A horizontal drilling rig steering system and method

Abstract

The application discloses a horizontal drilling rig guide system and a method thereof, a DSP chip is used to generate a sine wave digital signal with fixed frequency and amplitude, and to adjust the frequency spectrum distribution of the signal in real time, after a DA conversion module, the signal is transmitted to a magnetic field transmitting coil through a power amplifier to generate alternating artificial magnetic field information, a magnetic sensor receives the artificial magnetic field information, and after an AD conversion module, a second microprocessor analyzes the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and realizes the on-off of the current in a second electromagnet by controlling the closing and opening of a second relay; a first microprocessor realizes the on-off of the current in a first electromagnet by controlling the closing and opening of a first relay, and the on-off frequencies of the first relay and the second relay are set to be consistent; after receiving the binary number information, the first relay reads and analyzes the magnetic field amplitude through a GPIO, and the first microprocessor realizes the positioning of a drill bit according to the analyzed magnetic field amplitude.

Description

TECHNICAL FIELD

[0001] The present application relates to a horizontal drilling rig guide system and method thereof, and belongs to the field of trenchless technology of underground pipeline. BACKGROUND

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

[0003] The existing trenchless guide technology still has the following problems in actual application:

[0004] (1) In the existing technology, the communication between the ground device and the underground device usually relies on a fixed timing control mechanism, lacking the ability of dynamic feedback control. In a complex underground environment, due to the influence of interference, noise or environmental changes on the propagation of the magnetic field, the fixed timing mechanism cannot adapt to the dynamic communication environment, which easily leads to data loss or synchronization failure, thereby affecting the accuracy and reliability of the drilling rig guide.

[0005] (2) The current magnetic field signal generation method usually adopts a fixed frequency or fixed amplitude design, without fully considering the dynamic characteristics of the channel and the changes in signal noise. Since the magnetic field strength decays with the distance to the third power, the signal may become too weak in long-distance transmission and difficult to be accurately analyzed by the receiving end. 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 power utilization rate of the signal and a large communication error in a complex underground environment.

[0006] (3) The encryption method for magnetic field data in the existing technology usually adopts a single static key or a simple encryption algorithm, which cannot cope with potential attacks (such as data tampering or replay attacks) in high security scenarios. In particular, during the drilling rig guide process, the integrity and confidentiality of the data are crucial, but the existing encryption scheme does not fully utilize the entropy characteristics of the data and dynamic encryption mechanisms for optimization, leaving security vulnerabilities. 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 safety risks. SUMMARY

[0007] The present application provides a horizontal drilling rig guide system and method thereof to solve the problems and deficiencies in the prior art.

[0008] Technical solution: A horizontal drilling rig guide system, comprising a ground device and an underground device, the ground device comprising 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 comprises 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 fixed frequency and amplitude sine wave digital signal, and to adjust the frequency spectrum distribution of the signal in real time, and after DA conversion module, the signal 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 artificial magnetic field information, and after AD conversion module, the signal is transmitted to the second microprocessor; the second microprocessor analyzes the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and controls the on-off of the current in the second electromagnet by controlling the closing and opening of the second relay, thereby controlling the on-off of the communication magnetic field;

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

[0011] After the first relay receives the binary number information, the magnetic field amplitude is read and analyzed through 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 application, further:

[0013] For the horizontal drilling rig guide system described above, a timing coordination method based on feedback control for the horizontal drilling rig guide system is designed. 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, and higher precision synchronous control is realized.

[0014] The dynamic spectrum allocation algorithm is used to monitor the environmental noise spectrum characteristics in real time, dynamically adjust the spectrum allocation of the signal, and maximize the overall transmission signal-to-noise ratio through the cooperation of 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, and combines with the 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 application has the following beneficial technical effects:

[0016] (1) The application 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; a first relay controls the on-off of the magnetic field signal and keeps frequency synchronization with the second relay of the underground device; the feedback acquisition module receives the signal returned by the underground device and monitors the communication state in real time through the analog-to-digital conversion module (ADC); the processor (such as a DSP chip) is used for signal processing and execution of feedback control algorithm. At the underground device, the local clock uses a crystal oscillator or an oscillator circuit to generate a timing signal, which works in cooperation with the ground device clock; the second relay and electromagnet receive the magnetic field signal from the ground device and respond through timing control and feedback information; the feedback module real-time collects the magnetic field signal strength and timing deviation from the ground device and returns it to the ground device through binary encoding; the control processor is responsible for analyzing the ground signal and adjusting the timing to ensure synchronization with the ground device.

[0017] (2) The application solves the problem of signal generation in complex environment. 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 frequency 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 strong enough 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 transmit 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 encoding. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The hardware structure diagram of the horizontal drilling rig guide system of the embodiment of the application;

[0019] Figure 2 The flowchart of the horizontal drilling rig guide method of the embodiment of the application. DETAILED DESCRIPTION

[0020] The application will be further illustrated below in conjunction with specific embodiments, which should be understood as only for illustrating the application and not for limiting the scope of the application. After reading the application, those skilled in the art can make various modifications to the application, which all fall within the scope defined by the claims attached hereto.

[0021] As Figure 1and Figure 2 As shown in the figure, a horizontal drilling rig guide 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;

[0022] The DSP chip is used to generate a fixed frequency and amplitude sine wave digital signal, and to adjust the frequency spectrum distribution of the signal in real time, and after the DA conversion module, the signal 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-mentioned artificial magnetic field information, and after the AD conversion module, the signal is transmitted to the second microprocessor, the second microprocessor analyzes the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and controls the closing and opening of the second relay to realize the on-off of the current in the second electromagnet, thereby controlling the on-off of the communication magnetic field;

[0023] 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 frequencies of the first and second relays are set to be consistent;

[0024] After the first relay receives the above-mentioned binary number information, the magnetic field amplitude is read and analyzed through the GPIO, and the first microprocessor realizes the positioning of the drill bit according to the analyzed magnetic field amplitude.

[0025] 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 actual switching, a timing coordination algorithm based on feedback control is introduced.

[0026] Let the ground device delay time of the relay be τ1 and the underground device delay time be τ2, and they have the following characteristics:

[0027] τ i = τ i，0 + Δτ i (t)

[0028] Where:

[0029] τ i，0 is the average delay time of the relay

[0030] Δτ i (t) is the dynamic change of response jitter

[0031] Define the phase error of the ground device and the underground device relay as Δφ = φ1-φ2, and the target of synchronous control is to minimize Δφ, that is:

[0032]

[0033] Make

[0034] φ1(t) = φ2(t) + kT

[0035] 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.

[0036] The conventional PID control cannot adapt to the dynamic changes of relay response delay and environmental interference in real time, especially in complex underground environments, where delay and jitter can cause significant communication out-of-sync problems. Therefore, a dynamic adaptive optimization control strategy is introduced, which is based on real-time error feedback relay response characteristic modeling and dynamically adjusts PID parameters to achieve higher precision synchronization control. The ingenious application of this synchronization communication mechanism enables the guidance system to maintain the continuity and stability of communication in long-term operation. The control strategy is as follows:

[0037] The ground device monitors the signal feedback of the underground device in real time, records the phase error Δφ(t)

[0038] The proportional-integral-derivative (PID) control is used to adjust the timing:

[0039]

[0040] Where, K p , K i , K d PID control parameters are introduced into the incremental adaptive mechanism, which dynamically updates the PID parameters according to the real-time error during system operation:

[0041]

[0042] Where

[0043] α, β, γ are learning rates (which can be optimized through experiments);

[0044] Δφ(t) is the phase error feedback at the current time.

[0045] K p (t) is the proportional coefficient at time t, K i (t) is the integral coefficient at time t, and K d (t) is the differential coefficient at time t.

[0046] Dynamic correction mechanism

[0047] In each control period T, the estimated values of τ1 and τ2 are updated in real time to optimize the subsequent control accuracy.

[0048] If the phase error |Δφ| exceeds the threshold, the re-calibration process is started to adjust the frequency synchronization.

[0049] The ground device uses a DSP chip to generate a digital signal with a specific frequency and amplitude, and adjusts the spectral distribution of the signal in real time according to the dynamic spectrum allocation algorithm to adapt to different underground environments; through the DA conversion module and power amplifier device, the digital signal generated by the DSP chip is converted into an analog signal and the signal strength is enhanced to ensure that the analog signal can drive the magnetic field emitting coil to generate a strong enough magnetic field. The underground device uses a magnetic sensor to receive the magnetic field signal emitted by the ground device and measures its frequency and strength; and uses an ADC module to convert the received magnetic field signal into a digital signal for the microprocessor of the underground device 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 encoding. By updating the noise power of each frequency band in real time and dynamically adjusting the signal power.

[0050] In the dynamic spectrum allocation of artificial magnetic field signals, through the cooperation of the DA conversion module and the power amplifier, and by monitoring the environmental noise spectrum characteristics in real time through the dynamic spectrum allocation algorithm, the power distribution of each frequency band is dynamically adjusted to maximize the overall transmission signal-to-noise ratio, effectively ensuring the strength and stability of the signal.

[0051] 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 , and the signal power is P i . The total power of the system is limited, satisfying the following constraints:

[0052]

[0053] The signal-to-noise ratio (SNR) is defined as:

[0054]

[0055] The total transmission signal-to-noise ratio can be expressed as:

[0056]

[0057] In order to maximize the total transmission signal-to-noise ratio, the power distribution P i of each frequency band needs to be dynamically adjusted. The optimization problem can be expressed as:

[0058] Solve the above constrained optimization problem by Lagrange multiplier method. Define the Lagrange function:

[0059]

[0060] Take the partial derivative of P i and set it to zero:

[0061]

[0062]

[0063]

[0064] Combined with power constraints The Lagrange multiplier λ can be obtained:

[0065]

[0066] The final power allocation formula is:

[0067]

[0068] By updating σ in real time i 2 and dynamically adjusting P i , the method adapts to environmental changes, significantly improves signal transmission quality, and is suitable for complex underground environments, solving the problem that existing fixed allocation strategies cannot cope with dynamic interference.

[0069] 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, combining with the hardware level protection mechanism to ensure the confidentiality and integrity of data transmission.

[0070] In encrypted transmission, the evaluation of security is often based on basic concepts in cryptography, one of the important indicators is information entropy (Entropy); information entropy can be used to describe the randomness and uncertainty of data, its calculation formula is:

[0071]

[0072] Where:

[0073] H(x) is the information entropy

[0074] P(x i ) is the probability of the i-th possible value in the data;

[0075] The strength of the encryption algorithm and the security of the key management play a key role in the overall data transmission security of the system. In order to avoid the security risks caused by fixed keys, the key K needs to be updated regularly:

[0076]

[0077] Where:

[0078] K old is the current key

[0079] H​env Real-time information entropy of environmental noise

[0080] Indicates the bitwise XOR operation

[0081] In the encryption process, the data D is processed in blocks, and each block is independently encrypted:

[0082]

[0083] Where C i is the i-th block of ciphertext

[0084] K base is the base key

[0085] i is the block index, and the integrity of the data is verified in real time by a hardware module:

[0086]

[0087] Where C is the encrypted ciphertext, indicating the result of the magnetic field data processed by the encryption algorithm, H metadata is the hash value of the metadata related to data transmission, used to ensure data integrity and relevance.

[0088] Ensures the security of the magnetic field information during transmission, avoiding economic losses and personnel casualties caused by human tampering with the data during the drilling guide process.

Claims

1. A method of steering a horizontal drilling rig, characterized by, The application relates to a horizontal drilling rig guiding system, which comprises a ground device and an underground device, wherein the ground device comprises 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 comprises a second microprocessor, an AD conversion module, a magnetic sensor, a second relay and a second electromagnet; the DSP chip is used for generating a sine wave digital signal with fixed frequency and amplitude, and for adjusting the frequency spectrum distribution of the signal in real time; the signal is transmitted to the magnetic field transmitting coil through the DA conversion module and the power amplifier, so as to generate alternating artificial magnetic field information; the magnetic sensor is used for receiving the artificial magnetic field information, and transmitting the information to the second microprocessor through the AD conversion module; the second microprocessor analyzes the amplitude of the alternating magnetic field signal, converts the amplitude into binary number information, and controls the on-off of the current in the second electromagnet by controlling the on-off of the second relay, so as to control the on-off of the communication magnetic field; the first microprocessor controls the on-off of the current in the first electromagnet by controlling the on-off of the first relay, so as to control the on-off of the communication magnetic field; the on-off frequencies of the first relay and the second relay are set to be consistent; after receiving the binary number information, the first relay reads and analyzes the magnetic field amplitude through the GPIO, and the first microprocessor realizes the positioning of the drill bit according to the analyzed magnetic field amplitude; the application further discloses a time sequence coordination method based on feedback control for the horizontal drilling rig guiding system; a dynamic adaptive optimization control strategy is introduced, a relay response characteristic model based on real-time error feedback is established, and PID parameters are dynamically adjusted to realize synchronous control; the dynamic spectrum allocation algorithm is used to monitor the environmental noise spectrum characteristics in real time, the spectrum allocation of the signal is dynamically adjusted, and the signal-to-noise ratio of the whole transmission is maximized 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, so as to ensure the confidentiality and integrity of the data transmission in combination with the hardware level protection mechanism; the time sequence coordination algorithm based on feedback control is specifically realized as follows: the ground device delay time is tau1 and the underground device delay time is tau2, and the two have the following characteristics: tau1 = tau2 = T; wherein: tau1 = T, tau2 = T; the phase error of the ground device and the underground device relay is defined as Delta phi = phi1 - phi2, and the target of the synchronous control is to minimize Delta phi, that is: min Delta phi; so that phi1 (t) = phi2 (t) + kT; wherein T is the control period, k is an integer multiple compensation of the synchronous adjustment, phi1 (t) is the phase of the ground device relay at t time, and phi2 (t) is the phase of the underground device relay at t time; a dynamic adaptive optimization control strategy is introduced, a relay response characteristic model based on real-time error feedback is established, and PID parameters are dynamically adjusted; the control strategy is as follows: the ground device monitors the signal feedback of the underground device in real time, and records the phase error Delta phi (t); the proportional integral differential control is used to adjust the time sequence; an incremental adaptive mechanism is introduced to dynamically update the PID parameters according to the real-time error during system operation; wherein alpha, beta and gamma are learning rates. ​ ​ ​ ​ ​ ​ ​ ​ τ i = τ i，0 + Δτ i (t) ​ τ i，0 average delay time of a relay Δτ i (t) is a dynamic change in response to jitter ​ ​ ​ ​ ​ ​ ​ wherein K p , K i , K d are PID control parameters ​ K p (t+1) = K p (t) + a · Δφ(t) K i (t+1) = K i (t) + β · ∫ t 0△φ(t)dt ​ ​ Δφ(t) is the phase error feedback at current time; 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 derivative coefficient at time t.

2. The horizontal drilling steering method of claim 1, wherein, 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 re-calibration process is started to adjust the frequency synchronization.

3. The horizontal drilling steering method of claim 1, wherein, 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 environmental noise spectrum characteristics in real time, and the power distribution of each frequency band is dynamically adjusted to maximize the overall transmission signal-to-noise ratio. Let the underground signal transmission system be divided into N frequency bands, the noise power of each frequency band is σ i 2 , the signal power is P i , the total power of the system P total is limited, and the following constraints are met: The signal-to-noise ratio is defined as: The total transmission signal-to-noise ratio is expressed as: In order to maximize the total transmission signal-to-noise ratio, the power distribution of each frequency band needs to be dynamically adjusted; the optimization problem is expressed as: The above constrained optimization problem is solved by the Lagrange multiplier method, and the Lagrange function is defined as: P i Take the partial derivative and set it to zero: The final power distribution formula is: Combining power constraints Solve for the Lagrange multiplier λ: 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. By updating σ in real time i 2 and dynamically adjusting P i to adapt to environmental changes.

4. The horizontal drilling steering method of claim 1, wherein, In encrypted transmission, information entropy is used to describe the randomness and uncertainty of data, and its calculation formula is: Where: H(x) is the information entropy In order to avoid security risks caused by fixed keys, the key K needs to be updated regularly: P(x i ) is the probability of the ith possible value in the data; Where: In the encryption process, the data D is processed in blocks, and each block is independently encrypted: K old Current key H env Real-time information entropy of environmental noise represents a bitwise XOR operation Where: i is the block index. C i Ciphertext for the ith block K base Base key The hardware module verifies the integrity of the data in real time:

5. The horizontal drilling steering method of claim 1, wherein, ​

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