Pipeline weld joint coordinate determination method, device and equipment for crossing section and storage medium

Abstract

The application provides a method, device and equipment for determining a welding joint coordinate of a pipeline crossing section and a storage medium. The method comprises the following steps: obtaining an out-of-soil point coordinate and an in-soil point coordinate of the crossing, welding joint coordinates of each pipeline to be laid, and construction data of the crossing, wherein the construction data comprises the length of each drill rod and the inclination angle of each drill rod; determining a reference elevation change and a reference X-direction change according to the out-of-soil point coordinate and the in-soil point coordinate; determining the construction data of the pipeline after cutting according to the reference elevation change, the reference X-direction change and the construction data; determining the coordinates of the end points of each drill rod according to the construction data of the pipeline after cutting; and determining the welding joint coordinate of the pipeline crossing section according to the coordinates of the end points of each drill rod and the welding joint coordinates of each pipeline to be laid. The welding joint coordinate of the pipeline crossing section can be accurately calculated, and the completeness of the pipeline data is improved.

Description

Technical Field

[0001] This application relates to the field of pipeline construction, and more specifically, to a method, apparatus, equipment, and storage medium for determining the coordinates of weld joints in a pipeline crossing section. Background Technology

[0002] Various obstacles, such as mountains, rivers, railways, and highways, are frequently encountered during the construction of oil and gas pipelines, which can significantly impact the construction process. Horizontal directional drilling (HDD), a trenchless construction technique, involves drilling targeted pilot holes according to a pre-designed route while simultaneously prefabricating steel pipes on the ground. The pipes are then pulled back using directional drilling to complete the construction. HDD offers significant advantages in effectively maintaining traffic safety and minimizing environmental damage during construction. Furthermore, this technology is not limited by seasons, has a short construction period, and lower overall costs, leading to its increasingly widespread application in oil and gas pipeline construction.

[0003] The coordinates of weld joints in pipeline crossing sections are crucial for pipeline integrity data, playing a vital role in determining pipeline routes and locating excavation and repair work during pipeline operation. Currently, calculating the coordinates of weld joints in pipeline crossing sections using horizontal directional drilling (WDD) remains a challenge. Therefore, determining the coordinates of weld joints in pipeline crossing sections is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a method, apparatus, equipment, and storage medium for determining the coordinates of weld joints in a pipeline crossing section, thereby solving the practical need for a method to determine the coordinates of weld joints in a pipeline crossing section that is currently lacking in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a method for determining the coordinates of a weld joint in a pipeline crossing section, the method comprising:

[0007] Obtain the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod.

[0008] Based on the coordinates of the soil exit point and the soil entry point, determine the reference elevation change and the reference X-direction change.

[0009] Based on the reference elevation change, the reference X-direction change, and the construction data, determine the construction data after pipe cutting;

[0010] Based on the construction data after the pipe cutting, determine the coordinates of the end points of each drill rod;

[0011] The coordinates of the weld joints of the crossing section of the pipeline are determined based on the coordinates of the end points of each drill rod and the weld joint coordinates of each of the pipelines to be laid.

[0012] As an optional implementation, determining the reference elevation change and the reference X-direction change based on the coordinates of the excavation point and the incavation point includes:

[0013] The change in reference elevation is determined based on the Z-coordinate value in the coordinates of the soil exit point and the Z-coordinate value in the coordinates of the soil entry point.

[0014] The change in the reference X direction is determined based on the X coordinate values ​​of the soil exit point and the soil entry point.

[0015] As an optional implementation, determining the construction data after pipe cutting based on the reference elevation change, the reference X-direction change, and the construction data includes:

[0016] Based on the changes in reference elevation, the changes in reference X direction, the length of each drill rod, and the inclination angle of each drill rod, determine the adjusted length of the first drill rod and the adjusted length of the last drill rod.

[0017] The adjusted lengths of the first and last drill rods are updated into the construction data to obtain the construction data after pipe cutting.

[0018] As an optional implementation, determining the adjusted length of the first drill pipe and the adjusted length of the last drill pipe based on the reference elevation change, the reference X-direction change, the length of each drill pipe, and the inclination angle of each drill pipe includes:

[0019] Based on formula L 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90)=ΔZ and formula L 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90)=ΔX, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe;

[0020] Among them, L 1t L1 is the adjusted length of the first drill pipe, θ1 is the inclination angle of the first drill pipe, L2 is the adjusted length of the second drill pipe, and θ2 is the inclination angle of the second drill pipe. mt θ is the adjusted length of the last drill pipe. mΔZ is the inclination angle of the last drill pipe, ΔX is the change in reference elevation, and ΔX is the change in reference X direction.

[0021] As an optional implementation, the process of determining the Z-coordinate value of the end point of each drill rod based on the construction data after pipe cutting includes:

[0022] A. Based on the length and inclination angle of the first drill rod in the construction data after the pipeline cutting, determine the initial elevation change and take the first drill rod as the current drill rod;

[0023] B. Add the Z coordinate of the soil entry point coordinate to the initial elevation change to obtain the Z coordinate of the current drill rod end point;

[0024] C. Based on the initial elevation change and the length and inclination angle of the next drill pipe of the current drill pipe, determine the new initial elevation change, and take the next drill pipe of the current drill pipe as the new current drill pipe, and repeat steps BC until the current drill pipe is the last drill pipe.

[0025] As an optional implementation, the process of determining the X-coordinate value of the end point of each drill rod based on the construction data after pipe cutting includes:

[0026] A. Based on the length and inclination angle of the first drill rod in the construction data after the pipeline cutting, determine the initial change in the X direction, and take the first drill rod as the current drill rod;

[0027] B. Add the X coordinate of the soil entry point coordinate to the initial X direction change to obtain the X coordinate of the current drill rod end point;

[0028] C. Based on the initial X-direction change and the length and inclination angle of the next drill pipe of the current drill pipe, determine a new initial X-direction change, and take the next drill pipe of the current drill pipe as the new current drill pipe, and repeat steps BC until the current drill pipe is the last drill pipe.

[0029] As an optional implementation, determining the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each of the pipelines to be laid includes:

[0030] The length of each pipe to be laid is determined based on the weld coordinates of each pipe.

[0031] Based on the coordinates of the end points of each drill rod and the length of each pipeline to be laid, determine the coordinates of the weld joints of the pipeline crossing section.

[0032] Secondly, embodiments of this application provide a device for determining the coordinates of weld joints in a pipeline crossing section, the device comprising:

[0033] The acquisition module is used to acquire the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod.

[0034] The first determining module is used to determine the reference elevation change and the reference X-direction change based on the coordinates of the soil exit point and the coordinates of the soil entry point.

[0035] The second determining module is used to determine the construction data after pipe cutting based on the reference elevation change, the reference X-direction change, and the construction data.

[0036] The third determining module is used to determine the coordinates of the end points of each drill rod based on the construction data after the pipe is cut.

[0037] The fourth determining module is used to determine the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each of the pipelines to be laid.

[0038] As one possible implementation, the first determining module is specifically used for:

[0039] The change in reference elevation is determined based on the Z-coordinate value in the coordinates of the soil exit point and the Z-coordinate value in the coordinates of the soil entry point.

[0040] The change in the reference X direction is determined based on the X coordinate values ​​of the soil exit point and the soil entry point.

[0041] As one possible implementation, the second determining module is specifically used for:

[0042] Based on the changes in reference elevation, the changes in reference X direction, the length of each drill rod, and the inclination angle of each drill rod, determine the adjusted length of the first drill rod and the adjusted length of the last drill rod.

[0043] The adjusted lengths of the first and last drill rods are updated into the construction data to obtain the construction data after pipe cutting.

[0044] As one possible implementation, the second determining module is specifically used for:

[0045] Based on formula L 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90)=ΔZ and formula L 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θm -90)=ΔX, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe;

[0046] Among them, L 1t L1 is the adjusted length of the first drill pipe, θ1 is the inclination angle of the first drill pipe, L2 is the adjusted length of the second drill pipe, and θ2 is the inclination angle of the second drill pipe. mt θ is the adjusted length of the last drill pipe. m ΔZ is the inclination angle of the last drill pipe, ΔX is the change in reference elevation, and ΔX is the change in reference X direction.

[0047] As one possible implementation, the third determining module is specifically used for:

[0048] A. Based on the length and inclination angle of the first drill rod in the construction data after the pipeline cutting, determine the initial elevation change and take the first drill rod as the current drill rod;

[0049] B. Add the Z coordinate of the soil entry point coordinate to the initial elevation change to obtain the Z coordinate of the current drill rod end point;

[0050] C. Based on the initial elevation change and the length and inclination angle of the next drill pipe of the current drill pipe, determine the new initial elevation change, and take the next drill pipe of the current drill pipe as the new current drill pipe, and repeat steps BC until the current drill pipe is the last drill pipe.

[0051] As one possible implementation, the third determining module is specifically used for:

[0052] A. Based on the length and inclination angle of the first drill rod in the construction data after the pipeline cutting, determine the initial change in the X direction, and take the first drill rod as the current drill rod;

[0053] B. Add the X coordinate of the soil entry point coordinate to the initial X direction change to obtain the X coordinate of the current drill rod end point;

[0054] C. Based on the initial X-direction change and the length and inclination angle of the next drill pipe of the current drill pipe, determine a new initial X-direction change, and take the next drill pipe of the current drill pipe as the new current drill pipe, and repeat steps BC until the current drill pipe is the last drill pipe.

[0055] As one possible implementation, the fourth determining module is specifically used for:

[0056] The length of each pipe to be laid is determined based on the weld coordinates of each pipe.

[0057] Based on the coordinates of the end points of each drill rod and the length of each pipeline to be laid, determine the coordinates of the weld joints of the pipeline crossing section.

[0058] The beneficial effects of this application are:

[0059] This application provides a method, apparatus, equipment, and storage medium for determining the coordinates of weld joints in a pipeline crossing section. By acquiring the coordinates of the exit and entry points, the method obtains the reference elevation change and the reference X-direction change between these points. Based on these reference elevation and X-direction changes, and construction data provided by the construction party, the original construction data is adjusted after the pipeline is cut during pullback to obtain post-cut construction data. Based on this post-cut construction data, the coordinates of the end points of each drill rod after pipe cutting are calculated. Finally, based on the coordinates of the end points of each drill rod and the weld joint coordinates of each pipeline to be laid, the weld joint coordinates of the crossing section are obtained. Accurate calculation of the weld joint coordinates of the crossing section improves the integrity of the pipeline data. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 A flowchart illustrating the method for determining the coordinates of weld joints in a pipeline crossing section provided in an embodiment of this application;

[0062] Figure 2 A flowchart illustrating the method for determining the reference elevation change and the reference X-direction change in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this application embodiment;

[0063] Figure 3 This is a flowchart illustrating the process of determining construction data after pipe cutting in the method for determining the coordinates of weld joints in a crossing section of a pipe provided in an embodiment of this application.

[0064] Figure 4 A flowchart illustrating the process of determining the Z-coordinate value of the end point of each drill rod in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this embodiment of the application.

[0065] Figure 5 A flowchart illustrating the process of determining the X-coordinate value of the end point of each drill rod in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this embodiment of the application.

[0066] Figure 6A flowchart illustrating the method for determining the weld coordinates of a pipeline crossing a section, as provided in this embodiment of the application.

[0067] Figure 7 A module structure diagram of the device for determining the coordinates of weld joints in a pipeline crossing section provided in this application embodiment;

[0068] Figure 8 This is a schematic diagram of the computer device structure provided in an embodiment of this application. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0070] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0071] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0072] In horizontal directional drilling crossing construction, it is necessary to determine the pipeline route and the location for excavation and repair during the pipeline operation period based on the coordinate data of the pipeline weld joints in the crossing section. However, there is currently no method to calculate the coordinate data of the weld joints of the pipeline in the horizontal directional drilling crossing section.

[0073] Based on the aforementioned problems, this application proposes a method for determining the coordinates of weld joints in a pipeline crossing section. This method involves acquiring the coordinates of the exit and entry points of the crossing, the weld joint coordinates of each pipeline to be laid, and the construction data of the crossing. Based on the exit and entry point coordinates, the method determines the reference elevation change and the reference X-direction change. Based on the reference elevation change, the reference X-direction change, and the construction data, the method determines the construction data after pipeline cutting. Based on the construction data after cutting, the method determines the coordinates of the end points of each drill rod. Finally, based on the coordinates of the end points of each drill rod and the weld joint coordinates of each pipeline to be laid, the method determines the weld joint coordinates of the pipeline crossing section. This achieves accurate calculation of the weld joint coordinates of the pipeline crossing section, improving the integrity of the pipeline data.

[0074] Figure 1 This is a flowchart illustrating the method for determining the coordinates of weld joints in a pipeline crossing section provided in an embodiment of this application. The execution entity of this method can be any computer device with computational processing capabilities. For example... Figure 1 As shown, the method includes:

[0075] S101. Obtain the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod.

[0076] Optionally, the entry and exit points of a horizontal directional drilling (HDD) crossing refer to the entry and exit points of the HDD when crossing a mountain, river, or road; that is, the actual start and end points of the HDD crossing. High-precision positioning is achieved through real-time kinematic (RTK) technology, and the entry point O is measured. I coordinates (X) I Y I Z I ) and the excavation site O O coordinates (X) O Y O Z O ).

[0077] During horizontal directional drilling (HDD) construction, the drilling rig's power system drives the drill string-drill rod system to drill a pilot hole along the designed drilling trajectory. The size and number of reamer stages are determined based on the diameter of the pipeline to be laid and the geological conditions. Once the reamed hole construction meets the requirements for pipeline pullback, the drill string system is used to pull the pipeline from the entry side through the formed hole to the exit side, thus completing the entire laying operation. The pipeline to be laid undergoes a series of pre-construction processes, including welding and corrosion protection. In the construction data, the sum of the lengths of each drill rod is equivalent to the total length of the borehole, which is equivalent to the sum of the lengths of all pipelines to be laid during pipeline pullback.

[0078] Before pulling back during horizontal directional drilling, each weld joint of the pipeline to be laid needs to be numbered, and the coordinates A1(X) of each weld joint need to be obtained by measuring using PTK technology. a1 Y a1 Z a1 ), A2(X a2 Y a2 Z a2 ...A n (X an Y an Z an ).

[0079] Since the pipelines to be laid are temporarily placed on the ground before being pulled back, the weld coordinates of each pipeline to be laid are only temporary coordinates. In this embodiment, the weld coordinates of the crossing section pipeline are the coordinates of each weld in the Cartesian coordinate system after the pipeline is pulled back, which are used to determine the pipeline route and the excavation and repair positioning during the pipeline operation period.

[0080] Obtain directional drilling data from the construction team. This data includes the length L of each drill pipe, the inclination angle θ of each drill pipe, and the number of drill pipes m.

[0081] S102. Based on the coordinates of the soil exit point and the soil entry point, determine the change in reference elevation and the change in reference X direction.

[0082] Optionally, the entry point O is obtained based on RTK technology. I coordinates (X) I Y I Z I ) and the excavation site O O coordinates (X) O Y O Z O The elevation change of the directional drilling entry and exit points is used as the reference elevation change, and the X-direction change of the directional drilling entry and exit points is used as the reference X-direction change.

[0083] S103. Based on the changes in reference elevation, the changes in reference X direction, and the construction data, determine the construction data after pipe cutting.

[0084] Optionally, during horizontal directional drilling, the drilling system needs to pull the pipeline to be laid from the entry point to the exit point through the existing duct. The sum of the lengths of each drill rod in the construction data recorded by the construction party is equivalent to the length of the duct and also equivalent to the sum of the lengths of each pipeline to be laid. However, in order to maintain the connection between the pipelines at the entry and exit points of the directional drilling, there are often situations where the pipelines are cut at the entry and exit points. This means that after the pipelines are cut at the entry and exit points, the sum of the lengths of each pipeline to be laid changes. At this time, the sum of the lengths of each drill rod in the construction data is not equal to the sum of the lengths of each pipeline to be laid, so the construction data needs to be adjusted.

[0085] After cutting the pipe at the entry and exit points, the original construction data is adjusted based on the changes in reference elevation and reference X-direction at the directional drilling entry and exit points, as well as the construction data. The adjusted new construction data is then used as the construction data after pipe cutting.

[0086] S104. Based on the construction data after pipe cutting, determine the coordinates of the end points of each drill rod.

[0087] Optionally, when there is no offset in the Y direction during construction, the Y coordinate of the end point of each drill rod after pipe cutting is 0. Based on the construction data after pipe cutting, the Z and X coordinates of the end point of each drill rod after pipe cutting are obtained, thus obtaining the coordinates of the end point of each drill rod after pipe cutting. When there is an offset in the Y direction during construction, the Y coordinate of the end point of each drill rod after pipe cutting is not all 0. Based on the construction data after pipe cutting, the Z, X, and Y coordinates of the end point of each drill rod after pipe cutting are obtained, thus obtaining the coordinates of the end point of each drill rod after pipe cutting.

[0088] S105. Determine the coordinates of the weld joints of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld joint coordinates of each pipeline to be laid.

[0089] Optionally, based on the coordinates of the end points of each drill rod after pipe cutting and the weld coordinates of each pipe to be laid, the weld coordinates of the crossing section of the pipe are determined respectively when there is no offset in the Y direction and when there is offset in the Y direction during construction. The specific process of determining the weld coordinates of the crossing section of the pipe will be described in detail in the following embodiments.

[0090] In this embodiment, by obtaining the coordinates of the exit point and the entry point, the reference elevation change and the reference X-direction change between the exit and entry points are obtained. Based on the reference elevation change, the reference X-direction change, and the construction data provided by the construction party, the original construction data is adjusted after the pipeline is cut during pipeline pullback to obtain the construction data after pipeline cutting. Based on the construction data after pipeline cutting, the coordinates of the end points of each drill rod after pipeline cutting are calculated. Based on the coordinates of the end points of each drill rod and the weld coordinates of each pipeline to be laid, the weld coordinates of the crossing section of the pipeline are finally obtained. By accurately calculating the weld coordinates of the crossing section of the pipeline, the integrity of the pipeline data is improved.

[0091] The following explains the process of determining the change in reference elevation and the change in reference X direction based on the coordinates of the soil exit point and the soil entry point.

[0092] Figure 2 This is a flowchart illustrating the method for determining the reference elevation change and the reference X-direction change in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this application embodiment. Figure 2 As shown, step S102 above, which involves determining the change in reference elevation and the change in reference X-direction based on the coordinates of the soil exit point and the soil entry point, includes:

[0093] S201. Determine the reference elevation change based on the Z-coordinate values ​​of the excavation point and the incavation point.

[0094] Optionally, based on the directional drilling point O O coordinates (X) O Y O Z O The Z coordinate value in ) O and the burial point O I coordinates (X) I Y I Z I The Z coordinate value in ) I Based on the formula ΔZ = Z O -Z I Calculate the difference between the Z-coordinate of the exit point and the Z-coordinate of the entry point to obtain the elevation change of the directional drilling entry and exit points, which is used as the reference elevation change ΔZ between the entry point and the exit point in the horizontal directional drilling.

[0095] S202. Determine the reference X-direction change based on the X-coordinate values ​​of the soil exit point and the soil entry point.

[0096] Optionally, based on the directional drilling point O O coordinates (X) O Y O Z OThe X coordinate value X in ) O and the burial point O I coordinates (X) I Y I Z I The X coordinate value X in ) I Based on the formula ΔX = X O -X I Calculate the difference between the X coordinates of the exit point and the X coordinates of the entry point to obtain the change in the X direction of the directional drilling entry and exit points, which is used as the reference change in the X direction ΔX between the entry point and the exit point of the horizontal directional drilling.

[0097] In this embodiment, based on the Z-coordinate values ​​of the exit point and the entry point, the difference between the Z-coordinates of the exit point and the entry point is calculated and used as the reference elevation change between the horizontal directional drilling entry point and the exit point. Simultaneously, based on the X-coordinate values ​​of the exit point and the entry point, the difference between the X-coordinates of the exit point and the entry point is calculated and used as the reference X-direction change between the horizontal directional drilling entry point and the exit point. By calculating the elevation change and X-direction change based on the coordinates of the exit and entry points respectively, the reference elevation change and reference X-direction change for the directional drilling entry and exit points are provided.

[0098] The following describes the process of determining the construction data after pipe cutting based on the reference elevation change, the reference X-direction change, and the construction data.

[0099] Figure 3 This is a flowchart illustrating the process of determining the construction data after pipe cutting using the method for determining the coordinates of weld joints in a crossing section of a pipe provided in this application embodiment. Figure 3 As shown, step S103 above, which involves determining the construction data after pipe cutting based on the reference elevation change, the reference X-direction change, and the construction data, includes:

[0100] S301. Based on the change in reference elevation, the change in reference X direction, the length of each drill pipe, and the inclination angle of each drill pipe, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe.

[0101] Optionally, after the pipes are cut at the entry and exit points, the sum of the lengths of all pipes to be laid changes. To ensure that the sum of the lengths of all pipes to be laid after pipe cutting is still equivalent to the sum of the lengths of all drill rods in the construction data after pipe cutting, the lengths of the first and last drill rods need to be adjusted. The lengths of the first and last drill rods change, while the lengths of other drill rods remain unchanged. Therefore, the lengths of the first and last drill rods after pipe cutting need to be obtained based on the change in reference elevation, the change in reference X direction, the lengths of each drill rod before pipe cutting, and the inclination angle of each drill rod.

[0102] S302. Update the adjusted lengths of the first and last drill rods to the construction data to obtain the construction data after pipe cutting.

[0103] Optionally, after pipe cutting, the construction data is adjusted. Specifically, the adjusted lengths of the first and last drill rods are used to replace the initial lengths of the first and last drill rods in the construction data. The lengths of all drill rods except the first and last remain unchanged, and the inclination angle and number of each drill rod also remain unchanged. The adjusted construction data is then used as the construction data after pipe cutting.

[0104] In this embodiment, after the pipeline is cut at the entry and exit points, the lengths of the first and last drill rods are adjusted accordingly. The lengths of the first and last drill rods after pipeline cutting are obtained based on the changes in reference elevation, the changes in the reference X-direction, the lengths of each drill rod before pipeline cutting, and the inclination angle of each drill rod. The construction data is then adjusted based on these lengths to obtain the post-cut pipeline construction data. By adjusting the lengths of the first and last drill rods in the construction data according to the actual pipeline cutting process, the accuracy of the post-cut pipeline construction data is ensured.

[0105] As an optional implementation, the adjusted lengths of the first and last drill pipes are determined based on the reference elevation change, the reference X-direction change, the length of each drill pipe, and the inclination angle of each drill pipe, including:

[0106] Based on formula L 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90)=ΔZ and formula L 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90)=ΔX, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe.

[0107] Among them, L 1t L1 is the adjusted length of the first drill pipe, θ1 is the inclination angle of the first drill pipe, L2 is the adjusted length of the second drill pipe, and θ2 is the inclination angle of the second drill pipe. mt θ is the adjusted length of the last drill pipe. m ΔZ is the inclination angle of the last drill pipe, ΔX is the change in reference elevation, and ΔX is the change in reference X direction.

[0108] Optionally, the adjusted length of the first drill pipe after pipe cutting can be represented as an unknown L. 1t The adjusted length of the last drill rod after pipe cutting is represented as the unknown L. mt θ1 is the inclination angle of the first drill pipe, L2 is the adjusted length of the second drill pipe, and θ2 is the inclination angle of the second drill pipe. m ΔZ is the inclination angle of the last drill pipe, ΔX is the change in reference elevation, and ΔX is the change in reference X direction.

[0109] Based on formula L 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90)=ΔZ and formula L 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90)=ΔX, solve the system of equations to calculate the adjusted length of the first drill pipe and the adjusted length of the last drill pipe after pipe cutting. Specifically, in the above formula, except for the unknown L... 1t and the unknown L mt All other values ​​are known. The elevation change between the entry and exit points after pipe cutting is L. 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90), the change in the X direction between the entry and exit points of the pipeline after cutting is L. 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90).

[0110] The elevation change L between the entry and exit points of the pipeline after cutting 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90) equals the reference elevation change ΔZ, and the X-direction change L between the pipe entry and exit points after cutting. 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90) equals the change in the reference X direction ΔX. Based on this, by solving a system of equations, and using the known changes in the reference elevation ΔZ, the changes in the reference X direction ΔX, the lengths of each drill pipe, and the inclination angles of each drill pipe, the unknown L is calculated. 1t and unknown L mt The value of is used to obtain the adjusted length L of the first drill rod after pipe cutting. 1tAnd the adjusted length L of the last drill pipe mt The system of equations is shown below:

[0111]

[0112] In this embodiment, by ensuring that the elevation change between the entry and exit points of the pipeline after cutting equals the reference elevation change, and the X-direction change between the entry and exit points equals the reference X-direction change, a system of equations is established. Based on the known reference elevation change, reference X-direction change, length of each drill rod, and inclination angle of each drill rod, the adjusted lengths of the first and last drill rods after pipeline cutting are calculated. The adjusted lengths of the first and last drill rods after pipeline cutting are accurately calculated using a system of equations.

[0113] Table 1 below is an example of construction data. As shown in Table 1, the construction data includes the number of drill pipes, the cumulative change in drill pipe length L, the drill pipe inclination angle θ, and the values ​​of X, Y, and Z, which are the cumulative changes in the X direction, Y direction, and Z direction of each drill pipe end point before pipe cutting, respectively.

[0114] If all Y-values ​​in the construction data are 0, it indicates that the directional drill did not deviate in the Y-direction during construction. If all Y-values ​​in the construction data are not 0, it indicates that the directional drill oscillated in the Y-direction during construction. The Y-coordinate of each drill rod end point is the cumulative change in the Y-direction of that end point in the construction data, i.e., the Y-value in the construction data. Since the amplitude of the Y-direction oscillation is very small, the change in the Y-value can be ignored due to the impact of pipe cutting. Therefore, the Y-coordinates of each drill rod end point after pipe cutting are as follows: These are the Y-values ​​of each drill rod end point in the construction data. When all Y-values ​​in the construction data are 0, the coordinates of each drill rod end point after pipe cutting are as follows:

[0115] Table 1

[0116] Serial Number Drill pipe length X Y Z inclination 1 9.81 9.7 0 -1.2 83.2 2 19.48 19.3 0 -2.3 83.5 3 29.11 28.8 0 -3.4 83.6 4 38.7 38.3 0 -4.4 84.0 5 48.42 47.9 0 -5.4 83.8 6 58.14 57.5 0 -6.5 84.2 7 67.88 67.2 0 -7.4 84.8 8 77.68 76.9 0 -8.2 85.3 9 87.23 86.4 0 -9.0 85.3 10 97.00 96.2 0 -9.8 86.0 11 106.79 105.9 0 -10.4 86.1 12 116.29 115.4 0 -11.0 87.0 13 125.89 125.0 0 -11.5 87.2 14 135.62 134.7 0 -12.0 87.3 15 145.26 144.3 0 -12.4 87.7 16 155.06 154.1 0 -12.8 88.0 17 164.79 163.8 0 -13.1 88.5 18 174.29 173.3 0 -13.3 89.0 19 184.12 183.1 0 -13.4 89.2 20 193.62 192.6 0 -13.6 89.0

[0117] The following describes the process of determining the coordinates of the end points of each drill rod based on the construction data after pipe cutting.

[0118] First, the process of determining the Z-coordinate value of the end point of each drill rod based on the construction data after pipe cutting is explained.

[0119] Figure 4 This is a flowchart illustrating the process of determining the Z-coordinate value of the end point of each drill rod in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this application embodiment. Figure 3As shown, step S104 above, which involves determining the coordinates of the end points of each drill rod based on the construction data after pipe cutting, includes:

[0120] S401. Based on the length and inclination angle of the first drill rod in the construction data after pipeline cutting, determine the initial elevation change and take the first drill rod as the current drill rod.

[0121] Optionally, the length L of the first drill pipe in the construction data after pipe cutting can be used as the reference. 1t And the inclination angle θ1, to obtain the elevation change L from the entry point to the end point of the first drill rod after pipe cutting. 1t sin(θ1-90) is used as the initial elevation change, and the first drill pipe is taken as the current drill pipe.

[0122] S402. Add the Z coordinate of the entry point to the initial elevation change to obtain the Z coordinate of the current drill rod end point.

[0123] Optionally, the burial point O I (X I Y I Z I Z-coordinate in coordinate system I With the change in initial elevation L 1t sin(θ1-90) superposition, based on the formula Obtain the first drill pipe end point D L1t Z coordinate The Z-coordinate of the current drill pipe end point.

[0124] S403. Based on the initial elevation change and the length and inclination angle of the next drill pipe after the current drill pipe, determine the new initial elevation change, and take the next drill pipe after the current drill pipe as the new current drill pipe. Repeat steps S402-S403 until the current drill pipe is the last drill pipe.

[0125] Optionally, a new initial elevation change can be determined based on the initial elevation change and the length and inclination angle of the next drill pipe after the current drill pipe. For example, when the current drill pipe is the first drill pipe, the initial elevation change L is used as the basis for the determination. 1t Using sin(θ1-90°) and the length L2 and inclination angle θ2 of the next drill pipe (the second drill pipe), we obtain the elevation change L2sin(θ2-90°) from the end point of the first drill pipe to the end point of the second drill pipe. This initial elevation change L... 1t The sum of sin(θ1-90) and the elevation change L2sin(θ2-90) from the end of the first drill pipe to the end of the second drill pipe is given by L. 1tsin(θ1-90)+L2sin(θ2-90) is taken as the new initial elevation change. The second drill pipe is then used as the new current drill pipe, and step S402 is executed to set the new initial elevation change L... 1t sin(θ1-90)+L2sin(θ2-90) and the point of entry into the soil O I (X I Y I Z I Z-coordinate in coordinate system I Superposition, based on formula Obtain the second drill pipe end point D L2 Z coordinate Used as the new Z-coordinate of the current drill pipe.

[0126] This process continues, repeating steps S402-S403 until the current drill pipe is the last drill pipe. Based on the following formula, the end point D of the last drill pipe is obtained. Lmt Z coordinate

[0127]

[0128] In this embodiment, the initial elevation change is obtained by using the adjusted length and inclination angle of the first drill rod in the construction data after pipe cutting, and the first drill rod is taken as the current drill rod. The Z coordinate in the soil entry point coordinates is superimposed with the initial elevation change to obtain the Z coordinate of the end point of the current drill rod. Based on the initial elevation change and the length and inclination angle of the next drill rod after the current drill rod, a new initial elevation change is determined, and the next drill rod after the current drill rod is taken as the new current drill rod. Steps S402-S403 are executed repeatedly until the current drill rod is the last drill rod, and the Z coordinate value in the coordinates of the end points of each drill rod after pipe cutting is obtained in a loop.

[0129] Secondly, the process of determining the X-coordinate value of the end point of each drill rod based on the construction data after pipe cutting is explained.

[0130] Figure 5 This is a flowchart illustrating the process of determining the X-coordinate value of the end point of each drill rod in the method for determining the coordinates of the weld joint of the pipeline crossing section provided in this application embodiment. Figure 5 As shown, step S104 above, which involves determining the coordinates of the end points of each drill rod based on the construction data after pipe cutting, includes:

[0131] S501. Based on the length and inclination angle of the first drill rod in the construction data after pipe cutting, determine the initial change in the X direction and take the first drill rod as the current drill rod.

[0132] Optionally, the length L of the first drill pipe in the construction data after pipe cutting can be used as the reference. 1t And the inclination angle θ1, to obtain the change L in the X direction from the entry point to the end point of the first drill rod after pipe cutting. 1t cos(θ1-90) is used as the initial change in the X direction, and the first drill pipe is taken as the current drill pipe.

[0133] S502. Add the X coordinate of the entry point to the initial X-direction change to obtain the X coordinate of the current drill rod end point.

[0134] Optionally, the burial point O I (X I Y I Z I The X coordinate in the coordinate system I The change in the initial X direction L 1t Superposition of cos(θ1-90), based on the formula Obtain the first drill pipe end point X coordinate Used as the X-coordinate of the current drill pipe end point.

[0135] S503. Based on the initial change in the X direction and the length and inclination angle of the next drill pipe of the current drill pipe, determine the new initial change in the X direction, and take the next drill pipe of the current drill pipe as the new current drill pipe, and repeat steps S502-S503 until the current drill pipe is the last drill pipe.

[0136] Optionally, a new initial X-direction change is determined based on the initial X-direction change and the length and inclination angle of the next drill pipe after the current drill pipe. For example, when the current drill pipe is the first drill pipe, the initial X-direction change L is determined... 1t Using cos(θ1-90) and the length L2 and inclination angle θ2 of the next drill pipe (the second drill pipe), we obtain the change in the X direction L2cos(θ2-90) from the end point of the first drill pipe to the end point of the second drill pipe. This initial change in the X direction L... 1t The cos(θ1-90) is superimposed with the change in the X direction L2cos(θ2-90) from the end of the first drill pipe to the end of the second drill pipe to obtain a new initial change in the X direction L. 1t cos(θ1-90)+L2cos(θ2-90). Then, using the second drill pipe as the new current drill pipe, perform step S402 above, superimposing the new initial X-direction change L. 1t cos(θ1-90+L2cos(θ2-90)) and the X-coordinate XI in the coordinates of the soil entry point OI(XI, YI, ZI), based on the formula Obtain the second drill pipe end point D L2 X coordinate Used as the new X-coordinate of the current drill pipe.

[0137] This process continues, repeating steps S402-S403 until the current drill pipe is the last drill pipe. Based on the following formula, the end point D of the last drill pipe is obtained. Lmt X coordinate

[0138]

[0139] In this embodiment, the initial X-direction change is obtained by using the adjusted length and inclination angle of the first drill rod in the construction data after pipe cutting, and the first drill rod is taken as the current drill rod. The Z coordinate in the soil entry point coordinates is superimposed with the initial X-direction change to obtain the X coordinate of the end point of the current drill rod. Based on the initial X-direction change and the length and inclination angle of the next drill rod after the current drill rod, a new initial X-direction change is determined, and the next drill rod after the current drill rod is taken as the new current drill rod. Steps S402-S403 are executed repeatedly until the current drill rod is the last drill rod, and the X coordinate value in the coordinates of the end points of each drill rod after pipe cutting is obtained in a loop.

[0140] The following explains the process of determining the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each pipeline to be laid.

[0141] Figure 6 This is a flowchart illustrating the method for determining the weld coordinates of a pipeline crossing a section, as provided in this application embodiment. Figure 6 As shown, step S105 above, which involves determining the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each pipeline to be laid, includes:

[0142] S601. Determine the length of each pipe to be laid based on the coordinates of the weld joints of each pipe.

[0143] Optionally, the weld coordinates A1(X) of each pipe to be laid are obtained from PTK measurements. a1 Y a1 Z a1 ), A2(X a2 Y a2 Z a2 ...A n (X an Y an Z an Based on the following distance coordinate formula, the lengths B1, B2…B of each pipe to be laid are obtained respectively. n :

[0144]

[0145] S602. Determine the coordinates of the weld joints of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the length of each pipeline to be laid.

[0146] Optionally, when all Y values ​​in the construction data are 0, first determine the values ​​based on the end points of each drill pipe. coordinates And the length B of each pipe to be laid n The weld joints of the crossing sections of the pipeline were obtained respectively. Z-coordinate in coordinate system and X coordinate

[0147] Since the weld joint of the pipeline after pullback falls at a certain position on each drill pipe of the directional drilling, the elevation change ratio factor F on each drill pipe can be obtained by the ratio of the elevation change of the two sections of each drill pipe to the length of the drill pipe. mt The elevation change ratio factor F on each drill pipe in directional drilling is obtained based on the following formula. mt :

[0148]

[0149] Based on the elevation change ratio factor F of each drill pipe in directional drilling mt The length B of each pipe to be laid n Based on the elevation proportional stretching formula Obtain the weld joints of each crossing section of the pipeline. Z-coordinate in coordinate system Among them, F 1t F is the elevation change scaling factor on the first drill pipe after pipe cutting. mt This is the elevation change ratio factor on the last drill rod after the pipeline is cut.

[0150] Similarly, the X-value variation ratio factor G on each drill pipe in directional drilling is obtained based on the ratio of the X-direction variation of the two sections before and after each drill pipe to the drill pipe length. mt The scaling factor G for the change of X value on each drill pipe in directional drilling is obtained based on the following formula. mt :

[0151]

[0152] Based on the proportionality factor G of the X value change on each drill pipe in directional drilling. mt The length B of each pipe to be laid n Based on the proportional stretching formula in the X direction Obtain the weld joints of each crossing section of the pipeline. X coordinate in coordinate system Among them, G 1t G is the scaling factor for the change in the X value on the first drill pipe after pipe cutting.mt This is the scaling factor for the change in the X value on the last drill pipe after the pipeline is cut.

[0153] Optionally, the weld joints of the crossing section of the pipeline can be obtained. Z-coordinate in coordinate system and X coordinate Subsequently, the weld joints of the pipeline crossing section were further identified. Y-coordinate in coordinate system

[0154] Based on the length B of each pipe to be laid n Based on formula S n =B1+B2+…+B n The cumulative pipe length S of the weld joints of the crossing section of the pipeline is obtained. n Cumulative pipe length S n From the pipeline start point to the weld joint P n The cumulative length of the pipeline. Based on the directional drilling weld P after pipeline pullback. n The offset in the Y direction and the weld P n Cumulative pipe length S n Establish coordinate pairs. Since the directional drilling in the construction data has no offset in the Y direction, the coordinate pairs for each weld P are... n The Y-coordinates of all points are 0. The coordinates of the directional drilling entry point in the coordinate pair are (0, 0), and the coordinates of the directional drilling exit point in the coordinate pair are (S, S). n 、0).

[0155] A two-dimensional four-parameter transformation model is used to transform the coordinate pairs to the Cartesian coordinate system, and the weld joints P in the coordinate pairs are transformed. n Transform to the Cartesian coordinate system to obtain the coordinate pair (S n ,0) to coordinate pair The transformation relationship is as follows. Coordinate transformation is performed based on the following transformation formula:

[0156]

[0157] Where ΔX′ and ΔY′ are the translation parameters along the two coordinate axes, β is the scaling parameter, and α is the rotation parameter. Since the entry point O in the Cartesian coordinate system... I The coordinates are (X I Y I Z I The coordinates of the point are (0, 0) in the coordinate system, and the point of excavation is O. O The coordinates in the Cartesian coordinate system are (X... O Y O Z O ), whose coordinates in the coordinate pair are (S nBased on the two coordinate pairs of the entry and exit points, we can substitute them into the above transformation formula to obtain the translation parameters ΔX′, ΔY′, scaling parameter β, and rotation parameter α of the four parameters, thus obtaining the coordinate pair (S). n ,0) to coordinate pair The conversion coefficient is based on the P values ​​of each weld joint in the crossing section of the pipeline obtained in the above steps. n X coordinate Based on the above conversion formula and the translation parameters ΔX′, ΔY′, scaling parameter β, and rotation parameter α in the four parameters, the P of each weld joint in the crossing section of the pipeline is obtained. n Corresponding Y coordinate The weld joints of the crossing section of the pipeline obtained in the above steps Z-coordinate in coordinate system and X coordinate Finally, the weld coordinates of the pipeline crossing section were obtained when the Y-value in the construction data was all 0.

[0158] When the Y-values ​​in the construction data are not all 0, meaning the directional drilling oscillates in the Y direction, the coordinates of the weld joints of each pipe crossing section are... X coordinate in With Z coordinate The method for determining the value is similar to the steps in which the Y value is 0 in the construction data of the above embodiment, and will not be repeated here.

[0159] The following determines the coordinates of the pipe weld joints in each crossing section when the Y-values ​​in the construction data are not all 0. Y coordinate in The process will be explained.

[0160] First, determine the Y-coordinate of the end point of each drill pipe in the construction coordinate system. The Y-coordinate of the end point of each drill pipe is the Y-value of the end of each drill pipe in the construction data, which is the cumulative change of each drill pipe in the Y direction of the construction coordinate system. For example, the Y-coordinate of the end point of the first drill pipe is... The Y-coordinate of the end point of the last drill rod is The Y-coordinate of the drill rod end point can be obtained from the Y-value data recorded in the construction data table.

[0161] Next, determine the Y-coordinate of each pipe weld joint in the construction coordinate system. Since the weld joint of the pipeline after pullback falls at a certain position on each drill rod of the directional drilling machine, and the amplitude of the Y-direction swing during construction is very small, the change in the Y value can be ignored due to the influence of pipeline cutting. Therefore, the proportionality factor K of the Y-value change on each drill rod of the directional drilling machine can be obtained by the ratio of the Y-direction change of the two sections before and after each drill rod to the length of the drill rod. m The proportionality factor K for the change of Y value on each drill pipe in directional drilling is obtained based on the following formula.m :

[0162]

[0163] Based on the proportionality factor K of the Y-value variation on each drill pipe in directional drilling. m The length B of each pipe to be laid n Based on the proportional stretching formula in the Y direction Obtain the Y-coordinate of the weld joints of each crossing section of the pipeline in the construction coordinate system. Where K1 is the scaling factor for the change of the Y value on the first drill pipe, K m This is the scaling factor for the change in the Y value on the last drill pipe. This represents the Y-coordinate of the weld joint of each crossing section of the pipeline in the construction coordinate system.

[0164] Based on the Y-coordinate of each pipeline weld joint in the construction coordinate system, when the Y-values ​​of the construction data are not all 0, the directional drilling weld joint P after pipeline pullback is used as a reference. n The offset in the Y direction and the weld P n Cumulative pipe length S n Establish coordinate pairs When the construction data Y value is 0 in the above embodiment, the P values ​​of each weld joint of the pipeline crossing section are obtained. n Corresponding Y coordinate Similarly, a two-dimensional four-parameter transformation model is used to transform the coordinate system to the Cartesian coordinate system, obtaining the P values ​​of each weld joint in the pipeline crossing section when the Y values ​​of the construction data are not all 0. n Corresponding Y coordinate get The process will not be elaborated here. The Z-coordinate in the weld coordinates of the crossing section of the pipeline will be used. and X coordinate Finally, the weld coordinates of the pipeline crossing section were obtained when the Y-values ​​in the construction data were not all 0.

[0165] In this embodiment, the length of each pipe to be laid is obtained based on the weld coordinates of each pipe joint and the distance coordinate formula. The elevation change ratio factor on each drill rod is obtained based on the ratio of the elevation change of the two sections of each drill rod to the drill rod length. Based on the elevation change ratio factor on each drill rod and the length of each pipe to be laid, the Z-coordinate in the weld joint of each crossing section of the pipe is obtained based on the elevation proportional stretching formula. Similarly, the X-value change ratio factor on each drill rod is obtained based on the ratio of the X-direction change of the two sections of each drill rod to the drill rod length. Based on the X-value variation scaling factor and the length of each pipeline to be laid, the X-coordinate of the weld joint in each crossing section of the pipeline is obtained using a proportional stretching formula in the X direction. Similarly, based on the ratio of the Y-direction variation of each drill rod to the length of the drill rod, the Y-value variation scaling factor on each drill rod in the directional drilling is obtained. Based on the Y-value variation scaling factor on each drill rod in the directional drilling and the length of each pipeline to be laid, the Y-coordinate of the weld joint in each crossing section of the pipeline is obtained using a proportional stretching formula in the Y direction. The coordinate pair is transformed to the Cartesian coordinate system through a two-dimensional four-parameter transformation model, and the P-coordinates of each weld joint in the coordinate pair are then transformed. n The coordinates are transformed into the Cartesian coordinate system to obtain the transformation relationship between the two coordinate pairs. Based on the transformation relationship and the X coordinates of each weld joint in the pipeline crossing section, the Y coordinates of each weld joint are obtained, and finally the weld joint coordinates of the pipeline crossing section are obtained.

[0166] Based on the same inventive concept, this application also provides a device for determining the coordinates of weld joints of pipeline crossing sections, which corresponds to the method for determining the coordinates of weld joints of pipeline crossing sections. Since the principle of the device in this application is similar to that of the above-mentioned method for determining the coordinates of weld joints of pipeline crossing sections, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0167] Figure 7 This is a module structure diagram of the device for determining the coordinates of weld joints in a pipeline crossing section provided in an embodiment of this application, as shown below. Figure 7 As shown, the device includes:

[0168] The acquisition module 701 is used to acquire the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod.

[0169] The first determining module 702 is used to determine the change in reference elevation and the change in reference X direction based on the coordinates of the soil exit point and the soil entry point.

[0170] The second determining module 703 is used to determine the construction data after pipe cutting based on the reference elevation change, the reference X-direction change, and the construction data.

[0171] The third determining module 704 is used to determine the coordinates of the end points of each drill rod based on the construction data after pipe cutting.

[0172] The fourth determining module 705 is used to determine the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each pipeline to be laid.

[0173] As one possible implementation, the first determining module 702 is specifically used for:

[0174] The reference elevation change is determined based on the Z-coordinate values ​​of the excavation point and the infill point.

[0175] The change in the reference X direction is determined based on the X coordinate values ​​of the soil excavation point and the soil ingress point.

[0176] As one possible implementation, the second determining module 703 is specifically used for:

[0177] Based on the changes in reference elevation, the changes in reference X direction, the length of each drill pipe, and the inclination angle of each drill pipe, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe.

[0178] The adjusted lengths of the first and last drill rods are updated into the construction data to obtain the construction data after pipe cutting.

[0179] As one possible implementation, the second determining module 703 is specifically used for:

[0180] Based on formula L 1t sin(θ1-90)+L2sin(θ2-90)+…+L mt sin(θ m -90)=ΔZ and formula L 1t cos(θ1-90)+L2cos(θ2-90)+…+L mt cos(θ m -90)=ΔX, determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe.

[0181] Among them, L 1t L1 is the adjusted length of the first drill pipe, θ1 is the inclination angle of the first drill pipe, L2 is the adjusted length of the second drill pipe, and θ2 is the inclination angle of the second drill pipe. mt θ is the adjusted length of the last drill pipe. m ΔZ is the inclination angle of the last drill pipe, ΔX is the change in reference elevation, and ΔX is the change in reference X direction.

[0182] As one possible implementation, the third determining module 704 is specifically used for:

[0183] A. Based on the length and inclination angle of the first drill rod in the construction data after pipeline cutting, determine the initial elevation change and take the first drill rod as the current drill rod;

[0184] B. Add the Z coordinate of the entry point to the initial elevation change to obtain the Z coordinate of the current drill rod end point;

[0185] C. Based on the initial elevation change and the length and inclination angle of the next drill pipe after the current drill pipe, determine the new initial elevation change, and take the next drill pipe after the current drill pipe as the new current drill pipe. Repeat steps BC until the current drill pipe is the last drill pipe.

[0186] As one possible implementation, the third determining module 704 is specifically used for:

[0187] A. Based on the length and inclination angle of the first drill rod in the construction data after pipe cutting, determine the initial change in the X direction and take the first drill rod as the current drill rod;

[0188] B. Add the X coordinate of the entry point to the initial X-direction change to obtain the X coordinate of the current drill rod end point;

[0189] C. Based on the initial change in the X direction and the length and inclination angle of the next drill pipe after the current drill pipe, determine the new initial change in the X direction, and take the next drill pipe after the current drill pipe as the new current drill pipe. Repeat steps BC until the current drill pipe is the last drill pipe.

[0190] As one possible implementation, the fourth determining module 705 is specifically used for:

[0191] Determine the length of each pipe to be laid based on the coordinates of the weld joints of each pipe.

[0192] Based on the coordinates of the end points of each drill rod and the length of each pipeline to be laid, determine the coordinates of the weld joints of the pipeline crossing section.

[0193] This application embodiment also provides a computer device 80, such as... Figure 8 The diagram shown is a schematic representation of the structure of a computer device 80 provided in an embodiment of this application, including: a processor 81, a memory 82, and a bus 83. The memory 82 stores machine-readable instructions executable by the processor 81 (e.g., ...). Figure 7The device obtains the execution instructions corresponding to module 701, first determining module 702, second determining module 703, third determining module 704 and fourth determining module 705, etc. When the computer device 80 is running, the processor 81 and the memory 82 communicate through bus 83. When the machine-readable instructions are executed by the processor 81, the steps of the method for determining the coordinates of the weld joint of the pipeline crossing section in the above embodiment are executed.

[0194] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it executes the steps of the method for determining the coordinates of the weld joint of the pipeline crossing section described in the above embodiments.

[0195] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0196] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0197] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for determining the coordinates of weld joints in a pipeline crossing section, characterized in that, include: Obtain the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod. Based on the coordinates of the soil exit point and the soil entry point, determine the reference elevation change and the reference X-direction change. Based on the changes in reference elevation, the changes in reference X direction, the length of each drill rod, and the inclination angle of each drill rod, determine the adjusted length of the first drill rod and the adjusted length of the last drill rod; update the adjusted lengths of the first and last drill rods into the construction data to obtain the construction data after pipe cutting; Based on the construction data after the pipe cutting, determine the coordinates of the end points of each drill rod; Based on the coordinates of the end points of each drill rod and the weld coordinates of each of the pipelines to be laid, determine the weld coordinates of the crossing section of the pipeline. The step of determining the coordinates of the end points of each drill rod based on the construction data after pipe cutting includes: A. Based on the length and inclination angle of the first drill rod in the construction data after the pipeline cutting, determine the initial elevation change and the initial X-direction change, and take the first drill rod as the current drill rod; B. Add the Z coordinate of the soil entry point coordinates to the initial elevation change to obtain the Z coordinate of the current drill rod end point, and add the X coordinate of the soil entry point coordinates to the initial X direction change to obtain the X coordinate of the current drill rod end point. C. Based on the initial elevation change and the length and inclination angle of the next drill pipe of the current drill pipe, determine a new initial elevation change. Based on the initial X-direction change and the length and inclination angle of the next drill pipe of the current drill pipe, determine a new initial X-direction change. Then, take the next drill pipe of the current drill pipe as the new current drill pipe and repeat steps BC until the current drill pipe is the last drill pipe.

2. The method according to claim 1, characterized in that, The step of determining the reference elevation change and the reference X-direction change based on the coordinates of the soil exit point and the soil entry point includes: The change in reference elevation is determined based on the Z-coordinate value of the soil exit point coordinates and the Z-coordinate value of the soil entry point coordinates. The change in the reference X direction is determined based on the X coordinate values ​​of the soil exit point and the soil entry point.

3. The method according to claim 1, characterized in that, The step of determining the adjusted length of the first drill pipe and the adjusted length of the last drill pipe based on the reference elevation change, the reference X-direction change, the length of each drill pipe, and the inclination angle of each drill pipe includes: Based on formula and formula Determine the adjusted length of the first drill pipe and the adjusted length of the last drill pipe; in, This is the adjusted length of the first drill pipe. The inclination angle of the first drill pipe. This is the adjusted length of the second drill pipe. The inclination angle of the second drill pipe. This is the adjusted length of the last drill pipe. The angle of inclination for the last drill pipe. For reference, elevation change, The change in the X direction is used as a reference.

4. The method according to any one of claims 1-3, characterized in that, Determining the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each of the pipelines to be laid includes: The length of each pipe to be laid is determined based on the weld coordinates of each pipe. Based on the coordinates of the end points of each drill rod and the length of each pipeline to be laid, determine the coordinates of the weld joints of the pipeline crossing section.

5. A device for determining the coordinates of weld joints in a pipeline crossing section, characterized in that, The device includes: The acquisition module is used to acquire the coordinates of the exit point and the entry point of the crossing, the coordinates of the weld joints of each pipeline to be laid, and the construction data of the crossing. The construction data includes the length of each drill rod and the inclination angle of each drill rod. The first determining module is used to determine the reference elevation change and the reference X-direction change based on the coordinates of the soil exit point and the coordinates of the soil entry point. The second determining module is used to determine the adjusted length of the first drill rod and the adjusted length of the last drill rod based on the change in reference elevation, the change in reference X direction, the length of each drill rod, and the inclination angle of each drill rod; and to update the adjusted lengths of the first drill rod and the last drill rod to the construction data to obtain the construction data after pipe cutting. The third determining module is used to determine the coordinates of the end points of each drill rod based on the construction data after the pipe is cut. The fourth determining module is used to determine the weld coordinates of the crossing section of the pipeline based on the coordinates of the end points of each drill rod and the weld coordinates of each of the pipelines to be laid. The third determining module is specifically used for: A) determining the initial elevation change and the initial X-direction change based on the length and inclination angle of the first drill rod in the construction data after pipe cutting, and taking the first drill rod as the current drill rod; B) superimposing the Z coordinate in the soil entry point coordinates with the initial elevation change to obtain the Z coordinate of the end point of the current drill rod, and superimposing the X coordinate in the soil entry point coordinates with the initial X-direction change to obtain the X coordinate of the end point of the current drill rod; C) determining a new initial elevation change based on the initial elevation change and the length and inclination angle of the next drill rod of the current drill rod, determining a new initial X-direction change based on the initial X-direction change and the length and inclination angle of the next drill rod of the current drill rod, taking the next drill rod of the current drill rod as the new current drill rod, and repeating steps B and C until the current drill rod is the last drill rod.

6. A computer device, characterized in that, include: The system includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor executes the machine-readable instructions to perform the steps of the method for determining the coordinates of the weld joint of a pipeline crossing section as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method for determining the coordinates of weld joints in a pipeline crossing section as described in any one of claims 1 to 4.

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