CN115012915A - Magnetic field positioning method, system, device, equipment and medium based on straight wire - Google Patents
Magnetic field positioning method, system, device, equipment and medium based on straight wire Download PDFInfo
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- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
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Abstract
The invention relates to a magnetic field positioning method, a system, a device, equipment and a medium based on a straight wire, wherein the method comprises the following steps: acquiring a detected real magnetic field signal of a preset straight wire, wherein the real magnetic field signal comprises a real magnetic field amplitude; acquiring inclination measurement data of a borehole where a drill bit is located, and determining a theoretical magnetic field amplitude according to the inclination measurement data; determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude; if the amplitude difference meets the set condition, determining the theoretical position as the target position of the drill bit; if the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position; according to the new theoretical position, the judgment process of the amplitude difference is repeated until the new amplitude difference determined according to the new theoretical position meets the set condition, the new theoretical position is determined as the target position, and by means of the scheme, the positioning precision in the non-excavation pipeline crossing process is improved, the operation difficulty is reduced, the operation efficiency is improved, the operation period is shortened, and the operation cost is reduced.
Description
Technical Field
The invention relates to the technical field of underground detection, in particular to a magnetic field positioning method, a magnetic field positioning system, a magnetic field positioning device, magnetic field positioning equipment and a magnetic field positioning medium based on a straight wire.
Background
In trenchless traversing, it is necessary to employ specialized drilling equipment to lay, replace and repair underground pipeline with minimal surface damage. The construction mode can lay pipelines without damaging buildings, and only small-area excavation is needed to be carried out on construction soil entry points and construction soil exit points. Compared with the traditional excavation mode, the method has the characteristics of small damage to the ground, high safety, less carbon emission, short construction period, low cost and the like. However, in the non-excavation traversing process, the position information of the drilling tool needs to be grasped in real time, and whether the drilling is carried out according to a preset track is judged, so that the drilling track is ensured to drill according to a pre-designed track.
In the prior art, a rectangular coil needs to be laid on the ground or a cross magnetic target needs to be erected to realize accurate positioning of the trenchless underground drill bit, but the rectangular coil is high in requirement on the ground environment, and a standard rectangular coil is difficult to arrange in the ground surface environment with large fluctuation, such as longitudinal and transverse areas of a pond near a river; the detectable range of the magnetic target mode is small (maximum 100m), the measurement precision is low, and compared with the coil mode, the precision is reduced by more than 5%. In summary, there is a need in the art for a drill positioning method with high measurement accuracy and simple operation.
Disclosure of Invention
The invention aims to solve at least one technical problem by providing a magnetic field positioning method, a system, a device, equipment and a medium based on a straight wire.
In a first aspect, the technical solution for solving the above technical problem of the present invention is as follows: a method for magnetic field localization based on straight wires, the method comprising:
s1, acquiring a detected real magnetic field signal of a preset straight wire, wherein the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track, and the real magnetic field signal comprises a real magnetic field amplitude;
s2, acquiring inclination measurement data of a borehole where the drill bit is located, and determining the theoretical position of the drill bit according to the inclination measurement data;
s3, determining the theoretical magnetic field amplitude according to the theoretical position;
s4, determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
s5, if the amplitude difference meets the set condition, determining the theoretical position as the target position of the drill bit; if the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and S6, repeating the steps S3 to S4 according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit.
The invention has the beneficial effects that: arranging a straight wire parallel to a horizontal track in a preset track on the ground, acquiring a real magnetic field signal of the straight wire in the drilling process of a drill bit, determining a theoretical position of the drill bit according to inclination measurement data, determining a theoretical magnetic field amplitude according to the theoretical position of the drill bit, indicating that the determined theoretical position is consistent with an actual position (target position) of the drill bit when the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude meets a set condition, determining the theoretical position as the target position, if the amplitude difference does not meet the set condition, indicating that the theoretical position of the drill bit is inconsistent with the actual position, adjusting the theoretical position until a new amplitude difference determined according to the new theoretical position meets the set condition, determining the new theoretical position as the target position, and by the scheme of the invention, only arranging one straight wire on the ground can accurately determine the target position of the drill bit, the positioning precision in the non-excavation pipeline crossing process can be improved, the operation difficulty is reduced, the operation efficiency is improved, the operation period is shortened, and the operation cost is reduced.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the two end points of the straight conductor include a first end point and a second end point, and the determining of the theoretical magnetic field amplitude according to the theoretical position includes:
acquiring an X-direction component, a Y-direction component and a Z-axis component of a theoretical current amplitude of the straight conductor after the straight conductor is electrified;
determining the distance in the X direction, the distance in the Y direction and the distance in the Z direction between the drill bit and the straight conducting wire according to the theoretical position;
determining a first included angle between the drill bit and the first end point according to the theoretical position and the position of the first end point;
determining a second included angle between the drill bit and the second endpoint according to the theoretical position and the position of the second endpoint;
determining the theoretical magnetic field amplitude in the X direction according to the X-direction distance, the first included angle, the second included angle and the X-direction component;
determining a theoretical magnetic field amplitude value in the Y direction according to the distance in the Y direction, the first included angle, the second included angle and the component in the Y direction;
and determining a theoretical magnetic field amplitude in the Z direction according to the distance in the Z direction, the first included angle, the second included angle and the component in the Z direction, wherein the theoretical magnetic field amplitude comprises a theoretical magnetic field amplitude in the X direction, a theoretical magnetic field amplitude in the Y direction and a theoretical magnetic field amplitude in the Z direction.
The technical scheme has the advantages that according to the theoretical position, the X-direction distance, the Y-direction distance and the Z-direction distance between the drill bit and the straight wire can be determined, the position relation between the straight wire and the theoretical position of the drill bit can be reflected from three different directions, in addition, the positions of two end points of the straight wire can be obtained easily, therefore, according to the theoretical position and the positions of the two end points of the straight wire, the angle of the theoretical position of the drill bit relative to the straight wire can be determined, and therefore, through the distances and the two included angles in different directions, the subsequently determined target position can be more accurate.
Further, if the amplitude difference does not satisfy the setting condition, adjusting the theoretical position to obtain a new theoretical position, including:
and if the amplitude difference does not meet the set condition, determining a new theoretical position according to the theoretical position and the set step length.
The further scheme has the advantages that the theoretical position can be adjusted according to the set step length, and the precision is high.
Further, the determining a new theoretical position according to the theoretical position and the set step length includes:
determining a second X-direction position according to the first X-direction position and the set step length;
determining a second Y-direction position according to the first Y-direction position and the set step length;
and determining a second Z-direction position according to the first Z-direction position and the set step length, wherein the new theoretical position comprises a second X-direction position, a second Y-direction position and a second Z-direction position.
The method has the advantages that the new theoretical position is determined from three different directions according to the set step length, so that the adjustment precision is higher.
Further, the real magnetic field signal is a one-dimensional signal; the true magnetic field amplitude in the true magnetic field signal is determined by:
filtering the real magnetic field signal to obtain a filtered magnetic field signal;
and performing Hilbert transform on the filtered magnetic field signal to obtain a two-dimensional magnetic field signal, wherein the two-dimensional magnetic field signal comprises a real magnetic field amplitude and a real magnetic field phase.
The beneficial effect of adopting the above further scheme is that the real magnetic field signal is filtered to filter out the signal which influences the target position determination, so that the determined target position is more accurate, the one-dimensional signal is converted into the two-dimensional signal, and the target position is more accurate determined through the magnetic field amplitude in the two-dimensional signal.
In a second aspect, the invention further provides a magnetic field positioning system based on a straight wire to solve the technical problems, the system comprises a trenchless drilling machine, a drill rod, a drill bit, a straight wire, a communication module, a probe and an industrial personal computer, wherein the trenchless drilling machine is connected with the drill bit through the drill rod, the communication module, the drill bit and the probe are sequentially connected, the communication module is connected with the industrial personal computer, and the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track;
the direct lead is connected with a power supply and then generates a magnetic field signal, after the trenchless drilling machine is started, the drill bit drives the probe to drill from a construction soil-entering point according to a preset track, the magnetic field signal generated by the direct lead is obtained through the probe, the magnetic field signal is sent to the industrial personal computer through the communication module, and the industrial personal computer determines the target position of the drilling machine according to the method of the first aspect.
The invention has the beneficial effects that: arranging a straight wire parallel to a horizontal track in a preset track on the ground, generating a magnetic field signal after the straight wire is connected with a power supply, after a non-excavation drilling machine is started, a drill bit drives a probe to drill from a construction soil-entering point according to the preset track, acquiring a real magnetic field signal of the straight wire in the drilling process of the drill bit, determining a theoretical position of the drill bit according to inclination measurement data, determining a theoretical magnetic field amplitude according to the theoretical position of the drill bit, indicating that the determined theoretical position is consistent with an actual position (target position) of the drill bit when the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude meets a set condition, determining the theoretical position as the target position, indicating that the theoretical position is inconsistent with the actual position if the amplitude difference does not meet the set condition, adjusting the theoretical position until a new amplitude difference determined according to a new theoretical position meets the set condition, the new theoretical position is determined as the target position, and the target position of the drill bit can be accurately determined by only arranging a straight wire on the ground through the scheme of the invention, so that the positioning precision in the process of passing through the trenchless pipeline can be improved, the operation difficulty is reduced, the operation efficiency is improved, the operation period is shortened, and the operation cost is reduced.
Further, above-mentioned industrial computer still is used for:
and determining whether the target track corresponding to the target position is consistent with the preset track or not according to the target position and the preset track, and if the target track is inconsistent with the preset track, adjusting the target position of the drill bit so as to enable the track corresponding to the adjusted target position to be consistent with the preset track.
The method has the advantages that if the target track corresponding to the target position is consistent with the preset track, the drilling track (target track) of the drill bit does not need to be adjusted, and if the target track corresponding to the target position is inconsistent with the preset track, the drilling track of the drill bit can be adjusted, so that the drill bit always drills to the appointed position along the preset track.
In a third aspect, the present invention provides a magnetic field positioning apparatus based on a straight conductive wire, which includes:
the magnetic field signal acquisition module is used for acquiring a detected real magnetic field signal of a preset straight wire, the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track, and the real magnetic field signal comprises a real magnetic field amplitude;
the theoretical position determining module is used for acquiring the inclination measuring data of the well where the drill bit is located and determining the theoretical position of the drill bit according to the inclination measuring data;
the theoretical magnetic field amplitude determining module is used for determining the theoretical magnetic field amplitude according to the theoretical position;
the amplitude difference determining module is used for determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
the judging module is used for determining the theoretical position as the target position of the drill bit when the amplitude difference meets the set condition; when the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and the target position determining module is used for repeating the processing from the theoretical magnetic field amplitude determining module to the amplitude difference determining module according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit.
In a fourth aspect, the present invention provides an electronic device to solve the above technical problem, where the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for positioning a magnetic field based on a straight conductive wire according to the present application.
In a fifth aspect, the present invention further provides a computer-readable storage medium for solving the above technical problems, wherein the computer-readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the straight-wire based magnetic field localization method of the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
FIG. 1 is a schematic diagram of a magnetic field positioning system based on straight wires according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a method for positioning a magnetic field based on a straight conductive wire according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a magnetic field positioning method based on a straight conductive wire according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a magnetic positioning calculation model based on a straight conductive wire according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the principle of biot-savart law in a magnetic field positioning method based on a straight wire according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a magnetic field positioning apparatus based on a straight conductive wire according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific embodiments below. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
To facilitate understanding of the present application, the present application will be described in detail based on the schematic diagrams of the straight-wire based magnetic field positioning system shown in fig. 1 and 2, and the straight-wire based magnetic field positioning system includes:
the device comprises a trenchless drilling machine 5, a drill rod 10, a drill bit 16, a straight lead 9, a communication module 14, a probe 15 and an industrial personal computer 3, wherein the trenchless drilling machine 5 is connected with the drill bit 16 through the drill rod 10, the communication module 14, the drill bit 16 and the probe 15 are sequentially connected, the communication module 14 is connected with the industrial personal computer 3, the straight lead 9 is arranged on the ground and is parallel to a horizontal track in a preset track 17, and the preset track 17 can be arranged at the river bottom 18;
the straight lead 9 generates a magnetic field signal after being powered on, after the trenchless drilling machine 5 is started, the drill bit 16 drives the probe 15 to drill from the construction soil-entering point 7 according to a preset track 17, the probe 15 obtains the magnetic field signal generated by the straight lead 9 and sends the magnetic field signal to the industrial personal computer 3 through the communication module 14, and the industrial personal computer 3 determines the target position of the drilling machine according to the following method.
The method specifically comprises the following steps:
s1, acquiring a detected real magnetic field signal of the preset straight wire 9, wherein the straight wire 9 is arranged on the ground and is parallel to a horizontal track in the preset track 17, and the real magnetic field signal comprises a real magnetic field amplitude;
s2, acquiring inclination measurement data of the borehole where the drill bit 16 is located, and determining the theoretical position of the drill bit 16 according to the inclination measurement data;
s3, determining the theoretical magnetic field amplitude according to the theoretical position;
s4, determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
s5, if the amplitude difference meets the set condition, determining the theoretical position as the target position of the drill bit 16; if the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and S6, repeating the steps S3 to S4 according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit 16.
The straight wire 9 can be arranged on a horizontal plane 19 of a river surface, a preset track 17 corresponds to a river bottom 18, a drill bit 16 starts to drill according to a construction soil-entering point 7 corresponding to the preset track 17, the system can also comprise an engineering truck 1, and before a non-excavation drilling machine 5 is started, the engineering truck 1 can be matched with personnel to build a slurry system, a power system, an operation system and a drilling machine system on the ground, so that preparation is made for excavation. After the trenchless traversing operation is finished, the equipment can be orderly withdrawn. The communication module 14 adopts cable communication, can exchange between analog signals and digital signals, and completes communication between the probe 15 and the ground industrial personal computer 3.
At the construction penetration 7 there is a borehole 11 from which a drill bit 16 is drilled to drill the earth formation 12, the drill string 10 having a diameter less than that of the borehole 11 and the diameter of the borehole 11 gradually increasing as the drill bit 16 is pulled back and expanded until the pipeline can be laid. The distance R between the straight line 9 and the drill bit 16 is, as indicated by 13 in fig. 1, and R is a vertical distance, and as the drill bit 16 drills, the distance R between the straight line 9 and the drill bit 16 does not change significantly in a horizontal section (a part of the straight line 9 parallel to the preset track 17), and is closer to the unearthed point.
The system can also comprise a monitor 6, the industrial personal computer 3 is connected with the monitor 6, the monitor 6 is connected with the communication module 14, the monitor 6 comprises a man-machine interaction interface 2 for displaying the target position of the drill bit 16 and can also receive control instructions of the excavation personnel to control various devices in the system, such as the drilling direction of the drill bit 16.
The system may further comprise a power supply platform 4 for supplying power to various devices in the system via power supply lines 8, such as a straight wire 9, an industrial control computer 3, a communication module 14 and a probe 15,
during the drilling process of the drill bit 16, the straight wire 9 generates a magnetic field after being powered on, the probe 15 can measure a magnetic field signal, and the magnetic field signal detected by the probe 15 is a real magnetic field signal.
The solution of the present invention is further explained below with reference to the following specific embodiment, in which, referring to fig. 3, the magnetic field positioning method based on straight wires may comprise the following steps:
s1, acquiring a detected real magnetic field signal of the preset straight wire 9, wherein the straight wire 9 is arranged on the ground and is parallel to a horizontal track in the preset track 17, and the real magnetic field signal comprises a real magnetic field amplitude;
wherein, the straight wire 9 can be supplied with alternating current with a specified frequency. After the trenchless drilling machine 5 is started, the drill bit 16 drives the probe 15, the communication module 14 and the drill rod 10 to drill from the construction soil-entering point 7 according to a preset track 17; the fluxgate located in the probe 15 can detect the magnitude of the magnetic induction generated by the straight wire 9 in real time, i.e. the real magnetic field signal. If the fluxgate in the probe 15 is a three-axis fluxgate, three axial magnetic field signals, namely an X-axis magnetic field signal, a Y-axis magnetic field signal and a Z-axis magnetic field signal, may be measured by the three-axis fluxgate. Specifically, refer to the schematic diagram of the magnetic positioning calculation model based on the straight wire 9 shown in fig. 4.
The real magnetic field signal is a one-dimensional signal, and the real magnetic field amplitude in the real magnetic field signal is determined by the following method:
filtering the real magnetic field signal to obtain a filtered magnetic field signal;
and performing Hilbert transform on the filtered magnetic field signal to obtain a two-dimensional magnetic field signal, wherein the two-dimensional magnetic field signal comprises a real magnetic field amplitude and a real magnetic field phase.
The step of filtering the real magnetic field signal is to filter out signals in the real magnetic field signal, which are higher than the passband cutoff frequency and lower than the stopband cutoff frequency, so as to reduce the interference of the signals.
Then, hilbert transformation is performed on the dynamic three-axis magnetic field signals (an X-axis magnetic field signal, a Y-axis magnetic field signal and a Z-axis magnetic field signal) obtained after filtering, and an original one-dimensional signal is converted into a two-dimensional magnetic field signal, wherein the two-dimensional magnetic field signal comprises a real magnetic field amplitude and a real magnetic field phase, and the real magnetic field amplitude comprises an X-axis real magnetic field amplitude, a Y-axis real magnetic field amplitude and a Z-axis real magnetic field amplitude, and the real magnetic field amplitude can be represented by the following three formulas:
Hx＝abs(hilbert(Bx))； (1)
Hy＝abs(hilbert(By))； (2)
Hz＝abs(hilbert(Bz))； (3)
wherein Hx, Hy, and Hz respectively represent the real magnetic field amplitudes in x, y, and z directions obtained by hilbert transform, and the corresponding magnetic field amplitude vector is H ═ Hx, Hy, Hz.
S2, obtaining inclination data of the borehole where the drill bit 16 is located, and determining the theoretical position of the drill bit 16 according to the inclination data.
Wherein determining the theoretical position of the drill bit 16 based on the inclinometry data may be accomplished by prior art techniques and will not be described in detail herein. MeasuringThe inclination data may be data measured by an inclinometer, and the theoretical position may be expressed as: (x) 0 ，y 0 ，z 0 )，x 0 Is a first X-direction position, y 0 Is a first Y-direction position, z 0 Is the first Z-direction position.
And S3, determining the theoretical magnetic field amplitude according to the theoretical position.
The two end points of the straight conductor 9 include a first end point and a second end point, and the theoretical magnetic field amplitude is determined according to the theoretical position, and the method comprises the following steps:
acquiring an X-direction component, a Y-direction component and a Z-axis component of the theoretical current amplitude of the electrified straight conductor 9;
determining the distance in the X direction, the distance in the Y direction and the distance in the Z direction between the drill bit 16 and the straight lead 9 according to the theoretical position;
determining a first angle between the drill bit 16 and the first end point based on the theoretical position and the position of the first end point;
determining a second angle between the drill bit 16 and the second end point based on the theoretical position and the position of the second end point;
determining the theoretical magnetic field amplitude in the X direction according to the X-direction distance, the first included angle, the second included angle and the X-direction component;
determining a theoretical magnetic field amplitude value in the Y direction according to the distance in the Y direction, the first included angle, the second included angle and the component in the Y direction;
and determining a theoretical magnetic field amplitude in the Z direction according to the distance in the Z direction, the first included angle, the second included angle and the component in the Z direction, wherein the theoretical magnetic field amplitude comprises a theoretical magnetic field amplitude in the X direction, a theoretical magnetic field amplitude in the Y direction and a theoretical magnetic field amplitude in the Z direction.
Taking the X-direction theoretical magnetic field amplitude as an example, the X-direction theoretical magnetic field amplitude H' x Determined by the following equation (4):
where μ is the permeability, I x The theoretical amplitude of the current after the straight conductor 9 is electrified is the component of the X-axis direction, and pi is the circumferential rate，α 1 、α 2 Respectively, a first angle and a second angle. Based on the same principle, the Y-direction theoretical magnetic field amplitude and the Z-direction theoretical magnetic field amplitude can also be determined by the same principle as the above formula (4).
Wherein the first included angle alpha 1 And a second angle alpha 2 Referring to the schematic diagram shown in fig. 5, the first end of the straight conductive line 9 is indicated by point M in fig. 5, and the second end of the straight conductive line 9 is indicated by point N in fig. 5. In fig. 5P is the theoretical position.
S4, determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
s5, if the amplitude difference meets the set condition, determining the theoretical position as the target position of the drill bit 16; if the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and S6, repeating the steps S3 to S4 according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit 16.
The setting condition may be a setting value or a setting range, and may be set according to actual requirements. For example, it may be set based on the measurement accuracy of the fluxgate.
Optionally, if the amplitude difference does not satisfy the setting condition, adjusting the theoretical position to obtain a new theoretical position, including:
and if the amplitude difference does not meet the set condition, setting step length according to the theoretical position and the three-dimensional spherical surface constraint condition, and determining a new theoretical position.
The set step length can be set according to actual requirements, for example, 0.01 m.
Optionally, the determining a new theoretical position according to the theoretical position and the set step length includes:
determining a second X-direction position according to the first X-direction position and the set step length;
determining a second Y-direction position according to the first Y-direction position and the set step length;
and determining a second Z-direction position according to the first Z-direction position and the set step length, wherein the new theoretical position comprises a second X-direction position, a second Y-direction position and a second Z-direction position.
Wherein the partial derivative of the magnetic field amplitude of the magnetic field signal at the theoretical position (x, y, z) can be determined using the following approximation:
wherein, 0.01 is a set step length, and H' is a theoretical magnetic field amplitude.
By the above equations (5) to (7), the new magnetic field amplitude corresponding to the new theoretical position can be expressed as:
then there are:
the theoretical position (x, y, z) of the drill 16 is changed to a new theoretical position (x + dx, y + dy, z + dz), and the above steps are repeated until the amplitude difference H ' (x + dx, y + dy, z + dz) -H ' (x, y, z) satisfies a set condition, at which time the target position (x + dx, y + dy, z + dz) -H ' (x, y, z) of the drill 16 can be obtained n ，y n ，z n )。
After determining the target position of the drill bit 16, the industrial control computer 3 is also used for:
and determining whether the target track corresponding to the target position is consistent with the preset track 17 or not according to the target position and the preset track 17, and if the target track is not consistent with the preset track 17, adjusting the target position of the drill 16 so as to enable the track corresponding to the adjusted target position to be consistent with the preset track 17.
Based on the same principle as the method shown in fig. 3, an embodiment of the present invention further provides a straight-wire-based magnetic field positioning apparatus 20, as shown in fig. 6, the straight-wire-based magnetic field positioning apparatus 20 may include a magnetic field signal obtaining module 210, a theoretical position determining module 220, a theoretical magnetic field amplitude determining module 230, an amplitude difference determining module 240, a judging module 250, and a target position determining module 260, where:
the magnetic field signal acquiring module 210 is configured to acquire a detected real magnetic field signal of the preset straight wire 9, where the straight wire 9 is arranged on the ground and is parallel to a horizontal track in the preset track 17, and the real magnetic field signal includes a real magnetic field amplitude;
a theoretical position determining module 220, configured to obtain inclination measurement data of a borehole where the drill bit 16 is located, and determine a theoretical position of the drill bit 16 according to the inclination measurement data;
a theoretical magnetic field amplitude determining module 230, configured to determine a theoretical magnetic field amplitude according to the theoretical position;
an amplitude difference determination module 240 for determining an amplitude difference between the theoretical magnetic field amplitude and the true magnetic field amplitude;
a determining module 250, configured to determine the theoretical position as a target position of the drill 16 when the amplitude difference satisfies a set condition; when the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and the target position determining module 260 is used for repeating the processing from the theoretical magnetic field amplitude determining module to the amplitude difference determining module according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit 16.
Optionally, the two end points of the straight conductive line 9 include a first end point and a second end point, and when the theoretical magnetic field amplitude determining module 230 determines the theoretical magnetic field amplitude according to the theoretical position, the theoretical magnetic field amplitude determining module is specifically configured to:
acquiring an X-direction component, a Y-direction component and a Z-axis component of the current amplitude of the straight lead 9 after being electrified;
determining the X-direction distance, the Y-direction distance and the Z-direction distance between the drill 16 and the straight lead 9 according to the theoretical position;
determining a first angle between the drill bit 16 and the first end point based on the theoretical position and the position of the first end point;
determining a second angle between the drill bit 16 and the second end point based on the theoretical position and the position of the second end point;
determining the theoretical magnetic field amplitude in the X direction according to the X-direction distance, the first included angle, the second included angle and the X-direction component;
determining a theoretical magnetic field amplitude value in the Y direction according to the distance in the Y direction, the first included angle, the second included angle and the component in the Y direction;
and determining a theoretical magnetic field amplitude in the Z direction according to the distance in the Z direction, the first included angle, the second included angle and the component in the Z direction, wherein the theoretical magnetic field amplitude comprises a theoretical magnetic field amplitude in the X direction, a theoretical magnetic field amplitude in the Y direction and a theoretical magnetic field amplitude in the Z direction.
Optionally, if the amplitude difference does not satisfy the setting condition, the determining module 250 is specifically configured to, when adjusting the theoretical position to obtain a new theoretical position:
and if the amplitude difference does not meet the set condition, determining a new theoretical position according to the theoretical position and the set step length.
Optionally, the theoretical positions include a first X-direction position, a first Y-direction position, and a first Z-direction position, and when determining a new theoretical position according to the theoretical position and the set step length, the determining module 250 is specifically configured to:
determining a second X-direction position according to the first X-direction position and the set step length;
determining a second Y-direction position according to the first Y-direction position and the set step length;
and determining a second Z-direction position according to the first Z-direction position and the set step length, wherein the new theoretical position comprises a second X-direction position, a second Y-direction position and a second Z-direction position.
Optionally, the real magnetic field signal is a one-dimensional signal; the true magnetic field amplitude in the true magnetic field signal is determined by:
filtering the real magnetic field signal to obtain a filtered magnetic field signal;
and performing Hilbert transform on the filtered magnetic field signal to obtain a two-dimensional magnetic field signal, wherein the two-dimensional magnetic field signal comprises a real magnetic field amplitude and a real magnetic field phase.
The magnetic field positioning device based on the straight conducting wire according to the embodiment of the present invention can execute the magnetic field positioning method based on the straight conducting wire according to the embodiment of the present invention, and the implementation principle is similar, the actions executed by each module and unit in the magnetic field positioning device based on the straight conducting wire according to the embodiments of the present invention correspond to the steps in the magnetic field positioning method based on the straight conducting wire according to the embodiments of the present invention, and for the detailed functional description of each module of the magnetic field positioning device based on the straight conducting wire, reference may be specifically made to the description in the corresponding magnetic field positioning method based on the straight conducting wire shown in the foregoing, and details are not repeated here.
Wherein, the magnetic field positioning device based on the straight wire can be a computer program (including program code) running in a computer device, for example, the magnetic field positioning device based on the straight wire is an application software; the apparatus may be configured to perform corresponding steps in the methods provided by the embodiments of the present invention.
In some embodiments, the straight-wire based magnetic Field positioning Device provided by the embodiments of the present invention may be implemented by a combination of hardware and software, and by way of example, the straight-wire based magnetic Field positioning Device provided by the embodiments of the present invention may be a processor in the form of a hardware decoding processor, which is programmed to execute the straight-wire based magnetic Field positioning method provided by the embodiments of the present invention, for example, the processor in the form of the hardware decoding processor may employ one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.
In other embodiments, the straight-wire based magnetic field positioning apparatus provided by the embodiment of the present invention may be implemented in a software manner, and fig. 6 illustrates the straight-wire based magnetic field positioning apparatus stored in the memory, which may be software in the form of a program, a plug-in, and the like, and includes a series of modules, including a magnetic field signal obtaining module 210, a theoretical position determining module 220, a theoretical magnetic field amplitude determining module 230, an amplitude difference determining module 240, a determining module 250, and a target position determining module 260, for implementing the straight-wire based magnetic field positioning method provided by the embodiment of the present invention.
The modules described in the embodiments of the present invention may be implemented by software or hardware. Wherein the name of a module in some cases does not constitute a limitation on the module itself.
Based on the same principle as the method shown in the embodiment of the present invention, an embodiment of the present invention further provides an electronic device, which may include but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the method according to any of the embodiments of the present invention by calling a computer program.
In an alternative embodiment, an electronic device is provided, as shown in fig. 7, the electronic device 4000 shown in fig. 7 comprising: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data. In addition, the transceiver 4004 is not limited to one in practical applications, and the structure of the electronic device 4000 is not limited to the embodiment of the present invention.
The Processor 4001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 4001 may also be a combination that performs a computational function, including, for example, a combination of one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
The Memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 4003 is used for storing application program codes (computer programs) for executing the scheme of the present invention, and execution is controlled by the processor 4001. Processor 4001 is configured to execute application code stored in memory 4003 to implement what is shown in the foregoing method embodiments.
The electronic device may also be a terminal device, and the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the application scope of the embodiment of the present invention.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments.
According to another aspect of the invention, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the methods provided in the various embodiment implementations described above.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The computer readable storage medium provided by the embodiments of the present invention may be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer-readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above embodiments.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents is encompassed without departing from the spirit of the disclosure. For example, the above features and the technical features (but not limited to) having similar functions disclosed in the present invention are mutually replaced to form the technical solution.
Claims (10)
1. A magnetic field positioning method based on a straight wire is characterized by comprising the following steps:
s1, acquiring a detected real magnetic field signal of a preset straight wire, wherein the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track, and the real magnetic field signal comprises a real magnetic field amplitude;
s2, acquiring inclination measurement data of a borehole where the drill bit is located, and determining the theoretical position of the drill bit according to the inclination measurement data;
s3, determining a theoretical magnetic field amplitude according to the theoretical position;
s4, determining the amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
s5, if the amplitude difference meets a set condition, determining the theoretical position as the target position of the drill bit; if the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
s6, repeating the steps S3 to S4 according to the new theoretical position until a new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit.
2. The method of claim 1, wherein the two ends of the straight conductor comprise a first end and a second end, and wherein determining a theoretical magnetic field magnitude from the theoretical position comprises:
acquiring an X-direction component, a Y-direction component and a Z-axis component of the current theoretical amplitude of the electrified straight conductor;
determining the distance in the X direction, the distance in the Y direction and the distance in the Z direction between the drill bit and the straight conducting wire according to the theoretical position;
determining a first included angle between the drill bit and the first end point according to the theoretical position and the position of the first end point;
determining a second included angle between the drill bit and the second end point according to the theoretical position and the position of the second end point;
determining the theoretical magnetic field amplitude in the X direction according to the X-direction distance, the first included angle, the second included angle and the X-direction component;
determining a theoretical magnetic field amplitude value in the Y direction according to the distance in the Y direction, the first included angle, the second included angle and the component in the Y direction;
and determining a theoretical magnetic field amplitude in the Z direction according to the Z-direction distance, the first included angle, the second included angle and the Z-direction component, wherein the theoretical magnetic field amplitude comprises an X-direction theoretical magnetic field amplitude, a Y-direction theoretical magnetic field amplitude and a Z-direction theoretical magnetic field amplitude.
3. The method of claim 1, wherein if the amplitude difference does not satisfy the set condition, adjusting the theoretical position to obtain a new theoretical position comprises:
and if the amplitude difference does not meet the set condition, determining the new theoretical position according to the theoretical position and the set step length.
4. The method of claim 3, wherein the theoretical positions include a first X-direction position, a first Y-direction position, and a first Z-direction position, and wherein determining the new theoretical position based on the theoretical positions and a set step size comprises:
determining the second X-direction position according to the first X-direction position and the set step length;
determining the second Y-direction position according to the first Y-direction position and the set step length;
and determining the second Z-direction position according to the first Z-direction position and the set step length, wherein the new theoretical position comprises the second X-direction position, the second Y-direction position and the second Z-direction position.
5. The method according to any one of claims 1 to 4, wherein the true magnetic field signal is a one-dimensional signal; the true magnetic field amplitude in the true magnetic field signal is determined by:
filtering the real magnetic field signal to obtain a filtered magnetic field signal;
and performing Hilbert transform on the magnetic field signal after filtering processing to obtain a two-dimensional magnetic field signal, wherein the two-dimensional magnetic field signal comprises a real magnetic field amplitude and a real magnetic field phase.
6. A magnetic field positioning system based on a straight wire is characterized by comprising a non-excavation drilling machine, a drill rod, a drill bit, a straight wire, a communication module, a probe and an industrial personal computer, wherein the non-excavation drilling machine is connected with the drill bit through the drill rod, the communication module, the drill bit and the probe are sequentially connected, the communication module is connected with the industrial personal computer, and the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track;
the direct wire generates a magnetic field signal after being connected with a power supply, after the trenchless drilling machine is started, the drill bit drives the probe to drill from a construction soil-entering point according to the preset track, the magnetic field signal generated by the direct wire is obtained through the probe, the magnetic field signal is sent to the industrial personal computer through the communication module, and the industrial personal computer determines the target position of the drilling machine according to the method of any one of claims 1 to 5.
7. The system of claim 6, wherein the industrial personal computer is further configured to:
and determining whether the target track corresponding to the target position is consistent with the preset track or not according to the target position and the preset track, and if the target track is inconsistent with the preset track, adjusting the target position of the drill bit so as to enable the track corresponding to the adjusted target position to be consistent with the preset track.
8. A magnetic field positioning device based on a straight wire, comprising:
the magnetic field signal acquisition module is used for acquiring a detected real magnetic field signal of a preset straight wire, the straight wire is arranged on the ground and is parallel to a horizontal track in a preset track, and the real magnetic field signal comprises a real magnetic field amplitude value;
the theoretical position determining module is used for acquiring inclination measurement data of a borehole where the drill bit is located and determining the theoretical position of the drill bit according to the inclination measurement data;
the theoretical magnetic field amplitude determining module is used for determining the theoretical magnetic field amplitude according to the theoretical position;
an amplitude difference determination module for determining an amplitude difference between the theoretical magnetic field amplitude and the real magnetic field amplitude;
the judging module is used for determining the theoretical position as the target position of the drill bit when the amplitude difference meets a set condition; when the amplitude difference does not meet the set condition, adjusting the theoretical position to obtain a new theoretical position;
and the target position determining module is used for repeating the processing from the theoretical magnetic field amplitude determining module to the amplitude difference determining module according to the new theoretical position until the new amplitude difference determined according to the new theoretical position meets the set condition, and determining the new theoretical position as the target position of the drill bit.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of any one of claims 1-7.
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| CN116181311A (en) * | 2022-09-20 | 2023-05-30 | 中国石油天然气集团有限公司 | Magnetic dipole-based wellbore positioning method, device, equipment and medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116181311A (en) * | 2022-09-20 | 2023-05-30 | 中国石油天然气集团有限公司 | Magnetic dipole-based wellbore positioning method, device, equipment and medium |
| CN116181311B (en) * | 2022-09-20 | 2023-10-13 | 中国石油天然气集团有限公司 | Magnetic dipole-based wellbore positioning method, device, equipment and medium |
| CN115324565A (en) * | 2022-09-26 | 2022-11-11 | 中国石油天然气集团有限公司 | Borehole trajectory measurement and control method and device, electronic equipment and storage medium |
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