Method and device for controlling positioning deviation of high-pressure jet grouting drilling machine

Abstract

The invention provides a positioning deviation control method and device for a high-pressure jet-grouting drilling rig. The method comprises the steps that inclination angle data and top positioning data of a drill rod of the jet-grouting drilling rig are obtained; according to the positioning data and the inclination angle data, a dynamic weight correction model is established, the offset between the actual point location of the drill bit and a preset target point location is obtained, and the correction model comprises the steps that actual position coordinates of the point location of the drill bit are obtained through calculation based on weight coefficients corresponding to inclination angle fluctuation and displacement fluctuation; defining a deviation angle between the actual point location and the target point location under the overall coordinate system, and calculating a positioning deviation angle of the drill bit under the local coordinate system according to the deviation angle and an antenna course angle; and based on the positioning deviation angle and the offset, the movement amount of the drill bit in all directions is obtained, and the drill bit is controlled to move to the target point position according to the movement amount to conduct drilling grouting operation. Real-time and high-precision positioning deviation control and real-time guiding of the high-pressure jet grouting drilling machine can be achieved, it can be ensured that the jet grouting drilling machine accurately reaches the construction point position, and the construction quality is effectively improved.

Description

Technical Field

[0001] The present application belongs to the field of foundation reinforcement and underground engineering technology, and in particular to a method and device for controlling positioning deviation of a high-pressure jet grouting drill. Background Art

[0002] High-pressure jet grouting piles are a construction technology widely used in foundation reinforcement and underground engineering. Its working principle is to mix cement slurry or chemical slurry with foundation soil through high-pressure spraying to form a consolidation body with high strength and stability. High-pressure jet grouting pile technology plays an important role in soft soil foundation reinforcement, underground continuous wall construction, tunnel support and other fields. In the actual construction process, the construction points of high-pressure jet grouting piles are usually continuous and dense. The control of pile hole position and pile spacing is crucial to construction quality and efficiency. High-precision drilling positioning method directly affects the quality of high-pressure jet grouting wall.

[0003] The existing traditional drilling rig positioning control method usually relies on manual operation, mainly through the use of tape measures to lay out markers at equal distances to determine the construction site. However, the accuracy of manual measurement is limited and is easily affected by human factors, such as the operator's measurement techniques and reading errors. Secondly, during the construction process, due to the complex environment of the construction site, there are various interference factors, such as uneven ground, vibration of mechanical equipment, etc., which may cause the position of the markers laid in advance to shift during the construction process. Therefore, the traditional measurement method cannot ensure that the drilling rig reaches the construction site accurately, and there are low accuracy and large fluctuations during the construction process, and it is impossible to achieve specific and operational direction guidance. Summary of the invention

[0004] In view of this, the present application aims to propose a positioning deviation control method and device for a high-pressure rotary jet drilling rig, so as to solve the problem of inaccurate drilling positioning of a high-pressure rotary jet drilling rig, resulting in poor construction quality.

[0005] To achieve the above purpose, the technical solution of this application is implemented as follows: In a first aspect, the present application provides a method for controlling positioning deviation of a high-pressure jet grouting drilling rig, comprising: Acquire drill rod data during the movement of the jet grouting drill, wherein the drill rod data includes inclination angle data and top positioning data of the drill rod; A dynamic weight correction model is established according to the positioning data and the inclination data to obtain the offset of the actual position of the drill bit from the preset target position, wherein the correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation; Defining an offset angle between an actual point position and a target point position in a global coordinate system, and calculating a positioning deviation angle of the drill bit in a local coordinate system from the offset angle and an antenna heading angle; The movement amount of the drill bit in each direction is obtained based on the positioning deviation angle and the offset, and the drill bit is controlled to move to the target point to perform the drilling and grouting operation according to the movement amount.

[0006] In the second aspect, based on the same inventive concept, the present application further provides a high-pressure rotary jet drilling rig positioning deviation control device, according to the high-pressure rotary jet drilling rig positioning deviation control method described in the first aspect, comprising: Positioning reference module, verticality monitoring module, data processing and analysis module and remote platform monitoring module; The positioning reference module is configured to obtain positioning data of the top of the drill pipe, and the verticality monitoring module is configured to monitor the inclination data of the drill pipe; The data processing and analysis module is configured to perform fluctuation weight correction according to the positioning data and the inclination data, and perform offset processing according to the actual position of the drill bit and the preset target position, and guide the drill bit of the drilling rig to reach the target position according to the obtained offset distance; The remote platform monitoring module is configured to remotely monitor the movement position and grouting data of the drilling rig and provide reminder feedback.

[0007] Compared with the prior art, the method and device for controlling positioning deviation of a high-pressure jet grouting drilling rig described in this application have the following beneficial effects: The present application describes a method and device for controlling positioning deviation of a high-pressure rotary jet drilling rig. The method is based on high-precision positioning technology and digital means. The operator can promptly discover and operate the mobile drilling rig according to the prompts to meet the requirements, correct the position offset, tilt and verticality of the high-pressure rotary jet machine during the construction process, and ensure that the key parameters of the position, pile spacing and verticality of the rotary jet piles meet the construction requirements, thereby greatly improving the construction quality of the high-pressure rotary jet piles. On the other hand, engineering management personnel can understand the construction status of the high-pressure rotary jet machine in real time on the monitoring platform, which enables management personnel to promptly discover problems and give guidance even if they are not at the construction site, facilitating effective management of the entire construction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A flow chart of a positioning deviation control method for a high-pressure jet grouting drilling rig described in an embodiment of the present application; Figure 2 This is a schematic structural diagram of a positioning deviation control device for a high-pressure jet grouting drilling rig according to an embodiment of the present application; Figure 3 This is a schematic diagram of the module structure of a positioning deviation control device for a high-pressure jet grouting drilling rig according to an embodiment of the present application; Figure 4 This is a schematic diagram of the angle correction described in an embodiment of the present application.

[0009] Description of reference numerals: 1-positioning reference module; 2-verticality monitoring module; 3-data processing and analysis module; 4-remote platform monitoring module; 101-main antenna; 102-secondary antenna; 103-differential base station; 201-antenna heading angle; 202-offset angle; 203-target point; 204-drilling point; 205-positioning deviation angle. DETAILED DESCRIPTION

[0010] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0011] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0012] See also Figures 1 to 4 As shown, this embodiment provides a method for controlling positioning deviation of a high-pressure jet grouting drilling rig, which specifically includes the following steps: Step S101, obtaining drill rod data of the jet grouting drill during its movement, wherein the drill rod data includes inclination angle data and top positioning data of the drill rod.

[0013] Specifically, in this embodiment, during the movement of the high-pressure jet grouting drill, the GNSS positioning antennas arranged symmetrically on the top of the column and the differential base station arranged at the far end are used to coordinate the positioning of the drill, and the height difference between the positioning antenna and the drill bit is measured. , the GNSS positioning antenna has a fixed sampling frequency Collect the current time Drill pipe top plane positioning coordinates and the antenna heading angle 201.

[0014] During the movement of the high-pressure jet grouting drilling rig, the dual-axis inclination sensor is installed and fixed on the side of the drilling rig column to fix the frequency. collection The inclination angle at the moment, i.e. the verticality ,include , ,in: : 0-90° is front, 90-180° is rear; : 0-90° is right, 90-180° is left.

[0015] Step S102, establishing a dynamic weight correction model based on the positioning data and the inclination data to obtain the offset of the actual drill bit position from the preset target point, the correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation.

[0016] Specifically, in this step, during the construction process, the drill bit position coordinates are calculated in real time, and the GNSS positioning antenna and the inclination sensor are The drill pipe top data is transmitted back at all times , considering the fluctuation of positioning value and inclination value during the movement of the drilling rig, a dynamic weight correction model is established, in which a fixed sampling frequency is defined The internal inclination fluctuation coefficient and fixed sampling frequency Positioning Fluctuation Coefficient ( Indicates the variance of the inclination angle data in the last 1s, represents the mean of displacement fluctuations within the last 1s) are: (1) (2) Establish weight coefficients corresponding to inclination fluctuations and displacement fluctuations , , specifically: (3) (4) Define the displacement correction of the drill bit , , specifically: (5) (6) Taking into account the drill pipe inclination and related data fluctuation correction, the airborne analysis terminal can calculate The actual coordinates of the drilling point 204 at the moment for: (7) (8) During the movement of the drilling rig, the offset of the current actual position of the drill head from the target point is calculated in real time ,in: (9) Step S103 , defining the offset angle between the actual point position and the target point position in the global coordinate system, and calculating the positioning deviation angle 205 of the drill bit in the local coordinate system by the offset angle 202 and the antenna heading angle 201 .

[0017] In this step, define It is the offset angle between the target point and the actual point in the global coordinate system, that is, the angle between the true north direction and the actual point and the target point in the clockwise direction, where: (10) Considering the change of antenna heading angle, calculate the drill head deviation angle in the local coordinate system, that is, the angle between the front direction of the drilling rig and the actual point and the target point in the clockwise direction , the specific formula is as follows: (11) Step S104: obtaining the movement amount of the drill bit in each direction based on the positioning deviation angle and the offset, and controlling the drill bit to move to the target point to perform drilling and grouting operations according to the movement amount.

[0018] Specifically, in this step, the global coordinate deviation Decomposed into the forward / backward / left / right movement of the drill position in a local coordinate system that can be specifically realized, where: (12) (13) in, Indicates moving forward. Indicates moving backwards. Indicates moving forward to the right. Indicates moving to the left; During the movement of the drilling rig, The data information is updated every second and displayed in real time on the screen of the onboard analysis terminal. The operator guides the movement of the drilling rig according to the movement amount so that the drill bit reaches the target point.

[0019] In some embodiments, it further comprises: In response to the offset satisfying a preset positioning deviation threshold (the positioning deviation threshold set in this embodiment is ≤5 cm), the positioning is completed through a screen display and a voice prompt; In response to the offset not meeting a preset positioning deviation threshold, an alarm is issued.

[0020] Specifically, in this embodiment, when After the positioning deviation threshold is met, the onboard analysis terminal will issue a voice prompt indicating that the target point is near the target point, indicating that the positioning meets the design requirements and the subsequent grouting operation can be started. At the same time, the data of the movement process and the grouting process are transmitted back to the remote monitoring platform in real time. If there is a large positioning deviation, it will be recorded and reported in time to remind management personnel and on-site construction personnel to make timely corrections.

[0021] The positioning deviation control method of a high-pressure rotary jet drilling rig described in this embodiment is based on high-precision positioning technology and digital means. The operator can timely discover and operate the mobile drilling rig according to the prompts to meet the requirements, correct the position offset, tilt and verticality of the high-pressure rotary jet machine during the construction process, and ensure that the key parameters of the position, pile spacing and verticality of the rotary jet pile meet the construction requirements, thereby greatly improving the construction quality of the high-pressure rotary jet pile. On the other hand, engineering management personnel can understand the construction status of the high-pressure rotary jet machine in real time on the monitoring platform, which enables management personnel to find problems and give guidance in time even if they are not at the construction site, which is convenient for effective management of the entire construction process.

[0022] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, in order to achieve accurate positioning calculation and real-time guidance, as Figure 2 , Figure 3 As shown, the embodiment of the present application also provides a positioning deviation control device for a high-pressure jet grouting drilling rig, comprising: Positioning reference module 1, verticality monitoring module 2, data processing and analysis module 3 and remote platform monitoring module 4; The positioning reference module 1 is configured to obtain the positioning data of the top of the drill pipe, and the verticality monitoring module 2 is configured to monitor the inclination data of the drill pipe; The data processing and analysis module 3 is configured to perform fluctuation weight correction according to the positioning data and the inclination data, and perform offset processing according to the actual position of the drill bit and the preset target position, and guide the drill bit of the drilling rig to reach the target position according to the obtained offset distance; The remote platform monitoring module 4 is configured to remotely monitor the movement position and grouting data of the drilling rig and provide reminder feedback.

[0023] Specifically, in this embodiment, the three-dimensional position information of the top of the drill rod is obtained with high precision through the positioning reference module 1 mounted on the drill rod of the drilling rig, and the verticality monitoring module 2 monitors the inclination angle of the drill rod with high precision, and the correction is made by considering the inclination angle of the drill rod, the antenna height, and the weight of the numerical fluctuation during the movement. The data processing and analysis module 3 calculates and obtains the accurate real-time coordinates of the drill bit position, and the real-time deviation distance of the drilling position is calculated through the design position (i.e., the target point) information pre-released by the remote platform monitoring module 4. At the same time, the conversion relationship between the overall coordinate system and the local coordinate system is established, and the offset distance is specifically calculated to the left and right, front and back directions relative to the drilling rig, so as to realize the real-time guidance of the drill bit operation position. Through real-time monitoring and mobile guidance, it is ensured that the drill bit position is accurately moved to the vicinity of the design point. When the deviation from the design point exceeds the construction specified threshold, an alarm prompt is issued to ensure the construction quality of the high-pressure jet grouting pile.

[0024] Furthermore, the positioning reference module includes a remote differential base station or CORS network and a dual GNSS positioning antenna on the drilling rig end. The antenna is installed on the top of the drill pipe of the drilling rig to receive satellite signals and obtain high-precision three-dimensional position information (latitude, longitude and elevation information) at the drill pipe in real time. After the sensor signal is collected, it is transmitted to the data processing and analysis module for further processing.

[0025] Reference Figure 2 The positioning reference module 1 includes a remote differential base station 103 or a CORS network and a dual GNSS positioning antenna at the drilling rig end. The GNSS positioning antenna is divided into a main antenna 101 and a secondary antenna 102. The differential base station 103 is deployed as a reference station in an open, unobstructed position near the construction area with good signals. At the top of the column tower of the rotary jet drilling rig, an outrigger antenna bracket is installed on both sides at a suitable position perpendicular to the direction of the drilling rig body (i.e., along the direction of the drilling rig crawler or hydraulic telescopic rod). The GNSS positioning antenna is fixed on the antenna bracket by bolts. The dual antennas are symmetrically distributed about the drill rod column. The antenna baseline is guaranteed to be perpendicular to the drill rod and the main shaft of the drilling rig (the crawler of the walking drilling rig) to ensure good reception of the base station or CORS network positioning signal. The antenna signal transmission feeder is fixed along the column tower and connected to the airborne analysis terminal at the operating table. The main antenna 101 provides a reference position, and the secondary antenna 102 is used to measure the dynamic position. The two work together to achieve high-precision positioning and navigation services during the movement of the drilling rig.

[0026] The verticality monitoring module 2 mainly includes a dual-axis tilt sensor, referring to Figure 2The dual-axis inclination sensor 2 is fixed on the side of the drilling rig column to ensure that the construction process is not affected by vibration, and transmits the signal to the airborne analysis terminal through the data transmission line. For the first use, a plumb bob is used as a reference, and the angle is corrected after the drill rod is adjusted to be completely vertical, and a level is used as an auxiliary reference. In the actual construction process, the rotary jet drilling rig is defined as the front direction when the operator is operating on the operating table, and the left and right directions are left and right. The inclination sensor collects the front and back, left and right verticality at the current moment in real time.

[0027] The data processing and analysis module 3 mainly includes an airborne analysis terminal, which is powered by a mobile power generation device. It includes a built-in GNSS receiver, an integrated controller, a data wireless transmission module, and an airborne display device. The data collected by the GNSS antenna in real time is transmitted to the built-in GNSS receiver through a feeder. The integrated controller is used to perform offset processing on the received positioning data and inclination data. According to the coordinate reference system used in different projects (such as the CGCS2000 coordinate system, the WGS-84 coordinate system, or different city coordinate systems, etc.) and the corresponding coordinate conversion parameters, the airborne analysis terminal converts the longitude and latitude signals into the construction north-east coordinates (plane Consider the distance between the two antennas and the antenna heading angle 201 (refer to Figure 4 As shown, It is defined as the angle between the true north direction and the heading of the main antenna and the auxiliary antenna in the clockwise direction. ), fix the drilling rig to calibrate the position and orientation.

[0028] Before construction begins, obtain the construction number and coordinates of the designed construction jet grouting pile point (i.e. target point 203) from the monitoring platform. , design and construction parameters and other control information; during the monitoring process, the data processing and analysis module calculates the drill position coordinates in real time and displays it on the display screen of the onboard analysis terminal. The operator is guided to adjust the position of the high-pressure jet drilling rig to the set requirements in time.

[0029] Furthermore, according to the plane coordinate information of the top of the drill rod transmitted by the antenna positioning, the elevation information of the antenna from the drill bit preset during installation, and the inclination information of the drill rod, the real-time position coordinates of the drill bit position are jointly calculated by comprehensively considering the data fluctuation weight correction and the relevant geometric relationship. According to the target point coordinates transmitted by the remote platform monitoring module 4 and the calculated real-time position coordinates of the drill bit position, the airborne analysis terminal calculates the position deviation distance, considers the pile driver orientation information to perform coordinate system conversion, and provides operable left and right, front and back direction movement distance guidance during the process of the drill bit moving to the design point. When the offset exceeds the threshold, an alarm prompt can be provided to guide the on-site personnel to make timely adjustments. Specifically, the data processing and analysis module analyzes the positioning coordinates and the drill rod verticality data, calculates the position offset between the real-time plane position coordinates of the drill bit and the target point during the movement, and realizes guided positioning.

[0030] The remote platform monitoring module 4 is used to receive and store the data sent by the data processing and analysis module 3 in real time, and can also realize the functions of sending construction instructions and viewing them online. The client uses a web page to log in, and can enter the system login interface by typing the URL in the browser address bar, and enter the user name and password to log in: Before the construction starts, the operator sets the jet grouting pile number and target point information through the specified web page, and stores this information in the database through the network for subsequent application; during the monitoring process, the client can display the position movement of the monitoring jet grouting pile in real time: In addition, the client can determine unqualified construction information, issue an alarm prompt, and prompt the management personnel of all parties to take corresponding measures to make adjustments.

[0031] For the convenience of description, the above devices are described in terms of functions and are divided into various modules. Of course, when implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0032] The device of the above embodiment is used to implement the corresponding method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0033] When the operator uses it, after completing the previous jet grouting construction point, the onboard analysis terminal automatically obtains the next point information, specifically displays the current total distance to the next target point, the front-to-back distance, and the left-to-right distance. The operator can move the drill rig in the left-to-right and front-to-back directions according to the screen instructions, and initially reach the target point. After the offset meets the threshold, a voice prompt is issued to indicate that the positioning is complete. After that, the inclination and offset data displayed on the onboard analysis terminal can be referred to, and the drill rig can be fine-tuned until all parameters meet the design requirements. After completion, click the screen to start construction and continue the drilling and grouting operations. Through real-time monitoring, when the offset exceeds the positioning deviation threshold when drilling begins, the monitoring platform and the site will issue an alarm to feedback the site and management personnel to ensure construction quality.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

[0035] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling positioning deviation of a high-pressure jet grouting drilling rig, characterized in that: include: Acquire drill rod data during the movement of the jet grouting drill, wherein the drill rod data includes inclination angle data and top positioning data of the drill rod; A dynamic weight correction model is established according to the positioning data and the inclination data to obtain the offset of the actual position of the drill bit from the preset target position, wherein the correction model includes: calculating the actual position coordinates of the drill bit position based on the weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation; Defining an offset angle between an actual point position and a target point position in a global coordinate system, and calculating a positioning deviation angle of the drill bit in a local coordinate system from the offset angle and an antenna heading angle; The movement amount of the drill bit in each direction is obtained based on the positioning deviation angle and the offset, and the drill bit is controlled to move to the target point to perform the drilling and grouting operation according to the movement amount.

2. The method according to claim 1, characterized in that: The inclination fluctuation coefficient and positioning fluctuation coefficient under a fixed sampling frequency are defined as follows: ； ； The weight coefficients corresponding to the inclination fluctuation and the displacement fluctuation are established according to the inclination fluctuation coefficient and the positioning fluctuation coefficient, specifically as follows: ； ； In the formula, represents the sampling frequency corresponding to the inclination fluctuation coefficient, Indicates the sampling frequency under the corresponding positioning fluctuation coefficient, Indicates the verticality of the drill pipe. represents the coefficient of fluctuation, represents the weight coefficient, , y represents the plane positioning coordinate value of the top of the drill pipe.

3. The method according to claim 2, characterized in that Define the displacement correction of the drill bit , , as follows: ； ； The actual position coordinates of the drill bit are calculated based on the weight coefficients corresponding to the inclination fluctuation and displacement fluctuation, as follows: ； ； Calculate the offset between the actual position coordinates and the preset target point coordinates, as follows: ； In the formula, It indicates the height difference between the positioning antenna set at the top of the drill pipe and the bottom of the drill pipe. represents the heading angle of the positioning antenna, , Drill pipe verticality The weight, Indicates the offset distance between the current actual position coordinates of the drill head and the target point.

4. The method according to claim 3, characterized in that The deviation angle formula is: ； Due to the change in the antenna heading angle, the positioning deviation angle of the drill bit in the local coordinate system is calculated by the offset angle and the antenna heading angle. The specific formula is as follows: 。 5. The method according to claim 4, characterized in that The movement amount of the drill bit in each direction is obtained based on the positioning deviation angle and the offset, and the specific formula is as follows: ； ； in, Indicates moving forward. Indicates moving backwards. Indicates moving forward to the right. Indicates moving to the left; The operator guides the movement of the drill according to the movement amount so that the drill bit reaches the target point.

6. The method according to claim 1, characterized in that Also includes: In response to the offset satisfying a preset positioning deviation threshold, the positioning is completed through a screen display and a voice prompt; In response to the offset not meeting a preset positioning deviation threshold, an alarm is issued.

7. The method according to claim 6, characterized in that: The positioning deviation threshold is ≤5cm.

8. A positioning deviation control device for a high-pressure jet grouting drill, according to the positioning deviation control method for a high-pressure jet grouting drill according to any one of claims 1 to 7, characterized in that: include: Positioning reference module, verticality monitoring module, data processing and analysis module and remote platform monitoring module; The positioning reference module is configured to obtain positioning data of the top of the drill pipe, and the verticality monitoring module is configured to monitor the inclination data of the drill pipe; The data processing and analysis module is configured to perform fluctuation weight correction according to the positioning data and the inclination data, and perform offset processing according to the actual position of the drill bit and the preset target position, and guide the drill bit of the drilling rig to reach the target position according to the obtained offset distance; The remote platform monitoring module is configured to remotely monitor the movement position and grouting data of the drilling rig and provide reminder feedback.

9. The device according to claim 8, characterized in that: The positioning reference module includes a remote differential base station and two GNSS positioning antennas for information exchange with the remote differential base station. The two GNSS positioning antennas are respectively arranged at two sides of the top of the vertical tower of the rotary jet drilling rig and perpendicular to the direction of the rotary jet drilling rig body, and are used to receive satellite models to obtain positioning data at the drill rod; The verticality monitoring module comprises a dual-axis inclination sensor arranged on the side of the jet-jet drilling rig column.

10. The device according to claim 9, characterized in that: The data processing and analysis module includes a GNSS receiver, an integrated controller, a data wireless transmission module and an airborne display unit; The GNSS receiver receives the positioning data collected by the GNSS positioning antenna, the integrated controller is used to perform offset processing on the received positioning data and inclination data, and display the displacement offset data of the drill bit through the airborne display unit, and the data processing and analysis module transmits data with the remote platform monitoring module through the data wireless transmission module to perform remote monitoring.

Images