High-precision butt joint method, system and equipment for laying subsea rock under pipeline

Abstract

The present application belongs to the technical field of submarine pipeline laying, and particularly relates to a high-precision butt joint method, system and equipment for submarine pipeline laying under rocks, aiming to solve the problem that the accurate butt joint construction of the existing submarine directional drilling crossing technology can only be carried out in the horizontal direction of land or the crossing drilling between land and land. The present application comprises the following steps: through a sea drilling ship, a positioning drill bit carrying a magnetic source beacon is made to drill down through a drill rod in the butt joint sea area, a guide source is set, the first butt joint drilling tool is guided to drill to a preset butt joint area and the through position is recorded through the guide source, the first butt joint drilling tool is retracted, the second butt joint drilling tool is guided to the through position through the guide source, and directional drilling is completed. The present application enables the horizontal directional drilling construction based on magnetic source positioning to carry out rock butt joint operation in any sea area where offshore drilling operation can be carried out, and solves the problem that the butt joint in rocks between the ocean and islands can only be carried out in one-way operation.

Description

Technical Field

[0001] This invention belongs to the field of submarine pipeline laying technology, specifically relating to a high-precision docking method, system and equipment for laying submarine pipelines under rocks. Background Technology

[0002] Subsea directional drilling technology involves drilling and enlarging long-distance boreholes in seabed rock to lay cables and pipelines. Horizontal directional drilling technology is used for trenchless pipeline laying and can also be applied in mining, oil, and other fields for underground geological exploration and resource extraction. Real-time positioning and guidance of the drill bit during horizontal directional drilling is crucial to ensuring the borehole follows the designed trajectory.

[0003] Existing seabed directional drilling technology requires the deployment of ground magnetic beacons at the horizontal directional drilling site and the connection of measuring subsectors between the drill bit and drill rod. A real-time positioning method and system for horizontal directional drilling based on ground magnetic beacons enables single-point measurement for positioning. After deploying ground-based solenoid electromagnet beacons, the relative spatial position between the drill bit and the beacon can be calculated using data returned from the measuring subsectors. This allows the central control center to precisely fine-tune the drill bit's direction. However, the artificial magnetic field generator needs to be installed on the surface. Since the magnetic beacons used for positioning can only provide accurate and reliable positioning magnetic fields within a short distance of 1000 meters, precise docking can only be performed horizontally on land or through boreholes from land to land, making high-precision docking of two directional drills in deep-sea seabed rock impossible. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, namely that precise docking of existing subsea directional drilling technology can only be carried out in a horizontal direction on land, or through boreholes from land to land, and cannot achieve high-precision docking of two directional drills in deep-sea seabed rock, this invention provides a high-precision docking method for laying subsea pipelines, comprising:

[0005] The first drilling location is selected on the first landmass, and the second drilling location is selected on the second landmass;

[0006] Select a docking area on the sea surface between the first and second borehole locations.

[0007] In the docking sea area, the offshore drilling vessel lowers a positioning drill bit carrying a magnetic beacon using a drill pipe; after the drill bit carrying the magnetic beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guide source positioned at a predetermined location.

[0008] The first docking drill bit is lowered into the first borehole position, and the drilling direction of the first docking drill bit is adjusted in real time by the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted.

[0009] The second docking drill bit is lowered into the second borehole position, and the drilling direction of the second docking drill bit is adjusted in real time by the guide source until the second docking drill bit reaches the breakthrough position, thus completing the directional drilling.

[0010] In some preferred embodiments, the first and second docking drill tools are equipped with sensor measurement arrays and are communicatively connected to a host computer; the sensor measurement arrays include a triaxial magnetometer and a triaxial gravity meter.

[0011] In some preferred embodiments, the method for real-time adjustment of the drilling direction of the first docking drill bit via the guide source includes:

[0012] The guiding source continuously emits low-frequency magnetic induction signals in all directions;

[0013] When the triaxial magnetometer of the first docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer.

[0014] The host computer calculates the first relative position between the guide source and the first docking drill bit based on the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter, and generates a first drilling control signal based on the actual position of the first docking drill bit, the detection data of the triaxial gravity meter and the first relative position.

[0015] The first docking drill bit drills according to the first drilling control signal.

[0016] In some preferred embodiments, the method for acquiring the first drilling control signal includes:

[0017] The current orientation of the first docking drill string is calculated based on the detection data from the triaxial gravimeter.

[0018] Based on the current orientation of the first docking drill bit, the first relative position is organized into a first relative vertical distance, a first relative horizontal distance, a first relative vertical face angle, and a first relative horizontal face angle; the orientation of the first docking drill bit is controlled to adjust towards a trend of reducing the first relative vertical distance, the first relative horizontal distance, the first relative vertical face angle, and the first relative horizontal face angle, so that the actual drilling trajectory of the first docking drill bit coincides with the preset first ideal drilling trajectory.

[0019] In some preferred embodiments, the method for real-time adjustment of the drilling direction of the second docking drill bit via the guide source includes:

[0020] The guiding source continuously emits low-frequency magnetic induction signals in all directions;

[0021] When the triaxial magnetometer of the second docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the second triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer.

[0022] The host computer calculates the third relative position between the breakthrough position and the second docking drill bit based on the detection data of the second and third axis magnetometers and the detection data of the third axis gravity meter.

[0023] The second ideal drilling trajectory is set according to the actual position and the breakthrough position of the second docking drill bit, and the third relative position is organized into the second relative vertical distance, the second relative horizontal distance, the second relative vertical face angle and the second relative horizontal face angle;

[0024] Control the orientation of the second docking drill bit, and adjust it towards the trend of reducing the second relative vertical distance, the second relative horizontal distance, the second relative vertical angle and the second relative horizontal angle, so that the actual drilling trajectory of the second docking drill bit coincides with the preset second ideal drilling trajectory, and generate the second drilling control signal;

[0025] The second docking drill bit drills according to the second drilling control signal until it reaches the breakthrough position and completes the drilling.

[0026] In some preferred embodiments, the method further includes a multi-segment docking step, specifically:

[0027] When the distance between the first land and the second land is greater than the preset effective distance of a single guiding source, multiple docking sea surface areas are selected;

[0028] In each of the aforementioned docking sea surface areas, a positioning drill bit carrying a magnetic source beacon is lowered via a drill pipe using an offshore drilling vessel;

[0029] After the drill bit carrying the magnetic source beacon reaches the preset depth, the offshore drilling vessel retrieves the drill pipe and obtains the guide source deployed at the predetermined position.

[0030] Drill any docking drill bit from any borehole location, and use a guide source to assist the docking drill bit in drilling out of the seabed at a preset drilling location;

[0031] Based on the preset drilling location, select the seabed drilling location and carry out seabed horizontal directional drilling until the next preset drilling location set by the guide source is reached.

[0032] In some preferred embodiments, the step of lowering the positioning drill bit carrying the magnetic source beacon through the drill rod specifically includes:

[0033] The magnetic source beacon is turned off during the downward drilling process of the positioning drill bit;

[0034] When the positioning drill bit reaches the preset depth, the drilling stops and the magnetic source beacon is activated;

[0035] The magnetic beacon emits low-frequency orthogonal electromagnetic waves that can penetrate rock strata.

[0036] In another aspect, the present invention proposes a high-precision docking system for laying pipelines under seabed rock, the system comprising:

[0037] The drilling location selection module is configured to select a first drilling location on a first landmass and a second drilling location on a second landmass.

[0038] The docking sea surface area selection module is configured to select the docking sea surface area between the first borehole position and the second borehole position;

[0039] The guiding source setting module is configured to use an offshore drilling vessel to lower a positioning drill bit carrying a magnetic source beacon into the docking sea surface area via a drill pipe; after the drill bit carrying the magnetic source beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guiding source deployed at a predetermined position.

[0040] The first drilling module is configured to lower the first docking drill bit into the first drilling position and adjust the drilling direction of the first docking drill bit in real time through the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted.

[0041] The drilling module is configured to lower the second docking drill bit into the second borehole position and adjust the drilling direction of the second docking drill bit in real time through the guide source until the second docking drill bit reaches the breakthrough position, thus completing directional drilling.

[0042] A third aspect of the present invention provides an electronic device comprising:

[0043] At least one processor; and

[0044] A memory communicatively connected to at least one of the processors; wherein,

[0045] The memory stores instructions that can be executed by the processor to implement the above-described high-precision docking method for laying pipelines under seabed rock.

[0046] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for execution by a computer to implement the above-described high-precision docking method for laying pipelines under seabed rock.

[0047] The beneficial effects of this invention are:

[0048] (1) This invention enables horizontal directional drilling based on magnetic source positioning to be carried out in rock docking operations in any sea area where offshore drilling operations can be carried out, solving the problem that currently rock docking can only be completed on land, and that only one-time drilling and unidirectional operations can be carried out between the ocean and islands. Attached Figure Description

[0049] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0050] Figure 1 This is a schematic flowchart of the high-precision docking method for laying pipelines under seabed rock in an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram illustrating the principle of the high-precision docking method for laying pipelines under seabed rock in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram illustrating the principle of a high-precision docking method for laying multi-segment underwater pipelines in another embodiment of the present invention. Detailed Implementation

[0053] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] This invention provides a high-precision docking method for laying pipelines under seabed rock. This method enables horizontal directional drilling based on magnetic source positioning to perform docking operations in rock in any sea area where offshore drilling operations can be carried out. It solves the problem that currently, docking in rock can only be completed on land, and that only one-time drilling and unidirectional operations can be carried out between the ocean and islands.

[0056] This invention provides a high-precision docking method for laying pipelines under seabed rock, the method comprising:

[0057] The first drilling location is selected on the first landmass, and the second drilling location is selected on the second landmass;

[0058] Select a docking area on the sea surface between the first and second borehole locations.

[0059] In the docking sea area, the offshore drilling vessel lowers a positioning drill bit carrying a magnetic beacon using a drill pipe; after the drill bit carrying the magnetic beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guide source positioned at a predetermined location.

[0060] The first docking drill bit is lowered into the first borehole position, and the drilling direction of the first docking drill bit is adjusted in real time by the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted.

[0061] The second docking drill bit is lowered into the second borehole position, and the drilling direction of the second docking drill bit is adjusted in real time by the guide source until the second docking drill bit reaches the breakthrough position, thus completing the directional drilling.

[0062] To more clearly explain the high-precision docking method for laying subsea rock pipelines according to the present invention, the following is in conjunction with... Figure 1 and Figure 2 The steps in the embodiments of the present invention will be described in detail below.

[0063] The high-precision docking method for laying subsea rock pipelines according to the first embodiment of the present invention includes steps S100-S500, each of which is described in detail below:

[0064] Traditional horizontal directional drilling technology requires the deployment of ground magnetic beacons at the construction site and the connection of measuring subs between the drill bit and drill rod for positioning via single-point measurement. Existing technology, after deploying ground solenoid electromagnet beacons, needs to use the data returned by the measuring subs to calculate the relative spatial position between the drill bit and the beacon. Ultimately, the central control center can use this data to precisely fine-tune the direction of the drill bit's advance. However, since the magnetic field generating device is only installed on the surface, it cannot provide an accurate and reliable positioning magnetic field underground. As a result, existing technology can only perform precise docking in the horizontal direction on land or through-hole drilling from land to land, making it difficult to achieve directional drilling docking in long distances in deep-sea seabed rocks.

[0065] S100, select the first drilling location on the first land and the second drilling location on the second land.

[0066] S200, select the docking sea surface area between the line connecting the first and second borehole positions.

[0067] In this embodiment, a first docking drill bit is lowered into a first borehole, and a second docking drill bit is lowered into a second borehole. Both the first and second docking drill bits are equipped with sensor measurement arrays and are communicatively connected to a host computer. The sensor measurement array includes a triaxial magnetometer and a triaxial gravimeter, the axes of which are parallel to the axis of the measuring section. The sensor measurement array can be connected to a host computer located on the ground or in a transit area via wired or wireless means. A signal processing circuit can be installed between the sensor measurement array and the computer to decode the low-frequency magnetic induction signal before transmitting it to the host computer, or the host computer can receive the signal and decode it separately.

[0068] In S300, an offshore drilling vessel lowers a positioning drill bit carrying a magnetic beacon into the docking sea area via a drill pipe. Once the drill bit reaches a preset depth, the drilling vessel retrieves the drill pipe, obtaining the guiding source positioned at the predetermined location. This scheme uses three drill pipes and drilling tools. The first drill pipe is used to hold the drill bit carrying the magnetic beacon, and the second and third drill pipes are used to assist in the drilling operations of the first and second docking drilling tools, respectively.

[0069] In this embodiment, the step of lowering the positioning drill bit carrying the magnetic source beacon through the drill rod specifically includes:

[0070] The magnetic beacon is turned off during the downward drilling process of the positioning drill bit;

[0071] When the positioning drill bit reaches the preset depth, drilling stops and the magnetic source beacon is activated; this prevents magnetic induction signals.

[0072] The magnetic beacon emits low-frequency magnetic signals that can penetrate rock strata.

[0073] The magnetic beacon used in this embodiment is a rotating permanent magnet motor driven by a power source, which is installed in the positioning drill bit and powered by the rotating motor, enabling reliable communication within 1000 meters.

[0074] S400: The first docking drill bit is lowered from the first borehole position, and its drilling direction is adjusted in real time by the guide source. When the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position between the first docking drill bit and the guide source at this time is recorded as the breakthrough position, and the first docking drill bit is retracted. The breakthrough position can be represented by the first relative position, and the trajectory of the second docking drill bit is generated by the host computer.

[0075] In this embodiment, the method for real-time adjustment of the drilling direction of the first docking drill bit via the guide source includes:

[0076] The guiding source continuously emits low-frequency magnetic induction signals in all directions;

[0077] When the triaxial magnetometer of the first docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer.

[0078] The host computer calculates the first relative position between the guide source and the first docking drill bit based on the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter, and generates a first drilling control signal based on the actual position of the first docking drill bit, the detection data of the triaxial gravity meter and the first relative position.

[0079] The first docking drill bit drills according to the first drilling control signal.

[0080] In this embodiment, the method for obtaining the first drilling control signal includes:

[0081] The current orientation of the first docking drill string is calculated based on the detection data from the triaxial gravimeter.

[0082] Based on the current orientation of the first docking drill bit, the first relative position is organized into the first relative vertical distance, the first relative horizontal distance, the first relative vertical face angle, and the first relative horizontal face angle. In this embodiment, the specific direction and transmission distance of the beacon can be calculated by the signal strength of each axis of the triaxial magnetometer, thereby obtaining the relative position, inclination angle, azimuth angle, and working face angle between the guide source and the docking drill bit.

[0083] The orientation of the first docking drill bit is controlled, and the trend of reducing the first relative vertical distance, first relative horizontal distance, first relative vertical face angle, and first relative horizontal face angle is adjusted so that the actual drilling trajectory of the first docking drill bit coincides with the preset first ideal drilling trajectory. The ideal drilling trajectory includes the path of the docking drill bit approaching the target position from any position. The specific trajectory direction is controlled by the rock stratum depth and can be set as an anchor point at any point in the preset docking area around the guide source, causing the docking drill bit to drill towards the anchor point. This can be manually set or automatically generated according to rock stratum characteristics and drilling habits. Alternatively, the first relative vertical distance, first relative horizontal distance, first relative vertical face angle, and first relative horizontal face angle can be replaced with the third relative vertical distance, third relative horizontal distance, third relative vertical face angle, and third relative horizontal face angle of the docking drill bit and the ideal drilling trajectory, and adjusted towards a decreasing trend. The orientation constraint of the docking drill bit can be set according to the depth, so that the orientation is adjusted after the docking drill bit reaches the preset depth.

[0084] The first docking drill bit drills according to the first drilling control signal.

[0085] S500, the second docking drill bit is lowered from the second borehole position, and the drilling direction of the second docking drill bit is adjusted in real time by the guide source until the second docking drill bit reaches the penetration position, thus completing the directional drilling.

[0086] In this embodiment, the method for real-time adjustment of the drilling direction of the second docking drill bit using the guide source includes:

[0087] The guiding source continuously emits low-frequency magnetic induction signals in all directions;

[0088] When the triaxial magnetometer of the second docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the second triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer.

[0089] The host computer calculates the third relative position between the breakthrough position and the second docking drill bit based on the detection data of the second and third axis magnetometers and the detection data of the third axis gravity meter.

[0090] The second ideal drilling trajectory is set according to the actual position and the breakthrough position of the second docking drill bit, and the third relative position is organized into the second relative vertical distance, the second relative horizontal distance, the second relative vertical face angle and the second relative horizontal face angle;

[0091] Control the orientation of the second docking drill bit, and adjust it towards the trend of reducing the second relative vertical distance, the second relative horizontal distance, the second relative vertical angle and the second relative horizontal angle, so that the actual drilling trajectory of the second docking drill bit coincides with the preset second ideal drilling trajectory, and generate the second drilling control signal;

[0092] The second docking drill bit drills according to the second drilling control signal until it reaches the breakthrough position and completes the drilling.

[0093] The second embodiment of the present invention, as follows: Figure 3 As shown, a multi-segment docking step is provided, specifically as follows:

[0094] When the distance between the first land and the second land is greater than the preset effective distance of a single guiding source, multiple docking sea surface areas are selected;

[0095] In each of the aforementioned docking sea surface areas, a positioning drill bit carrying a magnetic source beacon is lowered via a drill pipe using an offshore drilling vessel;

[0096] After the drill bit carrying the magnetic source beacon reaches the preset depth, the offshore drilling vessel retrieves the drill pipe and obtains the guide source deployed at the predetermined position.

[0097] Drill any docking drill bit from any borehole location, and use a guide source to assist the docking drill bit in drilling out of the seabed at a preset drilling location;

[0098] Based on the preset drilling location, select the seabed drilling location and carry out seabed horizontal directional drilling until the next preset drilling location set by the guide source is reached.

[0099] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple variations are all within the protection scope of this invention.

[0100] The high-precision docking system for laying subsea pipelines under rocks according to the third embodiment of the present invention includes:

[0101] The drilling location selection module is configured to select a first drilling location on a first landmass and a second drilling location on a second landmass.

[0102] The docking sea surface area selection module is configured to select the docking sea surface area between the first borehole position and the second borehole position;

[0103] The guiding source setting module is configured to use an offshore drilling vessel to lower a positioning drill bit carrying a magnetic source beacon into the docking sea surface area via a drill pipe; after the drill bit carrying the magnetic source beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guiding source deployed at a predetermined position.

[0104] The first drilling module is configured to lower the first docking drill bit into the first drilling position and adjust the drilling direction of the first docking drill bit in real time through the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted.

[0105] The drilling module is configured to lower the second docking drill bit into the second borehole position and adjust the drilling direction of the second docking drill bit in real time through the guide source until the second docking drill bit reaches the breakthrough position, thus completing directional drilling.

[0106] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the system described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0107] It should be noted that the high-precision docking system for laying subsea pipelines under rocks provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0108] An electronic device according to a fourth embodiment of the present invention includes:

[0109] At least one processor; and

[0110] A memory communicatively connected to at least one of the processors; wherein,

[0111] The memory stores instructions that can be executed by the processor to implement the above-described high-precision docking method for laying pipelines under seabed rock.

[0112] A computer-readable storage medium according to a fifth embodiment of the present invention stores computer instructions, which are executed by the computer to implement the above-described high-precision docking method for laying pipelines under seabed rock.

[0113] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process and related descriptions of the storage device and processing device described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0114] Those skilled in the art will recognize that the modules and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. The programs corresponding to the software modules and method steps can be placed in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0115] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0116] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0117] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A high-precision docking method for laying pipelines under seabed rock, characterized in that, The method includes: The first drilling location is selected on the first landmass, and the second drilling location is selected on the second landmass; Select a docking area on the sea surface between the first and second borehole locations. In the docking sea area, the offshore drilling vessel lowers a positioning drill bit carrying a magnetic beacon using a drill pipe; after the drill bit carrying the magnetic beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guide source positioned at a predetermined location. The first docking drill bit is lowered into the first borehole position, and the drilling direction of the first docking drill bit is adjusted in real time by the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted. The second docking drill bit is lowered into the second borehole, and its drilling direction is adjusted in real time using the guide source until it reaches the breakthrough position, completing the directional drilling. Both the first and second docking drill bits are equipped with sensor measurement arrays and are communicatively connected to a host computer. The sensor measurement arrays include a triaxial magnetometer and a triaxial gravity gauge. The method for adjusting the drilling direction of the first docking drill bit in real time using the guide source includes: The guiding source continuously emits low-frequency magnetic induction signals in all directions; When the triaxial magnetometer of the first docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer. The host computer calculates the first relative position between the guide source and the first docking drill bit based on the detection data of the first triaxial magnetometer and the detection data of the triaxial gravity meter, and generates a first drilling control signal based on the actual position of the first docking drill bit, the detection data of the triaxial gravity meter and the first relative position. The first docking drill bit drills according to the first drilling control signal; The method also includes a multi-segment docking step, specifically: When the distance between the first land and the second land is greater than the preset effective distance of a single guiding source, multiple docking sea surface areas are selected; In each of the aforementioned docking sea surface areas, a positioning drill bit carrying a magnetic source beacon is lowered via a drill pipe using an offshore drilling vessel; After the drill bit carrying the magnetic source beacon reaches the preset depth, the offshore drilling vessel retrieves the drill pipe and obtains the guide source deployed at the predetermined position. Drill any docking drill bit from any borehole location, and use a guide source to assist the docking drill bit in drilling out of the seabed at a preset drilling location; Based on the preset drilling location, select the seabed drilling location and carry out seabed horizontal directional drilling until the next preset drilling location set by the guide source is reached.

2. The high-precision docking method for laying subsea pipelines under rocks according to claim 1, characterized in that, The method for acquiring the first drilling control signal includes: The current orientation of the first docking drill string is calculated based on the detection data from the triaxial gravimeter. Based on the current orientation of the first docking drill bit, the first relative position is organized into a first relative vertical distance, a first relative horizontal distance, a first relative vertical face angle, and a first relative horizontal face angle; the orientation of the first docking drill bit is controlled to adjust towards a trend of reducing the first relative vertical distance, the first relative horizontal distance, the first relative vertical face angle, and the first relative horizontal face angle, so that the actual drilling trajectory of the first docking drill bit coincides with the preset first ideal drilling trajectory.

3. The high-precision docking method for laying subsea rock pipelines according to claim 1, characterized in that, The method for real-time adjustment of the drilling direction of the second docking drill bit via the guide source includes: The guiding source continuously emits low-frequency magnetic induction signals in all directions; When the triaxial magnetometer of the second docking drill bit receives the low-frequency magnetic induction signal, it transmits the detection data of the second triaxial magnetometer and the detection data of the triaxial gravity meter to the host computer. The host computer calculates the third relative position between the breakthrough position and the second docking drill bit based on the detection data of the second and third axis magnetometers and the detection data of the third axis gravity meter. The second ideal drilling trajectory is set according to the actual position and the breakthrough position of the second docking drill bit, and the third relative position is organized into the second relative vertical distance, the second relative horizontal distance, the second relative vertical face angle and the second relative horizontal face angle; Control the orientation of the second docking drill bit, and adjust it towards the trend of reducing the second relative vertical distance, the second relative horizontal distance, the second relative vertical angle and the second relative horizontal angle, so that the actual drilling trajectory of the second docking drill bit coincides with the preset second ideal drilling trajectory, and generate the second drilling control signal; The second docking drill bit drills according to the second drilling control signal until it reaches the breakthrough position and completes the drilling.

4. The high-precision docking method for laying subsea rock pipelines according to claim 1, characterized in that, The process of lowering the positioning drill bit carrying the magnetic source beacon into the drill pipe specifically includes: The magnetic source beacon is turned off during the downward drilling process of the positioning drill bit; When the positioning drill bit reaches the preset depth, the drilling stops and the magnetic source beacon is activated; The magnetic beacon emits low-frequency orthogonal electromagnetic waves that can penetrate rock strata.

5. A high-precision docking system for laying pipelines under seabed rock, characterized in that, The system includes: The drilling location selection module is configured to select a first drilling location on a first landmass and a second drilling location on a second landmass. The docking sea surface area selection module is configured to select the docking sea surface area between the first borehole position and the second borehole position; The guiding source setting module is configured to use an offshore drilling vessel to lower a positioning drill bit carrying a magnetic source beacon into the docking sea surface area via a drill pipe; after the drill bit carrying the magnetic source beacon reaches a preset depth, the offshore drilling vessel retrieves the drill pipe to obtain a guiding source deployed at a predetermined position. The first drilling module is configured to lower the first docking drill bit into the first drilling position and adjust the drilling direction of the first docking drill bit in real time through the guide source; when the first docking drill bit reaches the preset docking area of ​​the magnetic source beacon, the relative position of the first docking drill bit and the guide source at this time is recorded as the penetration position, and the first docking drill bit is retracted. The drilling module is configured to lower the second docking drill bit into the second borehole position and adjust the drilling direction of the second docking drill bit in real time through the guide source until the second docking drill bit reaches the breakthrough position, thus completing directional drilling.

6. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by the processor to implement the high-precision docking method for laying subsea pipelines under rocks as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are executed by the computer to implement the high-precision docking method for laying subsea rock pipelines as described in any one of claims 1-4.

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