A method and system for horizontal directional drilling positioning

Abstract

The application relates to a horizontal directional drilling positioning method and system, and relates to the field of horizontal directional drilling technology, which comprises the following steps: obtaining underground entry trigger information; obtaining horizontal directional drilling rod information on the ground according to the underground entry trigger information; analyzing the horizontal directional drilling rod information to determine a trajectory detection device installed on the horizontal directional drilling rod information; controlling the trajectory detection device to start to obtain instantaneous trajectory information of the horizontal directional drilling rod information; obtaining trajectory difference information between the instantaneous trajectory information and preset original trajectory information; judging whether the trajectory difference information meets preset requirements of back-dragging trajectory information; if yes, continuously obtaining the instantaneous trajectory information; and if not, prompting according to the trajectory difference information. The application has the effect of improving the guiding precision of the horizontal directional drilling.

Description

Technical Field

[0001] This application relates to the field of horizontal directional drilling technology, and in particular to a horizontal directional drilling positioning method and system. Background Technology

[0002] Horizontal directional drilling is a type of construction machinery used to lay various underground utilities without excavating the ground. It is widely used in the construction of flexible pipelines for water supply, electricity, telecommunications, natural gas, coal gas, and oil.

[0003] In related technologies, during the underground drilling process, a guide operator usually uses a probe to detect the specific position of the drill bit underground. When the position of the drill bit deviates from the original trajectory, the guide operator sends a correction signal to the control center. The control center then controls the drill bit to adjust its angle and return to the original trajectory based on the correction signal.

[0004] Regarding the aforementioned technologies, the guide operator uses a handheld probe to detect the position of the drill bit underground. During the detection process, the guide operator moves the probe along with the drill bit. However, the guide operator cannot accurately know the specific position of the drill bit on the ground and can only roughly estimate the position of the drill bit based on its forward speed. This can easily cause discontinuous detection of the drill bit's trajectory by the probe, resulting in low guiding accuracy of the horizontal directional drilling. There is still room for improvement. Summary of the Invention

[0005] To improve the guiding accuracy of horizontal directional drilling, this application provides a horizontal directional drilling positioning method and system.

[0006] Firstly, this application provides a horizontal directional drilling positioning method, which adopts the following technical solution: A method for positioning a horizontal directional drill includes: Obtain underground entry trigger information; Obtain information on the horizontal directional drill pipe entering the surface based on the underground entry trigger information; The trajectory detection device installed on the horizontal directional drill pipe is determined by analyzing the horizontal directional drill pipe information. The control trajectory detection device is activated to obtain the instantaneous trajectory information of the horizontal directional drill pipe. Obtain the trajectory difference information between instantaneous trajectory information and preset original trajectory information; Determine whether the trajectory difference information meets the requirements of the preset pullback trajectory information; If the match is found, continue acquiring instantaneous trajectory information; If it does not match, a prompt will be given based on the trajectory difference information.

[0007] By adopting the above technical solution, when the horizontal directional drill rod information enters the ground, the specific horizontal directional drill rod information is determined based on the underground entry trigger information. The trajectory detection device on that horizontal directional drill rod is then activated to detect its instantaneous trajectory information. This instantaneous trajectory information is compared with the original trajectory information to obtain trajectory difference information. If the trajectory difference information does not meet the requirements of the pullback trajectory information, it indicates that the direction of the horizontal directional drill rod has deviated too much. Therefore, a prompt is issued based on the trajectory difference information to remind personnel to change the horizontal directional drill's guidance, bringing it back to the correct trajectory and thus improving the guiding accuracy of the horizontal directional drill.

[0008] Optionally, methods for obtaining instantaneous trajectory information include: Acceleration detection information of horizontal directional drill rod information is obtained by controlling the trajectory detection device based on underground entry trigger information; The acceleration information is analyzed based on the acceleration detection information to determine the forward angle of the horizontal directional drill pipe relative to the ground. The drill pipe attitude model information is determined by analyzing the forward angle information and the preset drill pipe model information. Obtain the center position detection information of the horizontal directional drill rod from the preset site model information; The instantaneous trajectory information is determined by analyzing the drill pipe attitude model information, center position detection information, and site model information.

[0009] By adopting the above technical solution, the control trajectory detection device detects acceleration detection information, analyzes the acceleration detection information to obtain forward angle information, and determines the drill rod attitude model information based on the forward angle information and drill rod model information. It also detects the center position information of the horizontal directional drill rod in the site model information, and sets the drill rod attitude model information in the site model information based on the center position detection information, thereby determining the instantaneous trajectory information. This allows personnel to intuitively see the state of the drill rod underground and promptly change the guidance of the horizontal directional drill, thereby improving the guidance accuracy of the horizontal directional drill.

[0010] Optionally, methods for determining the forward angle information include: The relative angle information of the horizontal directional drill rod relative to the ground plane is determined by analyzing the acceleration corresponding to the acceleration detection information. Obtain the ground angle information of the horizontal directional drill pipe location relative to the ground plane; Calculate the sum between the relative angle information and the ground angle information, and define the calculated sum as the forward angle information.

[0011] By adopting the above technical solution, the relative angle information of the horizontal directional drill rod relative to the ground plane is obtained by calculating the acceleration corresponding to the acceleration detection information. The trajectory detection device is then controlled to detect the ground angle information between the ground and the ground plane. Based on the relative angle information and the ground angle information, the forward angle information is calculated. This takes into account the case where the ground is tilted when entering the angle detection, thereby improving the accuracy of the forward angle information acquisition.

[0012] Optionally, methods for obtaining center location detection information include: The original trajectory information is analyzed to determine the mapping trajectory information of the original trajectory information on the ground. Obtain the offset distance information between the preset ground tracking device and the mapped trajectory information, and define the offset distance information as horizontal and vertical distance information; Obtain the straight-line distance information between the trajectory detection device and the ground tracking device; The longitudinal distance information is determined by calculating based on ground angle information and straight-line distance information; The lateral deviation information is determined by calculating based on the longitudinal distance information and the straight-line distance information; Obtain the distance traveled by the ground tracking device along the mapped trajectory information; The horizontal lateral distance information is determined by calculating based on the movement distance information and the lateral deviation information. The center position detection information is determined by analyzing the horizontal, vertical, and longitudinal distance information.

[0013] By adopting the above technical solution, the mapping trajectory information of the original trajectory information on the ground is determined, thereby detecting the offset distance information between the ground tracking device and the mapping trajectory information, thus obtaining the horizontal and vertical distance information, and detecting the straight-line distance information between the trajectory detection device and the ground tracking device. Based on the ground angle information and the straight-line distance information, the longitudinal distance information is calculated, and the lateral deviation information is calculated based on the longitudinal distance information and the straight-line distance information. The movement distance information is detected, and the horizontal lateral distance information is calculated based on the movement distance information and the lateral deviation information. Based on the horizontal lateral distance information, the horizontal vertical distance information, and the longitudinal distance information, the center position detection information is determined, thereby improving the accuracy of the center position detection information.

[0014] Optionally, methods for obtaining trajectory difference information between instantaneous trajectory information and original trajectory information include: The drill pipe's posture model information and center position detection information are analyzed to determine the coordinate information occupied by the drill pipe. Based on the analysis of the original trajectory information and drill pipe model information, the standard position coordinate information of the drill pipe is determined; The drill pipe's occupied coordinate information is compared with the standard occupied coordinate information of the drill pipe to obtain the drill pipe coordinate difference information; The original trajectory information and the preset pullback trajectory model information are analyzed to determine the pullback trajectory coordinate information; Determine whether the drill pipe coordinate difference information meets the requirements of the pullback trajectory coordinate information; If the match is found, continue acquiring instantaneous trajectory information; If it does not meet the requirements, the drill pipe coordinate difference information will be defined as trajectory difference information.

[0015] By adopting the above technical solution, the drill pipe attitude model information is set at the center position detection information to determine the drill pipe's occupied coordinate information. The drill pipe model information is set on the original trajectory information to determine the drill pipe's standard occupied coordinate information. After comparing the drill pipe's occupied coordinate information with the drill pipe's standard occupied coordinate information, the drill pipe coordinate difference information is obtained. When the drill pipe coordinate difference information does not meet the requirements of the pullback trajectory coordinate information, the drill pipe coordinate difference information is defined as trajectory difference information, thereby improving the convenience of determining trajectory difference information.

[0016] Optionally, when acquiring instantaneous trajectory information, a method for determining the avoidance position information during horizontal directional drilling and towing is also included, specifically including: Obtain obstacle location information from the preset site model information; The obstacle location information and the original trajectory information are analyzed to determine the mapping of the obstacle location information onto the original trajectory information. Determine whether the instantaneous trajectory information meets the requirements for mapping obstacle location information; If the requirements are not met, continue acquiring instantaneous trajectory information; If the requirements are met, obtain the obstacle distance information between the obstacle location information and the instantaneous trajectory information; Determine if the obstacle distance is less than the preset pullback radius. If it is not less than, continue to acquire instantaneous trajectory information; If it is less than, then the instantaneous trajectory information is defined as the avoidance position information.

[0017] By adopting the above technical solution, obstacle location information in the site model information is detected, and then the obstacle location information is mapped onto the original trajectory information. This allows for the identification of the mapped obstacle location information that is most affected by the obstacle location information on the original trajectory information. When the instantaneous trajectory information reaches the mapped obstacle location information, the obstacle distance information between the instantaneous trajectory information and the obstacle location information is detected. When the obstacle distance information is less than the pullback radius information, the instantaneous trajectory information is defined as the avoidance location information, thereby improving the convenience of determining the avoidance location information.

[0018] Optionally, after determining the avoidance location information, the method further includes controlling the horizontal directional drilling to avoid the obstacle, specifically including: The obstacle location information and avoidance location information are analyzed to determine the avoidance direction information; The avoidance distance is determined by analyzing obstacle location information, avoidance location information, and pullback radius information. Obtain the pullback position information of the horizontal directional drill; Determine whether the pullback location information meets the requirements for avoiding location information; If it does not match, continue to obtain the drag-back position information; If the conditions are met, the horizontal directional drill will be controlled to avoid the obstacle along the direction corresponding to the avoidance direction information and at the distance corresponding to the avoidance distance information.

[0019] By adopting the above technical solution, the avoidance direction information is determined after analyzing the obstacle location information and avoidance location information, and the avoidance distance information is determined after analyzing the obstacle location information, avoidance location information and pullback radius information. After the pullback location information reaches the avoidance location information, the horizontal directional drill is controlled to avoid obstacles along the direction corresponding to the avoidance direction information at the distance corresponding to the avoidance distance information, so as to avoid obstacles blocking the forward movement of the horizontal directional drill when pulling back, thereby improving the ease of pullback of the horizontal directional drill.

[0020] Secondly, this application provides a horizontal directional drilling positioning system, which adopts the following technical solution: A horizontal directional drilling positioning system, comprising: The acquisition module is used to acquire underground entry trigger information, horizontal directional drill rod information, instantaneous trajectory information, and trajectory difference information; A memory for storing a program for a horizontal directional drilling positioning method as described above; The processor and the program in the memory can be loaded and executed by the processor to implement a horizontal directional drilling positioning method as described above.

[0021] By adopting the above technical solution, a series of data related to the positioning of the horizontal directional drill is acquired by the acquisition module, thereby enabling the processor to load and execute a program of a horizontal directional drill positioning method stored in the memory to analyze and process the data, thereby completing the positioning of the horizontal directional drill, facilitating timely adjustment of the horizontal directional drill's guidance, and thus improving the accuracy of the horizontal directional drill's guidance.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described above for a horizontal directional drilling positioning method.

[0023] By adopting the above technical solution, and by operating a smart terminal, the processor loads and executes a computer program for a horizontal directional drilling positioning method stored in the memory, thereby positioning the horizontal directional drill. This allows personnel to directly observe the position and angle of the horizontal directional drill, facilitating adjustments to its guidance and improving the accuracy of the horizontal directional drill's guidance.

[0024] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates improving the guiding accuracy of horizontal directional drilling, and adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed for any of the above-described horizontal directional drilling positioning methods.

[0025] By adopting the above technical solution, a computer program for a horizontal directional drilling positioning method is stored in a computer-readable storage medium. When positioning the horizontal directional drill, the processor directly loads and executes the computer program stored in the memory, thereby completing the positioning of the horizontal directional drill. This allows personnel to directly observe the position and angle of the horizontal directional drill and adjust its guidance in a timely manner, thereby improving the accuracy of the horizontal directional drill's guidance.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. When the horizontal directional drill pipe information enters the ground, the specific horizontal directional drill pipe information is determined based on the underground entry trigger information. The trajectory detection device on that horizontal directional drill pipe information is then activated to detect the instantaneous trajectory information of the horizontal directional drill pipe. The instantaneous trajectory information is compared with the original trajectory information to obtain trajectory difference information. If the trajectory difference information does not meet the requirements of the pullback trajectory information, it indicates that the direction of the horizontal directional drill pipe is too large. Therefore, a prompt is given based on the trajectory difference information to remind personnel to change the horizontal directional drill's guidance so that the horizontal directional drill returns to the correct trajectory, thereby improving the guidance accuracy of the horizontal directional drill. 2. By controlling the trajectory detection device to detect acceleration information, the forward angle information is obtained after analyzing the acceleration detection information. Based on the forward angle information and drill rod model information, the drill rod attitude model information is determined. The center position information of the horizontal directional drill rod information in the site model information is detected. The drill rod attitude model information is set in the site model information based on the center position detection information, thereby determining the instantaneous trajectory information. This allows personnel to intuitively see the state of the drill rod underground and promptly change the guidance of the horizontal directional drill, thereby improving the guidance accuracy of the horizontal directional drill. 3. By calculating the acceleration corresponding to the acceleration detection information, the relative angle information of the horizontal directional drill rod relative to the ground plane is obtained. The trajectory detection device is controlled to detect the ground angle information between the ground and the ground plane. Based on the relative angle information and the ground angle information, the forward angle information is calculated. The case where the ground is tilted is taken into account in the detection of the entry angle, thereby improving the accuracy of the forward angle information acquisition. Attached Figure Description

[0027] Figure 1 This is a flowchart of a horizontal directional drilling positioning method according to an embodiment of this application.

[0028] Figure 2 This is a flowchart of a method for obtaining instantaneous trajectory information in an embodiment of this application.

[0029] Figure 3 This is a flowchart of a method for determining forward angle information in an embodiment of this application.

[0030] Figure 4 This is a flowchart of the method for obtaining center position detection information in the embodiments of this application.

[0031] Figure 5 This is a flowchart of a method for obtaining trajectory difference information between instantaneous trajectory information and original trajectory information in an embodiment of this application.

[0032] Figure 6 This is a flowchart of a method for determining avoidance location information during horizontal directional drilling and pullback in an embodiment of this application.

[0033] Figure 7 This is a flowchart of a method for controlling a horizontal directional drill to avoid obstacles, as described in this application embodiment.

[0034] Figure 8 This is a schematic diagram of the working process of horizontal directional drilling in the embodiments of this application. Detailed Implementation

[0035] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0036] This application discloses a specific positioning method for horizontal directional drilling, and discloses a processing system, a horizontal directional drill, horizontal directional drill rod information, and a trajectory detection device. The processing system is connected to the horizontal directional drill via the Internet, thereby realizing data interaction and control of the horizontal directional drill by the processing system. The horizontal directional drill is connected to the horizontal directional drill rod information. The horizontal directional drill enters the ground to drill a pipe hole for the pipeline to pass through. The horizontal directional drill rod information delivers slurry into the pipe hole and removes the soil drilled by the horizontal directional drill from the pipe hole. The trajectory detection device is installed on the horizontal directional drill and the horizontal directional drill rod information. The trajectory detection device is connected to the processing system via the Internet, thereby transmitting the instantaneous trajectory information of the horizontal directional drill and the horizontal directional drill rod information to the processing system. After identifying the instantaneous trajectory information, the processing system outputs trajectory difference information when the instantaneous trajectory information deviates from the original trajectory information to prompt personnel to adjust the guidance of the horizontal directional drill, thereby improving the guidance accuracy of the horizontal directional drill.

[0037] Reference Figure 1 This application discloses a horizontal directional drilling positioning method, including the following steps: Step S100: Obtain underground entry trigger information.

[0038] Among them, the underground entry trigger information refers to the trigger data of the horizontal directional drill rod entering the underground. In one embodiment, it can be obtained by the on-site staff inputting it into the processing system. In another embodiment, because the land will squeeze the horizontal directional drill rod in the circumferential direction when it enters the underground, the force-sensitive sensor installed on the horizontal directional drill rod can detect the pressure in the direction perpendicular to the axial direction of the horizontal directional drill rod to determine that the horizontal directional drill rod has entered the underground, thereby outputting the underground entry trigger information.

[0039] Step S101: Obtain information on the horizontal directional drill rod entering the ground based on the underground entry trigger information.

[0040] The horizontal directional drill pipe information refers to the specific attributes of the horizontal directional drill pipe that enters the underground. In one embodiment, when the processing system receives the underground entry trigger information, the horizontal directional drill pipe information sends its own attributes to the processing system. For example, the horizontal directional drill pipe information is horizontal directional drill pipe 1. In another embodiment, when the processing system receives the underground entry trigger information, the processing system identifies the network communication address of the horizontal directional drill pipe information that sent the underground entry trigger information to determine the attributes of the horizontal directional drill pipe.

[0041] Step S102: Analyze the horizontal directional drill pipe information to determine the trajectory detection device installed on the horizontal directional drill pipe information.

[0042] The trajectory detection device refers to a device used to detect the information of the horizontal directional drill rod and the instantaneous trajectory of the horizontal directional drill. The trajectory detection device is installed inside the horizontal directional drill rod and the horizontal directional drill. The trajectory detection device includes measuring instruments such as accelerometers, gyroscopes, and electromagnetic induction meters. Different trajectory detection devices with different attributes are installed on different horizontal directional drill rods. For example, trajectory detection device 1 is installed on horizontal directional drill rod 1, and trajectory detection device 2 is installed on horizontal directional drill rod 2. This facilitates the differentiation of different trajectory data corresponding to different horizontal directional drill rods. Thus, the processing system identifies the horizontal directional drill rod information and determines the trajectory detection device installed on the horizontal directional drill rod information.

[0043] Step S103: Start the control trajectory detection device to obtain the instantaneous trajectory information of the horizontal directional drill pipe.

[0044] Instantaneous trajectory information refers to the specific location of the horizontal directional drill pipe information underground at a certain moment. After determining the trajectory detection device installed on the horizontal directional drill pipe information, the trajectory detection device interacts with the processing system to process data and determine the instantaneous trajectory information. The specific determination method is as follows: Figure 2 The steps.

[0045] Step S104: Obtain the trajectory difference information between the instantaneous trajectory information and the preset original trajectory information.

[0046] The original trajectory information refers to the three-dimensional model established in the processing system based on the path of the pipe hole. It is obtained by those skilled in the art through three-dimensional modeling in the processing system based on the actual pipe hole path. Different drilling scenarios correspond to different pipe hole paths. The specific pipe hole path is set by those skilled in the art according to the actual scenario, which will not be elaborated here.

[0047] Trajectory difference information refers to the coordinate differences between the instantaneous trajectory position and the original trajectory position. The processing system models the instantaneous trajectory information within the original trajectory information to obtain the non-overlapping coordinates. For specific methods of obtaining trajectory difference information, please refer to [link to relevant documentation]. Figure 5 The steps.

[0048] Step S105: Determine whether the trajectory difference information meets the requirements of the preset drag trajectory information.

[0049] The pullback trajectory information refers to the trajectory of horizontal directional drilling during pullback to enlarge the diameter of the pipe hole. This trajectory is obtained by those skilled in the art by increasing the diameter of the model based on the original trajectory information to match the diameter of the pullback pipe hole. The requirement for the pullback trajectory information is that the pullback trajectory position corresponds to the pullback trajectory information.

[0050] By determining whether the trajectory position corresponding to the trajectory difference information coincides with the pullback trajectory position corresponding to the pullback trajectory information, it is possible to determine whether the instantaneous trajectory information exceeding the original trajectory information has deviated too far.

[0051] Step S1051: If the conditions are met, continue to acquire instantaneous trajectory information.

[0052] If the trajectory difference information meets the requirements of the pullback trajectory information, that is, the trajectory position corresponding to the trajectory difference information coincides with the pullback trajectory position corresponding to the pullback trajectory information, it indicates that the instantaneous trajectory information exceeding the original trajectory information is still within the pullback trajectory position. Therefore, it is not necessary to adjust the guidance of the horizontal directional drill and continue to detect the instantaneous trajectory information, thereby continuously monitoring the changes in the instantaneous trajectory information.

[0053] Step S1052: If it does not match, a prompt will be given based on the trajectory difference information.

[0054] If the trajectory difference information does not meet the requirements of the pullback trajectory information, that is, the trajectory position corresponding to the trajectory difference information does not coincide with the pullback trajectory position corresponding to the pullback trajectory information, it indicates that the instantaneous trajectory information deviates from the original trajectory information and also exceeds the pullback trajectory position. Therefore, the trajectory difference information is output to prompt the personnel to adjust the guidance of the horizontal directional drill according to the trajectory difference information, thereby improving the guidance accuracy of the horizontal directional drill.

[0055] Reference Figure 2 The method for obtaining instantaneous trajectory information includes the following steps: Step S200: Based on the underground entry trigger information, control the trajectory detection device to obtain the acceleration detection information of the horizontal directional drill rod.

[0056] Among them, the acceleration detection information refers to the acceleration of the horizontal directional drill pipe, which is detected by the accelerometer in the trajectory detection device, and is referenced. Figure 8 The acceleration detection information includes lateral acceleration and longitudinal acceleration. The longitudinal acceleration is the acceleration of the horizontal directional drill rod along the direction of gravitational acceleration, and the lateral acceleration information is the acceleration of the horizontal directional drill rod along the ground plane and perpendicular to the direction of gravitational acceleration.

[0057] Step S201: Analyze the acceleration corresponding to the acceleration detection information to determine the forward angle information of the horizontal directional drill rod relative to the ground.

[0058] Among them, the forward angle information refers to the angle value between the horizontal directional drill pipe and the ground, which is obtained by the processing system after analyzing the acceleration corresponding to the acceleration detection information. The specific analysis method is described in [reference needed]. Figure 3 The steps.

[0059] Step S202: Analyze the forward angle information and the preset drill pipe model information to determine the drill pipe attitude model information.

[0060] Among them, drill pipe model information refers to a three-dimensional model established according to the specifications of the drill pipe, which is established and stored in the processing system by those skilled in the art based on information such as the length and diameter of the horizontal directional drill pipe.

[0061] The drill pipe attitude model information refers to the drill pipe model obtained by adjusting the angle of the drill pipe model information corresponding to the forward angle information. It is obtained by the processing system after calling the forward angle information and the drill pipe model information.

[0062] Step S203: Obtain the center position detection information of the horizontal directional drill rod information in the preset site model information.

[0063] Among them, site model information refers to a three-dimensional model of the site where the pipe borehole will be drilled, referring to... Figure 8 The X-axis of the coordinate system is obtained by connecting the inlet and outlet of the horizontal directional drill with the inlet as the origin, the Z-axis is the direction perpendicular to the ground, and the Y-axis is the direction on the ground perpendicular to the X-axis. This coordinate system is established by those skilled in the art on the processing system.

[0064] The center position detection information refers to the specific coordinates of the horizontal directional drill rod information in the site, which is obtained by the trajectory detection device and the ground tracking device. The specific detection method is described in [reference needed]. Figure 4 The steps.

[0065] Step S204: Analyze the drill pipe attitude model information, center position detection information, and site model information to determine the instantaneous trajectory information.

[0066] In this step, the instantaneous trajectory information is the same as that in step S103. It is obtained by the processing system after calling the drill rod posture model information, center position detection information and site model information. The specific processing method is as follows: determine the specific coordinates corresponding to the center position detection information in the three-dimensional coordinate model corresponding to the site model information, and then set the drill rod posture three-dimensional model corresponding to the drill rod posture model information at the specific coordinates corresponding to the center position detection information, so as to obtain the specific position and guidance of the horizontal directional drill rod information in the site, so that the personnel can intuitively see the status of the horizontal directional drill rod information.

[0067] Reference Figure 3 The method for determining the forward angle information includes the following steps: Step S300: Analyze the acceleration corresponding to the acceleration detection information to determine the relative angle information of the horizontal directional drill rod information relative to the ground plane.

[0068] The relative angle information refers to the angle between the horizontal directional drill rod information and the ground plane, which is calculated by the processing system from the acceleration detection information. The specific calculation method is as follows: (Refer to...) Figure 8 The lateral and longitudinal accelerations from the acceleration detection information are called up. The lateral and longitudinal accelerations are actually the two legs of a right triangle. The lateral and longitudinal accelerations are input into the inverse function formula of the tangent function to calculate the relative angle information.

[0069] Step S301: Obtain the ground angle information of the ground where the horizontal directional drill rod information is located relative to the ground plane.

[0070] The ground angle information refers to the angle between the ground and the ground plane. In one embodiment, it is obtained by inputting the information into the processing system by a person skilled in the art; in another embodiment, it is detected by the gyroscope on the ground tracking device and sent to the processing system.

[0071] Step S302: Calculate the sum between the relative angle information and the ground angle information, and define the calculated sum as the forward angle information.

[0072] The forward angle information in this step is the same as that in step S201, and is calculated by the processing system by calling relative angle information and ground angle information. The specific calculation method is as follows: (Refer to...) Figure 8 When the ground is on an uphill slope, the angle corresponding to the ground angle information is a positive value. Therefore, the forward angle information is obtained by adding the relative angle information and the ground angle information. When the ground is on a downhill slope, the angle corresponding to the ground angle information is a negative value. Therefore, the relative angle information and the ground angle information are actually the relative angle information minus the angle between the ground and the ground plane, thus obtaining the forward angle information.

[0073] Reference Figure 4 The method for obtaining center location detection information includes the following steps: Step S400: Analyze the original trajectory information to determine the mapping trajectory information of the original trajectory information on the ground.

[0074] Among them, the mapped trajectory information refers to the trajectory on the ground that maps the original trajectory information along the direction of gravitational acceleration. It is drawn by a person skilled in the art using paint based on the mapping points on the ground of the original trajectory information, and is usually a straight line between the entrance and the exit.

[0075] Step S401: Obtain the preset offset distance information between the ground tracking device and the mapped trajectory information, and define the offset distance information as horizontal and vertical distance information.

[0076] Among them, the ground tracking device refers to the device that follows the movement of the horizontal directional drill rod and the horizontal directional drill on the ground. The ground tracking device can be a detection trolley or a drone. There are multiple ground tracking devices, at least the sum of the information of the horizontal directional drill rod and the number of horizontal directional drills. The ground tracking device follows the movement of the horizontal directional drill rod and the horizontal directional drill through an electromagnetic induction device. When the horizontal directional drill rod and the horizontal directional drill deviate in the horizontal or vertical direction, the ground tracking device deviates accordingly, but when they deviate in the longitudinal direction, the ground tracking device does not deviate.

[0077] Offset distance information refers to the shortest distance between the ground tracking device and the mapped trajectory information, which is obtained by detecting the distance between the mapped trajectory information drawn by the paint and the ground tracking device using a laser rangefinder on the ground tracking device.

[0078] Horizontal and vertical distance information refers to the distance between the horizontal directional drill rod information and the original trajectory information in the horizontal and vertical directions, which is reflected as the offset distance information between the ground tracking device and the mapped trajectory information.

[0079] Step S402: Obtain the straight-line distance information between the trajectory detection device and the ground tracking device.

[0080] Among them, the straight-line distance information is the horizontal directional drill rod information or the distance between the horizontal directional drill and the ground, which is reflected as the distance between the trajectory detection device and the ground tracking device. It is obtained by detecting the time difference between the electromagnetic waves emitted by the trajectory detection device and the electromagnetic waves received by the ground tracking device, and calculating the product between the time difference and the electromagnetic wave propagation speed.

[0081] Step S403: Calculate the longitudinal distance information based on the ground angle information and the straight-line distance information.

[0082] Among them, the longitudinal distance information refers to the horizontal directional drill rod information or the distance of the horizontal directional drill perpendicular to the ground, which is calculated by the processing system by calling the ground angle information and the straight-line distance information. The specific calculation method is as follows: Refer to Figure 8 Since the ground is sloping, the longitudinal distance information is represented by one right-angled side of a right triangle, while the straight-line distance information is represented by the hypotenuse of the right triangle. The angle between the longitudinal distance information and the straight-line distance information is the ground angle information. Given the straight-line distance information and the ground angle information, the distance value corresponding to the straight-line distance information and the angle value corresponding to the ground angle information are input into the cosine function formula to calculate the longitudinal distance information.

[0083] Step S404: Calculate based on longitudinal distance information and straight-line distance information to determine lateral deviation information.

[0084] Among them, the lateral deviation information refers to the distance difference between the horizontal directional drill rod information or the horizontal directional drill's position on the coordinate system and its actual mapped position on the ground. This is calculated by the processing system using longitudinal distance information and straight-line distance information. The calculation method is as follows: (Refer to...) Figure 8 The lateral deviation information and the longitudinal distance information are the two legs of a right triangle, while the straight distance information is the hypotenuse of the right triangle. Therefore, given that the longitudinal distance information and the straight distance information are known, the lateral deviation information is obtained by taking the square difference between the squares of the longitudinal distance information and the straight distance information and then taking the arithmetic square root of the square difference.

[0085] Step S405: Obtain the movement distance information of the ground tracking device along the mapped trajectory information.

[0086] Among them, the movement distance information refers to the distance value on the ground that the horizontal directional drill or horizontal directional drill rod information moves along the direction from the inlet to the outlet. It is reflected as the distance value that the ground tracking device moves along the mapped trajectory information on the ground, and is recorded by the ground tracking device.

[0087] Step S406: Calculate the horizontal lateral distance information based on the movement distance information and the lateral deviation information.

[0088] Among them, the horizontal lateral distance information refers to the coordinates of the horizontal directional drill or horizontal directional drill rod information along the X-axis in the site model information, referring to... Figure 8 The system retrieves the movement distance information and lateral deviation information, and calculates the difference between the distance value corresponding to the movement distance information and the distance value corresponding to the lateral deviation information.

[0089] Step S407: Analyze the horizontal distance information, horizontal vertical distance information, and longitudinal distance information to determine the center position detection information.

[0090] In this step, the center position detection information is the same as that in step S203. It is obtained by the processing system calling the horizontal distance information, the horizontal vertical distance information, and the longitudinal distance information for analysis. The analysis method is as follows: the horizontal distance information is the coordinate value of the horizontal directional rod information on the X-axis, for example, 2; the horizontal vertical distance information is the coordinate value of the horizontal directional rod information on the Y-axis, for example, 0.1; and the longitudinal distance information is the coordinate value of the horizontal directional rod information on the Z-axis, for example, 1. Therefore, the center position detection information is (2, 0.1, 1).

[0091] Reference Figure 5 A method for obtaining trajectory difference information between instantaneous trajectory information and original trajectory information includes the following steps: Step S500: Analyze the drill pipe attitude model information and center position detection information to determine the coordinate information occupied by the drill pipe.

[0092] Among them, the drill pipe occupancy coordinate information refers to the coordinates occupied by the drill pipe corresponding to the center position detection information of the drill pipe posture model. The processing system calls the drill pipe model corresponding to the drill pipe posture model information and sets the drill pipe posture model information at the coordinates corresponding to the center position detection information in the site model information, thereby identifying the coordinates that coincide with the drill pipe posture model information.

[0093] Step S501: Analyze the original trajectory information and drill pipe model information to determine the standard occupancy coordinate information of the drill pipe.

[0094] Among them, the standard occupancy coordinate information of the drill pipe refers to the coordinates occupied by the drill pipe model information on the trajectory coordinates corresponding to the original trajectory information. The processing system calls the drill pipe model corresponding to the drill pipe model information and sets the drill pipe model at the coordinates corresponding to the original trajectory information in the site model information, thereby identifying the coordinates that coincide with the drill pipe model information.

[0095] Step S502: Compare the drill pipe's occupied coordinate information with the standard drill pipe occupied coordinate information to obtain the drill pipe coordinate difference information.

[0096] The drill pipe coordinate difference information refers to the coordinates of the horizontal directional drill pipe that exceed the coordinates that the drill pipe should occupy. This information is obtained by comparing the drill pipe's occupied coordinate information with the standard occupied coordinate information. For example, if the drill pipe's occupied coordinate information is (1,1,1), (1,1,2), (1,1,3), while the standard occupied coordinate information is (1,1,1), (1,1,2), (1,1,2.5), then the coordinate (1,1,3) exceeds the standard occupied coordinate information, and thus the drill pipe coordinate difference information is (1,1,3).

[0097] Step S503: Analyze the original trajectory information and the preset return trajectory model information to determine the return trajectory coordinate information.

[0098] The pullback trajectory model information refers to the three-dimensional model of the pipe hole after horizontal directional drilling pullback to enlarge the pipe hole. This model is obtained by those skilled in the art based on the actual pullback diameter in the site model information. The pullback trajectory coordinate information refers to the coordinates occupied by the pullback trajectory in the site model information. This coordinate is obtained by the processing system setting the pullback model corresponding to the pullback trajectory model information at the coordinates corresponding to the original trajectory information, thereby identifying the coordinates occupied by the pullback model.

[0099] Step S504: Determine whether the drill pipe coordinate difference information meets the requirements of the pullback trajectory coordinate information.

[0100] The requirement for the pullback trajectory coordinate information is that it coincides with the coordinates corresponding to the pullback trajectory coordinate information. By judging whether the coordinates corresponding to the drill pipe coordinate difference information meet the requirements of the pullback trajectory coordinate information, that is, whether the coordinates corresponding to the drill pipe coordinate difference information coincide with the coordinates corresponding to the pullback trajectory coordinate information, it is determined whether the drill pipe coordinate difference information that exceeds the standard occupied coordinate information of the drill pipe exceeds the pullback trajectory coordinate information.

[0101] Step S5041: If the conditions are met, continue to acquire instantaneous trajectory information.

[0102] If the drill pipe coordinate difference information meets the requirements of the pullback trajectory coordinate information, it indicates that the drill pipe coordinate difference information exceeding the standard occupied coordinate information of the drill pipe does not exceed the pullback trajectory coordinate information. Therefore, the instantaneous trajectory information is continuously detected to continuously monitor the changes in the instantaneous trajectory information.

[0103] Step S5042: If it does not meet the requirements, then define the drill pipe coordinate difference information as trajectory difference information.

[0104] If the drill pipe coordinate difference information does not meet the requirements of the pullback trajectory coordinate information, it indicates that the drill pipe coordinate difference information that exceeds the standard occupied coordinate information of the drill pipe also exceeds the pullback trajectory coordinate information, and thus the drill pipe coordinate difference information is defined as trajectory difference information.

[0105] Reference Figure 6 When acquiring instantaneous trajectory information, the method also includes determining the avoidance position information during horizontal directional drilling and towing, specifically including the following steps: Step S600: Obtain obstacle location information from the preset site model information.

[0106] Among them, obstacle location information refers to the specific coordinates of obstacles in the site that may affect the drilling of pipe holes, which are obtained by those skilled in the art through actual site detection using ground penetrating radar.

[0107] Step S601: Analyze the obstacle location information and the original trajectory information to determine the mapping obstacle location information on the original trajectory information.

[0108] Among them, the mapped obstacle location information refers to the position of the coordinates closest to the obstacle location information on the original trajectory information, which is determined by the processing system after comparing the coordinates corresponding to the obstacle location information and the coordinates corresponding to the original trajectory information.

[0109] Step S602: Determine whether the instantaneous trajectory information meets the requirements for mapping obstacle location information.

[0110] The requirement for mapping obstacle location information is that the coordinates corresponding to the mapped obstacle location information are the same. By determining whether the coordinates corresponding to the instantaneous trajectory information meet the requirement of mapping obstacle location information, that is, whether the coordinates corresponding to the instantaneous trajectory information are the same as the coordinates corresponding to the mapped obstacle location information, it is determined whether the horizontal directional drill has reached a position close to the obstacle.

[0111] Step S6021: If the requirements are not met, continue to acquire instantaneous trajectory information.

[0112] If the instantaneous trajectory information does not meet the requirements of the mapped obstacle location information, that is, the coordinates corresponding to the instantaneous trajectory information are not the same as the coordinates corresponding to the mapped obstacle location information, it indicates that the horizontal directional drill has not reached the position close to the obstacle. Therefore, the instantaneous trajectory information is continuously detected to continuously monitor the changes in the instantaneous trajectory information.

[0113] Step S6022: If the requirements are met, obtain the obstacle distance information between the obstacle location information and the instantaneous trajectory information.

[0114] Among them, obstacle distance information refers to the distance between the obstacle and the horizontal directional drill when the horizontal directional drill reaches the mapped obstacle position information, which is detected by the radar detection device installed on the horizontal directional drill.

[0115] If the instantaneous trajectory information meets the requirements of the mapped obstacle location information, that is, the coordinates corresponding to the instantaneous trajectory information are the same as the coordinates corresponding to the mapped obstacle location information, it indicates that the horizontal directional drill has reached a position close to the obstacle, thereby detecting the obstacle distance information and providing data support for subsequent judgment on whether to avoid it.

[0116] Step S603: Determine whether the obstacle distance information is less than the preset pullback radius information.

[0117] The pullback radius information refers to the radius of the pipe hole after horizontal directional drilling pullback enlarges the pipe hole. It is set by those skilled in the art according to different sizes of pullback drill bits, and will not be elaborated here.

[0118] By determining whether the distance value corresponding to the obstacle distance information is less than the radius value corresponding to the pullback radius information, it can be determined whether the horizontal directional drill will collide with the obstacle during pullback.

[0119] Step S6031: If it is not less than, continue to acquire instantaneous trajectory information.

[0120] If the distance value corresponding to the obstacle distance information is not less than the radius value corresponding to the pullback radius information, it indicates that the horizontal directional drill will not collide with the obstacle during pullback. Therefore, the instantaneous trajectory information of the horizontal directional drill continues to be detected to determine whether it has reached the next obstacle position.

[0121] Step S6032: If it is less than, then the instantaneous trajectory information is defined as the avoidance position information.

[0122] If the distance value corresponding to the obstacle distance information is less than the radius value corresponding to the pullback radius information, it indicates that the horizontal directional drill will collide with the obstacle during pullback. Therefore, the coordinates corresponding to the instantaneous trajectory information are defined as the avoidance position information, so that the horizontal directional drill can avoid the coordinates corresponding to the avoidance position information during pullback, thus preventing the horizontal directional drill from colliding with the obstacle.

[0123] Reference Figure 7 After determining the avoidance location information, the method also includes controlling the horizontal directional drilling to avoid the obstacle, specifically including the following steps: Step S700: Analyze the obstacle location information and avoidance location information to determine the avoidance direction information.

[0124] Among them, the avoidance direction information refers to the direction of the horizontal directional drill to avoid obstacles. It is obtained by the processing system after calling the obstacle position information and the avoidance position information for analysis. The specific analysis method is as follows: the coordinates corresponding to the obstacle position information are (1,1,2), and the coordinates corresponding to the avoidance position information are (1,1,3). Then the avoidance direction is the direction from 2 to 3 on the Z-axis.

[0125] Step S701: Analyze the obstacle location information, avoidance location information, and pullback radius information to determine the avoidance distance information.

[0126] Among them, the avoidance distance information refers to the distance value of the horizontal directional drill to avoid obstacles. It is obtained by the processing system after calling the obstacle position information and the pullback radius information for analysis. The analysis method is as follows: the coordinates corresponding to the obstacle position information are (1,1,2), the coordinates corresponding to the avoidance position information are (1,1,3), and the radius value corresponding to the pullback radius information is 1.5. Therefore, the avoidance distance information is 0.5.

[0127] Step S702: Obtain the pullback position information of the horizontal directional drill.

[0128] Among them, the pullback position information refers to the specific coordinates when the horizontal directional drill pulls back. The method for obtaining the pullback position information is the same as the method for obtaining the instantaneous trajectory information, and will not be elaborated here.

[0129] Step S703: Determine whether the pullback position information meets the requirements for avoiding position information.

[0130] The requirement for avoidance location information is that the coordinates corresponding to the avoidance location information coincide. By determining whether the coordinates corresponding to the pullback location information coincide with the coordinates corresponding to the avoidance location information, it is determined whether to control the horizontal directional drilling to avoid the obstacle.

[0131] Step S7031: If it does not meet the requirements, continue to obtain the drag-back position information.

[0132] If the pullback position information does not meet the requirements of the avoidance position information, that is, the coordinates corresponding to the pullback position information do not coincide with the coordinates corresponding to the avoidance position information, it indicates that the horizontal directional drilling has not reached the position that needs to be avoided. Therefore, the pullback position information is continuously monitored to keep track of changes in the pullback position information.

[0133] Step S7032: If the conditions are met, control the horizontal directional drill to avoid the obstacle along the direction corresponding to the avoidance direction information and at the distance corresponding to the avoidance distance information.

[0134] If the pullback position information meets the requirements of the avoidance position information, that is, the coordinates corresponding to the pullback position information coincide with the coordinates corresponding to the avoidance position information, it indicates that the horizontal directional drill has reached the position that needs to be avoided. Therefore, the horizontal directional drill is controlled to avoid the obstacle by moving along the direction corresponding to the avoidance direction information and at the distance corresponding to the avoidance distance information, thereby preventing the horizontal directional drill from colliding with the obstacle when pulling back.

[0135] Based on the same inventive concept, embodiments of the present invention provide a horizontal directional drilling positioning system, comprising: The acquisition module is used to acquire underground entry trigger information, horizontal directional drill rod information, instantaneous trajectory information, trajectory difference information, acceleration detection information, center position detection information, ground angle information, offset distance information, straight distance information, movement distance information, drill rod coordinate difference information, obstacle position information, obstacle distance information, and pullback position information; Memory, used to store such as Figures 1 to 8 The procedure for any one of the horizontal directional drilling positioning methods; The processor and memory can load and execute programs to achieve the following: Figures 1 to 8 A horizontal directional drilling positioning method, which is one of the following.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a horizontal directional drilling positioning method.

[0138] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0139] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to perform a horizontal directional drilling positioning method.

[0140] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0141] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for positioning a horizontal directional drill, characterized in that, include: Obtain underground entry trigger information; Obtain information on the horizontal directional drill pipe entering the surface based on the underground entry trigger information; The trajectory detection device installed on the horizontal directional drill pipe is determined by analyzing the horizontal directional drill pipe information. The control trajectory detection device is activated to obtain the instantaneous trajectory information of the horizontal directional drill pipe. Obtain the trajectory difference information between instantaneous trajectory information and preset original trajectory information; Determine whether the trajectory difference information meets the requirements of the preset pullback trajectory information; If the match is found, continue acquiring instantaneous trajectory information; If it does not match, a prompt will be given based on the trajectory difference information; Methods for obtaining instantaneous trajectory information include: Acceleration detection information of horizontal directional drill rod information is obtained by controlling the trajectory detection device based on underground entry trigger information; The acceleration information is analyzed based on the acceleration detection information to determine the forward angle of the horizontal directional drill pipe relative to the ground. The drill pipe attitude model information is determined by analyzing the forward angle information and the preset drill pipe model information. Obtain the center position detection information of the horizontal directional drill rod from the preset site model information; The instantaneous trajectory information is determined by analyzing the drill pipe attitude model information, center position detection information, and site model information. Methods for determining the forward angle information include: The relative angle information of the horizontal directional drill rod relative to the ground plane is determined by analyzing the acceleration corresponding to the acceleration detection information. Obtain the ground angle information of the horizontal directional drill pipe location relative to the ground plane; Calculate the sum between the relative angle information and the ground angle information, and define the calculated sum as the forward angle information.

2. The horizontal directional drilling positioning method according to claim 1, characterized in that, Methods for obtaining center location detection information include: The original trajectory information is analyzed to determine the mapping trajectory information of the original trajectory information on the ground. Obtain the offset distance information between the preset ground tracking device and the mapped trajectory information, and define the offset distance information as horizontal and vertical distance information; Obtain the straight-line distance information between the trajectory detection device and the ground tracking device; The longitudinal distance information is determined by calculating based on ground angle information and straight-line distance information; The lateral deviation information is determined by calculating based on the longitudinal distance information and the straight-line distance information; Obtain the distance traveled by the ground tracking device along the mapped trajectory information; The horizontal lateral distance information is determined by calculating based on the movement distance information and the lateral deviation information. The center position detection information is determined by analyzing the horizontal, vertical, and longitudinal distance information.

3. The horizontal directional drilling positioning method according to claim 2, characterized in that, Methods for obtaining trajectory difference information between instantaneous trajectory information and original trajectory information include: The drill pipe's posture model information and center position detection information are analyzed to determine the coordinate information occupied by the drill pipe. Based on the analysis of the original trajectory information and drill pipe model information, the standard position coordinate information of the drill pipe is determined; The drill pipe's occupied coordinate information is compared with the standard occupied coordinate information of the drill pipe to obtain the drill pipe coordinate difference information; The original trajectory information and the preset pullback trajectory model information are analyzed to determine the pullback trajectory coordinate information; Determine whether the drill pipe coordinate difference information meets the requirements of the pullback trajectory coordinate information; If the match is found, continue acquiring instantaneous trajectory information; If it does not meet the requirements, the drill pipe coordinate difference information will be defined as trajectory difference information.

4. The horizontal directional drilling positioning method according to claim 1, characterized in that, When acquiring instantaneous trajectory information, the method also includes determining the avoidance position information during horizontal directional drilling and pullback, specifically including: Obtain obstacle location information from the preset site model information; The obstacle location information and the original trajectory information are analyzed to determine the mapping of the obstacle location information onto the original trajectory information. Determine whether the instantaneous trajectory information meets the requirements for mapping obstacle location information; If the requirements are not met, continue acquiring instantaneous trajectory information; If the requirements are met, obtain the obstacle distance information between the obstacle location information and the instantaneous trajectory information; Determine if the obstacle distance is less than the preset pullback radius. If it is not less than, continue to acquire instantaneous trajectory information; If it is less than, then the instantaneous trajectory information is defined as the avoidance position information.

5. A horizontal directional drilling positioning method according to claim 4, characterized in that, After determining the avoidance location information, the method also includes controlling the horizontal directional drilling to avoid the obstacle, specifically including: The obstacle location information and avoidance location information are analyzed to determine the avoidance direction information; The avoidance distance is determined by analyzing obstacle location information, avoidance location information, and pullback radius information. Obtain the pullback position information of the horizontal directional drill; Determine whether the pullback location information meets the requirements for avoiding location information; If it does not match, continue to obtain the drag-back position information; If the conditions are met, the horizontal directional drill will be controlled to avoid the obstacle along the direction corresponding to the avoidance direction information and at the distance corresponding to the avoidance distance information.

6. A horizontal directional drilling positioning system, characterized in that, include: The acquisition module is used to acquire underground entry trigger information, horizontal directional drill rod information, instantaneous trajectory information, and trajectory difference information; A memory for storing a program of a horizontal directional drilling positioning method as described in any one of claims 1 to 5; The processor and the program in the memory can be loaded and executed by the processor to implement a horizontal directional drilling positioning method as described in any one of claims 1 to 5.

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