilizing the MEMS gyroscope and the magnetic sensor which are arranged in the orientation device, the judgment module is used for judging whether the environmental magnetic field influence stability is smaller than a preset index, the MEMS gyroscope and the magnetic sensor are respectively in communication connection with the first calculation module, and the first calculation module is in communication connection with the judgment module.
Further, the distance between the calibration table and the known magnetic interference source is not less than 1m.
Furthermore, the orientation device further comprises a second calculation module for calculating a deviation value between the azimuth angle measured by the magnetic sensor and the roadway baseline azimuth angle, and the MEMS gyroscope and the magnetic sensor are respectively in communication connection with the second calculation module.
The technical scheme who provides this application brings beneficial effect includes:
the embodiment of the application provides a north-seeking orientation and a north-seeking orientation system of an orientation instrument, which utilize an MEMS gyroscope and a magnetic sensor which are arranged in the orientation instrument to realize baseline-free north-seeking orientation or baseline north-seeking orientation. And whether baseline-free north-seeking orientation can be carried out or not is judged firstly, if baseline-free north-seeking orientation can be carried out, baseline arrangement is not needed, fast orientation can be achieved, and operation is simple. When the field condition does not meet the condition of no baseline north seeking orientation, the baseline north seeking orientation can be carried out. The direction finder can simultaneously realize two orientation modes of baseline-free north seeking orientation and baseline north seeking orientation, can be suitable for various fields, and has wide applicability range.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a north-seeking orientation method of an orientation apparatus according to an embodiment of the present application;
FIG. 2 is a flow chart of a process for calculating the ambient magnetic field effect stability of FIG. 1;
FIG. 3 is a flow chart of the baseless north-seeking orientation of FIG. 1;
FIG. 4 is a flow chart of FIG. 1 with baseline north-seeking orientation;
FIG. 5 is a block diagram of the north-seeking orientation system according to the first embodiment of the present application;
fig. 6 is an overall structural diagram of a second embodiment of the north-seeking orientation system of the present application.
1. A MEMS gyroscope; 2. a magnetic sensor; 3. a first calculation module; 4. a judgment module; 5. and a second calculation module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a drilling orientation method and an orientation system of an orientation instrument, which can solve the problems of complicated drilling orientation process and small application range of drilling equipment for a coal mine.
As shown in fig. 1, a north-seeking orientation method of an orientation apparatus includes the following steps:
step S1: the orientation apparatus is placed on a calibration stand.
Step S2: and measuring the influence stability of the environmental magnetic field at the position of the orientation instrument by using the MEMS gyroscope 1 and the magnetic sensor 2 which are arranged in the orientation instrument.
And step S3: and judging whether the influence stability of the environmental magnetic field is less than or equal to a preset index, if so, performing the step S4. If not, go to step S5.
And step S4: no baseline north seeking orientation.
Step S5: there is a baseline north-seeking orientation.
Specifically, before step S1, an empty space is searched in the vicinity of the target drilling position, and the calibration stage is disposed in the empty space. Preferably, the space should be no less than 1m away from the surrounding magnetic interference source, so as to avoid the magnetic interference source from causing large interference to the measurement of the orientation meter, and affecting the measurement and orientation accuracy. Specifically, the calibration table may be a graduated disc, the top surface of the calibration table has a plurality of rays extending outward from the center, every two adjacent rays form a sector with the edge of the calibration table, and the top surface of the calibration table is divided into a plurality of sectors by the plurality of rays.
Specifically, in step S1, the orientation instrument is placed on the calibration table, and the orientation instrument is started.
Specifically, in the embodiment of the present application, in the step S3, the preset index is 1 °, and when the environmental magnetic field influence stability is less than or equal to 1 °, it indicates that the magnetic field interference at the position of the direction finder is small. When the stability of the environmental magnetic field influence is larger than 1 degree, the magnetic field interference at the position of the orientation meter is larger. In other embodiments, the preset index in step 3 may be other data, and may be set according to an actual situation.
Specifically, in the embodiment of the present application, in the step S3, if the environmental magnetic field influence stability is greater than 1 °, the environmental magnetic field influence stability may also be verified. The method comprises the specific steps of adjusting the position of a calibration table, placing a direction finder on the calibration table, measuring the influence stability of the environmental magnetic field again until the influence stability of the environmental magnetic field is less than or equal to a preset index, and then performing the step S4. And (5) if the influence stability of the environmental magnetic field is always greater than the preset index after the positions are adjusted, indicating that the magnetic field interference of the position of the orientation instrument is large in the current environment, and performing the step. The process can make full use of the field, and the application range of the embodiment of the application is widened.
Specifically, in step S3, when it is determined that the site cannot perform baseline-less north-seeking orientation, the director may be manually controlled to switch to a baseline north-seeking orientation process.
Further, as shown in fig. 2, the step S2 is a flow of calculating the stability of the environmental magnetic field, and specifically includes the following steps:
step S21: the azimuth angle of the current position measured by the magnetic sensor 2 is taken as the initial reference angle of the MEMS gyroscope 1.
Step S22: and rotating the calibration table, selecting at least 3 square points, measuring the azimuth angle of each square point by using the magnetic sensor 2, and measuring the azimuth angle of each square point by using the MEMS gyroscope 1.
Step S23: and calculating the difference value of the two azimuth angles of each azimuth point, and taking the maximum difference value as the influence stability of the environmental magnetic field.
Specifically, in step S22, in the embodiment of the present application, 5 azimuth points are randomly selected around the calibration stage. Preferably, 5 square points form a circle around the calibration platform, the distance between every two adjacent square points is equal, and the plurality of square points are uniformly distributed. In other embodiments, the number of the orientation points is other values than 3, and can be set according to actual conditions, so as to improve the accuracy of measurement and orientation of the orientation instrument.
Specifically, in step S22, the azimuth angle at which the orientation finder aligns to each azimuth point is sequentially measured by the MEMS gyroscope 1. Specifically, when the orientation is aligned to a certain azimuth point, the MEMS gyroscope 1 may measure a rotation angle relative to the initial reference angle of the MEMS gyroscope 1, and a sum of the rotation angle of the MEMS gyroscope 1 and the initial reference angle of the MEMS gyroscope 1 is an azimuth angle of the certain azimuth point measured by the MEMS gyroscope 1.
The step S22 is specifically to rotate the calibration stage to rotate the direction finder, align the direction finder with the first azimuth point, obtain the azimuth angle of the current position through the magnetic sensor 2 after the direction finder is stationary and stable, obtain the azimuth angle of the current position through the MEMS gyroscope 1, and calculate the difference between the two azimuth angles. And rotating the calibration table clockwise to enable the orientation device to rotate, aligning the orientation device to a second azimuth point, acquiring the azimuth angle of the current position through the magnetic sensor 2, acquiring the azimuth angle of the current position through the MEMS gyroscope 1, and calculating the difference value of the two azimuth angles. And analogy is carried out, when the orientation device is aligned to each azimuth point, the difference value of the azimuth angle measured by the magnetic sensor 2 and the azimuth angle measured by the MEMS gyroscope 1 is obtained, and the largest difference value is used as the environmental magnetic field influence stability.
When the stability of the environmental magnetic field influence needs to be verified, the position of the calibration stand is adjusted, and the steps S21 to S23 are repeated.
Further, the direction finder has a forward laser beam and a top laser beam. The step S4 includes: the azimuth angle of the current position measured by the magnetic sensor 2 is taken as the initial reference angle of the MEMS gyroscope 1. And arranging the orientation indicator on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the target drilling point, aligning the forward laser beam of the orientation indicator to the target drilling point, and finishing orientation.
Specifically, in the above step, the orientation device is disposed on the drilling machine, specifically, the orientation device is disposed on a slide rail of the drilling machine. The built-in laser emitter of director can launch forward laser pencil, the rotary drill, built-in MEMS gyroscope 1 of director automatically acquires the azimuth angle of current position, and the azimuth angle of target drilling point is known, and when the azimuth angle that the acquisition of MEMS gyroscope 1 was unanimous with the azimuth angle of target drilling point, the position that forward laser pencil aimed at this moment, be target drilling point.
Further, the step S4 further includes: and after the direction to be determined is finished, the direction finder is placed back to the calibration table and is shut down. When the north seeking orientation needs to be carried out on the next target drilling point, the orientation instrument is started, and the azimuth angle of the current position measured by the magnetic sensor 2 is used as the initial reference angle of the MEMS gyroscope 1. And arranging the orientation device on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the next target drilling point, and simultaneously aligning the forward laser beam of the orientation device to the next target drilling point to finish orientation.
Specifically, in the above step, when the next target drilling point needs to be oriented, the azimuth angle of the current position measured by the magnetic sensor 2 may be directly used as the initial reference angle of the MEMS gyroscope 1 to orient the next target drilling point. The method is convenient and fast, and can drill holes of a plurality of target drilling points in a short time and orient the drilling points, thereby greatly improving the working efficiency.
As shown in fig. 3, in the embodiment of the present application, the specific steps of the baseline-free orientation are:
step S41: the azimuth angle of the current position measured by the magnetic sensor 2 is taken as the initial reference angle of the MEMS gyroscope 1.
Step S42: and arranging the orientation indicator on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the target drilling point, aligning the forward laser beam of the orientation indicator to the target drilling point, and finishing orientation.
Step S43: the orientation apparatus is placed back on the calibration stand and the orientation apparatus is turned off.
Step S44: and judging whether the drilling orientation of the next target drilling point is carried out. If yes, go to step S45, otherwise, end.
Step S45: and starting the orientation instrument and returning to the step S41.
It is noted that, in step S42, the MEMS gyroscope 1 may measure a rotation angle relative to the initial reference angle of the MEMS gyroscope 1, and the sum of the rotation angle of the MEMS gyroscope 1 and the initial reference angle of the MEMS gyroscope 1 is the azimuth angle measured by the MEMS gyroscope 1.
Further, the direction finder has a forward laser beam and a top laser beam. The step S5 includes: and arranging a roadway baseline. And arranging a calibration table below the roadway baseline, and placing the orientation device on the calibration table. And rotating the calibration table to enable the top laser beam of the direction finder to coincide with the roadway baseline. The known roadway baseline azimuth angle is used as the initial reference angle of the MEMS gyroscope 1. And arranging the orientation finder on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the target drilling point, and simultaneously aligning the forward laser beam of the orientation finder to the target drilling point to finish orientation.
Specifically, in the above steps, a calibration table may be disposed at the center below the roadway baseline, or the calibration table during the baseline-less orientation process may be moved to a position below the roadway baseline, and then the orientation instrument is placed on the calibration table located below the roadway baseline.
Specifically, in the above steps, a laser emitter built in the direction finder may emit a top laser beam, and the top laser beam is located above the direction finder. And rotating the calibration table to rotate the direction finder, and adjusting the direction of the direction finder to enable the top laser beam of the direction finder to coincide with the roadway baseline.
Specifically, in the above steps, the orientation indicator is disposed on the drilling machine, specifically, the orientation indicator is disposed on a slide rail of the drilling machine. The orientation instrument can emit a forward laser beam, the drilling machine is rotated, the MEMS gyroscope 1 arranged in the orientation instrument automatically acquires the azimuth angle of the current position, the azimuth angle of the target drilling point is known, and when the azimuth angle acquired by the MEMS gyroscope 1 is consistent with the azimuth angle of the target drilling point, the position aligned with the forward laser beam is the target drilling point.
Further, after the above steps use the known roadway baseline azimuth angle as the initial reference angle of the MEMS gyroscope 1, the method further includes: the orientation finder obtains and memorizes the deviation value between the azimuth angle of the current position measured by the magnetic sensor 2 and the initial reference angle of the MEMS gyroscope 1. Namely, the direction finder obtains and memorizes the deviation value between the azimuth angle of the current position measured by the magnetic sensor 2 and the azimuth angle of the roadway baseline.
Specifically, after the top laser beam of the director coincides with the tunnel baseline, the known azimuth of the tunnel baseline is used as the initial reference angle of the MEMS gyroscope 1, the magnetic sensor 2 automatically obtains the azimuth of the current position, and the director can obtain and memorize the deviation value between the azimuth and the initial reference angle of the MEMS gyroscope 1, that is, the director can obtain and memorize the deviation value between the azimuth and the azimuth of the tunnel baseline.
Specifically, after the first target drilling point is oriented, the orientation instrument is placed back on the calibration table, and the orientation instrument is turned off. When the next target drilling point needs to be drilled and oriented, the orientation instrument is started, and the initial reference angle of the MEMS gyroscope 1 is obtained again according to the azimuth angle and the deviation value of the current position measured by the magnetic sensor 2. And arranging the orientation finder on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the next target drilling point, and simultaneously aligning the forward laser beam of the orientation finder to the next target drilling point to finish orientation. That is, when the next target drilling point needs to be drilled, the direction finder is started, the magnetic sensor 2 measures the azimuth angle of the current position, and the sum of the azimuth angle and the deviation value is used as a new initial reference angle of the MEMS gyroscope 1.
Specifically, in the above step, when each target drilling point after the first target drilling point is oriented, the initial reference angle of the MEMS gyroscope 1 may be obtained again according to the azimuth angle and the offset value of the current position measured by the magnetic sensor 2, and then the orientation of the drilling machine is adjusted by setting the orientation machine on the drilling machine, so that the azimuth angle measured by the MEMS gyroscope 1 is consistent with the azimuth angle of the next target drilling point, and at the same time, the forward laser beam of the orientation machine is aligned to the next target drilling point, and the orientation is completed. The method has the advantages that only when the first target drilling point is oriented, the roadway base line is arranged, the top laser beam of the orientation instrument is coincided with the roadway base line, when each target drilling point behind the first target drilling point is oriented, the roadway base line does not need to be arranged again, and the step of coincided between the top laser beam of the orientation instrument and the roadway base line is not needed, so that the drilling orientation time is greatly saved, the workload is reduced, and the working efficiency is improved.
Further, in the above step, after the calibration stage is disposed below the roadway baseline, and the orientation device is placed on the calibration stage, the method further includes: after the orientation device is placed on the calibration table, leveling the calibration table and leveling the calibration table.
Specifically, the calibration table may have a support, and the orientation or height of the calibration table is adjusted by the support, and when the tilt angle and the roll angle measured by the orientation meter on the calibration table are both smaller than 0.1 °, the calibration table is in a horizontal state. The calibration table keeps horizontal, can avoid the influence of calibration table to the measurement accuracy of direction finder to also can avoid the direction finder to place unstably, the direction finder breaks or marks out the calibration table.
As shown in fig. 4, in the embodiment of the present application, the specific steps of having the baseline orientation are:
step S51: and arranging a roadway baseline.
Step S52: and arranging a calibration table below the roadway baseline, and placing the orientation device on the calibration table.
Step S53: and rotating the calibration table to enable the top laser beam of the direction finder to coincide with the roadway baseline.
Step S54: the known roadway baseline azimuth angle is used as the initial reference angle of the MEMS gyroscope 1.
Step S55: after the top laser beam of the orientation instrument is superposed with the roadway baseline, the orientation instrument acquires and memorizes the deviation value between the azimuth angle of the current position measured by the magnetic sensor 2 and the initial reference angle of the MEMS gyroscope 1.
Step S56: and arranging the orientation indicator on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope 1 to be consistent with the azimuth angle of the target drilling point, aligning the forward laser beam of the orientation indicator to the target drilling point, and finishing orientation.
Step S57: the orientation apparatus is placed back on the calibration stand and the orientation apparatus is turned off.
Step S58: and judging whether the drilling orientation of the next target drilling point is carried out or not. If yes, go to step S59, otherwise, end.
Step S59: and starting the orientation instrument, taking the sum of the azimuth angle and the deviation value of the current position measured by the magnetic sensor 2 as a new initial reference angle of the MEMS gyroscope 1, and returning to the step S56.
It is noted that, in step S56, the MEMS gyroscope 1 may measure a rotation angle relative to the initial reference angle of the MEMS gyroscope 1, and the sum of the rotation angle of the MEMS gyroscope 1 and the initial reference angle of the MEMS gyroscope 1 is the azimuth angle measured by the MEMS gyroscope 1.
An orientation system is further provided in the embodiment of the present application, as shown in fig. 5, which is a schematic structural diagram of the first embodiment of the present application, and in this embodiment, the north-seeking orientation system includes a calibration stage and an orientation meter. Wherein, the calibration platform sets up in predetermineeing the place. The direction finder sets up in the calibration stand, the direction finder includes MEMS gyroscope 1, magnetic sensor 2, first calculation module 3 and judging module 4, first calculation module 3 is used for utilizing built-in MEMS gyroscope 1 of direction finder and magnetic sensor 2 to record environmental magnetic field influence stability, judging module 4 is used for judging whether environmental magnetic field influence stability is less than preset index, MEMS gyroscope 1, magnetic sensor 2 respectively with first calculation module 3 communication connection, first calculation module 3 and judging module 4 communication connection.
Specifically, the calibration table may be a graduated disk, the top surface of the calibration table has a plurality of radial lines extending outward from the center, every two adjacent radial lines form a fan shape with the edge of the calibration table, and the top surface of the calibration table is divided into a plurality of fan shapes by the plurality of radial lines.
Further, the distance between the calibration table and the known magnetic interference source is not less than 1m.
Particularly, the magnetic interference source is prevented from causing large interference to the measurement of the orientation instrument, and the measurement and orientation accuracy is prevented from being influenced.
Further, as shown in fig. 6, which is a schematic structural diagram of the second embodiment of the present application, compared with the first embodiment, the difference of the second embodiment is that the direction finder of the north-seeking direction finder further includes a second calculating module 5 for calculating a deviation value of an azimuth angle measured by the environmental magnetic field influence stability and a roadway baseline azimuth angle, and the mems gyroscope 1 and the magnetic sensor 2 are respectively connected to the second calculating module 5 in a communication manner.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A north-seeking orientation method of an orientation instrument is characterized by comprising the following steps:
placing the orientation device on a calibration table;
measuring the environmental magnetic field influence stability of the position of the orientation instrument by using an MEMS gyroscope (1) and a magnetic sensor (2) which are arranged in the orientation instrument;
and judging whether the influence stability of the environmental magnetic field is less than or equal to a preset index, if so, carrying out baseline-free north seeking orientation, and if not, carrying out baseline north seeking orientation.
2. The north-seeking orientation method of the orientation instrument according to claim 1, wherein the measuring of the environmental magnetic field influence stability of the position of the orientation instrument by using the MEMS gyroscope (1) and the magnetic sensor (2) built in the orientation instrument comprises:
the azimuth angle of the current position measured by the magnetic sensor (2) is used as an initial reference angle of the MEMS gyroscope (1);
rotating the calibration table, selecting at least 3 square points, measuring the azimuth angle of each square point by using the magnetic sensor (2), and measuring the azimuth angle of each square point by using the MEMS gyroscope (1);
and calculating the difference value of the two azimuth angles of each azimuth point, and taking the maximum difference value as the influence stability of the environmental magnetic field.
3. The method of claim 1, wherein the director has a forward laser beam and a top laser beam, and wherein the baseless north-seeking orientation comprises:
the azimuth angle of the current position measured by the magnetic sensor (2) is used as the initial reference angle of the MEMS gyroscope (1);
and arranging the orientation device on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope (1) to be consistent with the azimuth angle of the target drilling point, aligning the forward laser beam of the orientation device to the target drilling point, and finishing orientation.
4. The north-seeking orientation method of an orientation finder as claimed in claim 3, wherein the baseline-less north-seeking orientation further comprises:
after the direction to be determined is finished, the direction finder is placed back to the calibration table and is shut down;
when the north-seeking orientation needs to be carried out on the next target drilling point, the orientation instrument is started, and the azimuth angle of the current position measured by the magnetic sensor (2) is used as the initial reference angle of the MEMS gyroscope (1);
and arranging the orientation device on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope (1) to be consistent with the azimuth angle of the next target drilling point, and simultaneously aligning the forward laser beam of the orientation device to the next target drilling point to finish orientation.
5. The method of claim 1 wherein the direction finder has a forward beam and a top beam, said baseline north-seeking orientation comprising:
arranging a roadway baseline;
arranging a calibration table below a roadway baseline, and placing a direction finder on the calibration table;
rotating the calibration table to enable the top laser beam of the direction finder to coincide with the roadway baseline;
taking the known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope (1);
and arranging the orientation device on the drilling machine, adjusting the orientation of the drilling machine to enable the azimuth angle measured by the MEMS gyroscope (1) to be consistent with the azimuth angle of the target drilling point, aligning the forward laser beam of the orientation device to the target drilling point, and finishing orientation.
6. The north-seeking orientation method according to claim 5, further comprising, after the taking the known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope (1):
after the top laser beam of the orientation instrument is superposed with the roadway baseline, the orientation instrument acquires and memorizes the deviation value of the azimuth angle of the current position measured by the magnetic sensor (2) and the azimuth angle of the roadway baseline.
7. The north-seeking orientation method of claim 4, wherein after positioning the calibration stage below the roadway baseline and positioning the orientation finder on the calibration stage, further comprising:
and after the orientation device is placed on the calibration table, leveling the calibration table.
8. A north-seeking orientation system, comprising:
the calibration platform is arranged on a preset field;
the orientation device comprises a MEMS gyroscope (1), a magnetic sensor (2), a first calculation module (3) and a judgment module (4), wherein the orientation device comprises the MEMS gyroscope (1), the magnetic sensor (2), the first calculation module (3) is used for measuring the influence stability of the environmental magnetic field by utilizing the built-in MEMS gyroscope (1) and the magnetic sensor (2) of the orientation device, the judgment module (4) is used for judging whether the influence stability of the environmental magnetic field is smaller than a preset index or not, the MEMS gyroscope (1), the magnetic sensor (2) are respectively in communication connection with the first calculation module (3), and the first calculation module (3) is in communication connection with the judgment module (4).
9. The north-seeking orientation system of claim 8, wherein: the distance between the calibration table and the known magnetic interference source is not less than 1m.
10. The north-seeking orientation system of claim 8, wherein: the orientation device further comprises a second calculation module (5) used for calculating a deviation value between the azimuth angle measured by the magnetic sensor (2) and the roadway baseline azimuth angle, and the MEMS gyroscope (1) and the magnetic sensor (2) are respectively in communication connection with the second calculation module (5).
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| CN202210692770.1A CN115164859B (en) | 2022-06-17 | 2022-06-17 | North seeking orientation method and north seeking orientation system of orientation instrument |
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| CN115164859B (en) | 2024-02-09 |
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