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长距离定向钻进的关键是实现地下两钻机的精确对接。针对国内对接技术的空白和技术问题,对圆柱形永磁铁磁感应强度的表达式进行了研究,利用三轴磁阻传感器,分别得出了平行于永磁铁轴向方向运动的高边、右边和轴向的磁场变化曲线,提出了地下钻机对接的步骤和方法,得出了相应的数学模型及修正算法。在此基础上进行了对接区域内姿态及对接位置测量试验,给出了试验结果。试验结果验证了对接算法和模型的正确性,并且对接的精度可以达到1～2 cm。
The key to long-distance directional drilling is to achieve accurate docking of two underground drilling rigs. According to the gap and technical problems of the domestic butt joint technology, the expression of the magnetic induction intensity of the cylindrical permanent magnet is studied. By using the three-axis magnetoresistive sensor, the high side, the right side and the axis of movement of the permanent magnet parallel to the axial direction To the magnetic field curve, put forward the steps and methods of underground drilling rig docking, and obtained the corresponding mathematical model and correction algorithm. On this basis, the measurement of the position and the position of the butt joint in the docking area was conducted, and the test results were given. The test results verify the correctness of the docking algorithm and the model, and the docking accuracy can reach 1 ~ 2 cm.