Horizontal drilling machine guiding system and method thereof

Abstract

The invention discloses a horizontal drilling machine guiding system and method, a DSP chip is used for generating sine wave digital signals with fixed frequency and amplitude and adjusting the frequency spectrum distribution of the signals in real time, the signals are transmitted to a magnetic field transmitting coil through a power amplifier after passing through a DA conversion module, alternating artificial magnetic field information is generated, and a magnetic sensor receives the artificial magnetic field information and sends the artificial magnetic field information to a signal processing module. The amplitude of the alternating magnetic field signal is analyzed by the second microprocessor after passing through the AD conversion module, the amplitude is converted into binary number information, and connection and disconnection of current in the second electromagnet are realized by controlling connection and disconnection of the second relay; the first microprocessor realizes on-off of current in the first electromagnet by controlling on and off of the first relay, and on-off frequency setting of the first relay and the second relay is consistent; and after the first relay receives the binary number information, the magnetic field amplitude is read and analyzed through the GPIO, and the drill bit is positioned by the first microprocessor according to the analyzed magnetic field amplitude.

Description

Technical Field

[0001] The invention relates to a horizontal drilling rig guiding system and a method thereof, belonging to the technical field of underground pipeline non-excavation. Background Art

[0002] Underground pipelines are an important part of urban infrastructure, including water supply, drainage, gas, heat, telecommunications, electricity, industrial pipelines and other categories. The demand for underground pipelines is becoming greater and greater. The traditional excavation and burial method in underground pipeline construction is bringing increasingly serious problems. In this case, trenchless technology (TT-Trenchless Technology) has quietly emerged and developed rapidly. Due to its late start and insufficient investment, trenchless technology is still in its early stages overall. In terms of construction equipment and construction technology, my country is also in a relatively backward state as a whole.

[0003] The existing trenchless guidance technology still has the following problems in practical application:

[0004] (1) In the prior art, the communication between the surface device and the underground device usually relies on a fixed timing control mechanism and lacks the ability of dynamic feedback control. In a complex underground environment, since the magnetic field propagation is affected by interference, noise or environmental changes, the fixed timing mechanism cannot adapt to the dynamic communication environment, which can easily lead to data loss or synchronization failure, thus affecting the accuracy and reliability of the drilling rig guidance.

[0005] (2) Current magnetic field signal generation methods usually adopt fixed frequency or fixed amplitude designs, which fail to fully consider the dynamic characteristics of the channel and the changes in signal noise. Since the magnetic field strength decays with the cube of the distance, the signal may become too weak during long-distance transmission and difficult to be accurately interpreted by the receiver. In addition, the existing technology does not fully utilize the real-time feedback information of the signal-to-noise ratio (SNR) for dynamic spectrum optimization, resulting in low signal power utilization and large communication errors in complex underground environments.

[0006] (3) The encryption methods for magnetic field data in the existing technology usually use a single static key or a simple encryption algorithm, which cannot cope with potential attacks in high-security scenarios (such as data tampering or replay attacks). In particular, in the process of drilling rig guidance, the integrity and confidentiality of data are crucial, but the existing encryption schemes do not fully utilize the entropy characteristics of the data and the dynamic encryption mechanism for optimization, and there are security loopholes. Once the data is intercepted or tampered with, it may cause the drilling rig to deviate from the target direction, resulting in serious economic losses and security risks. Summary of the invention

[0007] Purpose of the invention: In view of the problems and shortcomings in the prior art, the present invention provides a horizontal drilling rig guidance system and method thereof.

[0008] Technical solution: A horizontal drilling rig guidance system includes a ground device and an underground device, wherein the ground device includes a DSP chip, a DA conversion module, a first microprocessor, a power amplifier, a magnetic field transmitting coil, a first relay and a first electromagnet;

[0009] The underground device includes a second microprocessor, an AD conversion module, a magnetic sensor, a second relay and a second electromagnet; the DSP chip is used to generate a sinusoidal digital signal with a fixed frequency and amplitude, and adjust the spectrum distribution of the signal in real time, and transmit it to the magnetic field transmitting coil through the power amplifier after passing through the DA conversion module to generate alternating artificial magnetic field information, the magnetic sensor is used to receive the above artificial magnetic field information, and transmit it to the second microprocessor after passing through the AD conversion module, the second microprocessor parses the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and realizes the on and off of the current in the second electromagnet by controlling the closing and opening of the second relay, thereby controlling the on and off of the communication magnetic field;

[0010] The first microprocessor controls the closing and opening of the first relay to realize the on-off of the current in the first electromagnet, thereby controlling the on-off of the communication magnetic field, and the on-off frequency settings of the first and second relays are consistent;

[0011] After receiving the binary number information, the first relay reads and analyzes the magnetic field amplitude via GPIO, and the first microprocessor realizes the positioning of the drill bit according to the analyzed magnetic field amplitude.

[0012] As a preferred technical solution of the present invention, further:

[0013] Aiming at the aforementioned horizontal drilling rig guidance system, a timing coordination method based on feedback control is designed for the horizontal drilling rig guidance system. In it, a dynamic adaptive optimization control strategy is introduced, the relay response characteristic modeling based on real-time error feedback is used to dynamically adjust the PID parameters to achieve higher precision synchronous control.

[0014] The dynamic spectrum allocation algorithm monitors the spectrum characteristics of environmental noise in real time, dynamically adjusts the spectrum allocation of the signal, and maximizes the overall transmission signal-to-noise ratio through the DA conversion module and the power amplifier, effectively ensuring the strength and stability of the signal. The underground device sends the processed magnetic field information in binary form, and uses an improved information entropy optimization encryption algorithm to encrypt the magnetic field data, combined with a hardware-level protection mechanism to ensure the confidentiality and integrity of data transmission.

[0015] Compared with the prior art, the technical solution of the present invention has the following beneficial technical effects:

[0016] (1) The present invention solves the problem of synchronous communication between the ground device and the underground device. At the ground device, a high-precision oscillator (such as a crystal oscillator) is used to generate a reference clock signal to provide a time reference for the system; the first relay and the electromagnet control the on and off of the magnetic field signal, and maintain frequency synchronization with the second relay of the underground device; the feedback acquisition module receives the signal sent back by the underground device, and monitors the communication status in real time through the analog-to-digital conversion module (ADC); the processor (such as a DSP chip) is used for signal processing and the execution of the feedback control algorithm. At the underground device, the local clock uses a crystal oscillator or an oscillation circuit to generate a timing signal, which works in conjunction with the ground device clock; the second relay and the electromagnet receive the magnetic field signal of the ground device, respond and feedback information through timing control; the feedback module collects the magnetic field signal strength and timing deviation from the ground device in real time, and transmits it back to the ground device through binary coding; the control processor is responsible for parsing the ground signal and performing timing adjustment to ensure synchronization with the ground device.

[0017] (2) The present invention solves the problem of signal generation in complex environments. At the ground device, a DSP chip (digital signal processing chip) is used to generate a digital signal with a specific frequency and amplitude, and the spectrum distribution of the signal is adjusted in real time according to the dynamic spectrum allocation algorithm to adapt to different underground environments; a DA conversion module is used to convert the digital signal generated by the DSP chip into an analog signal to provide input for the magnetic field transmitting coil; a power amplifier is used to enhance the signal strength to ensure that the analog signal can drive the magnetic field transmitting coil to generate a sufficiently strong magnetic field; the magnetic field transmitting coil uses the input current signal to generate an alternating magnetic field according to Faraday's law of electromagnetic induction, and transmits the magnetic signal to the underground device. At the underground device, a magnetic sensor is used to receive the magnetic field signal emitted by the ground device and measure its frequency and strength; an ADC module is used to convert the received magnetic field signal into a digital signal for analysis by the microprocessor of the underground device; the microprocessor analyzes the signal spectrum and calculates the SNR, and finally feeds back the signal quality to the ground device through binary coding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A hardware structure diagram of a horizontal drilling rig guidance system according to an embodiment of the present invention;

[0019] Figure 2 The present invention is a flowchart of a horizontal drilling rig steering method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further explained below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0021] like Figure 1and Figure 2 As shown, a horizontal drilling rig guidance system includes a ground device and an underground device, the ground device includes a DSP chip, a DA conversion module, a first microprocessor PK3568, a power amplifier, a magnetic field transmitting coil, a first relay and a first electromagnet; the underground device includes a second microprocessor GD32F130, an AD conversion module, a magnetic sensor, a second relay and a second electromagnet;

[0023] The DSP chip is used to generate a sinusoidal digital signal of fixed frequency and amplitude, and adjust the spectrum distribution of the signal in real time. After passing through the DA conversion module, it is transmitted to the magnetic field transmitting coil through the power amplifier to generate alternating artificial magnetic field information. The magnetic sensor is used to receive the above artificial magnetic field information, and transmit it to the second microprocessor after passing through the AD conversion module. The second microprocessor parses the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and realizes the on and off of the current in the second electromagnet by controlling the closing and opening of the second relay, thereby controlling the on and off of the communication magnetic field.

[0024] The first microprocessor controls the closing and opening of the first relay to realize the on-off of the current in the first electromagnet, thereby controlling the on-off of the communication magnetic field, and the on-off frequency settings of the first and second relays are consistent;

[0025] After receiving the binary number information, the first relay reads and analyzes the magnetic field amplitude via GPIO, and the first microprocessor realizes the positioning of the drill bit according to the analyzed magnetic field amplitude.

[0026] In order to solve the problem of synchronous communication between the ground device and the underground device caused by the response delay and jitter of the relay in the actual switching, the system introduced a timing coordination algorithm based on feedback control.

[0027] Assume that the delay time of the ground device of the relay is τ1 and the delay time of the underground device is τ2, and both have the following characteristics:

[0028] τ i =τ i，0 +Δτ i (t)

[0029] in:

[0030] τ i，0 is the average delay time of the relay

[0031] Δτ i (t) is the dynamic change of response jitter

[0032] The phase error between the ground device and the underground device relay is defined as Δφ=φ1-φ2. The goal of synchronous control is to minimize Δφ, that is:

[0033]

[0034] make

[0035] φ1(t)=φ2(t)+kT

[0036] Where T is the control period, k is the integer multiple compensation of synchronous regulation, φ1(t) is the phase of the ground device relay at time t, and φ2(t) is the phase of the underground device relay at time t.

[0037] Conventional PID control cannot adapt to the dynamic changes of relay response delay and environmental interference in real time. Especially in complex underground environments, delays and jitters may cause significant communication desynchronization problems. Therefore, a dynamic adaptive optimization control strategy is introduced to model the relay response characteristics based on real-time error feedback, dynamically adjust PID parameters, and achieve more accurate synchronous control. The clever application of this synchronous communication mechanism enables the guidance system to maintain continuous stability of communication during long-term operation. The control strategy is as follows:

[0038] The surface device monitors the signal feedback of the underground device in real time and records the phase error Δφ(t)

[0039] Use proportional integral derivative (PID) control to adjust the timing:

[0040]

[0041] Among them, K p , K i , K d An incremental adaptive mechanism is introduced for PID control parameters to dynamically update PID parameters according to the real-time error during system operation:

[0042]

[0043] in

[0044] α, β, γ are learning rates (which can be optimized through experiments);

[0045] Δφ(t) is the phase error feedback at the current moment.

[0046] K p (t) is the proportional coefficient at time t, K i (t) is the integral coefficient at time t, K d (t) is the differential coefficient at time t.

[0047] Dynamic correction mechanism

[0048] In each control cycle T, the estimated values ​​of τ1 and τ2 are updated in real time to optimize the subsequent control accuracy.

[0049] If the phase error |Δφ| exceeds the threshold, the recalibration process is initiated by re-adjusting the frequency synchronization.

[0050] The ground device uses a DSP chip (digital signal processing chip) to generate a digital signal with a specific frequency and amplitude, and adjusts the signal's spectrum distribution in real time according to the dynamic spectrum allocation algorithm to adapt to different underground environments; the digital signal generated by the DSP chip is converted into an analog signal through a DA conversion module and a power amplifier device and the signal strength is enhanced to ensure that the analog signal can drive the magnetic field transmitting coil to generate a sufficiently strong magnetic field. The underground device uses a magnetic sensor to receive the magnetic field signal emitted by the ground device and measure its frequency and strength; and uses an ADC module to convert the received magnetic field signal into a digital signal for the underground device's microprocessor to analyze; the microprocessor analyzes the signal spectrum and calculates the SNR, and finally feeds back the signal quality to the ground device through binary coding. By updating the noise power of each frequency band in real time and dynamically adjusting the signal power.

[0051] In the dynamic spectrum allocation of artificial magnetic field signals, the DA conversion module cooperates with the power amplifier, and the dynamic spectrum allocation algorithm is used to monitor the spectrum characteristics of environmental noise in real time, dynamically adjust the power allocation of each frequency band, maximize the overall transmission signal-to-noise ratio, and effectively ensure the strength and stability of the signal.

[0052] Assume that the underground signal transmission system is divided into N frequency bands, and the noise power of each frequency band is σ i 2 , the signal power is P i The total system power is limited and meets the following constraints:

[0053]

[0054] The signal-to-noise ratio (SNR) is defined as:

[0055]

[0056] The overall transmission signal-to-noise ratio can be expressed as:

[0057]

[0058] In order to maximize the total transmission signal-to-noise ratio, the power allocation P of each frequency band needs to be dynamically adjusted. i The optimization problem can be expressed as:

[0059] The above constrained optimization problem is solved by the Lagrange multiplier method. Define the Lagrange function:

[0060]

[0061] P i Find the partial derivative and set it to zero:

[0062]

[0063] have to:

[0064]

[0065] Combined with power constraints The Lagrange multiplier λ can be found:

[0066]

[0067] The final power allocation formula is:

[0068]

[0069] By real-time updating σ i 2 and dynamically adjust P i ,This method adapts to environmental changes, significantly improves the signal transmission quality, is suitable for ,complex underground environments, and solves the problem that the existing fixed ,allocation strategy cannot cope with dynamic interference.

[0070] The underground device sends the processed magnetic field information in binary form and uses an improved information entropy optimization encryption algorithm to encrypt the magnetic field data, combined with a hardware-level protection mechanism to ensure the confidentiality and integrity of data transmission.

[0071] In encrypted transmission, security assessment is often based on basic concepts in cryptography. One of the important indicators is information entropy. Information entropy can be used to describe the randomness and uncertainty of data. Its calculation formula is:

[0072]

[0073] in:

[0074] H(x) is the information entropy

[0075] P(x i ) is the probability of the i-th possible value in the data;

[0076] The strength of the encryption algorithm and the security of key management play a key role in the overall data transmission security of the system. In order to avoid security risks caused by fixed keys, the key K needs to be updated regularly:

[0077]

[0078] in:

[0079] K old For the current key

[0080] Henv is the real-time information entropy of environmental noise

[0081] Represents a bitwise XOR operation

[0082] During the encryption process, data D is processed in blocks, and each block is encrypted independently:

[0083]

[0084] Among them, C i is the ciphertext of the i-th block

[0085] K base Base key

[0086] i is the block index. At the same time, the integrity of the data is verified in real time through the hardware module:

[0087]

[0088] Among them, C is the encrypted ciphertext, which means the result of magnetic field data processed by encryption algorithm, and H metadata A hash of metadata associated with a data transfer to ensure data integrity and relevance.

[0089] The security of magnetic field information during transmission is ensured, avoiding economic losses and casualties in the drilling rig guidance process caused by human tampering with data.

Claims

1. A horizontal drilling rig guidance system, characterized in that: It includes a ground device and an underground device, wherein the ground device includes a DSP chip, a DA conversion module, a first microprocessor, a power amplifier, a magnetic field transmitting coil, a first relay and a first electromagnet; The underground device includes a second microprocessor, an AD conversion module, a magnetic sensor, a second relay and a second electromagnet; The DSP chip is used to generate a sinusoidal digital signal of fixed frequency and amplitude, and adjust the spectrum distribution of the signal in real time. After passing through the DA conversion module, it is transmitted to the magnetic field transmitting coil through the power amplifier to generate alternating artificial magnetic field information. The magnetic sensor is used to receive the above artificial magnetic field information, and transmit it to the second microprocessor after passing through the AD conversion module. The second microprocessor parses the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and realizes the on and off of the current in the second electromagnet by controlling the closing and opening of the second relay, thereby controlling the on and off of the communication magnetic field. The first microprocessor controls the closing and opening of the first relay to realize the on-off of the current in the first electromagnet, thereby controlling the on-off of the communication magnetic field, and the on-off frequency settings of the first and second relays are consistent; After receiving the binary number information, the first relay reads and analyzes the magnetic field amplitude via GPIO, and the first microprocessor realizes the positioning of the drill bit according to the analyzed magnetic field amplitude.

2. A horizontal drilling rig guidance method, characterized in that: Aiming at the horizontal drilling rig guidance system, a timing coordination method based on feedback control for the horizontal drilling rig guidance system is designed; wherein a dynamic adaptive optimization control strategy is introduced, the relay response characteristic modeling based on real-time error feedback is used to dynamically adjust the PID parameters to achieve synchronous control; The dynamic spectrum allocation algorithm monitors the spectrum characteristics of environmental noise in real time, dynamically adjusts the spectrum allocation of the signal, and maximizes the overall transmission signal-to-noise ratio through the cooperation of the DA conversion module and the power amplifier; The underground device sends the processed magnetic field information in binary form and uses an improved information entropy optimization encryption algorithm to encrypt the magnetic field data, combined with a hardware-level protection mechanism to ensure the confidentiality and integrity of data transmission.

3. The horizontal drilling rig steering method according to claim 2, characterized in that: The timing coordination algorithm based on feedback control is specifically implemented as follows: Assume that the delay time of the ground device of the relay is τ1 and the delay time of the underground device is τ2, and both have the following characteristics: t i =t i,0 +Δτ i (t) in: τ i，0 is the average delay time of the relay Δτ i (t) is the dynamic change of response jitter The phase error between the ground device and the underground device relay is defined as Δφ=φ1-φ2. The goal of synchronous control is to minimize Δφ, that is: make φ1(t)=φ2(t)+kT Where T is the control period, k is the integer multiple compensation of synchronous regulation, φ1(t) is the phase of the relay of the ground device at time t, and φ2(t) is the phase of the relay of the underground device at time t; A dynamic adaptive optimization control strategy is introduced to model the relay response characteristics based on real-time error feedback and dynamically adjust the PID parameters; the control strategy is as follows: The surface device monitors the signal feedback of the underground device in real time and records the phase error Δφ(t) Use proportional integral derivative control to adjust the timing: Among them, K p , K i , K d is the PID control parameter Introduce an incremental adaptive mechanism to dynamically update PID parameters based on the real-time error during system operation: K p (t+1)=K p (t)+α·Δφ(t) in α, β, γ are learning rates; Δφ(t) is the phase error feedback at the current moment; K p (t) is the proportional coefficient at time t, K i (t) is the integral coefficient at time t, K d (t) is the differential coefficient at time t.

4. The horizontal drilling rig steering method according to claim 3, characterized in that: In each control cycle T, the estimated values ​​of τ1 and τ2 are updated in real time to optimize the subsequent control accuracy; if the phase error |Δφ| exceeds the threshold, the recalibration process is started to readjust the frequency synchronization.

5. The horizontal drilling rig steering method according to claim 2, characterized in that: In the dynamic spectrum allocation of the artificial magnetic field signal, the DA conversion module cooperates with the power amplifier, and the dynamic spectrum allocation algorithm is used to monitor the spectrum characteristics of the ambient noise in real time, and the power allocation of each frequency band is dynamically adjusted to maximize the overall transmission signal-to-noise ratio; Assume that the underground signal transmission system is divided into N frequency bands, and the noise power of each frequency band is σ i 2 , the signal power is P i The total system power is limited and meets the following constraints: The signal-to-noise ratio is defined as: The overall transmission signal-to-noise ratio is expressed as: In order to maximize the total transmission signal-to-noise ratio, the power allocation P of each frequency band needs to be dynamically adjusted. i ; The optimization problem is expressed as: Solve the above constrained optimization problem by Lagrange multiplier method; define Lagrange function: P i Find the partial derivative and set it to zero: have to: Combined with power constraints Find the Lagrange multiplier λ: The final power allocation formula is: By real-time updating σ i 2 and dynamically adjust P i , adapt to environmental changes.

6. The horizontal drilling rig steering method according to claim 2, characterized in that: The underground device sends the processed magnetic field information in binary form and uses an improved information entropy optimization encryption algorithm to encrypt the magnetic field data, combined with a hardware-level protection mechanism to ensure the confidentiality and integrity of data transmission; In encrypted transmission, information entropy is used to describe the randomness and uncertainty of data, and its calculation formula is: in: H(x) is the information entropy P(x i ) is the probability of the i-th possible value in the data; In order to avoid security risks caused by fixed keys, the key K needs to be updated regularly: in: K old For the current key H env is the real-time information entropy of environmental noise Represents a bitwise XOR operation During the encryption process, data D is processed in blocks, and each block is encrypted independently: in: C i is the ciphertext of the i-th block K base Base key i is the block index.

7. The horizontal drilling rig steering method according to claim 2, characterized in that: Verify data integrity in real time through hardware modules:

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