A method for calculating the bending degree of a trenchless pipeline path and its planning method

Abstract

The present invention discloses a calculation method and a planning method for the curvature of a trenchless pipeline path. The calculation method for the curvature of the trenchless pipeline path includes the following steps: S1) Deduce the position of the drill bit each time a drill pipe is added: 1.1) Record the original position (J, W, G, Q) of the ground position O2 directly above the drill bit; 1.2) Then convert the four parameters into three-dimensional coordinate values: 1.2.1) Each time a drill pipe is advanced, a data point is generated by the drill bit. The relative height of the drill bit at the current data point is H i = H i‑1 + d * sin(Q i ), where i is the number of the drill pipe, the advancement length of the drill pipe is d, H0 is 0, and the first drill pipe of the drill bit is set as i = 1; 1.2) Convert the three-dimensional coordinates of the drill bit: Let the GPS coordinate height of the starting point O be G0, and convert the GPS standard coordinates and the relative height of the drill bit into new GPS coordinates to obtain the coordinates of any data point as (J i , W i , G0 + H i ); 1.3) Convert the new GPS coordinates of each data point into geocentric coordinates (x i , y i , z i ); S2) Calculate the inclination angle change of the geocentric coordinates of each drill pipe.

Description

Technical Field

[0001] The present invention relates to the field of trenchless technology, in particular to a method for calculating the bending degree of a trenchless pipeline path and a method for planning a trenchless pipeline path. Background Art

[0002] With the large-scale development of urban construction, it is necessary to lay sewage intercepting pipes or energy (liquefied gas, natural gas, etc.) supply pipes in the city. The more common method is to excavate trenches to bury pipes and wires, which will cause environmental pollution, traffic jams, and there are also potential construction safety hazards.

[0003] Therefore, at present, trenchless pipe-laying technology has also been developed and used, that is, a construction technology that uses geotechnical drilling means to lay, repair, and replace underground pipelines without digging trenches on the road surface and without damaging a large area of the surface layer. Using trenchless technology has the advantages of short cycle, low cost, less pollution, good safety performance, etc., and it will not affect the normal traffic order.

[0004] The trenchless pipe-laying technology that is widely used is the horizontal guiding advancement method, which is realized by guiding a drill pipe equipped with a drill bit to advance directionally using a trenchless guiding instrument. The trenchless guiding instrument includes providing the real-time working conditions - depth, inclination angle, and clockwise direction of the drill bit, so that the ground operator can master the drilling trajectory in real time in order to make timely corrections to subsequent operations to ensure accurate orientation along the established route trajectory and complete trenchless pipe-laying. Thus, it can be seen that the trenchless pipe-laying technology has very high requirements for the accurate measurement of the trenchless guiding instrument.

[0005] An important index for measuring the construction quality during trenchless construction is to see whether the path of the pipeline laying is within the bending degree allowed by the engineering design. If the bending degree is not within the allowable range of the design, it may affect the normal operation, service safety, and service life of the pipeline after bearing the load, and may cause major accidents in severe cases. Therefore, necessary means and measures are needed during the construction process to check and supervise the bending degree of the construction route.

[0006] The method currently used is to check the change in the inclination angle of the path along the pipeline, and the inclination angle is detected by a gravity acceleration sensor. It should be noted that the inclination angle here is the angle between the pipeline in the vertical plane and the ground plane. That is to say, the inclination angle only reflects the bending change of the pipeline in the vertical plane; the left and right bending changes of the pipeline are not reflected. Although most constructions choose the design method of turning large bends to avoid the embarrassing situation of the pipeline bearing sharp bends, due to the complex underground conditions, it is impossible to ensure that the pipeline always meets the requirements of "large bends" during the construction process; most worryingly, there is no tool and method to detect and discover the change in the bending degree in a timely manner during the construction process. Therefore, the quality of the construction entirely depends on the construction experience and professional ethics of the construction team. Summary of the Invention

[0007] The first technical problem to be solved by the present invention is to provide a method for calculating the bending degree of a trenchless pipeline path in view of the deficiencies of the above-mentioned existing technologies, so as to ensure the construction quality.

[0008] The second technical problem to be solved by the present invention is to provide a method for planning a trenchless pipeline path applying the above calculation method.

[0009] The technical solution adopted by the present invention to solve the above first technical problem is as follows: A method for calculating the bending degree of a trenchless pipeline path, the trenchless drilling system applied by the method includes a guide instrument with GPS data acquisition function, drill pipes and a drill bit, and is characterized in that: the method includes the following steps:

[0010] S1) Deduce the position of the drill bit each time a drill pipe is added:

[0011] 1.1) Record the original position (J, W, G, Q) of the ground position O directly above the drill bit. The above four parameters are the longitude J, latitude W, altitude G, and dip angle Q in sequence. The dip angle Q is the angle between the drill bit and the ground plane; 2 The original position (J, W, G, Q), the above four parameters are the longitude J, latitude W, altitude G, and dip angle Q in sequence. The dip angle Q is the angle between the drill bit and the ground plane;

[0012] 1.2) Then convert the four parameters into three-dimensional coordinate values, with the earth's center as the coordinate origin:

[0013] 1.2.1) Assume that the relative altitude H 0 of the starting point O of the drill bit is 0, the advancing length of the drill pipe is d, and a data point is generated by the drill bit for each advancement of a drill pipe. The relative altitude of the drill bit at the current data point is H i =H i-1 +d*sin(Q i ), where i is the number of the drill pipe. The first drill pipe of the drill bit is recorded as i = 1, and for each additional drill pipe, i + 1;

[0014] 1.2) Convert the three-dimensional coordinates of the drill bit:

[0015] Assume that the GPS coordinate altitude of the starting point O is G 0 , convert the GPS standard coordinates and the relative altitude of any drill pipe into new GPS coordinates, and the coordinates of any data point are (J i , W i , G 0 +H i );

[0016] 1.3) Convert the new GPS coordinates of each data point into geocentric coordinates (x i , y i , z i );

[0017] S2) Calculate the inclination change of the geocentric coordinates of each data point.

[0018] According to one aspect of the present invention, in step S2), calculating the inclination change includes the following steps:

[0019] 2.1) Calculate the inclination of each data point in three planes within the geocentric coordinates:

[0020] Inclination of the X plane Qx i = atan(|(y i - y i-1 ) / (z i - z i-1 )|)

[0021] Inclination of the Y plane Qy i = atan(|(x i - x i-1 ) / (z i - z i-1 )|)

[0022] Inclination of the Z plane Qz i = atan(|(y i - y i-1 ) / (x i - x i-1 )|)

[0023] Among them, Qx 0 , Qy 0 , Qz 0 of the starting point O is 0;

[0024] 2.2) Calculate the inclination change of each data point relative to the previous data point in three planes:

[0025] Inclination change of the X plane qx i = |Qx i - Qx i-1 |

[0026] Inclination change of the Y plane qy i = |Qy i - Qy i-1 |

[0027] Inclination change of the Z plane qz i = |Qz i - Qz i-1 |

[0028] Obtain the bending degree of the drill pipe characterizing the pipe bending degree through the inclination change.

[0029] To exclude abnormal data, when an infinite anomaly occurs in the inclination calculation, record the inclination as 90°.

[0030] According to another aspect of the present invention, in step S2), calculating the inclination change includes the following steps:

[0031] 2.1’) Analyze a circle in three-dimensional space based on the geocentric coordinates of every three adjacent data points, and obtain the radius R of the circle. If R is not infinite, the radian of the inclination change between two adjacent drill pipes is 2d / R, where d is the advancement length of each drill pipe; if R is infinite, the inclination change is 0;

[0032] 2.2’) Convert the radian into an angle.

[0033] The technical solution adopted by the present invention to solve the above second technical problem is: a trenchless pipeline path planning method, characterized in that: the planning method includes the following steps:

[0034] First, obtain the pipeline path curvature through the trenchless pipeline path curvature calculation method as described above;

[0035] Then, determine whether it meets the engineering design standards: compare the inclination change of each drill pipe with the indicators required by the project. If the inclination change is less than the engineering indicators, the construction meets the engineering requirements; otherwise, it does not meet the engineering requirements.

[0036] To ensure that the path meets the requirements, thus, if it does not meet the engineering requirements, the currently advancing drill pipe is retracted.

[0037] Compared with the prior art, the advantages of the present invention are: by using a GPS device, accurately calculate the curvature changes in each direction, thereby ensuring the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the drilling path of the drilling system used in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Since the disclosed embodiments of the present invention can be arranged in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to the directions opposite to or consistent with the direction of gravity. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features.

[0041] Embodiment 1

[0042] The working basis of the present invention is accurate GPS position information (the trenchless drilling system it applies includes a guidance instrument with GPS data acquisition function). The construction steps and methods can refer to the heading calculation method disclosed in the Chinese patent with the application number 202010609895.4 and the guidance device and route planning method disclosed in the Chinese patent with the application number 202010251440.X by the present applicant.

[0043] Suppose the trajectory of the drill bit of the drilling system is in a three-dimensional coordinate system. If the coordinate position of the drill bit when each drill pipe is added is known (the drill bit is at the front end of the drill pipe at the forefront of the traveling trajectory, which is the prior art), the attitude of each drill pipe in the three-dimensional space and the attitude change between the drill pipes can be known. The line bending caused by the attitude change is the content that the present invention concerns.

[0044] See Figure 1 , which shows a schematic diagram of the drilling path of a trenchless drilling system (i.e., the path passed by the drill bit. When laying a pipeline, it is the pipeline path). Among them, O is the starting point of drilling, O 1 is the current position of the drill bit of the drilling system, and O 2 is the position on the ground directly above the drill bit. In this embodiment, the bend of the drill pipe of the drilling system is obtained through the following steps:

[0045] S1) Calculate the position of the drill bit when each drill pipe is added based on the GPS position and the data of the gravity acceleration sensor:

[0046] 1.1) The position O on the ground directly above the drill bit 2The position of the original record is (J, W, G, Q), where the above four parameters are longitude (J), latitude (W), altitude (G), and dip angle (Q) respectively. This is the original data from the orientation instrument of the trenchless drilling system (the position of the driller operating the trenchless drilling system). Among them, the dip angle Q is the angle between the drill bit and the ground plane;

[0047] 1.2) Then there is the step of converting these four parameters into three-dimensional coordinates (with the earth's center as the coordinate origin):

[0048] 1.2.1) Calculate the height H of each drill pipe relative to the starting point O according to the dip angle Q:

[0049] Let the relative height H of the starting point O of the drill bit (the position before the drill bit enters the soil) be 0 0. The advancement length of the drill pipe is d (if the drill pipe is fully advanced, d is the length of the drill pipe, and at this time d is a fixed constant). After each drill pipe is advanced, a data point is generated by the drill bit, and the relative height of the drill bit at the current data point is H i = H i-1 + d * sin(Q i ), where i is the drill pipe number, starting from the first drill pipe set for the drill bit and counted as 1. For each additional drill pipe, i + 1;

[0050] Here, it is assumed that the dip angle of the drill bit entering the soil (downward) is negative, and the angle of emerging from the soil (upward) is positive;

[0051] 1.2.2) Convert the three-dimensional coordinates of the drill bit:

[0052] Let the GPS coordinate altitude of the starting point O be G 0 , and transform the GPS standard coordinates and the relative height calculated in the previous step into new GPS coordinates. The coordinates of any data point on the route passed by the drill bit are (J i , W i , G 0 + H i ). Note: Here, the original GPS altitude G i is replaced by G 0 + H i ;

[0053] 1.2.3) Convert the new GPS coordinates of each data point into geocentric coordinates, that is, convert (J i , W i , G 0 + H i ) into (x i , y i , z i ). The specific conversion algorithm and formula can refer to the publicly available geophysical knowledge;

[0054] S2) Calculate the inclination change between adjacent two data points, that is, the inclination change between adjacent two drill pipes, so as to obtain the bend of the drill pipe:

[0055] 2.1) Use the following formula to calculate the inclination of each data point of the drill bit in three planes (three mutually perpendicular X, Y, and Z planes) in the geocentric coordinate:

[0056] Inclination of X plane Qx i = atan(|(y i - y i-1 ) / (z i - z i-1 )|)

[0057] Inclination of Y plane Qy i = atan(|(x i - x i-1 ) / (z i - z i-1 )|)

[0058] Inclination of Z plane Qz i = atan(|(y i - y i-1 ) / (x i - x i-1 )|)

[0059] Among them, Qx 0 , Qy 0 , Qz 0 of the starting point O is initialized to 0;

[0060] 2.2) Calculate the inclination change of each data point of the drill bit relative to the previous data point in three planes:

[0061] Inclination change of X plane qx i = |Qx i - Qx i-1 |

[0062] Inclination change of Y plane qy i = |Qy i - Qy i-1 |

[0063] Inclination change of Z plane qz i = |Qz i - Qz i-1 |

[0064] In step 2.1) above, abnormal phenomena may occur when calculating the inclination. For example, when z i - z i-1 is equal to zero, resulting in a division by zero exception, that is, when the inclination calculation shows an infinite exception, record the inclination as 90°.

[0065] During construction, the bend of the drill pipe (i.e., the bend of the pipeline path) may be the change in the inclination angle of each drill pipe. Therefore, as long as the sine of the inclination angle is taken and converted into a percentage. For example, if the length of the drill pipe under construction is 10 meters and the engineering requirement is that the percentage change in the inclination angle of each drill pipe shall not exceed 10%, this means that the inclination angle shall not exceed 6 degrees.

[0066] The bend is defined as the chord height within a unit length, and its calculation method is: (d / q)*(1 - COS(q / 2)). Where d is the length of the drill pipe and q is the change in the inclination angle (in radians, taking the largest of qx, qy, qz).

[0067] During specific implementation, for the pipeline path planning method, based on the calculation result of the bend, it is judged whether it meets the engineering design standard: compare the inclination angle change of each drill pipe obtained from the above calculation with the engineering requirement index. If the calculated inclination angle change is less than the engineering index, the construction meets the engineering requirements; otherwise, it does not meet the engineering requirements.

[0068] The calculation and monitoring of the bend of the drill bit trajectory are completed based on the guidance record. Therefore, for the specific calculation requirements of the bend, a continuous and complete guidance record is required, that is, at least record the position and inclination angle of the current drill bit each time a drill pipe is added, that is, the GPS position on the ground directly above the drill bit and the inclination angle of the underground drill bit. Before the start of the project, the position of the starting point and the initial inclination angle of the drill bit need to be recorded. Each time a guidance record is completed, a bend calculation needs to be triggered. If the bend is not within the range allowed by the project, the guidance operator needs to be alerted to take necessary measures, such as retracting, to ensure that the bend of the drill bit trajectory is within the range allowed by the construction.

[0069] Embodiment 2

[0070] In this embodiment, the difference from the above Embodiment 1 is that in step S2), it includes the following steps:

[0071] 2.1’) Analyze a circle in a three-dimensional space from every three adjacent data points and calculate the radius R of the circle. If R is not infinite, the inclination angle change between two adjacent drill pipes should be 2d / R (in radians), where d is the drilling length of each drill pipe (usually the length of the drill pipe. If the total advancing length is not two complete drill pipes, the total length of two advances can be used instead); if R is infinite, the inclination angle change is 0; the method for calculating the radius of the circle from three points can refer to relevant linear algebra textbooks;

[0072] 2.2’) Convert the radians into degrees, and the transformation algorithm between radians and degrees can refer to publicly available trigonometric geometry materials.

Claims

1. A method for calculating the curvature of a trenchless pipeline path. The trenchless drilling system to which the method is applied includes a guidance instrument with GPS data acquisition function, drill pipes, and a drill bit. The method is characterized by the following steps: S1) Deduce the position of the drill bit each time a drill pipe is added: 1.1) Record the original position (J, W, G, Q) of the ground position O directly above the drill bit. The above four parameters are the longitude J, latitude W, altitude G, and dip angle Q in sequence. The dip angle Q is the angle between the drill bit and the ground plane; 2 1.2) Then convert the four parameters into three-dimensional coordinate values with the earth's center as the coordinate origin: 1.2.1) Set the relative height H of the starting point O of the drill bit 0 to be 0, the advancing length of the drill pipe is d, and for each advancement of one drill pipe, the drill bit generates a data point. The relative height of the drill bit at the current data point is H i = H i-1 + d * sin(Q i ), where i is the number of the drill pipe. The first drill pipe of the drill bit is set as i = 1, and for each additional drill pipe, i + 1; 1.2) Convert the three-dimensional coordinates of the drill bit: Let the GPS coordinate altitude of the starting point O be G 0 , convert the GPS standard coordinates and the relative altitude of any drill pipe into new GPS coordinates, and the coordinates of any drill pipe are obtained as (J i , W i , G 0 + H i ); 1.3) Convert the new GPS coordinates of each data point into geocentric coordinates (x i , y i , z i ); S2) Calculate the inclination angle change of the geocentric coordinates of each data point, and thus obtain the curvature as (d / q)*(1 - COS(q / 2)), where d is the length of the drill pipe and q is the inclination angle change.

2. The non-excavation pipeline path curvature calculation method according to claim 1, characterized in that: In step S2), calculating the inclination angle change includes the following steps: 2.1) Calculate the inclination angles of each data point in three planes within the geocentric coordinates: X-plane inclination angle Qx i = atan(|(y i - y i-1 ) / (z i - z i-1 )|) Y-plane inclination angle Qy i = atan(|(x i - x i-1 ) / (z i - z i-1 )|) Z-plane inclination angle Qz i = atan(|(y i - y i-1 ) / (x i - x i-1 )|) Among them, Qx of the starting point O 0 , Qy 0 , Qz 0 is 0; 2.2) Calculate the inclination angle change of each data point relative to the previous data point in three planes: X-plane tilt angle change qx i = |Qx i - Qx i-1 | Y-plane tilt angle change qy i = |Qy i - Qy i-1 | Z-plane inclination change qz i = |Qz i - Qz i-1 | Obtain the curvature of the drill pipe characterizing the pipeline curvature through the inclination angle change.

3. The non-excavation pipeline path curvature calculation method according to claim 2, characterized in that: When an infinite abnormal value appears in the inclination angle calculation, record the inclination angle as 90°.

4. The non-excavation pipeline path curvature calculation method according to claim 1, characterized in that: In step S2), calculating the inclination angle change includes the following steps: 2.1’) Analyze a circle in a three-dimensional space based on the geocentric coordinates of every three adjacent data points, and obtain the radius R of the circle. If R is not infinite, the radian of the inclination angle change between two adjacent drill pipes is 2d / R, where d is the advancing length of each drill pipe; if R is infinite, the inclination angle change is 0; 2.2’) Convert the radian into an angle.

5. A non-excavation pipeline path planning method, characterized in that: The planning method includes the following steps: First, obtain the pipeline path curvature through the non-excavation pipeline path curvature calculation method described in any one of claims 1 to 4; Then judge whether it meets the engineering design standard: compare the inclination angle change of each drill pipe with the engineering requirement index. If the inclination angle change is less than the engineering index, the construction meets the engineering requirements, otherwise it does not meet the engineering requirements.

6. The non-excavation pipeline path planning method according to claim 5, characterized in that: If the engineering requirements are not met, retract the currently advancing drill pipe. ​

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