CN201277027Y - Independent orienting locator of horizontal guiding drill - Google Patents
Independent orienting locator of horizontal guiding drill Download PDFInfo
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- CN201277027Y CN201277027Y CNU2008201531084U CN200820153108U CN201277027Y CN 201277027 Y CN201277027 Y CN 201277027Y CN U2008201531084 U CNU2008201531084 U CN U2008201531084U CN 200820153108 U CN200820153108 U CN 200820153108U CN 201277027 Y CN201277027 Y CN 201277027Y
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- 238000004891 communication Methods 0.000 claims abstract description 32
- 239000013307 optical fiber Substances 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 238000006243 chemical reaction Methods 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 17
- 230000004927 fusion Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 8
- 238000005553 drilling Methods 0.000 description 8
- 239000000523 sample Substances 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000036571 hydration Effects 0.000 description 2
- 238000006703 hydration reaction Methods 0.000 description 2
- 230000036039 immunity Effects 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 230000000631 nonopiate Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
An automatic direction and position locator of a horizontal guide drill comprises a down-hole measuring unit and a ground measuring unit. The down-hole measuring unit includes a triaxial optical fiber gyro, a triaxial accelerometer, a gaussmeter, an inclinometer, a synchronal data acquisition subsystem which is in circuit connection with the triaxial optical fiber gyro, the triaxial accelerometer, the gaussmeter and the inclinometer, a data communication subsystem which is in circuit connection with the synchronal data acquisition subsystem, and a power management subsystem which is in circuit connection with the synchronal data acquisition subsystem and the data communication subsystem. The ground measuring unit consists of a computer processing module which is in circuit connection with the data communication subsystem, and a global positioning system and a speedometer which are in circuit connection with the computer processing module. The automatic direction and position locator of a horizontal directional drill has the advantages of high accuracy, good anti-interference performance, easy operation and high degree of automation, which can be widely applied to attitude and position measurement to various horizontal drills.
Description
Technical field
The utility model relates to horizontal guiding drill pipeline locus autonomous mapping and navigation system, and especially a kind of high reliability, high-precision horizontally-guided bore the autonomous heading position indicator.
Background technology
At present, both at home and abroad the level that generally adopts is bored directed position indicator, mainly is divided into two classes according to its operating principle, and promptly 1) the photo-electric inclinometer, 2) the electromagnetic type inclinometer.The first kind is to adopt light source transit shooting principle, realize measurement by light-electricity conversion to horizontal drilling azimuth and angle of slope, because optoelectronic device is very harsh to environment requirement, and certainty of measurement is low, thereby can not satisfy the service condition of horizontal drilling adverse circumstances.Second class is that the method by geomagnetic field measuring provides azimuth and angle of slope, this quasi-instrument since measurement result be subject near ferromagnetic material disturb, thereby attitude and position that can not measure water flat drill well.
The utility model content
Existing level is bored directed position indicator and is had poor reliability, shortcoming that certainty of measurement is low, in order to overcome this deficiency, the utility model discloses a kind of horizontally-guided and bores the autonomous heading position indicator.
This horizontally-guided bores the autonomous heading position indicator and comprises underground survey unit and the ground survey unit that connects by communication cable.
Described underground survey unit comprises the synchronous data sampling subsystem that three axis optical fibre gyro, three axis accelerometer, magnetometer, clinometer, circuit connect described three axis optical fibre gyro, three axis accelerometer, magnetometer and clinometer, also comprises the data communication subsystem that circuit connects described synchronous data sampling subsystem.
Described three axis optical fibre gyro is used for measuring the angular velocity signal that horizontally-guided bores, three axis accelerometer is used for measuring the acceleration signal that horizontally-guided bores X, Y, Z direction, magnetometer is used for measuring underground magnetic field intensity signal, and clinometer is used for measuring horizontally-guided and bores dip angle signal.
Described horizontally-guided bores the autonomous heading position indicator and also comprises the power management subsystem of the synchronous acquisition subsystem of circuit connection data, data communication subsystem, three axis optical fibre gyro, three axis accelerometer, magnetometer, clinometer respectively.
Described power management subsystem is used for power source charges management and electrical measurement.
Described ground survey unit comprises circuit and connects the computer processing module of described data communication subsystem and GPS receiver and the odometer that circuit connects computer processing module.
This GPS receiver is used for determining the operating position geographical coordinate of horizontally-guided brill.Odometer is installed on the horizontally-guided rig, is used to measure the drilling rod stroke.Computer processing module carries out data fusion with odometer, the data of GPS receiver and the data of underground survey unit collection of gathering.
Described synchronous data sampling subsystem comprises the programmable gate array that circuit connects magnetometer, clinometer; Also comprise mould/number conversion chip that circuit connects three axis optical fibre gyro, three axis accelerometer and programmable gate array; The control data that also comprises circuit connection mode/number conversion chip, programmable gate array and data communication subsystem is gathered the time schedule controller unit.
Described mould/number conversion chip is used to gather the attitude measurement signal of three axis optical fibre gyro, three axis accelerometer output.Programmable gate array is used to finish the data-interface between controller unit mould/number conversion chip, magnetometer, the clinometer.Controller unit is used for control data and gathers sequential, guarantees that the attitude data that collects is synchronous, and with the data transaction that the collects serial data into about the formula of fixing, terrestrial system is carried out data high-speed and transmitted simultaneously.
Described data communication subsystem comprises the bus transceiver that circuit connects controller unit, and circuit connects the bus driver of bus transceiver.
Described data communication subsystem is used for converting the attitude data that the synchronous data sampling subsystem collects to the serial data of arranging form, terrestrial system transmission.Described bus transceiver is used for probe instructions, acoustic wave excitation signal and the probe response data transaction serial data into about the formula of fixing, and the high speed of finishing data between underground survey unit and the ground survey unit transmits.
Described power management subsystem comprises the power management chip that circuit connects bus transceiver, also comprise the battery pack that circuit connects power management chip, and circuit connects the power conversion module of described battery pack and power management chip.
The power conversion module is used to carry out voltage transformation, to each circuit board power supply of underground system.Battery pack is used for the underground system power supply.
Three axis optical fibre gyro in the described underground survey unit, three axis accelerometer, magnetometer, clinometer, synchronous data sampling subsystem, data communication subsystem, power management subsystem are contained in respectively in the cylindrical rigid body by preface, by threading piston, sealing metal end cap, hold out against O shape circle and connect and seal, assembling forms one.
Power management chip is received the power-on command that the ground survey unit sends, the power-on conversion module, and start working in the underground survey unit.Synchronous data sampling subsystem internal controller unit generation time synchronizing signal, mould/number conversion chip and programmable gate array to its inside carry out time synchronized, and three axis optical fibre gyro, three axis accelerometer, magnetometer, clinometer carried out synchronous data collection, controller unit carries out LPF and anti-interference filtration to the data of gathering simultaneously, and the data after will handling send to computer processing module by bus transceiver in the data communication subsystem and bus driver.The raw information that inputs to gyro, the accelerometer of computer processing module is the angular velocity that bores of level and the function of acceleration, carry out zero inclined to one side, nonopiate error, temperature error compensation by the data preliminary treatment, obtain the angular velocity of carrier and the measured value of acceleration.Before carrying out dynamic attitude algorithm, the initial position that at first need utilize angular velocity and acceleration measurement, GPS to measure under static state carries out initial alignment, obtains the initial attitude of carrier.After initial alignment is finished, can begin to carry out dynamic attitude measurement.Utilize the attitude measurement value of three axis optical fibre gyro and three axis accelerometer, the measured value of odometer, the measured value of magnetometer, the measured value of clinometer, the measured value of GPS receiver, and the running status of water of hydration flat drill, carry out data fusion, obtain attitude, positional information that level is bored, thereby finish the directed location survey that level is bored.In addition, power management chip is gathered the electric weight of one-shot battery group at set intervals, and electric quantity data is sent to computer processing module by data communication subsystem, thereby informs the mode of occupation of user's underground survey element cell.
Problem is accurately measured in drill bit attitude and position in the utility model solution horizontal drilling.The attitude and the positional information of continuous output horizontal drilling that can be reliable and stable have certainty of measurement height, strong interference immunity, easy to operate, automaticity advantages of higher.
Description of drawings
Fig. 1 is the principle schematic that horizontally-guided bores the autonomous heading position indicator;
Fig. 2 is the circuit block diagram of underground survey unit;
Fig. 3 is the structural representation that horizontally-guided bores the autonomous heading position indicator.
The specific embodiment
Followingly specify better embodiment of the present invention according to Fig. 1～Fig. 3:
As shown in Figure 1, the utility model horizontally-guided bores the autonomous heading position indicator, comprises the underground survey unit and the ground survey unit that connect by communication cable.
Described underground survey unit comprises the synchronous data sampling subsystem 6 that three axis optical fibre gyro (model is NT100) 1, three axis accelerometer (model is QTZ-1) 2, magnetometer (model is HMR3000) 3, clinometer (model is SANG1000) 4, circuit connect described three axis optical fibre gyro 1, three axis accelerometer 2, magnetometer 3 and clinometer 4, also comprises the data communication subsystem 7 that circuit connects described synchronous data sampling subsystem 6.
Described three axis optical fibre gyro 1 is used for measuring the angular velocity signal that horizontally-guided bores, three axis accelerometer 2 is used for measuring the acceleration signal that horizontally-guided bores X, Y, Z direction, magnetometer 3 is used for measuring underground magnetic field intensity signal, and clinometer 4 is used for measuring horizontally-guided and bores dip angle signal.
Described horizontally-guided bores the autonomous heading position indicator and also comprises the power management subsystem 5 of the synchronous acquisition subsystem 6 of circuit connection data, data communication subsystem 7, three axis optical fibre gyro 1, three axis accelerometer 2, magnetometer 3, clinometer 4 respectively.
Described power management subsystem 5 is used for power source charges management and electrical measurement.
Described ground survey unit comprises circuit and connects the computer processing module 10 of described data communication subsystem 7 and GPS receiver (model is GPS--OEM-G2L-3111RS) 8 and the odometer (model is hls L) 9 that circuit connects computer processing module 10.
This GPS receiver 8 is used for determining the operating position geographical coordinate of horizontally-guided brill.Odometer 9 is installed on the horizontally-guided rig, is used to measure the drilling rod stroke, and computer processing module 10 carries out data fusion with odometer 9, the data of GPS receiver 8 and the data of underground survey unit collection of gathering.
As shown in Figure 2, described synchronous data sampling subsystem 6 comprises the programmable gate array (model is XC3S1500-4FG456) 13 that circuit connects magnetometer 3, clinometer 4; Also comprise 6 tunnel 24 mould/number conversion chips (model is ADS1211) 11 that circuit connects three axis optical fibre gyro 1, three axis accelerometer 2 and programmable gate array 13; The control data that also comprises circuit connection mode/number conversion chip 11, programmable gate array 13 and data communication subsystem 7 is gathered time sequence control device unit (model is TMS320F240) 12.
Described 6 tunnel 24 mould/number conversion chips 11 are used to gather the attitude measurement signal of three axis optical fibre gyro 1, three axis accelerometer 2 outputs.Programmable gate array 13 is used to finish the data-interface between controller unit 12 and 6 tunnel 24 mould/number conversion chips 11, magnetometer 3, the clinometer 4.Controller unit 12 is used for control data and gathers sequential, guarantees that the attitude data that collects is synchronous, and with the data transaction that the collects serial data into about the formula of fixing, terrestrial system is carried out data high-speed and transmitted simultaneously.
Described data communication subsystem 7 comprises the CAN bus transceiver 17 that circuit connects controller unit 12, and circuit connects the CAN bus driver 18 of CAN bus transceiver 17.
Described data communication subsystem 7 is used for converting the attitude data that the synchronous data sampling subsystem collects to the serial data of arranging form, measuring unit transmission earthward.Described bus transceiver 17 is used for probe instructions, acoustic wave excitation signal and the probe response data transaction serial data into about the formula of fixing, and the high speed of finishing data between underground survey unit and the ground survey unit transmits.
Described power management subsystem comprises the power management chip (model is NR12D12/50A) 15 that circuit connects CAN bus transceiver 17, also comprise the battery pack 14 that circuit connects power management chip 15, and circuit connects the power conversion module (model is NR12D12/50A, WRH39-12S5) 16 of described battery pack 14 and power management chip 15.
As shown in Figure 3, three axis optical fibre gyro 1 in the described underground survey unit, three axis accelerometer 2, magnetometer 3, clinometer 4, synchronous data sampling subsystem 6, data communication subsystem 7, power management subsystem 5 are contained in respectively in the cylindrical rigid body 19 by preface, by threading piston 20, sealing metal end cap 21, hold out against O shape circle 22 and connect and seal, assembling forms one.
As shown in Figure 1, 2, power management chip 15 is received the power-on command that the ground survey unit sends, power-on conversion module 16, and start working in the underground survey unit.Synchronous data sampling subsystem 6 internal controller unit 12 generation time synchronizing signals, 6 tunnel 24 mould/number conversion chips 11 and programmable gate array 13 to its inside carry out time synchronized, and to three axis optical fibre gyro 1, three axis accelerometer 2, magnetometer 3, clinometer 4 carries out synchronous data collection, sample frequency is 400Hz, synchronization accuracy is 100us, the data of 12 pairs of collections of controller unit are carried out LPF and anti-interference filtration simultaneously, and the data after will handling send to computer processing module 10 by CAN bus transceiver 17 in the data communication subsystem 7 and CAN bus driver 18.The raw information that inputs to gyro, the accelerometer of computer processing module 10 is the angular velocity that bores of level and the function of acceleration, carry out zero inclined to one side, nonopiate error, temperature error compensation by the data preliminary treatment, obtain the angular velocity of carrier and the measured value of acceleration.Before carrying out dynamic attitude algorithm, the initial position that at first need utilize angular velocity and acceleration measurement, GPS to measure under static state carries out initial alignment, obtains the initial attitude of carrier.After initial alignment is finished, can begin to carry out dynamic attitude measurement.Utilize the attitude measurement value of three axis optical fibre gyro 1 and three axis accelerometer 2, the measured value of odometer 9, the measured value of magnetometer 3, the measured value of clinometer 4, the measured value of GPS receiver 8, and the running status of water of hydration flat drill, adopt expanded Kalman filtration algorithm to carry out data fusion, obtain attitude, positional information that level is bored, thereby finish the directed location survey that level is bored.In addition, power management chip 15 is gathered the electric weight of one-shot battery group 14 every 1s, and electric quantity data is sent to computer processing module 10 by data communication subsystem 7, thereby informs the mode of occupation of user's underground survey element cell.
The utility model has solved in the horizontal drilling drill bit attitude and position and has accurately measured problem, can stablize Reliably attitude and the positional information of continuous wave output horizontal drilling, have certainty of measurement height, strong interference immunity, Easy to operate, automaticity advantages of higher.
Claims (7)
1. a horizontally-guided bores the autonomous heading position indicator, it is characterized in that, comprises:
Underground survey unit and ground survey unit by the communication cable connection;
Described underground survey unit comprises the synchronous data sampling subsystem (6) that three axis optical fibre gyro (1), three axis accelerometer (2), magnetometer (3), clinometer (4), circuit connect described three axis optical fibre gyro (1), three axis accelerometer (2), magnetometer (3) and clinometer (4), also comprises the data communication subsystem (7) that circuit connects described synchronous data sampling subsystem (6);
Synchronous data sampling subsystem (6) is gathered the real time data of three axis optical fibre gyro (1), three axis accelerometer (2), magnetometer (3), clinometer (4) under the control of synchronised clock, and they are carried out filtering; Data communication subsystem (7) sends to the ground survey unit with the real time data of gathering then; By the ground survey unit underground survey unit that receives and the data of ground survey unit are merged at last, attitude and positional information that calculated level bores show also and file.
2. horizontally-guided as claimed in claim 1 bores the autonomous heading position indicator, it is characterized in that, described horizontally-guided bores the autonomous heading position indicator and also comprises:
The power management subsystem (5) of the difference synchronous acquisition subsystem of circuit connection data (6), data communication subsystem (7), three axis optical fibre gyro (1), three axis accelerometer (2), magnetometer (3), clinometer (4);
Described power management subsystem (5) is used for power source charges management and electrical measurement.
3. the described horizontally-guided of institute's claim 1 bores the autonomous heading position indicator, it is characterized in that described ground survey unit comprises:
The computer processing module (10) of circuit connection data communication subsystem (7);
Circuit connects the GPS receiver (8) and the odometer (9) of computer processing module (10);
Described computer processing module (10) carries out data fusion with odometer (9), the data of GPS receiver (8) and the data of underground survey unit collection of gathering.
4. horizontally-guided as claimed in claim 1 bores the autonomous heading position indicator, it is characterized in that described synchronous data sampling subsystem (6) comprises:
Circuit connects the programmable gate array (13) of magnetometer (3), clinometer (4);
Circuit connects the mould/number conversion chip (11) of three axis optical fibre gyro (1), three axis accelerometer (2) and programmable gate array (13);
The control data of circuit connection mode/number conversion chip (11), programmable gate array (13) and data communication subsystem (7) is gathered time sequence control device unit (12).
5. horizontally-guided as claimed in claim 1 bores the autonomous heading position indicator, it is characterized in that described data communication subsystem (7) comprises:
Circuit connects the bus transceiver (17) of controller unit (12);
Circuit connects the bus driver (18) of bus transceiver (17).
6. horizontally-guided as claimed in claim 2 bores the autonomous heading position indicator, it is characterized in that described power management subsystem comprises:
Circuit connects the power management chip (15) of bus transceiver (17);
Circuit connects the battery pack (14) of power management chip (15);
Circuit connects the power conversion module (16) of described battery pack (14) and power management chip (15).
7. horizontally-guided as claimed in claim 2 bores the autonomous heading position indicator, it is characterized in that, described three axis optical fibre gyro (1), three axis accelerometer (2), magnetometer (3), clinometer (4), synchronous data sampling subsystem (6), data communication subsystem (7), power management subsystem (5) are contained in respectively in the cylindrical rigid body (19) by preface, by threading piston (20), sealing metal end cap (21), hold out against O shape circle (22) and connect and seal, assembling forms one, and links to each other with the ground survey unit by communication cable.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201531084U CN201277027Y (en) | 2008-09-17 | 2008-09-17 | Independent orienting locator of horizontal guiding drill |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201531084U CN201277027Y (en) | 2008-09-17 | 2008-09-17 | Independent orienting locator of horizontal guiding drill |
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| CN201277027Y true CN201277027Y (en) | 2009-07-22 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102251768A (en) * | 2010-05-17 | 2011-11-23 | 武汉基深测斜仪有限公司 | Optic fiber gyroscope inclinometer |
| CN102808580A (en) * | 2012-08-10 | 2012-12-05 | 中国地质大学（武汉） | Laser directional drilling tool for coal-bed-methane level development hole and drilling method using same |
| CN103256039A (en) * | 2013-04-25 | 2013-08-21 | 福州华虹智能科技开发有限公司 | Track recorder of underground coal mine |
| CN104500036A (en) * | 2014-11-02 | 2015-04-08 | 中国石油集团钻井工程技术研究院 | Method and device for dynamically measuring hole deviation and toolface angle in condition of small hole deviation |
| CN106930726A (en) * | 2017-03-31 | 2017-07-07 | 广东惠利普路桥信息工程有限公司 | A kind of geological prospecting borehole positioner |
| CN111365064A (en) * | 2020-04-30 | 2020-07-03 | 陕西太合智能钻探有限公司 | Mining ann's type trompil direction finder |
| WO2021227010A1 (en) * | 2020-05-11 | 2021-11-18 | 中国科学院地质与地球物理研究所 | High temperature resistant solid-state resonator gyroscope and drilling measurement system having same |
| WO2023205890A1 (en) * | 2022-04-25 | 2023-11-02 | Hazen International Energy Services Inc. | Drone-based method of subterranean directional drilling control |
-
2008
- 2008-09-17 CN CNU2008201531084U patent/CN201277027Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102251768A (en) * | 2010-05-17 | 2011-11-23 | 武汉基深测斜仪有限公司 | Optic fiber gyroscope inclinometer |
| CN102808580A (en) * | 2012-08-10 | 2012-12-05 | 中国地质大学（武汉） | Laser directional drilling tool for coal-bed-methane level development hole and drilling method using same |
| CN102808580B (en) * | 2012-08-10 | 2014-07-30 | 中国地质大学（武汉） | Laser directional drilling tool for coal-bed-methane level development hole and drilling method using same |
| CN103256039A (en) * | 2013-04-25 | 2013-08-21 | 福州华虹智能科技开发有限公司 | Track recorder of underground coal mine |
| CN103256039B (en) * | 2013-04-25 | 2016-10-19 | 福州华虹智能科技开发有限公司 | A kind of track recorder of underground coal mine |
| CN104500036A (en) * | 2014-11-02 | 2015-04-08 | 中国石油集团钻井工程技术研究院 | Method and device for dynamically measuring hole deviation and toolface angle in condition of small hole deviation |
| CN104500036B (en) * | 2014-11-02 | 2017-11-10 | 中国石油集团钻井工程技术研究院 | A kind of method and device for being applied to dynamic measurement in hole deviation tool face azimuth under The Small Well slanted bar part |
| CN106930726A (en) * | 2017-03-31 | 2017-07-07 | 广东惠利普路桥信息工程有限公司 | A kind of geological prospecting borehole positioner |
| CN106930726B (en) * | 2017-03-31 | 2023-08-08 | 胜利信科(山东)勘察测绘有限公司 | Geological exploration drilling positioner |
| CN111365064A (en) * | 2020-04-30 | 2020-07-03 | 陕西太合智能钻探有限公司 | Mining ann's type trompil direction finder |
| WO2021227010A1 (en) * | 2020-05-11 | 2021-11-18 | 中国科学院地质与地球物理研究所 | High temperature resistant solid-state resonator gyroscope and drilling measurement system having same |
| WO2023205890A1 (en) * | 2022-04-25 | 2023-11-02 | Hazen International Energy Services Inc. | Drone-based method of subterranean directional drilling control |
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Granted publication date: 20090722 |