A method for detecting the verticality of a core barrel, a verticality detection system, and a core drilling rig.

Abstract

This invention discloses a method, system, and core drilling rig for detecting the verticality of a core barrel. The method includes the following steps: establishing an attitude angle model of the core barrel; acquiring real-time torque values ​​of the core barrel during drilling; determining the drilling attitude of the core barrel during drilling; and synchronously inputting the acquired real-time torque values ​​of the core barrel into the attitude angle model to obtain the verticality status of the core barrel during drilling. This invention synchronously inputs the real-time torque values ​​of the core barrel into the established attitude angle model and compares and analyzes different drilling attitudes of the core barrel during drilling to obtain the verticality status of the core barrel during drilling. This allows for the acquisition of verticality detection data for the entire drilling process, achieving dynamic detection of the core barrel during drilling and offering the advantage of high detection accuracy.

Description

Technical Field

[0001] This invention relates to the field of coring drills, specifically to a method for detecting the verticality of a core barrel, a verticality detection system, and a coring drill. Background Technology

[0002] In existing technologies, core sampling is mainly performed using core drilling devices. Examples include a core sampling device for pile foundation testing disclosed in Chinese patent application number 202211445793.9, and another core sampling device for pile foundation testing disclosed in Chinese patent application number 202221203131.6. However, these existing technologies do not disclose the detection of drilling verticality. During core sampling, the core drill barrel needs to be perpendicular to the ground. Currently, the verticality of the drilling is mainly determined subjectively by technicians. This can easily lead to borehole tilting if the drilling does not proceed along the center, directly affecting the accuracy of the sampling and resulting in invalid core samples.

[0003] To address the aforementioned issues, some core sampling devices have incorporated a verticality detection mechanism. For instance, Chinese Patent Application No. 202020770470.7 discloses a drill rod verticality detection device for core drilling, which uses a sliding plate, a scale, and a protractor to locate the drill rod and measure its verticality. However, the protractor method described above is difficult to use accurately, as it relies on subjective readings by technicians and remains susceptible to inaccuracies. Summary of the Invention

[0004] To at least partially address the shortcomings of the prior art, the main objective of this invention is to provide a method for detecting the verticality of a core barrel, a verticality detection system, and a core drilling rig.

[0005] To achieve the above-mentioned main objectives, the first aspect of the present invention discloses a method for detecting the verticality of a core barrel, comprising the following steps:

[0006] S1. Establish the attitude angle model of the core barrel;

[0007] S2. Obtain the real-time torque value of the drill core during the drilling process;

[0008] S3. Determine the drilling attitude of the core barrel during the drilling process;

[0009] The position of the core barrel before startup is taken as the basic drilling position;

[0010] The initial drilling attitude is the position in which the drill core barrel contacts the drill core sampling point.

[0011] The drilling attitude of the core barrel section when drilling into the core sampling point is selected as the intermediate drilling attitude, and there is at least one intermediate drilling attitude.

[0012] The position where the core barrel stops drilling is taken as the drilling end position;

[0013] S4. Synchronously input the real-time torque value of the drill core into the attitude angle model to obtain the verticality status of the drill core during drilling. The specific process is as follows:

[0014] S41. Compare the initial drilling posture of the core barrel with the basic drilling posture to obtain the unobstructed verticality change status of the core barrel. If the set unobstructed verticality change threshold is met, drilling is performed normally; otherwise, the hole opening is deemed unqualified and drilling is stopped.

[0015] S42. Select the attitude at the moment corresponding to the peak value of the torque value as the intermediate attitude of drilling. Compare the intermediate attitude of the drill core with the initial attitude of drilling to obtain the change of the drilling verticality of the drill core. If the set drilling verticality change threshold is met, drilling is performed normally; otherwise, the drilling verticality is judged to be unqualified and drilling is stopped.

[0016] S43. Analyze the drilling end posture to obtain the overall verticality deviation value of the drill core.

[0017] According to a specific embodiment of the present invention, the establishment of the attitude angle model of the core barrel in step S1 is specifically performed in the following manner:

[0018] Obtain the rotation angles of the drill core barrel in multiple intersecting horizontal directions. Calculate the attitude angles of the drill core barrel using a vector synthesis method for the multiple rotation angles. Transform the attitude angles into the global coordinate system to obtain the current attitude of the drill core barrel.

[0019] Optionally, the rotation angle of the core barrel in step S1 is measured and obtained in the following manner:

[0020] An induction frame that can rotate around a horizontal axis is arranged on the outside of the core barrel. The induction frame has two induction wheels, one above the other, with their center lines coinciding. During drilling and monitoring, the two induction wheels remain in contact with the core barrel. When the verticality of the core barrel changes, the induction frame rotates adaptively to keep the center lines of the induction wheels parallel to the center line of the core barrel. The rotation angle of the induction frame is the rotation angle of the core barrel.

[0021] Optionally, the number of induction frames is three sets, and the three sets of induction frames are arranged in a circular array with the drill core cylinder as the center.

[0022] Optionally, the process may further include a step of calibrating the contact force between the two induction wheels and the core barrel during inspection while drilling:

[0023] When the drill core is in the drilling base position, the sensing frame is moved toward the drill core so that the sensing wheel gradually contacts the drill core. When the torque value changes from the initial no-drill to the primary load, the sensing wheel stops moving. The current contact force value is obtained through the force sensor and used as the set contact force for subsequent detection.

[0024] According to a specific embodiment of the present invention, in step S3, the contact between the drill core barrel and the drill core sampling point is determined by a sudden change in the torque value. That is, when the torque value changes drastically from the initial no-drilling state to the high-level load during the drilling process, the contact between the drill core barrel and the drill core sampling point is determined.

[0025] According to a specific embodiment of the present invention, in step S41, if the hole opening is determined to be unqualified, the hole opening operation is re-executed at the current core sampling point; if the hole opening operation fails more than three times in a row, the equipment is inspected and the core sampling point is replaced.

[0026] According to a specific embodiment of the present invention, when the intermediate drilling posture and the initial drilling posture of the core barrel are compared in step S42 and the set drilling verticality change threshold is met, drilling is performed normally and the following is executed:

[0027] The attitude angle of the intermediate drilling posture is compared with the drilling verticality change warning value. If it does not exceed the drilling verticality change warning value, drilling is performed normally. If it exceeds the drilling verticality change warning value, the attitude angle of the intermediate drilling posture is used as the compensation angle to correct the attitude of the drilling platform carrying the core barrel, thereby eliminating the drilling deviation of the core barrel.

[0028] A second aspect of the present invention provides a verticality detection system for implementing the core barrel verticality detection method described above, comprising:

[0029] An angle sensor is used to detect the rotation angle of the drill core barrel;

[0030] Torque sensor, used to detect the real-time torque value of the drill core barrel;

[0031] The memory is used to store the rotation angle and real-time torque value of the drill core barrel;

[0032] The processor is used to build an attitude angle model and input the real-time torque value of the drill core into the attitude angle model to analyze the verticality of the drill core during the drilling process.

[0033] A third aspect of the present invention provides a coring drill, including the verticality detection system described above.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] This invention synchronously inputs the real-time torque value of the drill core into the established attitude angle model, and compares and analyzes different drilling attitudes of the drill core during the drilling process to obtain the verticality status of the drill core during the drilling process. In turn, it obtains the verticality detection data of the drill core throughout the drilling process, realizing dynamic detection of the drill core during the drilling process, and has the advantage of high detection accuracy.

[0036] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0037] Figure 1 This is a flowchart of the core barrel verticality detection method of the present invention.

[0038] Figure 2 This is a schematic diagram of the sensor frame model.

[0039] Figure 3 This is a diagram illustrating the measurement of the rotation angle of the drill core barrel. Figure 1 .

[0040] Figure 4 This is a diagram illustrating the measurement of the rotation angle of the drill core barrel. Figure 2 .

[0041] Figure 5 This is a framework diagram of the verticality detection system of the present invention. Detailed Implementation

[0042] To better understand the above-mentioned objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description with reference to embodiments in order to provide a thorough understanding of the present invention; however, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of the present invention.

[0043] This invention discloses a method for detecting the verticality of a core barrel, used to detect the verticality of the core barrel during the drilling process, such as... Figure 1 As shown, the method for detecting the verticality of the core barrel specifically includes the following steps:

[0044] S1. Establish the attitude angle model of the core barrel.

[0045] The attitude angle model of the drill core barrel can be established in the following way: obtain the rotation angles of the drill core barrel in multiple intersecting horizontal directions, calculate the attitude angle of the drill core barrel by using the vector synthesis method for multiple rotation angles, and transform the attitude angle into the global coordinate system to obtain the current attitude of the drill core barrel.

[0046] S2. Obtain the real-time torque value of the drill core during drilling. For example, the real-time torque value of the drill core is detected by installing a torque sensor on the spindle that drives the drill core to rotate.

[0047] S3. Determine the drilling posture of the core barrel during the drilling process.

[0048] The attitude of the drill core before starting is used as the basic attitude for drilling. The basic attitude for drilling is mainly used to obtain the basic data required for subsequent comparisons. The required basic data mainly includes no-load torque value, contact force value, etc.

[0049] The initial drilling posture is the position where the drill core barrel contacts the core sampling point. The initial drilling posture is mainly used to determine whether the hole opening is qualified. One of the main reasons for the obvious deviation in the existing verticality is caused by abnormalities in the hole opening stage. If the abnormalities in the hole opening stage are not eliminated in time, the subsequent drilling will fail.

[0050] The attitude of the drill core barrel section when drilling into the core sampling point is selected as the intermediate drilling attitude. There should be at least one intermediate drilling attitude. The intermediate drilling attitude is mainly used to determine whether the verticality is qualified during the drilling process. One of the main reasons for the obvious deviation in the existing verticality is the jumping and offset caused by encountering uneven resistance during the drilling process. When the jumping and offset is large, it will cause subsequent drilling failure.

[0051] The drilling end posture is defined as the state at which the core barrel stops drilling. This posture is mainly used to analyze and evaluate the overall verticality of the core barrel during a single drilling process, and to provide data support for subsequent continuous drilling.

[0052] S4. Synchronously input the real-time torque value of the drill core into the attitude angle model to obtain the verticality status of the drill core during drilling. The specific process is as follows:

[0053] S41. Compare the initial drilling posture of the core barrel with the basic drilling posture to obtain the unobstructed verticality change status of the core barrel. If the set unobstructed verticality change threshold is met, drilling is performed normally; otherwise, the hole opening is deemed unqualified and drilling is stopped. If the hole opening is deemed unqualified, the hole opening operation can be re-executed at the current core sampling point. If more than three consecutive hole opening operations are deemed unqualified, the equipment is inspected and the core sampling point is replaced.

[0054] S42. Select the attitude at the moment corresponding to the peak value of the torque value as the intermediate attitude of drilling. Compare the intermediate attitude of the drill core with the initial attitude of drilling to obtain the change of the drilling verticality of the drill core. If the set drilling verticality change threshold is met, drilling is performed normally; otherwise, the drilling verticality is judged to be unqualified and drilling is stopped.

[0055] During normal drilling operations, the following steps can be optionally added: The attitude angle at the intermediate drilling position is compared with a drilling verticality change warning value. Specifically, the drilling verticality change warning value can be set to no more than 60% of the drilling verticality change threshold. If the value is within the warning range, drilling proceeds normally. If the value is exceeded, the attitude angle at the intermediate drilling position is used as a compensation angle to correct the attitude of the drilling platform carrying the core barrel, thereby eliminating drilling deviations. For example, the drilling platform carrying the core barrel may be equipped with a four-corner leveling mechanism. Precise control of this mechanism corrects the current attitude of the core barrel.

[0056] S43. Analyze the drilling end posture to obtain the overall verticality deviation value of the drill core.

[0057] In step S1, the rotation angle of the core barrel can be determined by, for example... Figure 2 Measurements are obtained using the induction frame model shown. The induction frame 101, which can rotate around a horizontal axis X0, is arranged on the outside of the core barrel. Two induction wheels 102 are provided on the induction frame 101, with their center lines coinciding. During drilling, the two induction wheels 102 remain in contact with the core barrel. When the verticality of the core barrel changes, the induction frame 101 rotates adaptively to keep the center line of the induction wheels 102 parallel to the center line of the core barrel. The rotation angle of the induction frame 101 is the rotation angle of the core barrel.

[0058] Furthermore, the induction frame 101 is U-shaped, having two free ends 103 and a connecting shaft 104, with the two free ends 103 symmetrically arranged about the connecting shaft 104. The induction frame 101 is vertically arranged relative to the drill core barrel, and the connecting shaft 104 is arranged along the radial direction of the drill core barrel. The connecting shaft 104 is used for, for example... Figure 2 The mobile robotic arm 105 is rotatably connected, and a sensor 106 for measuring the rotation angle of the connecting shaft 104 is installed on the mobile robotic arm 105. The sensor 106 is specifically an angle sensor, for example, WDD35D4.

[0059] Two induction wheels 102 are respectively mounted on the two free ends 103 of the induction frame 101 via bearings. The induction wheels 102 can be made of wear-resistant nylon wheels, which hardly produce elastic deformation or contact deformation, resulting in a long service life and low replacement cost. The center lines of the two induction wheels 102 coincide. During drilling and testing, the induction frame 101 moves towards the core barrel under the drive of the moving robotic arm 105 until both induction wheels 102 are in contact with the core barrel. The induction frame 101 then rotates adaptively around the connecting shaft 104 to make the center lines of the induction wheels 102 parallel to the center line of the core barrel, thus completing the measurement of the rotation angle of the core barrel.

[0060] like Figure 3-4 As shown, three sets of rotatable induction frames 101 are preferably arranged on the outer side of the core barrel. Each set of induction frames 101 rotates around a horizontal axis, and the three sets of induction frames 101 are arranged in a circular array with the core barrel as the center. Specifically, when the core barrel tilts, the two induction wheels 102 can generate a force as the core barrel tilts. At this time, the induction frames 101 will rotate adaptively around the connecting shaft. Therefore, the cooperation between the connecting shaft and the two induction wheels 102 realizes the measurement of the relative attitude of the core barrel during the drilling process in a mechanical contact measurement manner.

[0061] An example calculation process is as follows:

[0062] First, the tilt of the core barrel can be decomposed into two horizontal components: the tilt angle. (Angle between the core barrel and the vertical line) and inclination angle .

[0063] The three angle sensors 106 are located at respectively =0°、 =120° =240° azimuth.

[0064] Each angle sensor 106 measures the rotation angle. and The component correlation in the direction of angle sensor 106 is as follows:

[0065]

[0066] in:

[0067] : The rotation angle (in radians) measured by the i-th angle sensor 106, i=1, 2, 3.

[0068] : Inclination angle of the core barrel (unit: radians), index of the degree of inclination.

[0069] : Inclination angle of the core barrel (unit: radians), from the first angle sensor 106 ( =0°) Measure counterclockwise.

[0070] : The azimuth angle of the i-th angle sensor 106 ( =0°、 =120° =240°).

[0071] : Proportional constant, which depends on the geometric parameters of the induction frame 101.

[0072] The solution can be obtained from the measurements taken by the three angle sensors 106. and :

[0073] Calculation of tilt components:

[0074] ;

[0075] in, and These represent the tilt angles along the X-axis ( (direction) and Y-axis (perpendicular) (Directional) component.

[0076] tilt angle and tilt direction angle :

[0077]

[0078] It is the arctangent function in the four quadrants, ensuring Within the range of 0°–360°.

[0079] Additionally, it should be noted that drilling rigs equipped with core drill barrels should be calibrated after assembly to ensure the core drill barrel has a known tilt angle. Record the mean of αᵢ and calculate And the angle sensor 106 needs to be calibrated at zero point periodically (when the drill core is vertical). =0), the above calibration and verification processes can all be implemented under existing standardized metrology or calibration specifications.

[0080] In other embodiments, other methods, such as combining multiple types of sensors, can be used to obtain the relative attitude of the drill core barrel during the drilling process to obtain the rotation angle of the drill core barrel, and finally establish the attitude angle model of the drill core barrel.

[0081] Optionally, it also includes a step of calibrating the contact force between the two induction wheels 102 and the core barrel during drilling testing:

[0082] When the drill core is in the basic drilling posture, the present invention moves the sensing frame 101 toward the drill core so that the sensing wheel 102 gradually comes into contact with the drill core. When the torque value of the drill core changes from the initial no-drilling to the primary load (small and uniform load), the sensing wheel 102 stops moving. The current contact force value is obtained by the force sensor and used as the set contact force for subsequent detection. Here, the contact state between the sensing wheel 102 and the drill core is determined by the change in the torque value of the drill core, and the contact force value between the sensing wheel 102 and the drill core is kept the same at any stage of the drilling process.

[0083] Furthermore, in step S3, the contact between the drill core barrel and the core sampling point is determined by a sudden change in the torque value. That is, when the torque value changes drastically from the initial idle drilling state to a high-level load (large and uniform load) during the drilling process, the contact between the drill core barrel and the core sampling point is determined. It can be understood that when the drill core barrel cuts against the core sampling point, the torque of the drill core barrel will rapidly rise from an idle torque (friction torque) to a relatively stable drilling torque value. Using this change as a basis for judgment is beneficial for accurately determining the initial drilling posture of the drill core barrel.

[0084] Understandably, to improve efficiency and simplify the inspection time, the number of intermediate drilling positions during the core drilling process should not be excessive. Specifically, in a single core drilling cycle, the number of intermediate drilling positions can be determined based on the drilling depth, including two or three. For example, when there are two intermediate drilling positions, the drilling depth positions are one-third and two-thirds of the total drilling depth; or, when three stage positions are selected, the drilling depth positions are one-quarter, one-half, and three-quarters of the total drilling depth.

[0085] In addition, intermediate drilling postures can be added based on changes in the torque value of the drill core barrel. For example, if the real-time torque value of the drill core barrel increases rapidly and linearly during drilling, the corresponding position can be selected as an additional intermediate drilling posture.

[0086] The detection position of the core barrel verticality detection method of the present invention includes the typical posture of the drilling process, and also covers the entire drilling stage. By comparing and analyzing the initial drilling posture and the basic drilling posture of the core barrel, it can be determined whether the borehole verticality meets the requirements. Once the borehole verticality does not meet the requirements, drilling will not continue, saving unnecessary drilling operations and improving sampling quality and efficiency.

[0087] like Figure 5 As shown, this invention also provides a verticality detection system, including an angle sensor, a torque sensor, a memory, and a processor. The angle sensor is used to detect the rotation angle of the drill core barrel, the torque sensor is used to detect the real-time torque value of the drill core barrel, the memory is used to store the rotation angle and real-time torque value of the drill core barrel, and the processor is used to establish an attitude angle model and input the real-time torque value of the drill core barrel into the attitude angle model to analyze and obtain the verticality status of the drill core barrel during drilling. By incorporating the aforementioned drill core barrel verticality detection method, the verticality of the drill core barrel can be detected.

[0088] The present invention also provides a core drilling rig equipped with the aforementioned verticality detection system, which obtains the drilling verticality by real-time monitoring of the core barrel during the drilling process, providing data to technicians and facilitating their quality control of the drilling process.

[0089] Although the present invention has been described above by way of embodiments, the above embodiments are only used to exemplify possible implementations of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. A method of detecting the perpendicularity of a core barrel, characterized by, The method comprises the following steps: S1, establishing an attitude angle model of the drill core barrel, specifically by the following manner: obtaining rotation angles of the drill core barrel in multiple horizontal directions intersecting with each other, and obtaining an attitude angle of the drill core barrel by using a vector composition method on the multiple rotation angles, and converting the attitude angle into a global coordinate system to obtain a current attitude of the drill core barrel; S2, obtaining a real-time torque value of the drill core barrel in the drilling process; S3, determining a drilling attitude of the drill core barrel in the drilling process; taking the attitude of the drill core barrel before starting as a drilling basic attitude; taking the attitude of the drill core barrel contacting with the drill core sampling point as a drilling initial attitude; selecting the attitude of the drill core barrel partially drilling into the drill core sampling point as a drilling intermediate attitude, and the drilling intermediate attitude is at least one; taking the attitude of the drill core barrel stopping drilling as a drilling end attitude; S4, synchronously inputting the obtained real-time torque value of the drill core barrel into the attitude angle model to obtain a perpendicularity condition of the drill core barrel in the drilling process, and the specific process is as follows: S41, comparing the drilling initial attitude of the drill core barrel with the drilling basic attitude to obtain a non-obstructed perpendicularity change condition of the drill core barrel, if a set non-obstructed perpendicularity change threshold is met, the drilling is normally executed, otherwise, it is determined that the hole opening is unqualified and the drilling is stopped; S42, selecting an attitude corresponding to a peak value of the torque value as the drilling intermediate attitude, comparing the drilling intermediate attitude of the drill core barrel with the drilling initial attitude to obtain a drilling perpendicularity change condition of the drill core barrel, if a set drilling perpendicularity change threshold is met, the drilling is normally executed, otherwise, it is determined that the drilling perpendicularity is unqualified and the drilling is stopped; S43, analyzing the drilling end attitude to obtain an overall perpendicularity deviation value of the drill core barrel.

2. The drill core barrel perpendicularity detection method according to claim 1, characterized by, In step S1, the rotation angle of the drill core barrel is measured and obtained by the following manner: disposing an inductive frame capable of rotating around a certain horizontal rotation shaft on the outside of the drill core barrel, and disposing two inductive wheels on the inductive frame, and the center lines of the two inductive wheels coincide with each other; the two inductive wheels keep in contact with the drill core barrel during the while-drilling detection, and the inductive frame produces adaptive rotation to keep the center lines of the inductive wheels parallel to the center line of the drill core barrel when the perpendicularity of the drill core barrel changes, and then the rotation angle of the inductive frame is the rotation angle of the drill core barrel.

3. The drill core barrel perpendicularity detection method according to claim 2, characterized by, The number of the inductive frames is three groups, and the three groups of inductive frames are distributed in a circular array around the drill core barrel as the center.

4. The drill core barrel perpendicularity detection method according to claim 2, characterized by, Further comprising a step of calibrating the contact force of the two inductive wheels keeping in contact with the drill core barrel during the while-drilling detection: when the drill core barrel is in the drilling basic attitude, the inductive frame is moved towards the drill core barrel to make the inductive wheels gradually contact with the drill core barrel, and the inductive wheels stop moving when the torque value changes from the initial empty drilling to the primary load, and the current contact force value is obtained by the force sensor, and the contact force value is taken as the set contact force for subsequent detection.

5. The drill core barrel perpendicularity detection method according to claim 1, characterized by, In step S3, the drill core barrel is determined to contact with the drill core sampling point by the sudden change of the torque value, that is, if the torque value changes sharply from the initial empty drilling to the high-level load in the drilling process, it is determined that the drill core barrel contacts with the drill core sampling point.

6. The drill core barrel perpendicularity detection method according to claim 1, characterized by, In step S41, if the hole opening is determined to be unqualified, the hole opening operation is re-executed at the current drill core sampling point; if the hole opening operation is unqualified for more than three times continuously, the equipment is checked and the drill core sampling point is replaced.

7. The drill core barrel perpendicularity detection method according to claim 1, characterized by, When the drilling intermediate posture of the core barrel is compared with the drilling initial posture in step S42 and the set drilling verticality change threshold is met, the drilling is normally performed and the following is performed: The posture angle of the drilling intermediate posture is compared with the drilling verticality change early warning value, if the drilling verticality change early warning value is not exceeded, the drilling is normally performed, if the drilling verticality change early warning value is exceeded, the posture of the drilling platform carrying the core barrel is corrected by taking the posture angle of the drilling intermediate posture as a compensation angle, and then the drilling deviation of the core barrel is eliminated.

8. A verticality detection system for implementing the verticality detection method of claim 1, characterized by Comprise: An angle sensor for detecting the rotation angle of the core barrel; A torque sensor for detecting the real-time torque value of the core barrel; A memory for storing the rotation angle and the real-time torque value of the core barrel; A processor for establishing a posture angle model and inputting the real-time torque value of the core barrel into the posture angle model to analyze the verticality condition of the core barrel in the drilling process.

9. A coring drilling machine comprising the verticality detection system of claim 8.

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