Automatic control of soil puncture

Abstract

Among the existing methods of making horizontally directed wells for trenchless laying of utilities, the method of static soil puncture is the most popular. The main disadvantage of this method is poor accuracy of the piercing head movement in the soil. This drawback requires constant adjustment of the trajectory of this movement. The movement of the head is controlled by using a head with an asymmetric tip and the action of translational and translational-rotational motion on it. The transmission of these movements from the power plant is accomplished by means of a set of fixed pushing rods. If you know how the process of off and on deviation of the head happens, you can make it possible to automatically control the puncture of the soil by timely changing the direction of the head tip shift.
 To achieve this goal, the following issues have been resolved. It is determined that for automated control of the soil puncture process by static method it is necessary to use a puncture head with an asymmetric tip. Changing its position in the soil space can be controlled by rotating the tip and orienting it according to the direction of deviation.
 The obtained mathematical model of correcting the trajectory of the head with a truncated cylindrical tip makes it possible to predict the process of soil puncture in time depending on different soil conditions and to get a solution to the problem of deviation from the specified design trajectory of the tip head which has a recognized angle of the frontal plane cut to the horizon with successive build-up of rods.Changing the orientation in the space of the cut front surface of the cylindrical tip, taking into account the obtained mathematical model of correcting the trajectory of the head in the soil, allows to increase the span length to 100 m due to the proposed automated principle of correcting its movement.