CN115164859B - 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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- CN115164859B CN115164859B CN202210692770.1A CN202210692770A CN115164859B CN 115164859 B CN115164859 B CN 115164859B CN 202210692770 A CN202210692770 A CN 202210692770A CN 115164859 B CN115164859 B CN 115164859B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005553 drilling Methods 0.000 claims abstract description 98
- 230000007613 environmental effect Effects 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 description 6
- 239000003245 coal Substances 0.000 description 4
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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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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 DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Mining & Mineral Resources (AREA)
- General Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geophysics (AREA)
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Abstract
A drilling 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 using an MEMS gyroscope and a magnetic sensor which are built in the orientation instrument to measure the influence stability of an environmental magnetic field at the position of the orientation instrument. Judging whether the influence stability of the environmental magnetic field is smaller than or equal to a preset index, if so, performing baseline-free north-seeking orientation, and if not, performing baseline-free north-seeking orientation. The orientation instrument can realize baseline-free north-seeking orientation and baseline north-seeking orientation. Moreover, whether the north-seeking orientation without the base line can be performed is judged, if the north-seeking orientation without the base line can be performed, the base line is not required to be arranged, the orientation can be performed quickly, the operation is simple, and if the field condition does not meet the condition of the north-seeking orientation without the base line, the north-seeking orientation with the base line can be performed, so that the north-seeking orientation without the base line and the north-seeking orientation with the base line can be realized at the same time, the north-seeking orientation device is applicable to various fields, and the applicability range is wide.
Description
Technical Field
The application relates to the technical field of geological survey, in particular to a north-seeking orientation and north-seeking orientation system of an orientation instrument.
Background
Water and gas are two main disaster sources underground in a coal mine, water and gas drainage are detected through drilling, the most effective mode for preventing the disasters is achieved, and whether the drilling can achieve the design requirements directly relates to the gas drainage effect and the water drainage effect. The drilling orientation accuracy of the drilling equipment is a primary link for ensuring that the drilling meets the design requirements.
At present, the directional equipment for underground drilling of coal mines mainly has two main types, namely a directional instrument with a built-in fiber optic gyroscope for north seeking, and the equipment can only work in an approximately horizontal state, is high in price and has a small application range. The other type is a directional instrument based on a six-axis or nine-axis MEMS gyroscope, the equipment cannot realize the baseline-free automatic north-seeking function, so that a roadway baseline is required to be laid, the directional instrument is aligned with the roadway baseline, the roadway center line with a known azimuth angle is used as an initial reference angle, the operation process of the method is complex, and the process is repeated for each drilling machine orientation, so that the time is long.
Disclosure of Invention
The embodiment of the application provides a north-seeking orientation and north-seeking orientation system of an orientation instrument, which is used for solving the problems of complex drilling orientation process and small application range of drilling equipment for coal mines.
A north-seeking orientation method of an orientation instrument comprises the following steps:
placing an orientation instrument on a calibration table;
an MEMS gyroscope and a magnetic sensor which are arranged in the orientation instrument are utilized to measure the influence stability of an environmental magnetic field at the position of the orientation instrument;
judging whether the influence stability of the environmental magnetic field is smaller than or equal to a preset index, if so, performing baseline-free north-seeking orientation, and if not, performing baseline-free north-seeking orientation.
Further, the measuring the stability of the influence of the environmental magnetic field at the position of the orientation device by using the MEMS gyroscope and the magnetic sensor built in the orientation device comprises the following steps:
taking the azimuth angle of the current position measured by the magnetic sensor as an initial reference angle of the MEMS gyroscope;
rotating a 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 orienter has a forward laser beam and a top laser beam, the baseline-less north-seeking orientation comprising:
taking the azimuth angle of the current position measured by the magnetic sensor as an initial reference angle of the MEMS gyroscope;
setting the orientation instrument on the drilling machine, adjusting the orientation of the drilling machine to enable the orientation angle measured by the MEMS gyroscope to be consistent with the orientation angle of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Further, the baseline-free north-seeking orientation further includes:
after the orientation is finished, the orientation instrument is put back to the calibration table and is shut down;
when the next target drilling point needs to be north-seeking oriented, starting an orientation instrument, and taking the azimuth angle of the current position measured by the magnetic sensor as an initial reference angle of the MEMS gyroscope;
setting the orientation instrument on the drilling machine, adjusting the orientation of the drilling machine, enabling the orientation angle measured by the MEMS gyroscope to be consistent with the orientation angle of the next target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument to the next target drilling point, and ending the orientation.
Further, the orienter has a forward laser beam and a top laser beam, the north-seeking orientation having a baseline comprising:
arranging a roadway base line;
setting a calibration table below a roadway baseline, and placing an orientation instrument on the calibration table;
rotating the calibration table to enable the top laser beam of the orientation instrument to coincide with the roadway baseline;
taking the known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope;
setting the orientation instrument on the drilling machine, adjusting the orientation of the drilling machine to enable the orientation angle measured by the MEMS gyroscope to be consistent with the orientation angle of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Further, after the known roadway baseline azimuth is used as the initial reference angle of the MEMS gyroscope, the method further comprises:
after the top laser beam of the orientation instrument coincides 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 roadway baseline azimuth angle.
Further, after the calibration table is arranged below the roadway base line and the orientation instrument is arranged on the calibration table, the method further comprises the following steps:
after the orienter is placed on the calibration table, the calibration table is leveled.
There is also provided a north-seeking orientation system, comprising:
the calibration table is arranged on a preset site;
the orientation instrument is arranged on the calibration table, the orientation instrument comprises an MEMS gyroscope, a magnetic sensor, a first calculation module and a judgment module, the first calculation module is used for measuring the influence stability of an environmental magnetic field by using the MEMS gyroscope and the magnetic sensor which are arranged in the orientation instrument, the judgment module is used for judging whether the influence stability of the environmental magnetic field 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.
Further, the orientation instrument further comprises a second calculation module for calculating an offset value of 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 beneficial effects that technical scheme that this application provided brought include:
the embodiment of the application provides a north-seeking orientation and north-seeking orientation system of an orientation instrument, which realizes baseline-free north-seeking orientation or baseline north-seeking orientation by utilizing a MEMS gyroscope and a magnetic sensor which are arranged in the orientation instrument. And whether the north-seeking orientation without the base line can be performed is judged, if the north-seeking orientation without the base line can be performed, the base line is not required to be arranged, the orientation can be performed quickly, and the operation is simple. When the field conditions do not meet the conditions for a baseline-free north-seeking orientation, a baseline north-seeking orientation may be performed. The orientation instrument can realize two orientation modes of no-baseline north-seeking orientation and baseline north-seeking orientation at the same time, can be suitable for various fields, and has wide application range.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 influence stability of FIG. 1;
FIG. 3 is a flow chart of the baseline-less north-seeking orientation of FIG. 1;
FIG. 4 is a flow chart of FIG. 1 with a baseline north-seeking orientation;
FIG. 5 is an overall block diagram of a first embodiment of a north-seeking orientation system of the present application;
fig. 6 is an overall structure 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 computing module; 4. a judging module; 5. and a second calculation module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
The embodiment of the application provides a drilling orientation method and an orientation system of an orientation instrument, which can solve the problems of complex drilling orientation process and small application range of drilling equipment for coal mines.
As shown in fig. 1, the north-seeking orientation method of the orientation apparatus includes the following steps:
step S1: the orienter is placed on a calibration stand.
Step S2: the stability is affected by the environmental magnetic field at the position of the orientation instrument by using the MEMS gyroscope 1 and the magnetic sensor 2 which are built in the orientation instrument.
Step S3: and judging whether the influence stability of the environmental magnetic field is smaller than or equal to a preset index, and if so, performing step S4. If not, go to step S5.
Step S4: there is no baseline north-seeking orientation.
Step S5: there is a baseline north-seeking orientation.
Specifically, before the step S1, a space is found in the vicinity of the target drilling position, and the calibration table is set in the space. Preferably, the distance between the position of the empty space and the surrounding magnetic interference sources is not smaller than 1m, so that the magnetic interference sources are prevented from greatly interfering with the measurement of the orientation instrument and affecting the accuracy of the measurement and the orientation. Specifically, the calibration table may be a graduated disk, and the top surface of the calibration table has a plurality of rays extending outward from the center, and each two adjacent rays form a sector with the edge of the calibration table, and the plurality of rays divide the top surface of the calibration table into a plurality of sectors.
Specifically, in the step S1, the orientation apparatus is placed on the calibration table, and the orientation apparatus is started up.
Specifically, in the embodiment of the present application, in the step S3, the preset index is 1 °, and when the stability of the influence of the environmental magnetic field is less than or equal to 1 °, it is indicated that the magnetic field interference at the position of the orientation apparatus is smaller. When the stability of the influence of the environmental magnetic field is more than 1 degree, the magnetic field interference of the position of the orientation instrument is larger. In other embodiments, the preset index in the step 3 may be other data, and may be set according to actual situations.
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 be verified. The specific steps include adjusting the position of the calibration table, placing the orientation instrument on the calibration table, and re-measuring the influence stability of the environmental magnetic field until the influence stability of the environmental magnetic field is smaller than or equal to a preset index, and performing step S4. If the stability of the influence of the environmental magnetic field is always greater than the preset index after the positions are adjusted, the fact that the magnetic field interference of the position of the orientation instrument is large in the current environment is indicated, and step S5 is performed. The process can fully utilize the field, and the application range of the embodiment of the application is improved.
Specifically, in the step S3, when it is determined that the field cannot perform the north-seeking orientation without the base line, the orientation apparatus may be manually controlled to switch to the north-seeking orientation with the base line.
Further, as shown in fig. 2, the step S2 is a calculation process of the influence 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: the calibration stand is rotated, at least 3 square points are selected, the azimuth angle of each square point is measured by using the magnetic sensor 2, and the azimuth angle of each square point is measured 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 the above step S22, in the embodiment of the present application, 5 square points are randomly selected around the calibration stand. Preferably, 5 square points form a circle around the calibration table, the distance between every two adjacent square points is equal, and a plurality of square points are evenly distributed. In other embodiments, the number of square points is more than 3, and can be set according to practical situations, so as to improve the accuracy of measurement and orientation of the orientation instrument.
Specifically, in the above step S22, the azimuth angle of the orienter when aligned to each azimuth point is sequentially measured by the MEMS gyroscope 1. Specifically, when the orientation instrument is aligned to a certain square point, the MEMS gyroscope 1 may measure a rotation angle relative to an 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 of the square point measured by the MEMS gyroscope 1.
The step S22 is specifically to rotate the calibration table to rotate the orientation apparatus, align the orientation apparatus with the first azimuth point, obtain the azimuth angle of the current position through the magnetic sensor 2 after the orientation apparatus 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. The calibration table is rotated clockwise to enable the orientation instrument to rotate, the orientation instrument is aligned to a second azimuth point, the azimuth angle of the current position is obtained through the magnetic sensor 2, the azimuth angle of the current position is obtained through the MEMS gyroscope 1, and the difference value of the two azimuth angles is calculated. And by analogy, when the orientation instrument is aligned to each square point, obtaining the difference value between the azimuth angle measured by the magnetic sensor 2 and the azimuth angle measured by the MEMS gyroscope 1, and taking the largest difference value as the influence stability of the environmental magnetic field.
When the stability of the influence of the environmental magnetic field needs to be verified, the position of the calibration table is adjusted, and the steps S21 to S23 are repeated.
Further, the director 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. Setting the orientation instrument on the drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope 1 to be consistent with the azimuth of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Specifically, in the above steps, the direction finder is disposed on the drilling machine, specifically, the direction finder is disposed on the slide rail of the drilling machine. The laser transmitter built-in the direction finder can emit forward laser beams, the drilling machine is rotated, the MEMS gyroscope 1 built-in the direction finder 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 by the forward laser beams is the target drilling point.
Further, the step S4 further includes: and after the orientation is finished, the orientation instrument is put back to the calibration table and is shut down. When the next target drilling point needs to be north-oriented, the orientation instrument is started, and 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. Setting the orientation instrument on the drilling machine, adjusting the orientation of the drilling machine to enable the orientation angle measured by the MEMS gyroscope 1 to be consistent with the orientation angle of the next target drilling point, and simultaneously aligning the forward laser beam of the orientation instrument to the next target drilling point, and ending the orientation.
Specifically, in the above step, when the next target drilling point needs to be oriented, the azimuth 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 quick, and can be used for drilling and orienting a plurality of target drilling points in a short time, so that the working efficiency is greatly improved.
As shown in fig. 3, in the embodiment of the present application, the specific steps of 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: setting the orientation instrument on the drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope 1 to be consistent with the azimuth of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Step S43: the orienter is returned to the calibration stand and turned off.
Step S44: it is determined whether or not the drilling orientation of the next target drilling point is to be performed. If yes, go to step S45, if no, end.
Step S45: the direction finder is started up and returns to step S41.
It can be known that in the above step S42, the MEMS gyroscope 1 may measure the 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 director has a forward laser beam and a top laser beam. The step S5 includes: and arranging a roadway base line. The calibration stand is positioned below the roadway baseline and the orienter is placed on the calibration stand. And rotating the calibration table to enable the top laser beam of the orientation instrument to coincide with the roadway baseline. The known roadway baseline azimuth is taken as the initial reference angle of the MEMS gyroscope 1. Setting the orientation instrument on the drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope 1 to be consistent with the azimuth of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Specifically, in the above steps, the calibration table may be set in the center below the tunnel baseline, or the calibration table in the baseline-free orientation process may be moved to the position below the tunnel baseline, and then the orientation apparatus may be placed on the calibration table below the tunnel baseline.
Specifically, in the above steps, the laser transmitter built in the direction finder may emit a top laser beam, and the top laser beam is located above the direction finder. And (3) rotating the calibration table to enable the direction finder to rotate, and adjusting the azimuth 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 direction finder is arranged on the drilling machine, specifically, the direction finder is arranged on the 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 by the forward laser beam is the target drilling point.
Further, after the above step, the known roadway baseline azimuth is used as the initial reference angle of the MEMS gyroscope 1, the method further comprises: the orientator acquires and memorizes the deviation value of the azimuth angle of the current position measured by the magnetic sensor 2 from the initial reference angle of the MEMS gyroscope 1. 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 roadway baseline azimuth angle.
Specifically, when the top laser beam of the direction finder coincides with the roadway baseline, the known roadway baseline azimuth is taken as the initial reference angle of the MEMS gyroscope 1, the magnetic sensor 2 can automatically acquire the azimuth of the current position, and the direction finder can acquire and memorize the deviation value of the azimuth and the initial reference angle of the MEMS gyroscope 1, that is, the direction finder can acquire and memorize the deviation value of the azimuth and the roadway baseline azimuth.
Specifically, after the first target drilling point is oriented, the orientation instrument is put back to the calibration table, and the orientation instrument is shut down. When the next target drilling point needs to be drilled and oriented, starting the orientation instrument, and obtaining the initial reference angle of the MEMS gyroscope 1 again according to the azimuth angle and the deviation value of the current position measured by the magnetic sensor 2. Setting the orientation instrument on the drilling machine, adjusting the orientation of the drilling machine to enable the orientation angle measured by the MEMS gyroscope 1 to be consistent with the orientation angle of the next target drilling point, and simultaneously aligning the forward laser beam of the orientation instrument to the next target drilling point, and ending the orientation. That is, when the next target drilling point needs to be drilled, the orienter is started up, 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 steps, when each target drilling point after the first target drilling point is oriented, the initial reference angle of the MEMS gyroscope 1 can be obtained again according to the azimuth angle and the deviation value of the current position measured by the magnetic sensor 2, then the orientation device is arranged on the drilling machine, the azimuth angle of the drilling machine is adjusted, so that the azimuth angle measured by the MEMS gyroscope 1 is consistent with the azimuth angle of the next target drilling point, and meanwhile, the forward laser beam of the orientation device is aligned with the next target drilling point, and the orientation is finished. The method has the advantages that the roadway base line is only required to be arranged when the first target drilling point is oriented, the top laser beam of the orientation instrument is overlapped with the roadway base line, the roadway base line is not required to be arranged again when each target drilling point behind the first target drilling point is oriented, the step that the top laser beam of the orientation instrument is overlapped with the roadway base line is not required to be carried out, 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 table is set below the roadway base line and the orientation apparatus is placed on the calibration table, the method further includes: after the orientation apparatus is placed on the calibration table, the calibration table is leveled, and the calibration table is leveled.
Specifically, the calibration stand may have a support through which the orientation or height of the calibration stand is adjusted, and when both the tilt angle and the roll angle measured by the orientation meter on the calibration stand are smaller than 0.1 °, it is indicated that the calibration stand is in a horizontal state. The calibration table keeps level, can avoid the influence of calibration table to the measurement accuracy of orientation appearance to also can avoid the orientation appearance to place unstably, the orientation appearance breaks or draws out the calibration table.
As shown in fig. 4, in the embodiment of the present application, the specific steps with baseline orientation are:
step S51: and arranging a roadway base line.
Step S52: the calibration stand is positioned below the roadway baseline and the orienter is placed on the calibration stand.
Step S53: and rotating the calibration table to enable the top laser beam of the orientation instrument to coincide with the roadway baseline.
Step S54: the known roadway baseline azimuth is taken as the initial reference angle of the MEMS gyroscope 1.
Step S55: after the top laser beam of the orientation instrument coincides 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 initial reference angle of the MEMS gyroscope 1.
Step S56: setting the orientation instrument on the drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope 1 to be consistent with the azimuth of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
Step S57: the orienter is returned to the calibration stand and turned off.
Step S58: it is determined whether or not the drilling orientation of the next target drilling point is to be performed. If yes, go to step S59, if no, end.
Step S59: the orientation instrument is started up, the sum of the azimuth angle of the current position measured by the magnetic sensor 2 and the deviation value is used as a new initial reference angle of the MEMS gyroscope 1, and the process returns to step S56.
It is known that in the above step S56, the MEMS gyroscope 1 may measure the 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.
The embodiment of the application further provides an orientation system, as shown in fig. 5, which is a schematic structural diagram of the first embodiment of the application, and in this embodiment, the north-seeking orientation system includes a calibration table and an orientation apparatus. The calibration table is arranged on a preset site. The orientation instrument is arranged on the calibration table, the orientation instrument comprises an MEMS gyroscope 1, a magnetic sensor 2, a first calculation module 3 and a judgment module 4, the first calculation module 3 is used for measuring the influence stability of an environmental magnetic field by using the MEMS gyroscope 1 and the magnetic sensor 2 which are arranged in the orientation instrument, the judgment module 4 is used for judging whether the influence stability of the environmental magnetic field is smaller than a preset index, the MEMS gyroscope 1 and 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.
Specifically, the calibration table may be a graduated disk, and the top surface of the calibration table has a plurality of rays extending outward from the center, and each two adjacent rays form a sector with the edge of the calibration table, and the plurality of rays divide the top surface of the calibration table into a plurality of sectors.
Further, the distance between the calibration table and the known magnetic interference source is not less than 1m.
Specifically, the magnetic interference source is prevented from greatly interfering measurement of the orientation instrument, and accuracy of measurement and orientation is prevented from being affected.
Further, as shown in fig. 6, a schematic structural diagram of a second embodiment of the present application is shown, and compared with the first embodiment, the difference of the second embodiment is that the director of the north-seeking orientation system of the present application further includes a second calculation module 5 for calculating a deviation value between an azimuth angle measured by an environmental magnetic field influence stability and a roadway baseline azimuth angle, and the mems gyroscope 1 and the magnetic sensor 2 are respectively connected with the second calculation module 5 in a communication manner.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in this 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the 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 (7)
1. The north-seeking orientation method of the orientation instrument is characterized by comprising the following steps of:
placing an orientation instrument on a calibration table;
an MEMS gyroscope (1) and a magnetic sensor (2) which are arranged in the orientation instrument are utilized to measure the influence stability of an environmental magnetic field at the position of the orientation instrument;
judging whether the influence stability of the environmental magnetic field is smaller than or equal to a preset index, if so, performing baseline-free north-seeking orientation, and if not, performing baseline-free north-seeking orientation;
the orienter has a forward laser beam and a top laser beam, the baseline-less north-seeking orientation comprising:
taking the azimuth angle of the current position measured by the magnetic sensor (2) as an initial reference angle of the MEMS gyroscope (1);
setting an orientation instrument on a drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope (1) to be consistent with the azimuth of a target drilling point, and simultaneously, aligning a forward laser beam of the orientation instrument with the target drilling point, and ending orientation;
the baseline-free north-seeking orientation further includes:
after the orientation is finished, the orientation instrument is put back to the calibration table and is shut down;
when the next target drilling point needs to be north-seeking oriented, starting an orientation instrument, and taking the azimuth angle of the current position measured by the magnetic sensor (2) as the initial reference angle of the MEMS gyroscope (1);
setting an orientation instrument on a drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope (1) to be consistent with the azimuth of the next target drilling point, and aligning a forward laser beam of the orientation instrument to the next target drilling point to finish orientation;
the orientation instrument has a forward laser beam and a top laser beam, the north-seeking orientation having a baseline comprising:
arranging a roadway base line;
setting a calibration table below a roadway baseline, and placing an orientation instrument on the calibration table;
rotating the calibration table to enable the top laser beam of the orientation instrument to coincide with the roadway baseline;
taking a known roadway baseline azimuth angle as an initial reference angle of the MEMS gyroscope (1);
setting the orientation instrument on the drilling machine, adjusting the azimuth of the drilling machine to enable the azimuth measured by the MEMS gyroscope (1) to be consistent with the azimuth of the target drilling point, and simultaneously, aligning the forward laser beam of the orientation instrument with the target drilling point, and ending the orientation.
2. The north-seeking orientation method of an orientation apparatus according to claim 1, wherein the measuring of the stability of the influence of the environmental magnetic field at the position of the orientation apparatus by using the MEMS gyroscope (1) and the magnetic sensor (2) built in the orientation apparatus comprises:
taking the azimuth angle of the current position measured by the magnetic sensor (2) as an initial reference angle of the MEMS gyroscope (1);
rotating a calibration table, selecting at least 3 square points, measuring the azimuth angle of each square point by using a magnetic sensor (2), and measuring the azimuth angle of each square point by using an 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 north-seeking orientation method according to claim 1, characterized in that it further comprises, after said taking the known roadway baseline azimuth as the initial reference angle of the MEMS gyroscope (1):
after the top laser beam of the orientation instrument coincides 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 roadway baseline azimuth angle.
4. The north-seeking orientation method of claim 1, further comprising, after the calibration station is positioned below the roadway baseline and the orientation apparatus is placed on the calibration station:
after the orienter is placed on the calibration table, the calibration table is leveled.
5. A north-seeking orientation system employing the north-seeking orientation method of the orientation apparatus according to claim 1, comprising:
the calibration table is arranged on a preset site;
the orientation instrument is arranged on the calibration table, the orientation instrument comprises an MEMS gyroscope (1), a magnetic sensor (2), a first calculation module (3) and a judgment module (4), the first calculation module (3) is used for measuring the influence stability of an environmental magnetic field by using the MEMS gyroscope (1) and the magnetic sensor (2) which are arranged in the orientation instrument, the judgment module (4) is used for judging whether the influence stability of the environmental magnetic field is smaller than a preset index, the MEMS gyroscope (1) and 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).
6. The north-seeking orientation system of claim 5, wherein: the distance between the calibration table and the known magnetic interference source is not less than 1m.
7. The north-seeking orientation system of claim 5, wherein: the orientation instrument further comprises a second calculation module (5) for calculating the deviation value of 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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