Horizontal auger boring (HAB) is a widely used trenchless technology for the high-accuracy installation of gravity or pressure pipelines on line and grade. Differing from other pipeline installations, HAB requires a more precise and automated guidance system for use in a practical project. This paper proposes an economic and enhanced automated optical guidance system, based on optimization research of light-emitting diode (LED) light target and five automated image processing bore-path deviation algorithms. An LED light target was optimized for many qualities, including light color, filter plate color, luminous intensity, and LED layout. The image preprocessing algorithm, direction location algorithm, angle measurement algorithm, deflection detection algorithm, and auto-focus algorithm, compiled in MATLAB, are used to automate image processing for deflection computing and judging. After multiple indoor experiments, this guidance system is applied in a project of hot water pipeline installation, with accuracy controlled within 2 mm in 48-m distance, providing accurate line and grade controls and verifying the feasibility and reliability of the guidance system.

Drill rod straightness has to be strictly controlled and the maximum bending degree detection needs to be used in the straightening process. The mechanical bending degree measurement depends on machinery instruments and workers’ experience, often with low efficiency and precision. While the optical inspection, as a non-contact detection method, with higher precision and lower installation accuracy requirements, is frequently applied in the online detection system. Based on this, an enhanced bending degree detection system for a drill rod is proposed in this paper. Compared to the existing detection system, the main progress is to use a two-dimensional laser to quickly obtain arc profile data and fit with ellipse. Segment inspection idea is also utilized is this system as the camera that could obtain the whole drill rod in one shot needs extremely high resolution and price. A specialized algorithm is designed to fit the cross-section shape and whole centerline displacement based on the least square method. Some laboratory tests are conducted to verify this detection system, findings of which are compared to manual measured results. The maximum bending degree error is 2.14 mm and the maximum position error is 8.21 mm, which are both within the tolerance of error. Those results show the feasibility and precision of this enhanced detection system.

Traditional petroleum coke-based porous carbons suffer from low specific surface area, insufficient surface active sites, and inferior rate and cycling performance. Herein, a series of sulfur/fluorine-co-doped hierarchical porous carbon (S+F-PC) cathode materials were synthesized controllably from industrial solid-waste petroleum coke via KOH high-temperature activation and heteroatom doping strategies. Polyaniline/carbon nanotube (PANI/CNTs) core–shell composites were fabricated as anodes through in situ oxidative polymerization, and S+F-PC//PANI/CNT asymmetric aqueous supercapacitors were assembled. The structural and chemical modulation mechanisms of dual heteroatom doping, as well as the electrochemical energy storage kinetics of electrodes and devices, were systematically investigated using SEM, TEM, XRD, XPS, BET, CV, GCD, EIS, and long-cycle tests. The results verify the synergistic modification effect of sulfur and fluorine co-doping. S-induced lattice distortion creates abundant mesopores and pseudocapacitive active sites, while F atoms stabilize the carbon skeleton to avoid high-temperature structural collapse and enhance the graphitization degree. The optimized S+F-PC exhibits an interconnected micropore–mesopore–macropore hierarchical network and a specific surface area of 172.2 m²/g, delivering a high specific capacitance of 477 F/g at 1 A/g, outperforming pure PC, and single-S-doped and -F-doped counterparts. The PANI/CNTs core–shell structure effectively alleviates the volume expansion of PANI during cycling, and the one-dimensional CNTs form a continuous conductive network. The PANI/CNT anode achieves a specific capacitance of 417 F/g, with a capacity retention of 91.4%, after 10,000 cycles. The assembled asymmetric supercapacitor realizes a stable voltage window of 1.6 V. It presents a specific capacitance of 117 F/g at 1 A/g, a maximum energy density of 41 Wh/kg at a power density of 2000 W/kg, and 87.2% capacity retention after 10,000 cycles. This work provides a feasible strategy for the high-value recycling of industrial-waste petroleum coke and the design of high-performance heteroatom-doped carbon electrodes and matched asymmetric aqueous supercapacitors.