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CN-122014111-A - Tapping orientation method and tapping orientation instrument

CN122014111ACN 122014111 ACN122014111 ACN 122014111ACN-122014111-A

Abstract

The application discloses an opening orientation method and an opening orientation instrument, and relates to the technical field of underground drilling construction of coal mines. The method comprises the steps of obtaining reference posture data measured by the direction finder at a reference position of a drilling machine, obtaining installation posture data measured by the direction finder at an actual installation position of the drilling machine, responding to received reverse installation instructions, executing reverse data conversion processing on the reference posture data, and carrying out compensation calculation on original posture data measured by the direction finder at the actual installation position in real time according to the reference posture data or a device angle difference value between the data subjected to the reverse conversion processing and the installation posture data, so as to obtain and output the actual posture data of the drilling machine. The application realizes flexible installation of the orientation instrument at any position on the drilling machine, can adapt to different drilling machines without a special tool, can intuitively read correct data when the instrument is reversely installed, and remarkably improves the operation convenience and orientation precision.

Inventors

  • XUE WEI
  • WEN RONG
  • YU CHENGZE

Assignees

  • 北京合康科技发展有限责任公司

Dates

Publication Date
20260512
Application Date
20260401

Claims (10)

  1. 1. An aperture orientation method for use with an orientation machine, the method for determining the actual attitude of a rig at a reference location when the orientation machine is mounted at any non-reference location on the rig, the method comprising: Acquiring reference attitude data measured by the orientation instrument at a reference position of the drilling machine, wherein the reference position is a position coaxial with the drilling machine; Judging whether the orientation instrument is reversely installed according to whether the orientation instrument reverse installation instruction is received, and if so, executing reverse conversion processing on the reference posture data to obtain converted reference posture data; Acquiring mounting posture data of an actual mounting position of the orientation instrument on a drilling machine; determining a device angle difference value of the actual mounting position relative to the reference position according to the reference gesture data or the converted reference gesture data and the mounting gesture data; In the drilling machine operation process, acquiring original attitude data of the orientation instrument measured in real time at the actual installation position; And carrying out compensation calculation on the original attitude data based on the device angle difference value to obtain and output the actual attitude data of the drilling machine at the reference position.
  2. 2. The method of claim 1, wherein the gesture data comprises an inclination angle and an azimuth angle; The device angle difference comprises a dip device angle difference And azimuth device angle difference Wherein, the method comprises the steps of, , Represents the reference tilt angle of the vehicle, Indicating the inclination angle of the installation position; angle difference of azimuth angle device Azimuth according to actual installation position From the reference azimuth And (3) difference range and magnitude relation determination: If it is , ; If it is When then In the time-course of which the first and second contact surfaces, When (1) In the time-course of which the first and second contact surfaces, 。
  3. 3. The method of claim 2, wherein the actual pose data comprises a target tilt angle And target azimuth ; Wherein, the , Representing an original inclination angle of the orientation instrument measured at the installation position in real time; , Indicating the original azimuth angle of the orientation instrument measured in real time at the installation position, if If less than 0, 360 is added, if And if not less than 360, subtracting 360.
  4. 4. The method according to claim 1, wherein determining whether the direction finder is reversely installed according to whether a direction finder reverse installation instruction is received, and if it is determined that the direction finder is reversely installed, performing reverse conversion processing on the reference posture data, specifically comprises: responding to the received reverse installation instruction, and acquiring display gesture data after steering; The display attitude data after steering comprises a steering back dip angle Azimuth angle after steering And a high side after steering ; Wherein, the , Indicating the angle of inclination before steering; , Indicating azimuth angle before turning, if Then 360 is subtracted; , Representing the high side before steering.
  5. 5. The method of claim 4, wherein the steering operation is triggered by pressing a switch direction key on the orienter.
  6. 6. The method as recited in claim 1, further comprising: The self-encoder model is an unsupervised learning model and is obtained through normal posture data training and is used for reconstructing input data and calculating reconstruction errors; And when the reconstruction error is greater than a preset threshold, judging the reconstruction error as abnormal data, and adjusting the weight of the gyroscope in the extended Kalman filtering so as to correct the posture data measured subsequently.
  7. 7. The method of claim 6, wherein the preset threshold comprises a first threshold and a second threshold, and wherein the anomaly detecting and adjusting weights of the gyroscope in the extended kalman filter comprises: when the reconstruction error is smaller than or equal to a first threshold value, judging that the current data is normal data, and maintaining the weight of the gyroscope as a reference weight; When the reconstruction error is larger than the first threshold value and smaller than or equal to the second threshold value, judging that the current data is slightly abnormal data, calculating an abnormal severity factor according to the ratio of the reconstruction error to the second threshold value, and reducing the weight of the gyroscope according to a preset rule; And when the reconstruction error is larger than a second threshold value, judging that the current data is severely abnormal data, and reducing the weight of the gyroscope to one hundred to five hundred times of the reference weight.
  8. 8. An aperture orienter for performing the method of claims 1-6, comprising: The acquisition module is used for acquiring reference posture data of a reference position of the drilling machine, mounting posture data of an actual mounting position of the orientation instrument on the drilling machine and original posture data of the orientation instrument measured at the actual mounting position in real time; The processing module is used for responding to the received reverse installation instruction to execute reverse data conversion processing on the reference gesture data, and carrying out compensation calculation on the original gesture data according to the reference gesture data or the device angle difference value between the converted reference gesture data and the actual installation gesture data to obtain the actual gesture data corresponding to the reference position of the drilling machine; And the output module is used for outputting the actual gesture data.
  9. 9. The direction finder of claim 8, wherein the processing module is further configured to: And responding to the received reverse installation instruction, acquiring display gesture data after steering, wherein the display gesture data after steering comprises a backward steering angle, a backward steering azimuth angle and a backward steering high side, and is calculated according to the following rule: steering back tilt = -tilt forward; Azimuth after steering = 180+ azimuth before steering, if the result is greater than or equal to 360 degrees, subtracting 360 degrees; high side after steering= -high side before steering.
  10. 10. The orientation apparatus of claim 8 further comprising an anomaly detection module configured to perform anomaly detection on the actual pose data by using a trained self-encoder model, and if the detection result is anomaly, adjust a weight of the gyroscope in the extended kalman filter.

Description

Tapping orientation method and tapping orientation instrument Technical Field The application relates to the technical field of underground drilling construction of coal mines, in particular to an opening orientation method and an opening orientation instrument. Background The comprehensive mechanical coal mining technology is widely popularized and applied, and higher requirements are put on the drilling construction precision of underground coal mine gas extraction holes and water detection and drainage holes. In order to ensure the safety of underground operation and the porosity of drilling, the drilling construction needs to carry out the perforation strictly according to the designed azimuth angle and the inclination angle, and ensure that the drilling track is consistent with the designed track as much as possible. In the existing directional operation of trompil, mainly there are two kinds of technical schemes: 1. A mechanical calibration method based on a physical reference. Conventional hole orientation is usually performed by mechanical alignment based on physical reference points, such as by measuring with a ruler, measuring with an angle gauge or simply guiding a tool. The operation flow of the method relates to the on-site measurement of a plurality of steps and the position adjustment of a drilling machine, so that the stable drilling time is longer, meanwhile, the calibration precision is highly dependent on the stability of a measurement reference and the standardization of an operation process, and the high-precision orientation requirement is difficult to meet. 2. An open pore orientation instrument based on gyro north seeking. In order to overcome the precision limitation of mechanical calibration, an open pore orientation instrument based on a gyro north-seeking technology gradually becomes a mainstream choice. The basic process comprises the steps of carrying out north seeking operation through a gyroscope to obtain initial azimuth angle and inclination angle data, fixing an orientation instrument at a specific position of a drilling machine, and adjusting the drilling machine according to a design angle. However, in practical applications, the following technical problems still exist in such an orientator: (1) The installation position is limited in that the orienter is usually fixed to the drill pipe or to a specific position coaxial with the drill pipe by a special tool to ensure that the measurement datum is parallel to the axis of the drilling machine. Because the drilling machine types are various, the drilling rod specifications are various, the tool design for adapting to different drilling machines is complex, and absolute parallelism can be realized under various installation conditions, and the measurement accuracy and the operation convenience are affected. (2) The viewing angle is limited, and under the complex working condition of underground, the installation position of the direction finder can be limited by space, so that the display screen of the direction finder faces away from an operator. Under the condition, an operator cannot directly read the data of the direction finder while adjusting the drilling machine, and needs to bypass to the front of the instrument or repeatedly adjust the installation position, so that the operation complexity is increased and the operation efficiency is influenced. (3) The environment interference is sensitive, the underground ferromagnetic environment has obvious interference on the measurement precision of the traditional magnetic sensor, and the gyroscope can partially avoid the problem, but the long-term stability and the dynamic response of the gyroscope still need to be further optimized. Disclosure of Invention The application provides an opening orientation method and an opening orientation instrument, which aim to solve the problems that in the prior art, the installation position of the orientation instrument is limited, so that special tools are required to be matched with different drilling machines, the observation is inconvenient under special working conditions, and the measurement accuracy is easily interfered by the environment, thereby influencing the operation efficiency and the orientation accuracy. In a first aspect, there is provided an aperture orientation method for use with an orientation machine, the method for determining the actual attitude of a rig at a reference position when the orientation machine is mounted at any non-reference position on the rig, the method comprising: Acquiring reference attitude data measured by the orientation instrument at a reference position of the drilling machine, wherein the reference position is a position coaxial with the drilling machine; Judging whether the orientation instrument is reversely installed according to whether the orientation instrument reverse installation instruction is received, and if so, executing reverse conversion processing on the reference posture