A device state-based guidance apparatus and a control method thereof

Abstract

The application discloses a guiding device based on equipment state and a control method thereof, and relates to the field of drilling equipment, which comprises a guiding drill bit, a drill rod, a power head main shaft, an encoder, a mounting bracket, an elastic coupling, a transmission pinion and a transmission gear, the transmission gear is sleeved on the power head main shaft through the drill rod, the transmission gear is used for synchronous rotation with the power head main shaft, the transmission pinion and the encoder are both mounted on the mounting bracket, the transmission pinion is meshed with the transmission gear, the transmission pinion is connected with the encoder through the elastic coupling, the encoder is connected with a vehicle-mounted controller through a CAN bus, the encoder is used for collecting rotation information of the power head main shaft and transmitting the rotation information to the vehicle-mounted controller, and the vehicle-mounted controller calculates a facing angle of the guiding drill bit according to the rotation information. The application avoids electromagnetic wave interference, realizes accurate and real-time detection of the facing angle of the drill bit at the front end of the drill rod, and eliminates the influence of the drill rod torsion on the facing angle of the drill bit.

Description

Technical Field

[0001] This invention relates to a guidance device and its control method based on equipment status, belonging to the field of horizontal directional drilling rigs. Background Technology

[0002] In the past decade or so, with the acceleration of urbanization in my country, the rapid promotion of 5G communication projects, and the implementation and advancement of the "coal-to-gas" project, more and more horizontal directional drilling rigs have been put into application.

[0003] In traditional horizontal directional drilling (HDR) operations, the guiding trajectory relies entirely on the guiding instrument used during construction, and is unrelated to the HDR equipment itself. This guiding instrument uses an angle sensor to collect the facing angle, which is then wirelessly transmitted to a receiver. The receiver reconstructs the facing angle from the angle sensor information and displays it. However, in actual construction, this technology is easily affected by pipeline burial depth, environmental electromagnetic signals, and buried metal objects in the strata. This often results in the guiding instrument failing to detect electromagnetic signals, severely impacting the accuracy of pipeline installation and potentially causing significant deviations from the planned trajectory. This can easily damage existing underground pipelines, leading to personal injury and property loss.

[0004] How to reliably transmit the actual face angle of the drill bit to the ground equipment using horizontal directional drilling rigs, unaffected by geological interference and stratum depth, is a further market demand for horizontal directional drilling rigs. Summary of the Invention

[0005] This invention provides a guidance device and its control method based on equipment status, which solves the problems disclosed in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A guiding device based on equipment status perception includes: a guide drill bit, a drill rod, a power head spindle, an encoder, a mounting bracket, a flexible coupling, a small transmission gear, and a large transmission gear. The power head spindle is connected to the guide drill bit via the drill rod. The large transmission gear is mounted on the power head spindle and is used to rotate synchronously with the power head spindle. The small transmission gear and the encoder are both mounted on the mounting bracket. The small transmission gear meshes with the large transmission gear. The small transmission gear is connected to the encoder via the flexible coupling. The encoder is connected to an on-board controller via a CAN bus. The encoder is used to collect the rotation information of the power head spindle and transmit it to the on-board controller. The on-board controller calculates the facing angle of the guide drill bit based on the rotation information.

[0007] Furthermore, it also includes an in-vehicle display, which is connected to the in-vehicle controller via a CAN bus and is used to display the guide drill bit facing angle calculated by the in-vehicle controller.

[0008] Furthermore, the end of the guide drill bit is provided with an inclined plate.

[0009] Furthermore, the calculation process of the vehicle controller is as follows: The vehicle controller receives the rotation angle signal θ from the encoder counting from the initial position of the power head spindle, divides it by the speed ratio i between the transmission pinion and the transmission gear, and obtains the actual rotation angle θ0 of the power head spindle, i.e., θ0 = θ / i. The rotational deformation angle θ' at different positions of the drill pipe is proportional to the length l of the drill pipe and the torque T it bears, that is: θ'=Tl / GJ Where: T - the torque of the drilling rig; G - Shear modulus of drill pipe; J-The torsional section modulus of the drill pipe, which is a constant for a fixed drill pipe; The facing angle of the directional drill bit is the sum of θ0 and θ'.

[0010] Accordingly, a guidance device control method based on equipment status perception: The vehicle controller receives the rotation angle signal θ from the encoder counting from the initial position of the power head spindle, divides it by the speed ratio i between the transmission pinion and the transmission gear, and obtains the actual rotation angle θ0 of the power head spindle, i.e., θ0 = θ / i. The rotational deformation angle θ' at different positions of the drill pipe is proportional to the length l of the drill pipe and the torque T it bears, that is: θ'=Tl / GJ Where: T - the torque of the drilling rig; G - Shear modulus of drill pipe; J-The torsional section modulus of the drill pipe, which is a constant for a fixed drill pipe; The facing angle of the directional drill bit is the sum of θ0 and θ'.

[0011] Accordingly, a computer-readable storage medium storing one or more programs: the one or more programs include instructions that, when executed by a computing device, cause the computing device to perform the method described above.

[0012] Accordingly, a computing device includes: One or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing the method described above.

[0013] The beneficial effects achieved by this invention are as follows: This invention utilizes existing horizontal directional drilling equipment to achieve accurate real-time detection of the drill bit face angle at the front end of the drill rod, avoiding electromagnetic interference. At the same time, this invention can automatically eliminate the influence of drill rod torsion on the drill bit face angle based on parameters such as torque, drill rod diameter, and drill rod length during construction. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a guiding device based on equipment status perception according to the present invention; Figure 2 This is a schematic diagram illustrating the control principle of a guidance device based on equipment status perception according to the present invention. Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0016] like Figure 1 As shown, the present invention provides a guiding device based on equipment status perception, which consists of a guide drill bit 1, a drill rod 2, a power head spindle 3, an encoder 4, a mounting bracket 5, a flexible coupling 6, a transmission pinion 7, and a transmission gear 8. The directional drill bit 1 is located at the farthest end and needs to rotate underground during construction. It is connected to the power head spindle via drill rod 2. A large transmission gear 8 is mounted and fixed on the outer cylinder of the power head spindle 3, allowing it to rotate around the central axis of the spindle. A small transmission gear 7 and an encoder 4 are both mounted on a bracket. The small transmission gear 7 and the large transmission gear 8 are driven by gear meshing. The small transmission gear 7 is connected to the encoder 4 via a flexible coupling 6. Through this connection, the encoder 4 collects the facing angle parameters of the directional drill bit 1 and transmits them to the vehicle-mounted controller. Upon receiving the facing angle parameters, the vehicle-mounted controller calculates the actual facing angle by correcting the drill rod's torque angle based on parameters such as drill rod length, drill rod diameter, and construction torque. This calculated angle is then transmitted to the vehicle-mounted display for viewing. This allows operators to adjust the directional drill bit 1 according to its facing angle.

[0017] The guide drill bit 1 is a cylinder with an inclined plate at the front end. When pushed forward from the rear end of the guide drill bit, the guide drill bit 1 will change direction towards the inclined plate due to the reaction force of the soil.

[0018] The transmission gear 8 is fitted and fixed to one end of the power head spindle 3. The transmission gear 8 is a hollow ring gear that can rotate synchronously with the power head spindle 3 and is used to collect the rotation angle signal of the power head spindle 3.

[0019] The transmission pinion 7 is a cylindrical gear shaft with bearings at both ends mounted on the mounting bracket 5. The gear on the gear shaft meshes with the transmission gear 8 to collect the rotation signal of the power head spindle 3. One end of the gear shaft is connected to the flexible coupling 6 via a key or flange. The other end of the flexible coupling 6 is connected to the encoder 4. The encoder 4 transmits the rotation information of the power head spindle 3 to the vehicle controller via the CAN bus. The vehicle controller is preferably a PLC controller.

[0020] The flexible coupling 6 is used to connect the transmission pinion 7 and the encoder 4 to compensate for the misalignment error between the flexible coupling and the transmission pinion.

[0021] The vehicle-mounted display is installed on the control panel and is connected to the vehicle-mounted controller via a CAN bus. The vehicle-mounted display can show the facing angle of the guide drill bit 1.

[0022] like Figure 2 As shown, the present invention provides a control method for a guiding device based on equipment status perception: When the power head spindle 3 rotates, it drives the large transmission gear 8 to rotate synchronously. The large transmission gear 8, through gear meshing, drives the small transmission gear 7 to rotate. The small transmission gear 7, in turn, drives the detection shaft of the encoder 4 to rotate synchronously through the flexible coupling 6. The encoder 4 transmits the rotation information parameters to the vehicle controller. The vehicle controller converts the rotation information parameters and the speed ratio between the large transmission gear 8 and the small transmission gear 7 into the rotation angle of the power head spindle 3. After the vehicle controller comprehensively processes and converts the construction torque, drill rod length, drill rod diameter, and spindle rotation angle, it displays the facing angle of the guide drill bit 1 during actual construction on the vehicle display.

[0023] The specific algorithm is as follows: The vehicle controller receives the rotation angle signal θ from the encoder starting from the initial position. This signal needs to be divided by the speed ratio i of the transmission gear to obtain the actual rotation angle θ0 of the spindle, i.e., θ0 = θ / i.

[0024] As is well known, when a long rod is subjected to torque and rotates, the angle of rotational deformation θ' at different positions is directly proportional to the length l of the rod and the torque T it bears, that is: θ'=Tl / GJ In the formula: T - the torque of the drilling rig, a parameter that can be obtained from the equipment. l - The length of the drill rod during construction, a parameter obtainable by the equipment. G-Shear modulus of drill pipe; for a fixed drill pipe, this value is constant. The torsional section modulus of the J-drill pipe is a constant for a fixed drill pipe. Therefore, the actual facing angle at the drill bit is the sum of θ0 and θ'. In actual construction, the facing angle at the drill bit can be calculated based on the rotation angle of the spindle, the torque during construction, and the length of the drill rod used, so as to adjust the drill bit according to the facing angle.

[0025] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0026] A computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform a control method for a guidance device based on device state awareness.

[0027] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing a control method for a device state-aware guidance device.

[0028] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0029] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0030] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0031] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0032] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A guiding device based on equipment status perception, characterized in that, include: The system includes a guide drill bit (1), a drill rod (2), a power head spindle (3), an encoder (4), a mounting bracket (5), a flexible coupling (6), a small transmission gear (7), and a large transmission gear (8). The power head spindle (3) is connected to the guide drill bit (1) via the drill rod (2). The large transmission gear (8) is mounted on the power head spindle (3) and is used to rotate synchronously with the power head spindle (3). The small transmission gear (7) and the encoder (4) are both mounted on the mounting bracket (5). The small transmission gear (7) meshes with the large transmission gear (8). The small transmission gear (7) is connected to the encoder (4) via the flexible coupling (6). The encoder (4) is connected to the vehicle controller via the CAN bus. The encoder (4) is used to collect the rotation information of the power head spindle (3) and transmit it to the vehicle controller. The vehicle controller calculates the facing angle of the guide drill bit (1) based on the rotation information. The calculation process of the vehicle controller is as follows: The vehicle controller receives the rotation angle signal θ from the encoder (4) starting from the initial position of the power head spindle (3), divides it by the speed ratio i between the transmission pinion (7) and the transmission gear (8), and obtains the actual rotation angle θ0 of the power head spindle (3), that is, θ0=θ / i; The rotational deformation angle θ' at different positions of the drill pipe (2) is proportional to the length l of the drill pipe (2) and the torque T it bears, that is: θ'=Tl / GJ; Where: T - the torque of the drilling rig; G - Shear modulus of drill pipe; J-The torsional section modulus of the drill pipe, which is a constant for a fixed drill pipe; The facing angle of the guide drill bit (1) is the sum of θ0 and θ'.

2. The guidance device based on equipment status perception according to claim 1, characterized in that, It also includes an in-vehicle display, which is connected to the in-vehicle controller via a CAN bus and is used to display the facing angle of the guide drill bit (1) calculated by the in-vehicle controller.

3. The guidance device based on equipment status perception according to claim 1, characterized in that, The end of the guide drill bit (1) is provided with an inclined plate.

4. The control method for the guidance device based on equipment status perception according to any one of claims 1-3, characterized in that: The vehicle controller receives the rotation angle signal θ from the encoder (4) starting from the initial position of the power head spindle (3), divides it by the speed ratio i between the transmission pinion (7) and the transmission gear (8), and obtains the actual rotation angle θ0 of the power head spindle (3), that is, θ0=θ / i; The rotational deformation angle θ' at different positions of the drill pipe (2) is proportional to the length l of the drill pipe (2) and the torque T it bears, that is: θ'=Tl / GJ; Where: T - the torque of the drilling rig; G - Shear modulus of drill pipe; J-The torsional section modulus of the drill pipe, which is a constant for a fixed drill pipe; The facing angle of the guide drill bit (1) is the sum of θ0 and θ'.

5. A computer-readable storage medium for storing one or more programs, characterized in that: The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform the method according to claim 4.

6. A computing device, characterized in that, include: One or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of claim 4.

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