Intelligent geological detection while drilling system

Abstract

The invention discloses an intelligent geological detection while drilling system, and relates to the technical field of underground engineering safety, and the system comprises an intelligent drilling module which is used for drilling field surrounding rock; the hydraulic loading module is used for providing drilling power for the intelligent drilling module; the self-positioning module is used for controlling the drilling action of the intelligent drilling module; the remote control monitoring module is used for collecting while-drilling parameters; and the drilling test module is used for receiving preset control parameters while drilling, driving the intelligent drilling module to drill by controlling the hydraulic loading module and the self-positioning module, receiving the parameters while drilling in the drilling process, and obtaining rock mass strength parameters and rock mass structure characteristic parameters according to inversion of the parameters while drilling. The problems that an existing rock mass mechanical parameter and structural characteristic testing method is high in testing cost, large in worker construction intensity, complex in testing process, incapable of quantifying testing results, free of timeliness and the like are solved.

Description

Technical Field

[0001] The invention relates to the technical field of underground engineering safety, and in particular to an intelligent geological drilling detection system. Background Art

[0002] The construction of underground projects such as coal mine tunnels, traffic tunnels, and water conservancy tunnels faces a large number of complex geological conditions such as high stress, extremely soft rock, strong mining, and fault fracture zones, and disasters such as large deformation, roof collapse, and landslides occur frequently. Real-time testing and quantitative evaluation of the rock mass strength parameters and rock mass structure characteristic parameters of the surrounding rock on site are the prerequisites for the research and reasonable design of deep engineering support mechanisms.

[0003] Traditional rock mass testing methods mainly include indoor test methods and field test methods.

[0004] Indoor test methods require coring of surrounding rocks on site and transporting them to the laboratory for testing, which takes a long time to test. It is difficult to extract cores that can be made into standard samples for uncontrollable broken surrounding rocks, and it is impossible to test them. In addition, it is difficult to test the mechanical properties of surrounding rocks in real on-site environments.

[0005] Field test methods mainly include sonic wave test method, seismic method and point load method. Geophysical detection methods such as sonic wave test method and seismic method require many operation steps such as drilling and punching before testing. Point load method can only measure the mechanical properties of surrounding rock in shallow rock mass, and it is difficult to reflect the mechanical properties of deep rock mass.

[0006] In short, traditional rock mass testing methods face problems such as high testing costs, high labor intensity, complex processes, unquantifiable results, and lack of timeliness during the testing process. It is even more impossible to obtain rock mass strength parameters and rock mass structure characteristic parameters in real time. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes an intelligent geological drilling detection system to solve the problems of high testing cost, high construction intensity of workers, complex testing process, unquantifiable and time-ineffective test results in existing rock mechanical parameters and structural characteristics testing methods, and realize real-time acquisition of rock strength parameters and rock structural characteristic parameters.

[0008] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides an intelligent geological detection while drilling system, comprising: Intelligent drilling module, used to drill into the surrounding rock on site; A hydraulic loading module, used to provide drilling power to the intelligent drilling module; Autonomous positioning module, used to control the drilling action of the intelligent drilling module; Remote control monitoring module, used to collect drilling parameters of the intelligent drilling module during the drilling process; The drilling test module is used to receive preset drilling control parameters, and drive the intelligent drilling module to drill by controlling the hydraulic loading module and the autonomous positioning module, and receive the drilling parameters during the drilling process, and invert the rock strength parameters and rock structure characteristic parameters according to the drilling parameters; The drilling torque work, drilling pressure work and energy consumed by friction between the drill bit and the surrounding rock are determined according to the drilling parameters, thereby obtaining the energy consumed by the drill bit during drilling, and the rock mass strength parameters are obtained by inverting the energy consumed by the drill bit during drilling; The real-time strength response value is determined according to the rock strength parameters, and it is judged whether there is a rock structure surface or crack at the current drilling depth according to the real-time strength response value. When cracks exist, the crack width and number are determined according to the changes of the real-time strength response value within the set drilling depth range.

[0009] As an optional implementation, the sum of the energy consumed by the drilling torque work, drilling pressure work and friction between the drill bit and the surrounding rock during the drilling process determined according to the drilling parameters is: ; ; ; in, W 1 is the drilling torque work during drilling, W 2 is the work done by the drilling pressure during the drilling process, E 1 is the energy consumed by the friction between the drill bit and the surrounding rock during the drilling process; N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the i-th row of cutting edges, and n is the total number of rows of cutting edges; is the friction between the cutting edge and the bottom of the rock, is the friction coefficient.

[0010] As an optional embodiment, the energy consumed by the drill bit during drilling is: ;in, E 2 is the energy consumed by the drill bit during drilling.

[0011] As an optional implementation, the process of inverting the rock mass strength parameters according to the energy consumed by the drill bit during drilling includes: Rock mass strength parameters include rock mass compressive strength; The energy consumed by the drill bit in cutting a unit volume of rock is determined based on the energy consumed by the drill bit in drilling. η : ; The compressive strength of rock mass is: ; in, E 2 is the energy consumed by the drill bit during drilling, a and b is the compressive strength fitting coefficient, N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the cutting edge in the i-th row, is the friction coefficient.

[0012] As an optional implementation, the process of inverting the rock mass strength parameters according to the energy consumed by the drill bit during drilling includes: Rock mass strength parameters include elastic modulus; The energy consumed by the drill bit in cutting a unit volume of rock is determined based on the energy consumed by the drill bit in drilling. η : ; The elastic modulus is: ; in, E 2 is the energy consumed by the drill bit during drilling, c and d is the elastic modulus fitting coefficient, N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the i-th cutting edge, is the friction coefficient.

[0013] As an optional embodiment, when the intensity real-time response value satisfy When , it indicates that there is a rock structure surface or crack at the current drilling depth, so as to determine the location of the rock structure surface or crack; mis a coefficient determined by on-site drilling tests in combination with borehole peep results. is the average value of the uniaxial compressive strength of the rock mass, and the real-time response value of the strength is the value of the uniaxial compressive strength of the rock mass obtained by real-time inversion.

[0014] As an alternative implementation, when the curve slope k of the uniaxial compressive strength of the rock mass obtained by inversion satisfies -1 < k < 0, it is defined as a sudden drop in the real-time response value of the strength; when the curve slope k satisfies 0 < k < 1, it is defined as a sudden increase in the real-time response value of the strength; when there is no sudden increase or sudden drop in the real-time response value of the strength, it is defined as the real-time response value of the strength being stable. Within the set drilling depth range, when the real-time response value of the strength suddenly drops and satisfies , record the current drilling depth as h 1; when the real-time response value of the strength suddenly increases and returns to stability, record the current drilling depth as h 2; then the fracture width D is ; where is the average value of the uniaxial compressive strength of the rock mass, is the real-time response value of the strength.

[0015] As an alternative implementation, when D < d, it is determined that there is a fracture at the current drilling depth; when D > d, it is determined that there is a structural plane at the current drilling depth; where d is the determination threshold.

[0016] As an alternative implementation, when there is a fracture, within the set drilling depth range, according to satisfies to determine the number of fractures, that is, to obtain the number of fractures according to the number of sudden drops of the real-time response value of the strength within the set drilling depth range.

[0017] As an alternative implementation, the remote monitoring module is also used to obtain borehole peep images and acoustic emission test results, and the drilling test module is used to verify the rock mass strength parameters and rock mass structure characteristic parameters obtained by inversion according to the borehole peep images and acoustic emission test results; Among them, compare the rock mass strength parameters obtained by inversion with the acoustic emission test results. If the difference rate between the two is less than the set threshold, the test is accurate, otherwise re-drill the hole and conduct an acoustic emission test; According to the position of the sudden increase or sudden drop of the real-time response value of the strength, judge whether there is a rock mass structural plane or fracture in the borehole peep image and acoustic emission test results at the corresponding position. If not, re-drill the hole and conduct an acoustic emission test; Among them, when the curve slope k of the rock mass compressive strength obtained by inversion satisfies -1 < k < 0, it is defined as a sudden drop in the real-time response value of strength; when the curve slope k satisfies 0 < k < 1, it is defined as a sudden increase in the real-time response value of strength.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides an intelligent geological while-drilling detection system, which feedback-controls the drilling action of the intelligent drilling module according to the preset while-drilling control parameters and the while-drilling parameters obtained in real time, so as to meet the expected requirements; at the same time, the rock mass strength parameters and the rock mass structure characteristic parameters are inversely obtained according to the real-time while-drilling parameters, and the obtained rock mass strength parameters and the rock mass structure characteristic parameters are verified according to the obtained borehole peep images and the acoustic emission test results. It solves the problems of high test cost, high labor intensity of workers, complex test process, non-quantifiable test results and lack of timeliness in the existing test methods for rock mass mechanical parameters and structure characteristics, and realizes the real-time acquisition of rock mass strength parameters and rock mass structure characteristic parameters.

[0019] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0021] Figure 1 It is a schematic diagram of the implementation process of the intelligent geological while-drilling detection system provided in Embodiment 1 of the present invention; Figure 2 It is a schematic diagram of the overall structure of the intelligent geological while-drilling detection system provided in Embodiment 1 of the present invention; Figure 3 It is a side view of the intelligent geological while-drilling detection system provided in Embodiment 1 of the present invention; Among them, 1. Intelligent drilling module, 2. Hydraulic loading module, 3. Remote monitoring module, 4. Autonomous positioning module, 5. Displacement sensor, 6. Rotation speed sensor, 7. Pressure sensor, 8. Torque sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present invention will be further described below in conjunction with the drawings and embodiments.

[0023] It should be noted that the following detailed description is exemplary and is intended to provide further description of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0024] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0026] Example 1 This embodiment provides an intelligent geological detection while drilling system, including: Intelligent drilling module, used to drill into the surrounding rock on site; A hydraulic loading module, used to provide drilling power to the intelligent drilling module; Autonomous positioning module, used to control the drilling action of the intelligent drilling module; Remote control monitoring module, used to collect drilling parameters of the intelligent drilling module during the drilling process; The drilling test module is used to receive preset drilling control parameters, and drive the intelligent drilling module to drill by controlling the hydraulic loading module and the autonomous positioning module, and receive the drilling parameters during the drilling process, and invert the rock strength parameters and rock structure characteristic parameters according to the drilling parameters; The drilling torque work, drilling pressure work and energy consumed by friction between the drill bit and the surrounding rock are determined according to the drilling parameters, thereby obtaining the energy consumed by the drill bit during drilling, and the rock mass strength parameters are obtained by inverting the energy consumed by the drill bit during drilling; The real-time strength response value is determined according to the rock strength parameters, and it is judged whether there is a rock structure surface or crack at the current drilling depth according to the real-time strength response value. When cracks exist, the crack width and number are determined according to the changes of the real-time strength response value within the set drilling depth range.

[0027] Combine the following Figure 1-Figure 3 The intelligent geological detection while drilling system and its implementation process in this embodiment are described in detail.

[0028] In this embodiment, the intelligent drilling module 1 includes a drilling guide rail, a rotator, a propulsion cylinder, a drill rod and a drill bit, etc.; Among them, the gyrator is used to provide the drill bit speed and drilling torque, including a variable motor, a rotating spindle and a chuck; The thrust cylinder is used to provide drilling speed and drilling pressure; The drill rod and the drill bit rotate under the drive of the rotator, and move linearly along the drilling guide rail under the push of the thrust cylinder, thereby realizing the drilling function.

[0029] As an optional implementation, the rotator is a gear-type rotator.

[0030] It can be understood that the intelligent drilling module is used to achieve drilling of surrounding rocks of underground engineering projects, and its specific structural composition can adopt existing devices for surrounding rock drilling, as long as it can achieve the same function, and it will not be elaborated here.

[0031] In this embodiment, the hydraulic loading module 2 includes an explosion-proof motor, a gear pump, a hydraulic cylinder and an integrated valve group, etc.; Among them, the gear pump, multi-way valve, slewing gear and propulsion cylinder are connected by a high-pressure oil pipe; The explosion-proof motor is used to control the output and input of hydraulic oil in the hydraulic cylinder to provide drilling power for the intelligent drilling module through the hydraulic cylinder; The explosion-proof motor controls the oil inlet and outlet of the rotator and thrust cylinder by controlling the multi-way valve, so that the intelligent drilling module can complete the corresponding control actions and achieve precise control of drilling speed, drill bit speed, drilling pressure and drilling torque.

[0032] As an optional implementation, the multi-way valve is a load-sensitive proportional multi-way valve.

[0033] It can be understood that the hydraulic loading module provides drilling power through hydraulics to push the drill rod of the intelligent drilling module to drill the surrounding rock on site. The existing device for hydraulic loading can be used as long as it can achieve the same function, and it will not be elaborated here.

[0034] In this embodiment, the autonomous positioning module 4 includes an action control console, a travel assembly, upper and lower tightening cylinders, a rotary reducer and a crawler chain track chassis; Among them, the motion control console is used to control the rotary reducer so that the intelligent drilling module can accurately adjust the drilling angle; The motion control console is used to fix the intelligent drilling module by controlling the upper and lower tightening cylinders to reduce the vibration of the drilling rig during the drilling process; The motion control console is used to control the walking assembly and the crawler track chassis to keep the entire detection system moving stably in complex environments such as tunnels or lanes.

[0035] It is understandable that there is no limitation on the more specific structures of the intelligent drilling module, the hydraulic loading module and the autonomous positioning module, and conventional devices may be used as long as the same functions can be achieved.

[0036] In this embodiment, the remote control monitoring module 3 includes an intelligent terminal, a flameproof and intrinsically safe vacuum magnetic starter (hereinafter referred to as a starter), a sensor group, a wireless remote control, a borehole peep instrument, and a rock acoustic emission instrument, etc.; Among them, the starter includes a transformer, PLC components, a remote control receiver, a power amplifier, etc.

[0037] The sensor group includes a displacement sensor 5, a rotation speed sensor 6, a pressure sensor 7 and a torque sensor 8, etc., which are used to monitor the drilling parameters such as drilling depth, drill bit rotation speed, drilling pressure and drilling torque in real time, and obtain the drilling speed according to the drilling depth; and the sensor group also includes a temperature sensor, a gas concentration monitor, etc., which are used to monitor the working environment parameters of the drilling vehicle in real time; among them, the pressure sensor 7 and the torque sensor 8 are both installed at the tail of the drilling rig.

[0038] The wireless remote controller is used to issue action commands, which are received by the PLC component through the remote control receiver. The explosion-proof motor then controls the oil inlet and outlet of the rotary device and the thrust cylinder by controlling the multi-way valve. After the intelligent drilling module completes the corresponding control action, the drilling parameters are obtained through the sensor group.

[0039] The borehole peep instrument is installed on the drill rod. After the drilling is completed, the borehole peep image is obtained in real time and output in real time by the underground engineering surrounding rock digital drilling test system software.

[0040] The intelligent geological drilling detection system is equipped with a rock acoustic emission instrument. The sensor group is placed at a specific depth of the borehole through the drill pipe. The acoustic emission test results are output in real time by the underground engineering surrounding rock digital drilling test system software.

[0041] In this embodiment, the intelligent terminal is equipped with underground engineering surrounding rock digital drilling test system software (hereinafter referred to as drilling test module), so that the intelligent geological drilling detection system can realize real-time continuous detection of rock strength parameters and rock structure characteristic parameters during the drilling process.

[0042] Furthermore, the drilling test module includes: a drilling parameter control area, a while-drilling parameter monitoring area, a rock mass parameter output area, a surrounding rock evaluation area and an operation status area, as well as an acoustic emission test result output and a borehole peek image output area.

[0043] Specifically: The drilling parameter control area is used to input preset while-drilling control parameters before drilling begins, including drilling speed and drill bit speed, etc. The drilling parameters monitoring area is used to display the drilling parameters collected during the drilling process in real time; The rock mass parameter output area is used to output the curves showing the changes of rock mass strength parameters and rock mass structural characteristic parameters with drilling depth in real time, so as to achieve the real-time acquisition of rock mass strength parameters and rock mass structural characteristic parameters within the drilling range; The operation status area is used to output and display the drilling rig operation status, drilling rig oil temperature and drilling time in real time.

[0044] The surrounding rock evaluation area is used to output and display the surrounding rock evaluation results in real time, including surrounding rock grade and basic rock quality indicators; the surrounding rock evaluation results are obtained by integrating the above-mentioned drilling parameters, rock strength parameters and rock structure characteristic parameters, and the surrounding rock evaluation process can be realized by conventional means without limitation.

[0045] The borehole peep image output area is used to display the borehole peep image obtained by the remote control monitoring module in real time, so as to realize the corresponding display of the drilling parameters and the borehole peep image within the drilling depth range. The acoustic emission test output area is used to output the acoustic emission test results in real time, including the rock structure stability, etc. The borehole peep image and acoustic emission test results are used for reference verification of the rock strength parameters and rock structure characteristic parameters.

[0046] In this embodiment, according to the drilling parameters, a rock strength parameter drilling test model is adopted to obtain the rock strength parameters; wherein the rock strength parameter drilling test model includes a rock compressive strength drilling test model and a rock elastic modulus drilling test model, and the rock strength parameters include rock compressive strength and elastic modulus.

[0047] Specifically: Determine the drilling torque work, drilling pressure work and energy consumed by friction between the drill bit and the surrounding rock during the drilling process according to the drilling parameters; ; ; ; in, W 1 is the drilling torque work during drilling, W 2 is the work done by the drilling pressure during the drilling process, E 1 is the energy consumed by the friction between the drill bit and the surrounding rock during the drilling process; N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the i-th row of cutting edges (i=1, 2, 3), and n is the total number of rows of cutting edges; is the friction between the cutting edge and the bottom of the rock, is the friction coefficient.

[0048] The relationship between the drilling torque work, drilling pressure work, energy consumed by friction between the drill bit and the surrounding rock, and the energy consumed by the drill bit during drilling is: ; in, W 1 is the work done by the drilling torque during drilling, W 2 is the work done by the drilling pressure during drilling, E 1 is the energy consumed by the friction between the drill bit and the surrounding rock during drilling, E 2 is the energy consumed by the drill bit during drilling; Therefore, the energy consumed by the drill bit is: ; in, N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque; F is the drilling pressure, V is the drilling speed; R is the drill bit radius, L i is the length of the cutting edge in the i-th column (i=1, 2, 3).

[0049] definition η The energy consumed by the drill bit to cut a unit volume of rock: .

[0050] Then, the rock mass compressive strength while drilling test model is: ; in, a and b is the compressive strength fitting coefficient.

[0051] The rock mass elastic modulus while drilling test model is: ; in, c and d is the elastic modulus fitting coefficient.

[0052] In this embodiment, according to the drilling parameters, a rock mass structural characteristic parameter drilling test model is adopted to obtain the rock mass structural characteristic parameters; wherein the rock mass structural characteristic parameters include the rock mass structural surface position, crack position, crack width and crack number.

[0053] Specifically: (1) Determine the real-time response value of strength according to the uniaxial compressive strength of rock mass , that is, the uniaxial compressive strength value of rock mass obtained by real-time calculation and inversion. When the real-time response value of strength satisfies , it indicates that there are rock mass structural planes or fissures at the current drilling depth, so as to determine the positions of the rock mass structural planes and fissures, that is, determine the positions of the rock mass structural planes and fissures at the current drilling depth; where m is a coefficient determined by on-site drilling tests combined with the results of borehole peeping, is the average value of the uniaxial compressive strength of rock mass.

[0054] (2) Within the set drilling depth range, when the curve slope k of the uniaxial compressive strength of rock mass obtained by inversion satisfies -1 < k < 0, it is defined as a sudden drop in the real-time response value of strength; when the curve slope k of the uniaxial compressive strength of rock mass satisfies 0 < k < 1, it is defined as a sudden increase in the real-time response value of strength; when the real-time response value of strength fluctuates slightly above and below the stable value, that is, when there is no sudden increase or sudden drop in the real-time response value of strength, it is defined as the real-time response value of strength being stable; Then, when the real-time response value of strength suddenly drops and satisfies , record the current drilling depth as h 1; when the real-time response value of strength suddenly increases and returns to stability, record the current drilling depth as h 2; then the fissure width is: ; where D is the fissure width.

[0055] (3) When D < d, it is determined that there are fissures at the current drilling depth; when D > d, it is determined that there are structural planes at the current drilling depth; where d is the determination threshold, which can be determined according to on-site drilling tests.

[0056] (4) When there are fissures, within the set drilling depth range, record satisfies times N , that is, the number of fissures is: ; That is, the number of fissures is obtained by identifying the number of sudden drops in the real-time response value of strength within the set drilling depth range.

[0057] In this embodiment, the working principle of the above intelligent geological while-drilling detection system includes: Step 1: Fix the hole: The wireless remote control controls the left and right crawlers to move to the designated location, controls the upper and lower tightening cylinders to fix the drilling rig position, and controls the drilling rig inclination and rotation angles through the rotary reducer to align the drill bit with the preset drilling position.

[0058] Step 2: Input parameters: Input preset drilling control parameters in the drilling parameter control area, including drilling speed, drill bit speed, etc., and start monitoring various drilling parameters; Step 3, drilling: according to the preset drilling control parameters, the hydraulic loading module and the autonomous positioning module are controlled to drive the intelligent drilling module to drill; Among them, the PLC component receives the signals collected by various sensors and sends out voltage instructions. After passing through the power amplifier, it controls the multi-way valve to propel the oil cylinder and rotate the gyrator to achieve the preset drilling control parameters, and performs feedback adjustment to achieve closed-loop precise control; Then, the displacement sensor, speed sensor, pressure sensor and torque sensor are used to obtain the drilling depth, drill bit speed, drilling pressure and drilling torque in real time. At the same time, the drilling speed is obtained according to the drilling depth. The temperature sensor and gas concentration monitor are used to obtain the working environment parameters of the drilling vehicle in real time. The collected drilling parameters and environmental parameters are fed back to the underground engineering surrounding rock digital drilling test system software. The variation curve of the drilling parameters in the drilling depth direction is intuitively presented in the drilling parameter monitoring area and the rock parameter output area, and the required rock strength parameters and rock structure characteristic parameters are inverted in real time.

[0059] Step 4: Rod retraction: The wireless remote control device controls the intelligent drilling module to realize the rotation and rod retraction.

[0060] Step 5: Peep: Install the matching borehole peeping instrument to peek into the borehole and collect the borehole peeping images in real time.

[0061] Step six, acoustic emission: Install an acoustic emission test sensor at the specified depth of the borehole through the drill pipe, perform an acoustic emission test on the surrounding rock, and output the acoustic emission test results in real time.

[0062] Step 7, reference verification: Based on the borehole peep images and acoustic emission test results, the inverted rock mass strength parameters and rock mass structure characteristic parameters are compared and verified; Among them, the rock strength parameters obtained by inversion are compared with the rock strength parameters of the acoustic emission test results. If the difference between the two is less than the set threshold (such as 20%), the test result is considered accurate; if the difference between the two is greater than or equal to the set threshold (such as 20%), it is considered that the test results are quite different, and it is recommended to re-drill the surrounding rock, adjust the position of the rock acoustic emission instrument and re-test.

[0063] The while-drilling test curve of rock mass compressive strength is compared with the borehole peep image and acoustic emission test results, and the positions where the real-time response value of strength drops or increases suddenly appear in the curve are analyzed. It is determined whether the borehole peep image and acoustic emission test results show rock mass structural surfaces, cracks and other structural features at the corresponding positions. If not, it is recommended to re-drill the surrounding rock, adjust the position of the rock mass acoustic emission instrument and re-test.

[0064] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An intelligent geological detection while drilling system, characterized in that: including: an intelligent drilling module for drilling the surrounding rock at the site; a hydraulic loading module for providing drilling power to the intelligent drilling module; an autonomous positioning module for controlling the drilling action of the intelligent drilling module; a remote monitoring module for collecting the parameters while drilling during the drilling process of the intelligent drilling module; a drilling test module for receiving preset parameters for controlling drilling while drilling, and thereby driving the intelligent drilling module to drill by controlling the hydraulic loading module and the autonomous positioning module, and receiving the parameters while drilling, and inversely obtaining the rock mass strength parameters and the rock mass structure characteristic parameters according to the parameters while drilling; wherein, the work done by the drilling torque, the work done by the drilling pressure, and the sum of the energy consumed by the friction between the drill bit and the surrounding rock during the drilling process are determined according to the parameters while drilling, thereby obtaining the energy consumed by the drill bit during drilling, and the rock mass strength parameters are inversely obtained according to the energy consumed by the drill bit during drilling; the real-time strength response value is determined according to the rock mass strength parameters, whether there is a rock mass structural plane or a crack at the current drilling depth is judged according to the real-time strength response value, and when there is a crack, the crack width and the number of cracks are determined according to the change of the real-time strength response value within the set drilling depth range.

2. The intelligent geological drilling detection system according to claim 1, characterized in that: The work done by the drilling torque, the work done by the drilling pressure, and the sum of the energy consumed by the friction between the drill bit and the surrounding rock during the drilling process determined according to the parameters while drilling are respectively: ； ； ； in, W 1 is the drilling torque work during drilling, W 2 is the work done by the drilling pressure during the drilling process, E 1 is the energy consumed by the friction between the drill bit and the surrounding rock during the drilling process; N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the i-th row of cutting edges, and n is the total number of rows of cutting edges; is the friction between the cutting edge and the bottom of the rock, is the friction coefficient.

3. The intelligent geological drilling detection system according to claim 2, characterized in that: The energy consumed by the drill bit is: ;in, E 2 is the energy consumed by the drill bit during drilling.

4. The intelligent geological drilling detection system according to claim 1, characterized in that: The process of inversely obtaining the rock mass strength parameters according to the energy consumed by the drill bit during drilling includes: The rock mass strength parameters include the uniaxial compressive strength of the rock mass; The energy consumed by the drill bit in cutting a unit volume of rock is determined based on the energy consumed by the drill bit in drilling. η : ； The compressive strength of rock mass is: ; in, E 2 is the energy consumed by the drill bit during drilling, a and b is the compressive strength fitting coefficient, N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the cutting edge in the i-th row, is the friction coefficient.

5. The intelligent geological drilling detection system according to claim 1, characterized in that: The process of inversely obtaining the rock mass strength parameters according to the energy consumed by the drill bit during drilling includes: The rock mass strength parameters include the elastic modulus; The energy consumed by the drill bit in cutting a unit volume of rock is determined based on the energy consumed by the drill bit in drilling. η : ； The elastic modulus is: ; in, E 2 is the energy consumed by the drill bit during drilling, c and d is the elastic modulus fitting coefficient, N is the drill bit speed, t is the duration of the rock drilling process, M is the drilling torque, F is the drilling pressure, V is the drilling speed, R is the drill bit radius, L i is the length of the cutting edge in the i-th row, is the friction coefficient.

6. The intelligent geological drilling detection system according to claim 1, characterized in that: When the intensity real-time response value satisfy When , it indicates that there is a rock structure surface or crack at the current drilling depth, so as to determine the location of the rock structure surface or crack; m is a coefficient determined by on-site drilling tests combined with borehole peek results. is the average compressive strength of the rock mass, and the real-time response value of the strength is the rock mass compressive strength value obtained by real-time inversion.

7. An intelligent geological detection system while drilling according to claim 1, characterized in that when the curve slope k of the inversely obtained uniaxial compressive strength of the rock mass satisfies -1 < k < 0, it is defined as a sudden drop in the real-time strength response value; when the curve slope k satisfies 0 < k < 1, it is defined as a sudden increase in the real-time strength response value; when there is no sudden increase or sudden drop in the real-time strength response value, it is defined as a stable real-time strength response value; Within the set drilling depth range, when the real-time intensity response value drops suddenly and meets When the current drilling depth is recorded as h 1; When the real-time intensity response value suddenly increases and returns to a stable state, the current drilling depth is recorded as h 2; then the crack width D for ;in, is the average compressive strength of rock mass, It is the real-time response value of intensity.

8. The intelligent geological drilling detection system according to claim 7, characterized in that: When D <When d, it is determined that there are fissures at the current drilling depth; when D >d, it is determined that there are structural planes at the current drilling depth; where d is the determination threshold.

9. The intelligent geological detection while drilling system according to claim 8, characterized in that: When there are cracks, within the set drilling depth range, according to satisfy The number of cracks is determined by the number of sudden drops in the real-time intensity response value within the set drilling depth range.

10. The intelligent geological detection while drilling system according to claim 1, characterized in that: the remote monitoring module is further used to obtain the borehole peep image and the acoustic emission test result, and the drilling test module is used to verify the inversely obtained rock mass strength parameters and the rock mass structure characteristic parameters according to the borehole peep image and the acoustic emission test result; wherein, the inversely obtained rock mass strength parameters are compared with the acoustic emission test result, if the difference rate between the two is less than the set threshold, the test is accurate, otherwise re-drill the hole and conduct the acoustic emission test; According to the position of the sudden increase or sudden drop in the real-time strength response value, it is judged whether there is a rock mass structural plane or a crack in the borehole peep image and the acoustic emission test result at the corresponding position, if not, re-drill the hole and conduct the acoustic emission test; wherein, when the curve slope k of the inversely obtained uniaxial compressive strength of the rock mass satisfies -1 < k < 0, it is defined as a sudden drop in the real-time strength response value; when the curve slope k satisfies 0 < k < 1, it is defined as a sudden increase in the real-time strength response value.

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