Neutral point positioning method for trenchless construction

Abstract

The invention discloses a median point positioning method for trenchless construction. A guiding instrument integrated with a global positioning system is used in the trenchless construction. The positioning method comprises the following steps: (1) pushing a drill rod, calculating the horizontal progress length of the current drill rod after pushing, recording the horizontal progress length as a conventional calculated length, and then finding a current median line; 2) finding a current median point on a median line of the guiding instrument: determining a current satellite positioning point of the guiding instrument by using satellite positioning information, and calculating a distance from a previous satellite positioning point stored in the guiding instrument in real time, and recording the distance as a satellite calculation length; along with the movement of the guiding hand on the median line, the guiding instrument displays the difference between the conventional calculation length and the satellite calculation length to the guiding hand in real time, and the minimum position of the difference between the conventional calculation length and the satellite calculation length is the current median point; and (3) recording the current median point after the current median point is determined, and then returning to the step (1) until the recording of the median points of all the drill rods is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of trenchless drilling, and in particular to a method for locating the midpoint in trenchless construction. Background Art

[0002] A typical trenchless construction site includes a drilling rig, drill pipes, a drill bit, a probe, and a guidance instrument. The probe is installed in the probe chamber of the drill bit, and its function is to transmit the position information of the drill bit to the guidance instrument on the ground through electromagnetic principles. The guidance instrument is used by the guide operator on the ground to determine the position of the drill bit underground by finding specific positions.

[0003] The trenchless construction process is completed through the mutual cooperation of the drilling rig operator and the guide operator. Among them, the guide operator uses the guidance instrument to determine the current position of the drill bit, and then determines the way of advancing the drilling rig to achieve the purpose of the construction line following the planned track.

[0004] To determine the current position of the drill bit underground, the guide operator's method is to first determine the rear point of the drill pipe and make a mark on the ground, such as inserting a small flag, and then find the front point of the drill pipe and also make a mark. Then, according to the indication of the guidance instrument, find the midpoint on the line connecting the two marked points, that is, directly above the drill bit. Directly above the drill bit is the position where the drill bit is located. If it is necessary to record or mark the construction route trajectory, the midpoint is the appropriate position for recording or marking.

[0005] The reason why determining the midpoint is crucial is that subsequent maintenance work is carried out based on this position. The conventional positioning method is to first determine the front and rear points and the median line of the probe (installed in the drill bit) through electromagnetic wave calculation, and then estimate the intersection point of the line connecting the front and rear points and the median line, that is, the midpoint. Even for the new guidance technology using satellite navigation, it only simplifies or replaces some steps in the traditional method, but the method of determining the midpoint by positioning the front and rear points is the same (see a positioning method in trenchless construction disclosed in the Chinese patent with the application number 202311633889.2 filed by the applicant).

[0006] The method of determining the midpoint using the front and rear points and the median line has a major drawback, that is, in order to determine the midpoint, the guide operator must walk back and forth on the construction route, consuming a large amount of physical strength, and the construction time and cost are relatively high. The greater the construction depth, the farther the walking distance. If it is impossible to reach the front and rear points due to ground obstacles, the midpoint cannot be determined. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a method for locating the midpoint in trenchless construction, which can simplify the operation and accurately locate, aiming at the deficiencies in the above-mentioned prior art.

[0008] The first technical solution adopted by the present invention to solve the above technical problems is: a method for positioning the midpoint in trenchless construction, where the trenchless construction uses a guidance instrument integrated with a global positioning system; it is characterized in that: the positioning method includes the following steps:

[0009] 1) Push a drill pipe. After completion, calculate the horizontal progress length of the current drill pipe, denoted as the conventional calculation length, and then find the current median line;

[0010] 2) Find the current midpoint on the median line of the guidance instrument:

[0011] Using satellite positioning information, determine the current satellite positioning point of the guidance instrument, and calculate in real time the distance from the previous satellite positioning point stored in the guidance instrument, denoted as the satellite calculation length; as the guiding operator moves on the median line, the guidance instrument displays the difference between the conventional calculation length and the satellite calculation length to the guiding operator in real time, and the position where the difference between the conventional calculation length and the satellite calculation length is the smallest is the current midpoint;

[0012] 3) After determining the current midpoint, record the current midpoint, and then return to step 1) until the midpoints of all drill pipes are recorded.

[0013] Using the median line of the conventional guidance instrument and satellite positioning technology, directly determine the midpoint. The guiding operator only needs to move along the median line, and there is no need to move a large range to find the front point and the rear point, which saves time and effort and has accurate positioning.

[0014] Preferably, in step 1), the horizontal progress length of the drill pipe is Lc, and it satisfies Lc = L * cosα, where L is the length L of the drill pipe and α is the inclination angle of the drill pipe.

[0015] Preferably, in step 2), the previous satellite positioning point is the satellite positioning position corresponding to the midpoint after the previous drill pipe is pushed. When the drill pipe pushed in step 1) is the first drill pipe, then the previous satellite positioning point is the satellite positioning position corresponding to the starting point of the drilling path on the ground.

[0016] Preferably, in step 2), when calculating the satellite calculation length, the satellite positioning information is transformed into two-dimensional plane coordinates for calculation.

[0017] Preferably, the calculation of the guidance instrument is completed by a computer or a mobile phone.

[0018] The second technical solution adopted by the present invention to solve the above technical problems is: a method for positioning the midpoint in trenchless construction, where the trenchless construction uses a guidance instrument integrated with a global positioning system; it is characterized in that: the positioning method includes the following steps:

[0019] 1) Push a drill pipe. After completion, find the current median line;

[0020] 2) Find the current midpoint on the median line of the orientation instrument:

[0021] Select two points on the median line of the orientation instrument, denoted as the first satellite positioning point and the second satellite positioning point respectively, obtain the satellite positioning information of the two points, and transform them into two-dimensional plane coordinates;

[0022] 3) Calculate the current midpoint using the previous satellite positioning point, the first satellite positioning point, and the second satellite positioning point stored in the orientation instrument:

[0023] 3.1) Connect the first satellite positioning point and the second satellite positioning point to form a line, obtaining a connecting line;

[0024] 3.2) First transform the previous satellite positioning point into two-dimensional plane coordinates, and find the perpendicular line passing through the previous satellite positioning point and perpendicular to the connecting line;

[0025] 3.3) The intersection point of the connecting line and the perpendicular line is the current midpoint;

[0026] 4) After determining the current midpoint, record the current midpoint, and then return to step 1) until all midpoints are recorded.

[0027] Using the median line of a conventional orientation instrument and satellite positioning technology to directly determine the midpoint, the orientation operator only needs to find the median line and no longer needs to move a large range to find the front point and the back point, saving time and effort and having accurate positioning.

[0028] Preferably, in step 2), the previous satellite positioning point is the satellite positioning position corresponding to the midpoint after the previous drill pipe is advanced. When the drill pipe advanced in step 1) is the first drill pipe, the previous satellite positioning point is the satellite positioning position corresponding to the starting point of the drilling path on the ground.

[0029] Preferably, the calculation of the orientation instrument is completed by a computer or a mobile phone.

[0030] Preferably, to obtain the perpendicular line, in step 3.1), obtain the slope of the connecting line; in step 3.2), obtain the slope of the perpendicular line according to the slope of the connecting line, thereby finding the perpendicular line.

[0031] Compared with the prior art, the advantages of the present invention are as follows: Using the median line of a conventional orientation instrument and satellite positioning technology to directly determine the midpoint, after the orientation operator finds the median line, he can move along the median line or not move, and no longer needs to move a large range to find the front point and the back point, saving time and effort and having accurate positioning. Brief Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the underground attitude and position relationship of the drill pipe in trenchless construction;

[0033] Figure 2 Schematic diagram of the ground position and length relationship of the positioning method according to the first embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the ground satellite positioning points of the positioning method according to the second embodiment of the present invention;

[0035] Figure 4 Schematic diagram of obtaining the midpoint from the satellite positioning points of the positioning method according to the second embodiment of the present invention. Detailed implementation manners

[0036] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Since the disclosed embodiments of the present invention can be arranged in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to the directions opposite to or consistent with the direction of gravity. In addition, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0038] A midpoint positioning method for trenchless construction uses satellite positioning technology. Therefore, the key is to use a precise GPS or Beidou positioning system (i.e., the Global Positioning System), and it is necessary to integrate the global positioning system into the guidance instrument. This technology is the prior art and can be referred to in the Chinese patents disclosed by the applicant with application numbers 202010251387.3, 202010251440.X, etc.

[0039] Embodiment 1

[0040] Refer to Figure 1 , a schematic diagram of the attitude and position relationship of the drill pipe 100 underground. Refer to Figure 2 , a diagram of the ground position and length relationship corresponding to the drill pipe 100. The probe 200 is located inside the drill bit at the head of the drill pipe 100. The horizontal progress length of the drill pipe 100 is Lc, which is the previous midpoint O x-1 and the current midpoint Ox The distance between. The previous satellite positioning point obtained by satellite positioning technology (the satellite positioning position of the midpoint determined after the previous drill pipe 100 is advanced) is O x-1 ’, and the current satellite positioning point (the real-time satellite positioning position corresponding to the guide instrument) is O x ’. The coordinates of the satellite positioning point need to be transformed as necessary and transformed into a ground two-dimensional plane coordinate, such as Mercator projection, and then the distance is calculated. If it is the first drill pipe 100, then the previous midpoint, or the previous satellite positioning point, is the starting point corresponding to the ground of the drilling path. Using the length L of the drill pipe 100 and the inclination angle α of the drill pipe 100, the horizontal progress length Lc of the above-mentioned drill pipe 100 can be obtained, Lc = L * cosα, L is a constant, that is, once the drill pipe 100 is determined, its length usually remains unchanged, and the inclination angle α can be measured by using existing conventional methods.

[0041] After each midpoint is determined, the guide instrument records the satellite navigation position (GPS or Beidou position) of the current midpoint.

[0042] The midpoint positioning method of the present invention specifically includes the following steps:

[0043] 1) Advance a drill pipe 100. After completion, first calculate the horizontal progress length Lc of the current drill pipe 100 by the existing method as described above, denoted as the conventional calculation length. The guide operator holding the existing guide instrument of the above type finds the current median line M1 according to the method provided by the guide instrument, and the median line M1 is found by the existing conventional method;

[0044] 2) Find the current midpoint on the median line M1 of the guide instrument:

[0045] Use satellite positioning information to determine the current satellite positioning point O x ’ of the guide instrument, and calculate its distance from the previous satellite positioning point O x-1 ’ (calculated after being transformed into a two-dimensional plane coordinate), denoted as the satellite calculation length (Lw), and record the difference between the conventional calculation length (Lc) and the satellite calculation length (Lw), that is, Lw - Lc, as Lwc, and display it to the guide operator. When Lwc is the smallest, it is the current midpoint. When searching, when moving along the median line in one direction, as long as the lowest value of the trough is found; theoretically speaking, the position where Lwc is 0 is the midpoint, but due to the accuracy limitations of the satellite or the guide instrument, Lwc may have an error of centimeter level relative to 0, such as ±10 cm;

[0046] Satellite positioning may require a short period of convergence to obtain an accurate position. Therefore, the guiding operator needs to wait slightly, for example, two or three seconds, and then determine the direction to move on the median line M1 of the guiding instrument. Repeat this process several times on the median line M1 of the guiding instrument to determine the position of the current midpoint;

[0047] 3) After determining the current midpoint, record the current midpoint, and then return to step 1) until all midpoints are recorded, thus forming a complete guiding record to provide accurate position information for subsequent construction and maintenance.

[0048] This new positioning method eliminates the necessity of front-point positioning in the prior art, saving time and effort.

[0049] The calculation and user interface of the guiding instrument can be completed using a general computer or mobile phone (such as the Android system).

[0050] Embodiment 2

[0051] See Figure 3 and Figure 4 In this embodiment, the positioning method includes the following steps:

[0052] 1) Push a drill pipe 100. After completion, the guiding operator holding the existing guiding instrument finds the median line M1 according to the method provided by the guiding instrument, and the median line M1 is found in the existing conventional manner;

[0053] 2) Find the current midpoint on the median line M1 of the guiding instrument:

[0054] Select two points on the median line M1 of the guiding instrument, denoted as the first satellite positioning point D1 and the second satellite positioning point D2 respectively, obtain the satellite positioning information of the two points, and transform it into two-dimensional plane coordinates;

[0055] 3) Use the previous satellite positioning point O x-1 ’, the first satellite positioning point D1 and the second satellite positioning point D2 to calculate the current midpoint:

[0056] 3.1) Connect the first satellite positioning point D1 and the second satellite positioning point D2 to form a line L1, and obtain the slope of the line L1 (the inclination angle relative to the X-axis in the two-dimensional plane coordinate);

[0057] 3.2) Find the perpendicular line L2 passing through the previous satellite positioning point O x-1 ’ and perpendicular to the line L1. Since the slope of the line L1 is known, the slope of the perpendicular line L2 can be obtained through this slope, and thus the perpendicular line L2 is found and drawn in the two-dimensional plane coordinate;

[0058] 3.3) The intersection point of the line L1 and the perpendicular line L2 is the current midpoint;

[0059] 4) After determining the current midpoint, record the current midpoint, and then return to step 1) until all midpoints are recorded, thus forming a complete guidance record to provide accurate position information for subsequent construction and maintenance.

[0060] This new positioning method is more accurate in calculation.

[0061] To prevent the cumulative error caused by using one type of data (such as satellite positioning), the midpoint calculation can consider using a combination of calculation and calibration of two lengths (conventional calculation length, satellite calculation length), that is, find the initial midpoint according to this method, and then verify it using the solution in Embodiment 1.

Claims

1. A method for locating the midpoint of a trenchless construction, wherein the trenchless construction uses a guidance instrument integrated with a global positioning system; characterized in that: The positioning method comprises the following steps: 1) Push a drill rod (100). After completion, calculate the horizontal advancement length of the current drill rod (100), record it as the conventional calculation length, and then find the current median line (M1); 2) Find the current midpoint on the midline (M1) of the compass: Using satellite positioning information, determine the current satellite positioning point of the navigation instrument (O x '), and calculate the last satellite positioning point stored in the distance guide in real time ( x-1 '), which is recorded as the satellite calculated length; as the guiding hand moves on the median line (M1), the guiding instrument calculates the difference between the conventional calculated length and the satellite calculated length in real time, and the position where the difference between the conventional calculated length and the satellite calculated length is the minimum is the current median point; 3) After the current midpoint is determined, the current midpoint is recorded, and then the process returns to step 1) until the midpoints of all drill rods (100) are recorded.

2. The method for locating the midpoint of trenchless construction according to claim 1, characterized in that: In step 1), the horizontal extension length of the drill rod (100) is Lc, and Lc=L*cosα is satisfied, wherein L is the length L of the drill rod (100), and α is the inclination angle of the drill rod (100).

3. The method for locating the midpoint of trenchless construction according to claim 1, characterized in that: In step 2), the last satellite positioning point (O x-1 ') is the satellite positioning position corresponding to the midpoint of the previous drill rod (100) after advancement. When the first drill rod (100) is advanced in step 1), the previous satellite positioning point (O x-1 ') is the satellite positioning position corresponding to the starting point of the drilling path on the ground.

4. The method for locating the midpoint of trenchless construction according to claim 1, characterized in that: In step 2), when calculating the satellite length, the satellite positioning information is converted into two-dimensional plane coordinates and then calculated.

5. The method for locating the midpoint of trenchless construction according to any one of claims 1 to 4, characterized in that: The calculation of the guide instrument is completed through a computer or mobile phone.

6. A method for locating the midpoint of a trenchless construction, wherein the trenchless construction uses a guidance instrument integrated with a global positioning system; characterized in that: The positioning method comprises the following steps: 1) Push a drill rod (100) forward, and after completion, find the current midline (M1); 2) Find the current midpoint on the midline (M1) of the compass: Select two points on the midline (M1) of the compass, record them as the first satellite positioning point (D1) and the second satellite positioning point (D2), obtain satellite positioning information of the two points, and transform them into two-dimensional plane coordinates; 3) Use the last satellite positioning point stored in the navigation instrument (O x-1 '), the first satellite positioning point (D1) and the second satellite positioning point (D2) calculate the current midpoint: 3.1) Connecting the first satellite positioning point (D1) and the second satellite positioning point (D2) into a line to obtain a connecting line (L1); 3.2) The last satellite positioning point (O x-1 ') first transform it into a two-dimensional plane coordinate, and find the last satellite positioning point (O x-1 ') and a perpendicular line (L2) perpendicular to the connecting line (L1); 3.3) The intersection of the connecting line (L1) and the vertical line (L2) is the current median point; 4) After determining the current median point, record the current median point and then return to step 1) until all median point records are completed.

7. The method for locating the midpoint of trenchless construction according to claim 6, characterized in that: In step 2), the last satellite positioning point (O x-1 ') is the satellite positioning position corresponding to the midpoint of the previous drill rod (100) after advancement. When the first drill rod (100) is advanced in step 1), the previous satellite positioning point (O x-1 ') is the satellite positioning position corresponding to the starting point of the drilling path on the ground.

8. The method for locating the midpoint of trenchless construction according to claim 6 or 7, characterized in that: The calculation of the guide instrument is completed through a computer or mobile phone.

9. The method for locating the midpoint of trenchless construction according to claim 6 or 7, characterized in that: In step 3.1), the slope of the connecting line (L1) is obtained; in step 3.2), the slope of the perpendicular line (L2) is obtained according to the slope of the connecting line (L1), thereby finding the perpendicular line (L2).

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