A method and apparatus for calculating a rate of penetration

Abstract

The application provides a power head drilling speed calculation method and device, wherein the device comprises: a Hall rotation speed sensor arranged on a power head of a rotary drilling rig, used for collecting an original drilling speed signal of the power head and uploading the original drilling speed signal to a signal processing module; the signal processing module is used for carrying out analog-digital conversion and denoising on the original drilling speed signal to obtain the drilling speed of the power head; a temperature detection sensor arranged on the Hall rotation speed sensor, used for collecting the working temperature of the Hall rotation speed sensor; a temperature signal collection and processing circuit connected with the temperature detection sensor; a temperature compensation module connected with the temperature signal collection and processing circuit and arranged on the Hall rotation speed sensor, used for adjusting the working temperature of the Hall rotation speed sensor to an optimal temperature. The application can remove the influence of noise and temperature factors by arranging the signal processing module and the temperature compensation module on the rotary drilling rig, so that the drilling speed information collected by the Hall rotation speed sensor is more accurate.

Description

Technical Field

[0001] This invention belongs to the field of pile foundation construction technology, and more specifically, relates to a method and device for calculating the drilling speed of a power head. Background Technology

[0002] Pile foundation construction is a fundamental engineering project in building construction, aiming to increase the bearing capacity and stability of the foundation by driving reinforced concrete piles deep underground. Rotary drilling rigs are commonly used pile foundation construction equipment, and accurate monitoring of the rig's rotation speed is crucial during construction to ensure safety and efficiency. Currently, the most common method for monitoring the rotation speed of rotary drilling rigs is to use a mechanical tachometer installed on the rig to measure its rotation speed in real time. However, this method is significantly affected by external environmental factors, such as noise and temperature, which can influence the measurement results. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a method and apparatus for calculating the drilling speed of a power head.

[0004] A power head drilling speed calculation device, comprising:

[0005] A Hall effect speed sensor is installed on the power head of the rotary drilling rig to collect the raw drilling speed signal of the power head and upload the raw drilling speed signal to the signal processing module; the signal processing module is used to perform analog-to-digital conversion and noise reduction on the raw drilling speed signal to obtain the drilling speed of the power head.

[0006] A temperature detection sensor is installed on the Hall speed sensor to collect the operating temperature of the Hall speed sensor.

[0007] A temperature signal acquisition and processing circuit is connected to the temperature detection sensor;

[0008] A temperature compensation module, connected to the temperature signal acquisition and processing circuit, is installed on the Hall speed sensor and is used to adjust the operating temperature of the Hall speed sensor to the optimal temperature.

[0009] Preferably, the temperature signal acquisition and processing circuit includes:

[0010] The second pin of the feedback amplifier is connected to one end of the seventh resistor, one end of the first sliding resistor, and the anode of the first diode, respectively. The third pin of the feedback amplifier is grounded. The fourth pin of the feedback amplifier is connected to one end of the second capacitor. The sixth pin of the feedback amplifier is connected to the cathode of the first diode and the anode of the second diode, respectively. The seventh pin of the feedback amplifier is connected to one end of the third capacitor.

[0011] One end of the first capacitor is connected to the output terminal of the temperature sensor, and the other end of the first capacitor is connected to the other end of the seventh resistor; the cathode of the second diode, one end of the fourth capacitor, and one end of the second sliding resistor are all connected to the other end of the first sliding resistor.

[0012] Preferably, the other end of the second capacitor, the other end of the third capacitor, one end of the fourth capacitor, and the other end of the second sliding resistor are all grounded.

[0013] Preferably, the temperature compensation module includes:

[0014] A PID controller is connected to the temperature signal acquisition and processing circuit and the temperature control system respectively. When the optimal temperature is greater than the operating temperature of the Hall speed sensor, the PID controller adjusts the temperature control system to heat the Hall speed sensor. When the optimal temperature is less than the operating temperature of the Hall speed sensor, the PID controller adjusts the temperature control system to dissipate heat from the Hall speed sensor.

[0015] This invention also provides a method for calculating the drilling speed of a power head, comprising:

[0016] Step 1: Acquire the raw drilling speed signal of the power head;

[0017] Step 2: Decompose the original drilling speed signal using a preset wavelet basis function to obtain multiple wavelet coefficients;

[0018] Step 3: Determine the wavelet threshold based on the decomposition scale of the original drilling speed signal;

[0019] Step 4: Determine the denoising function using the wavelet threshold;

[0020] Step 5: Use the denoising function to denoise the original drilling speed signal to obtain the denoised drilling speed signal;

[0021] Step 6: Perform inverse wavelet transform on the denoised drilling speed signal to obtain the drilling speed of the power head.

[0022] Preferably, step 3: determining the wavelet threshold based on the decomposition scale of the original drilling speed signal includes:

[0023] Formula used:

[0024]

[0025] Determine the wavelet threshold; where λ is the wavelet threshold, N represents the length of the original drilling speed signal, median represents the median operation, and d j Let represent the wavelet coefficients at the j-th decomposition scale, and η be an adjustable coefficient.

[0026] Preferably, the denoising function is:

[0027]

[0028] Where, ω j,k This represents the k-th wavelet coefficient at the j-th decomposition scale. denoises the wavelet coefficients after denoising, and sgn represents the sign function.

[0029] Preferably, after step 5, the method further includes:

[0030] Formula used:

[0031]

[0032]

[0033] The signal-to-noise ratio (SNR) and mean square error (MSE) of the denoised drilling speed signal are evaluated. If either the SNR or MSE is outside the preset range, the adjustable coefficient is redefined. Here, SNR represents the signal-to-noise ratio, MSE represents the mean square error, and f(n) represents the original drilling speed signal. This represents the drilling speed signal after noise reduction.

[0034] The present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps in the above-described method for calculating the drilling speed of a power head.

[0035] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, characterized in that the computer program, when executed by the processor, implements the steps in the above-described method for calculating the drilling speed of a power head.

[0036] The beneficial effects of the power head drilling speed calculation method and device provided by the present invention are as follows: Compared with the prior art, the present invention can remove the influence of noise and temperature factors by setting a signal processing module and a temperature compensation module on the rotary drilling rig, making the drilling speed information collected by the Hall speed sensor more accurate. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1This is a circuit diagram for temperature signal acquisition and processing provided in an embodiment of the present invention.

[0039] Figure 2 A flowchart illustrating a method for calculating the drilling speed of a power head, provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0041] Please see Figure 1 To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0042] A power head drilling speed calculation device includes: a Hall speed sensor, a temperature detection sensor, a temperature signal acquisition and processing circuit, and a temperature compensation module.

[0043] A Hall effect speed sensor is installed on the power head of the rotary drilling rig to collect the raw drilling speed signal of the power head and upload the raw drilling speed signal to the signal processing module; the signal processing module is used to perform analog-to-digital conversion and noise reduction on the raw drilling speed signal to obtain the drilling speed of the power head.

[0044] A temperature detection sensor is installed on the Hall speed sensor to collect the operating temperature of the Hall speed sensor; a temperature signal acquisition and processing circuit is connected to the temperature detection sensor; a temperature compensation module is connected to the temperature signal acquisition and processing circuit and installed on the Hall speed sensor to adjust the operating temperature of the Hall speed sensor to the optimal temperature.

[0045] The Hall effect speed sensor utilizes the Hall effect principle. A ring of magnets is attached to the power head, and a Hall sensor is installed on the non-rotating part of the power head. When the power head rotates, it carries the magnets past the Hall sensor. After sensing the magnets, the Hall sensor calculates the current rotation speed S1 based on the number of magnets sensed C1 and the time interval T1s between adjacent magnets: S1 = 1min / (T1*C1). However, the Hall effect is also affected by temperature. Therefore, this invention adds a temperature compensation module to solve this problem.

[0046] Furthermore, the temperature signal acquisition and processing circuit includes:

[0047] The second pin of the feedback amplifier is connected to one end of the seventh resistor, one end of the first sliding resistor, and the anode of the first diode, respectively. The third pin of the feedback amplifier is grounded. The fourth pin of the feedback amplifier is connected to one end of the second capacitor. The sixth pin of the feedback amplifier is connected to the cathode of the first diode and the anode of the second diode, respectively. The seventh pin of the feedback amplifier is connected to one end of the third capacitor. One end of the first capacitor is connected to the output terminal of the temperature sensor, and the other end of the first capacitor is connected to the other end of the seventh resistor. The cathode of the second diode, one end of the fourth capacitor, and one end of the second sliding resistor are all connected to the other end of the first sliding resistor. The other ends of the second capacitor, the third capacitor, the fourth capacitor, and the second sliding resistor are all grounded.

[0048] Please see Figure 1 A half-wave rectifier noise reduction circuit is constructed using capacitor C1, resistor R7, a feedback amplifier, capacitors C2 and C3, adjustable resistors RP and C4, and adjustable resistor RP-o. The series connection of capacitor C4 and resistor R7 attenuates low-frequency signals, effectively removing low-frequency interference. The signal then enters pin 2 of the LM7171 feedback amplifier chip. When the input signal is positive, D1 is on and D2 is off, making the circuit equivalent to a voltage follower, with the output equal to the input. When the input signal is negative, D1 is off and D2 is on, making the circuit equivalent to an inverter, inverting the signal to the output and removing signals below 0V, retaining only positive voltage signals for subsequent processing. Resistor RP is used to adjust the gain of the LM7171. The parallel connection of capacitor C3 and adjustable resistor RP-o makes it more difficult for low-frequency signals to pass through, while allowing high-frequency signals to pass more easily, further filtering out low-frequency noise in the signal. This invention utilizes a temperature signal acquisition and processing circuit to remove noise from temperature signals.

[0049] In this embodiment of the invention, the temperature compensation module includes:

[0050] A PID controller, connected to both the temperature signal acquisition and processing circuit and the temperature control system, adjusts the temperature control system to heat the Hall speed sensor when the optimal temperature is higher than its operating temperature, and adjusts it to dissipate heat when the optimal temperature is lower than its operating temperature. This invention, by utilizing a temperature compensation module, ensures the Hall speed sensor operates at its optimal temperature in real time, improving its detection accuracy and lifespan.

[0051] Please see Figure 2 The present invention also provides a method for calculating the drilling speed of a power head, comprising:

[0052] Step 1: Acquire the raw drilling speed signal of the power head;

[0053] Step 2: Decompose the original drilling speed signal using a preset wavelet basis function to obtain multiple wavelet coefficients;

[0054] Step 3: Determine the wavelet threshold based on the decomposition scale of the original drilling speed signal;

[0055] Furthermore, step 3 includes:

[0056] Formula used:

[0057]

[0058] Determine the wavelet threshold; where λ is the wavelet threshold, N represents the length of the original drilling speed signal, median represents the median operation, and d j Let represent the wavelet coefficients at the j-th decomposition scale, and η be an adjustable coefficient.

[0059] Step 4: Determine the denoising function using the wavelet threshold;

[0060] In soft-threshold denoising, the constant deviation between the estimated wavelet coefficients generated by the soft-threshold function and the actual wavelet coefficients directly affects the approximation between the denoised signal and the original signal. The denoising result is relatively smooth but prone to signal distortion. In hard-threshold denoising, the hard-threshold function selects a threshold as the boundary between signal and noise. Wavelet coefficients below the threshold are set to 0, while those above the threshold are directly retained, preserving most of the signal details and resulting in a high peak signal-to-noise ratio, greatly facilitating signal processing. However, wavelet coefficients above the threshold also contain wavelet coefficients corresponding to noise. Furthermore, the lack of continuity at the threshold can cause additional oscillations in the wavelet coefficients, leading to distortion in the reconstructed signal. This invention establishes a novel denoising function (wavelet threshold varying with scale) that balances both approaches, improving denoising performance while ensuring no signal distortion.

[0061] The denoising function is:

[0062]

[0063] Where, ω j,k This represents the k-th wavelet coefficient at the j-th decomposition scale. denoises the wavelet coefficients after denoising, and sgn represents the sign function.

[0064] Step 5: Use the denoising function to denoise the original drilling speed signal to obtain the denoised drilling speed signal;

[0065] In this embodiment of the invention, after step 5, the method further includes:

[0066] Formula used:

[0067]

[0068]

[0069] The signal-to-noise ratio (SNR) and mean square error (MSE) of the denoised drilling speed signal are evaluated. If either the SNR or MSE is outside the preset range, the adjustable coefficient η is redefined. Here, SNR represents the signal-to-noise ratio, MSE represents the mean square error, and f(n) represents the original drilling speed signal. This represents the drilling speed signal after noise reduction.

[0070] Step 6: Perform inverse wavelet transform on the denoised drilling speed signal to obtain the drilling speed of the power head.

[0071] This invention eliminates the influence of noise and temperature factors by setting a signal processing module and a temperature compensation module on the rotary drilling rig, making the drilling speed information collected by the Hall speed sensor more accurate.

[0072] The present invention also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps in the above-described method for calculating the drilling speed of a power head.

[0073] Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as the beneficial effects of the power head drilling speed calculation method described in the above technical solution, and will not be repeated here.

[0074] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, characterized in that the computer program, when executed by the processor, implements the steps in the above-described method for calculating the drilling speed of a power head.

[0075] Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as those of the power head drilling speed calculation method described in the above technical solution, and will not be repeated here.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A power head drilling speed calculation device, characterized in that, include: A Hall effect speed sensor is installed on the power head of the rotary drilling rig to collect the original drilling speed signal of the power head and upload the original drilling speed signal to the signal processing module. The signal processing module is used to perform analog-to-digital conversion and noise reduction on the original drilling speed signal to obtain the drilling speed of the power head; A temperature detection sensor is installed on the Hall speed sensor to collect the operating temperature of the Hall speed sensor. A temperature signal acquisition and processing circuit is connected to the temperature detection sensor; A temperature compensation module, connected to the temperature signal acquisition and processing circuit, is installed on the Hall speed sensor and is used to adjust the operating temperature of the Hall speed sensor to the optimal temperature. The temperature compensation module includes: A PID controller is connected to the temperature signal acquisition and processing circuit and the temperature control system respectively. When the optimal temperature is greater than the operating temperature of the Hall speed sensor, the PID controller adjusts the temperature control system to heat the Hall speed sensor. When the optimal temperature is less than the operating temperature of the Hall speed sensor, the PID controller adjusts the temperature control system to dissipate heat from the Hall speed sensor. The method for calculating the drilling speed of the power head includes: Step 1: Acquire the raw drilling speed signal of the power head; Step 2: Decompose the original drilling speed signal using a preset wavelet basis function to obtain multiple wavelet coefficients; Step 3: Determine the wavelet threshold based on the decomposition scale of the original drilling speed signal; Step 4: Determine the denoising function using the wavelet threshold; Step 5: Use the denoising function to denoise the original drilling speed signal to obtain the denoised drilling speed signal; Step 6: Perform inverse wavelet transform on the denoised drilling speed signal to obtain the drilling speed of the power head; The denoising function is: ； in, Indicates the first j The first decomposition scale k Wavelet coefficients, Represents the wavelet coefficients after denoising. sgn Represents a symbolic function.

2. The power head drilling speed calculation device as described in claim 1, characterized in that, The temperature signal acquisition and processing circuit includes: The second pin of the feedback amplifier is connected to one end of the seventh resistor, one end of the first sliding resistor, and the anode of the first diode, respectively. The third pin of the feedback amplifier is grounded. The fourth pin of the feedback amplifier is connected to one end of the second capacitor. The sixth pin of the feedback amplifier is connected to the cathode of the first diode and the anode of the second diode, respectively. The seventh pin of the feedback amplifier is connected to one end of the third capacitor. One end of the first capacitor is connected to the output terminal of the temperature sensor, and the other end of the first capacitor is connected to the other end of the seventh resistor; the cathode of the second diode, one end of the fourth capacitor, and one end of the second sliding resistor are all connected to the other end of the first sliding resistor.

3. The power head drilling speed calculation device as described in claim 2, characterized in that, The other end of the second capacitor, the other end of the third capacitor, one end of the fourth capacitor, and the other end of the second sliding resistor are all grounded.

4. The power head drilling speed calculation device as described in claim 3, characterized in that, Step 3: Determine the wavelet threshold based on the decomposition scale of the original drilling speed signal, including: Formula used: ； Determine the wavelet threshold; where, For wavelet threshold, N Indicates the length of the original drilling speed signal. median This indicates the median operation. d j Indicates the first j Wavelet coefficients at each decomposition scale This is an adjustable coefficient.

5. The power head drilling speed calculation device as described in claim 4, characterized in that, Following step 5, the following is also included: Formula used: ； The signal-to-noise ratio (SNR) and mean square error (MSE) of the denoised drilling speed signal are evaluated. If either the SNR or MSE is outside the preset range, the adjustable coefficient is redefined. Indicates the signal-to-noise ratio. Indicates mean square error. This represents the original drilling speed signal. This represents the drilling speed signal after noise reduction.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the drilling speed calculation method for the power head as described in claim 1.

7. An electronic device comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, characterized in that, When the computer program is executed by the processor, it implements the steps of the drilling speed calculation method for the power head as described in claim 1.

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