Quick tunneling surrounding rock drilling geophysical prospecting device and method for weakly cemented rock stratum coal mine tunnel

Abstract

The invention discloses a quick tunneling surrounding rock drilling geophysical prospecting device and method for a weakly cemented rock stratum coal mine tunnel. The device comprises a tunneling machine, a drilling device, a while-drilling transient electromagnetic device, a while-drilling impact seismic source device, an equipment cable and a field host. The while-drilling transient electromagnetic device, the while-drilling impact seismic source device and the drill bit are sequentially connected, the while-drilling transient electromagnetic device is used for collecting data of electromagnetic detection, and the while-drilling impact seismic source device is used for exciting seismic waves; the on-site host is connected with the while-drilling transient electromagnetic device, the while-drilling impact seismic source device and the drill bit. According to the invention, drilling, seismic wave detection and transient electromagnetic detection are organically fused, real-time identification and dynamic analysis of a surrounding rock structure are realized, seamless connection of real-time exploration and construction, synchronous exploration and tunneling and integration of fused drilling geophysical prospecting data are realized; the method is especially suitable for geological detection requirements of weak cemented surrounding rock strata in coal mine tunnel excavation, and can effectively improve detection precision and operation efficiency under complex and weak surrounding rock conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of mining detection equipment, and in particular to a device and method for rapid excavation of surrounding rock drilling geophysical exploration in weakly cemented rock strata coal mine tunnels. Background Art

[0002] Coal mine tunneling is a core component of mine development, and its safety and efficiency directly impact the efficient development of coal resources. As mining depths increase, the geological conditions of the tunnel surrounding rock become increasingly complex. Hidden hazards such as faults, fissures, and water-bearing structures become more frequent, posing serious safety risks to tunneling operations. This is especially true in weakly cemented surrounding rock, where the rock structure is loose and mechanical strength is low. Roof falls, slab spalling, and tunnel convergence deformation are highly likely to occur, making tunneling operations even more risky.

[0003] During traditional tunneling, geological surveys and tunneling operations are often conducted independently, making it difficult to obtain key information such as the lithology, structure, and water content of the surrounding rock ahead in real time. This can easily lead to accidents such as water inrush and landslides. Therefore, developing efficient survey equipment that can be performed simultaneously with tunneling operations to achieve "exploration and tunneling integration" is of great significance to ensuring coal mine safety and improving tunneling efficiency.

[0004] At present, geological exploration of coal mine tunnels mainly relies on drilling and geophysical exploration technologies. Drilling technology obtains core samples through drilling with a drill bit, which can directly reflect the physical properties of the stratum. However, it has problems such as slow detection speed, limited single-hole coverage, and inability to predict the geological conditions of undrilled areas in advance. Among geophysical exploration technologies, transient electromagnetic method is sensitive to water bodies and is often used for advanced water exploration, but it is significantly affected by electromagnetic interference from metal drill pipes. In addition, traditional transient electromagnetic devices while drilling have low integration and are difficult to work with drilling equipment. Seismic exploration methods use artificial seismic sources to excite seismic waves, which can identify geological structural interfaces. However, they require the additional deployment of seismic sources and receiving devices. The equipment is bulky and cumbersome to install, and cannot meet the real-time detection needs during rapid excavation. In addition, in existing technologies, drilling parameter monitoring (such as speed and torque) and geophysical data acquisition are independent of each other, and there is a lack of real-time fusion analysis of multi-source data, resulting in insufficient geological identification accuracy. However, weakly cemented rock layers place higher demands on the penetration depth, resolution, identification accuracy and construction anti-interference ability of the above-mentioned existing detection methods; therefore, there is an urgent need to design a more adaptable real-time downhole detection technology that can achieve seamless connection between real-time survey and construction, synchronous survey and excavation, and integrated devices and methods that integrate drilling geophysical data. Summary of the Invention

[0005] In response to the geological disaster risks existing in the excavation of weakly cemented surrounding rock tunnels and the problems of limited detection range, low construction efficiency and inaccurate geological identification of the single geophysical exploration method in the existing tunnel excavation, the present invention provides a surrounding rock drilling geophysical exploration device and method for rapid excavation of weakly cemented rock coal mine tunnels. The device and method can realize real-time identification and dynamic analysis of surrounding rock structure by organically integrating drilling, seismic wave detection and transient electromagnetic detection, significantly improve detection accuracy and excavation efficiency, realize seamless connection between real-time survey and construction, synchronous survey and excavation, and integration of drilling and geophysical exploration data, and effectively prevent the geological disaster risks existing in the excavation of weakly cemented surrounding rock tunnels.

[0006] In order to achieve the above-mentioned object, the present invention provides a rapid excavation surrounding rock drilling geophysical exploration device for weakly cemented rock coal mine tunnels, comprising a roadheader, a drilling device, a while-drilling transient electromagnetic device, a while-drilling impact source device, an equipment cable, and an on-site host;

[0007] The drilling device includes a power head, a cable drill rod, a sensor fixture, a permanent magnet, a Hall effect sensor, a coupling, a torque sensor and a drill bit; the two ends of the coupling are respectively connected to the cable drill rod and the power head, one end of the cable drill rod is coaxially connected to the power head through the coupling, and the other end of the cable drill rod is sequentially connected to a while-drilling transient electromagnetic device, a while-drilling impact source device and a drill bit to form a structurally integrated detection unit; wherein the while-drilling transient electromagnetic device and the while-drilling impact source device are coaxially connected, and the while-drilling impact source device is rigidly connected to the drill bit to form an integrated source unit; the while-drilling transient electromagnetic device is used for data acquisition of while-drilling transient electromagnetic detection, and the while-drilling impact source device is used for exciting seismic waves during while-drilling seismic detection;

[0008] The torque sensor is mounted on the coupling, and the permanent magnet, Hall effect sensor, and sensor fixture are all located within the power head. Multiple permanent magnets are provided and circumferentially fixed to the inner annular surface of the power head. The Hall effect sensor is fixedly connected to the tunnel boring machine via the sensor fixture. When the power head rotates, the drill rod and drill tool rotate, and the permanent magnet rotates accordingly. When the permanent magnet rotates, its magnetic field changes. The Hall effect sensor can detect the change in the permanent magnet's magnetic field and convert it into a corresponding pulse signal, which is transmitted back to the on-site host via the equipment cable, thereby enabling real-time monitoring of the drill rod's rotation speed.

[0009] The on-site host is connected to the while-drilling transient electromagnetic device, the while-drilling impact source device and the drill bit through an equipment cable, and is used to control the working status of the while-drilling transient electromagnetic device, the while-drilling impact source device and the drill bit, and to obtain data during while-drilling electrical detection and while-drilling seismic detection, thereby realizing the simultaneous execution of drilling, seismic wave excitation and transient electromagnetic detection, and improving the efficiency and accuracy of geological identification during coal mine excavation.

[0010] Furthermore, the transient electromagnetic device while drilling includes a transient electromagnetic drill pipe and a transmitting coil, a receiving coil, a separator and a high-precision inertial navigation module arranged in the transient electromagnetic drill pipe; the transmitting coil and the receiving coil are used to transmit and receive electromagnetic signals. The transmitting coil adopts a high-power step pulse drive circuit, which can generate a stable high-energy pulse magnetic field during the excavation process. The receiving coil has a broadband sensing capability and can effectively capture the induced eddy currents caused by underground water bodies or conductive anomalies; the high-precision inertial navigation module is separated from the transmitting coil and the receiving coil by the separator, and is used to obtain real-time position data of the transient electromagnetic drill pipe; the transmitting coil, the receiving coil and the high-precision inertial navigation module are all connected to the on-site host through an equipment cable for feeding data back to the on-site host, and at the same time, the on-site host controls the working status of the transmitting coil, the receiving coil and the high-precision inertial navigation module; the transient electromagnetic device while drilling operates synchronously during the drilling process to achieve long-distance three-dimensional imaging capability of the surrounding rock resistivity.

[0011] Furthermore, the drilling-while-percussion source device includes a percussion source drill pipe and a detector group fixing member and a detector group arranged in the percussion source drill pipe; the drilling-while-percussion source device is integrally connected to the drill bit, and the impact force generated by the contact between the drill bit and the rock serves as a source excitation body to generate seismic waves for seismic exploration;

[0012] When the drill bit is drilling, it releases seismic waves; the detector group is arranged circumferentially on the inner wall of the impact source drill pipe, and is arranged in a row on each column, so as to synchronously collect the seismic wave signals excited by the drill bit during the drilling process; the detector group is connected to the detector group fixing part, and the detector group fixing part is fixedly installed in the impact source drill pipe; the detector group is connected to the on-site host through the equipment cable to feed back data to the on-site host, and the on-site host is installed inside the tunnel boring machine.

[0013] Furthermore, the cable drill rod, transient electromagnetic drill rod and impact source drill rod are all made of non-magnetic steel pipes, and the Hall effect sensor fixing device, separation device and detector group fixing device are made of PE plastic pipes.

[0014] The present invention also provides a method for rapid excavation of surrounding rock drilling and geophysical exploration in a weakly cemented rock coal mine tunnel, which uses the above-mentioned rapid excavation drilling and geophysical exploration device for coal mine tunnels, and specifically includes the following steps:

[0015] A: Drilling detection: For the tunnel boring machine (TBM) performing tunneling operations, the drill bit is started and drilled into the tunnel surrounding rock using the on-site host computer. During the drilling process, a speed sensor and a torque sensor composed of a permanent magnet and a Hall effect sensor are used to record the drilling speed and torque data. The data is then transmitted back to the on-site host computer via a device cable, and a relevant curve is plotted. The system also records whether the drill bit is stuck, jumps, or whether there are significant changes in the return water volume during the drilling process.

[0016] B: Implementing geophysical exploration: When carrying out step A, start the geophysical exploration while drilling device at the same time, so that drilling and geophysical exploration can be carried out simultaneously; the specific process is as follows:

[0017] b: Seismic detection while drilling: The on-site host sends detection instructions to the drilling impact source device. The detector group collects the seismic waves generated during the drilling process of the drill bit and feeds the seismic data back to the on-site host. After analysis, the on-site host obtains the geological conditions around the current geophysical exploration location while drilling and completes the seismic detection work;

[0018] b: Transient electromagnetic detection while drilling: The on-site host sends detection instructions to the transient electromagnetic device while drilling. The transmitting coil transmits electromagnetic waves and the receiving coil receives the transient electromagnetic signals of the surrounding geology and feeds them back to the on-site host. The on-site host analyzes and stores the geological conditions around the current geophysical prospecting location to complete the transient electromagnetic detection work.

[0019] C: Continue to detect each location point: After the first geophysical exploration while drilling location point is detected, repeat step A to drill other boreholes, and repeat the detection process of the first geophysical exploration while drilling location point in step B to complete the detection of the second geophysical exploration while drilling location point; repeat this process until all required geophysical exploration while drilling location points are detected;

[0020] D: Joint analysis of detection data: The drilling data, transient electromagnetic data, and seismic detection data while drilling recorded in the on-site host are summarized, and abnormal data points are eliminated. Then, the obtained multiple data are jointly inverted to achieve real-time coordinated collection of drilling mechanical data, seismic wave signals excited by the drill bit, and transient electromagnetic response signals. The on-site host performs integrated analysis and inversion calculations to achieve three-dimensional precise imaging of the surrounding rock geological body and accurately identify the specific structure of the detected surrounding rock.

[0021] Furthermore, the specific process of the seismic detection while drilling in step b is as follows: the on-site host controls the drill bit to drill forward through the equipment cable, and the drill bit transmits the impact force generated by the vibration to the rock at the bottom of the hole in close contact with it, thereby generating seismic waves; in the process of forward propagation, the seismic waves will be reflected when encountering abnormal structures, and the reflected seismic waves are received by the detector group, and then the signals are transmitted to the on-site host through the equipment cable. The on-site host performs preliminary analysis and processing on the seismic signals to determine whether there are geological structures ahead and identify the direction.

[0022] Furthermore, the specific process of transient electromagnetic detection in step b is as follows: the on-site host sends a transmission instruction to the transmitting coil through the equipment cable, and the transmitting coil emits a step pulse magnetic field in all directions. When the pulse magnetic field encounters a water body, it will induce an induced eddy current field in it. The receiving coil can observe the induced eddy current field and transmit the received transient electromagnetic response data back to the on-site host through the equipment cable. The on-site host performs preliminary analysis and processing on the transient electromagnetic signal to determine whether there is a water body ahead and identify the location; the high-precision inertial navigation module records the trajectory information of the azimuth, inclination, and roll angle of the while-drilling transient electromagnetic device in real time, and transmits it back to the on-site host through the equipment cable.

[0023] Beneficial effects of the present invention:

[0024] 1. This invention realizes the simultaneous operation of drilling and geophysical exploration (transient electromagnetic + seismic waves) for the first time, breaking through the traditional step-by-step detection mode and significantly improving tunneling efficiency; the two geophysical exploration methods complement each other, transient electromagnetic is sensitive to water bodies, and seismic waves are sensitive to structural interfaces, and more accurate geological identification is achieved through data fusion.

[0025] 2. The cable drill pipe is used as the core carrier, integrating drilling power transmission, signal transmission and geophysical exploration device carrying functions. Modular assembly is achieved through threaded connection to ensure the coaxial linkage of the transient electromagnetic device and the impact source device during the drilling process, solving the problem of poor compatibility between traditional geophysical exploration equipment and drilling systems.

[0026] 3. The drilling-while-drilling impact source device innovatively uses the drill bit as the source excitation body, using the drilling impact force to naturally generate seismic waves, without the need for additional source equipment; the detector group adopts a circumferential array layout to achieve 360° full-space seismic wave acquisition, which improves data integrity compared to traditional single-point reception methods.

[0027] 4. The transient electromagnetic device while drilling has a built-in high-precision inertial navigation module, which records the azimuth, inclination, and roll angle data of the drill pipe in real time. Combined with the drilling depth information, it constructs a three-dimensional spatial detection trajectory, significantly improving the positioning accuracy of geophysical exploration data.

[0028] 5. Using non-magnetic steel pipe as the main material of the drill pipe, combined with a high-strength PE plastic isolation structure, effectively suppresses the interference of the metal drill pipe on transient electromagnetic signals. This material combination design can effectively improve the signal strength of the transmitting coil and the receiving signal-to-noise ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall layout of the present invention when performing drilling geophysical exploration work;

[0030] Figure 2 It is a structural schematic diagram of the drilling geophysical exploration device in the present invention;

[0031] Figure 3It is a structural schematic diagram of the transient electromagnetic device while drilling in the present invention;

[0032] Figure 4 It is a structural schematic diagram of the drilling impact source device of the present invention;

[0033] Figure 5 It is a structural block diagram of the on-site host part in the present invention.

[0034] In the figure: 1. Tunnel boring machine; 2. Drilling device; 21. Power head; 22. Cable drill pipe; 23. Sensor fixture; 24. Permanent magnet; 25. Hall effect sensor; 26. Coupling; 27. Torque sensor; 28. Drill bit; 3. Transient electromagnetic while drilling device; 31. Connecting thread I; 32. Transmitting coil; 33. Receiving coil; 34. Separator; 35. High-precision inertial navigation module; 36. Transient electromagnetic drill pipe; 4. Impact source while drilling device; 41. Connecting thread II; 42. Impact source drill pipe; 43. Detector group fixture; 44. Detector group; 5. Equipment cable; 6. On-site host. DETAILED DESCRIPTION

[0035] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0036] The invention discloses a rapid excavation surrounding rock drilling and geophysical exploration device for a weakly cemented rock stratum coal mine tunnel.

[0037] Reference Figure 1 and Figure 2 A rapid excavation surrounding rock drilling geophysical exploration device for weakly cemented coal mine tunnels includes a roadheader 1, a drilling device 2, a while-drilling transient electromagnetic device 3, a while-drilling impact source device 4, an equipment cable 5, and an on-site host 6. The drilling device 2 includes a power head 21, a cable drill rod 22, a sensor fixture 23, a permanent magnet 24, a Hall effect sensor 25, a coupling 26, a torque sensor 27, and a drill bit 28. One end of the cable drill rod 22 is coaxially connected to the power head 21 via the coupling 26. The end of the cable drill rod 22, away from the coupling 26, is sequentially connected to the while-drilling transient electromagnetic device 3, the while-drilling impact source device 4, and the drill bit 28, forming an integrated detection unit. Among them, the while-drilling transient electromagnetic device 3 and the while-drilling impact source device 4 are coaxially connected, and the end of the while-drilling impact source device 4 away from the while-drilling transient electromagnetic device 3 is rigidly connected to the drill bit 28 to form an integrated source unit; the two ends of the coupling 26 are respectively threadedly connected to the power head 21 and the cable drill pipe 22, and the torque sensor 27 is installed on the coupling 26 through a keyway.

[0038] Reference Figure 2The permanent magnet 24, the Hall effect sensor 25 and the sensor fixing part 23 are all located in the power head 21; among them, there are multiple permanent magnets 24, which are circumferentially fixed on the inner ring surface of the power head 21; the Hall effect sensor 25 is connected to the sensor fixing part 23 and fixed on the tunnel boring machine 1; when the power head 21 rotates, it drives the drill rod and the drill bit 28 to rotate, and the permanent magnet 24 rotates accordingly; when the permanent magnet 24 rotates, its magnetic field changes, and the Hall effect sensor 25 can monitor the magnetic field change of the permanent magnet 24 and convert it into a corresponding pulse signal, which is transmitted back to the on-site host 6 through the equipment cable 5 to realize real-time monitoring of the drill rod rotation speed.

[0039] Reference Figure 3 The transient electromagnetic device 3 while drilling includes a transient electromagnetic drill rod 36 and a transmitting coil 32, a receiving coil 33, a separator 34 and a high-precision inertial navigation module 35 arranged in the transient electromagnetic drill rod 36; connecting threads Ⅰ31 are formed at both ends of the transient electromagnetic drill rod 36, and are coaxially threadedly connected to the through-hole drill rod through the connecting threads Ⅰ31. The transmitting coil 32 and receiving coil 33 are used to transmit and receive electromagnetic signals. The transmitting coil 32 uses a high-power step-pulse drive circuit, generating a stable, high-energy pulsed magnetic field during tunneling. The receiving coil 33 has broadband sensing capabilities, effectively capturing induced eddy currents from underground water bodies or conductive anomalies. A high-precision inertial navigation module 35, separated from the transmitting coil 32 and receiving coil 33 by a separator 34, is used to acquire real-time position data from the transient electromagnetic drill pipe 36. The transmitting coil 32, receiving coil 33, and high-precision inertial navigation module 35 are all connected to an on-site host computer 6 via an equipment cable 5. This device feeds data back to the on-site host computer 6, which also controls the operating status of the transmitting coil 32, receiving coil 33, and high-precision inertial navigation module 35. This transient electromagnetic device 3 operates synchronously during drilling, enabling long-distance, three-dimensional imaging of the surrounding rock resistivity.

[0040] Reference Figure 4 The drilling-while-drilling percussion source device 4 includes a percussion source drill rod 42, a detector assembly fixture 43 disposed within the percussion source drill rod 42, and a detector assembly 44. Connecting threads II 41 are formed at both ends of the percussion source drill rod 42, which are coaxially threadedly connected to the transient electromagnetic drill rod 36 via the connecting threads II 41. When the drill bit 28 is drilling, the drilling-while-drilling percussion source device 4 releases seismic waves. The detector assembly 44 is arranged circumferentially on the inner wall of the percussion source drill rod 42, in a row within each column, for collecting seismic wave data during drilling-while-drilling seismic detection. The detector assembly 44 is connected to the detector assembly fixture 43, which is fixedly mounted within the percussion source drill rod 42. The detector assembly 44 is connected to a field host 6 via an equipment cable 5, for feeding data back to the field host 6, which is installed within the tunneling machine 1.

[0041] Reference Figure 5 The on-site host 6 includes memory, a system bus, a central processing unit (CPU), and a human-computer interface (HMI) device. The CPU receives and analyzes data from the drilling equipment, the WDT transient electromagnetic device 3, and the WDT percussion source device 4. A power supply provides power to the on-site host 6 and each device. The HMI device includes a touch screen, a display, and a USB port. The on-site host 6 is connected to the WDT transient electromagnetic device 3, the WDT percussion source device 4, and the drill bit 28 via a device cable 5. This device controls the operating status of the device, the WDT percussion source device 4, and the drill bit 28, and acquires data from electrical and seismic surveys while drilling.

[0042] The cable drill rod 22, transient electromagnetic drill rod 36 and impact source drill rod 42 are all made of non-magnetic steel pipes, and the sensor fixing part 23, separator 34 and detector group fixing part 43 are made of high-strength PE plastic pipes, which can reduce the signal interference of the drill rod metal on the electromagnetic transmitting coil 32 and receiving coil 33; the drill bit 28 is made of high-strength steel, which reduces deformation damage during drilling and extends the service life.

[0043] The present invention also discloses a method for rapid excavation of surrounding rock drilling and geophysical exploration in a weakly cemented rock coal mine tunnel, which uses the above-mentioned rapid excavation drilling and geophysical exploration device for coal mine tunnels, and specifically includes the following steps:

[0044] A: Drilling detection: For the tunneling machine 1, the on-site host computer 6 controls the drill bit 28 to start drilling a hole in the tunnel surrounding rock. During the drilling process, the speed sensor composed of a permanent magnet 24 and a Hall effect sensor 25, and the torque sensor 27 record the drilling speed and torque data. The data is returned to the on-site host computer 6 via the equipment cable 5, and a relevant curve is plotted. At the same time, whether the drill bit 28 is stuck or jumps during the drilling process, and whether there is any significant change in the return water volume of the drill hole;

[0045] B: Implementing geophysical exploration: When carrying out step A, start the geophysical exploration while drilling device at the same time, so that drilling and geophysical exploration can be carried out simultaneously; the specific process is as follows:

[0046] ① Seismic detection while drilling: The on-site host 6 sends a detection command to the impact source device 4 while drilling. The detector group 44 collects the seismic waves generated by the drill bit 28 during drilling and feeds the seismic data back to the on-site host 6. After analysis, the on-site host 6 obtains the geological conditions around the current geophysical exploration location while drilling and completes the seismic detection work. The specific process is as follows: the on-site host 6 controls the drill bit 28 to drill forward through the equipment cable 5. During the drilling process, the drill bit 28 continuously impacts the rock mass at the bottom of the hole, and the rock mass at the bottom of the hole is directly impacted by the transmitted torque and shock waves. Stimulate seismic waves; convert the mechanical impact behavior of the drill bit 28 into a source excitation mechanism, and utilize its natural high-frequency instantaneous impact characteristics to stimulate penetrating seismic waves without the need for an external source structure; seismic waves propagate in underground rock formations and will be reflected when encountering geological structures such as faults, cavities, and soft and hard interfaces. The reflected seismic waves are received by the detector group 44, and then the signal is transmitted to the on-site host 6 through the equipment cable 5. The on-site host 6 performs preliminary analysis and processing on the seismic signal to determine whether there is a geological structure ahead and identify its general direction.

[0047] ② Transient electromagnetic detection while drilling: The on-site host 6 sends a detection command to the transient electromagnetic device while drilling 3. The transmitting coil 32 transmits electromagnetic waves, and the receiving coil 33 receives the transient electromagnetic signal of the surrounding geology and feeds it back to the on-site host 6. The on-site host 6 analyzes and stores the geological conditions around the current geophysical exploration location, completing the transient electromagnetic detection work. The specific process is as follows: the on-site host 6 sends a transmission command to the transmitting coil 32 through the equipment cable 5. The transmitting coil 32 emits a step pulse magnetic field in all directions. When the pulse magnetic field encounters a water body, it induces an induced eddy current field in it. The receiving coil 33 can observe the induced eddy current field and transmit the received transient electromagnetic response data back to the on-site host 6 via the equipment cable 5. The on-site host 6 performs preliminary analysis and processing on the transient electromagnetic signal to determine whether there is a water body ahead and identify its approximate location. The high-precision inertial navigation module 35 records the trajectory information of the azimuth, inclination, and roll angle of the transient electromagnetic device while drilling 3 in real time and transmits it back to the on-site host 6 via the equipment cable 5.

[0048] C: Continue to detect each location point: After the first geophysical exploration while drilling location point is detected, repeat step A to drill other boreholes, and repeat the detection process of the first geophysical exploration while drilling location point in step B to complete the detection of the second geophysical exploration while drilling location point; repeat this process until all required geophysical exploration while drilling location points are detected;

[0049] D: Joint analysis of exploration data: The drilling data, transient electromagnetic data, and seismic data recorded by the on-site host 6 for each geophysical exploration location while drilling are aggregated, and unusable data points or data points with poor data quality are eliminated, while data points with relatively good data quality are retained. The resulting multiple data are then jointly inverted. After completing the acquisition of multiple geophysical exploration locations, the system automatically performs data fusion processing;

[0050] By eliminating abnormal data points, optimizing the three data sets of drilling, seismic and electromagnetic, applying a joint inversion algorithm, and integrating multiple physical field information; outputting refined three-dimensional imaging results, high-precision identification of structures such as faults, water bodies, and coal seam interfaces; and through the intersection of different types of data, more accurate determination of the rock type of the detected stratum and the division of coal seams and rock strata can be made, thereby accurately identifying the specific structure of the detected surrounding rock.

[0051] The present invention combines traditional drilling, impact source and transient electromagnetic detection to construct a multi-method integrated drilling and geophysical exploration system. During the excavation process, geological information of the tunnel surrounding rock can be obtained, and the distribution of coal seams and rock strata can be identified. By using the detection results of multiple different methods to complement and verify each other, the geological identification efficiency of the surrounding rock of coal mine tunnel excavation can be effectively improved; the on-site host 6 realizes the control of drilling equipment and drilling geophysical exploration equipment and real-time data analysis, saving manpower and time and improving work efficiency.

[0052] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A rapid excavation surrounding rock drilling and geophysical exploration device for weakly cemented rock coal mine tunnels, characterized by: It includes a tunnel boring machine (1), a drilling device (2), a while-drilling transient electromagnetic device (3), a while-drilling impact source device (4), an equipment cable (5), and an on-site host (6); The drilling device (2) comprises a power head (21), a cable drill rod (22), a sensor fixing member (23), a permanent magnet (24), a Hall effect sensor (25), a coupling (26), a torque sensor (27) and a drill bit (28); the two ends of the coupling (26) are respectively connected to the cable drill rod (22) and the power head (21); one end of the cable drill rod (22) is coaxially connected to the power head (21) through the coupling (26); the other end of the cable drill rod (22) is connected to the drilling head (21) in sequence; A transient electromagnetic device (3), a while-drilling impact source device (4), and a drill bit (28) are connected to form a structurally integrated detection unit; wherein the while-drilling transient electromagnetic device (3) and the while-drilling impact source device (4) are coaxially connected, and the while-drilling impact source device (4) and the drill bit (28) are rigidly connected to form an integrated source unit; the while-drilling transient electromagnetic device (3) is used for data acquisition of while-drilling transient electromagnetic detection, and the while-drilling impact source device (4) is used for exciting seismic waves during while-drilling seismic detection; The torque sensor (27) is mounted on the coupling (26), and the permanent magnet (24), the Hall effect sensor (25) and the sensor fixing member (23) are all located in the power head (21); wherein, a plurality of permanent magnets (24) are provided and circumferentially fixed on the inner annular surface of the power head (21); the Hall effect sensor (25) is fixedly connected to the tunnel boring machine (1) via the sensor fixing member (23); when the power head (21) rotates, the drill rod and the drill tool rotate, and the permanent magnet (24) rotates accordingly; when the permanent magnet (24) rotates, its magnetic field changes, and the Hall effect sensor (25) can monitor the magnetic field change of the permanent magnet (24) and convert it into a corresponding pulse signal, which is transmitted back to the on-site host (6) via the equipment cable (5), thereby realizing real-time monitoring of the rotation speed of the drill rod; The on-site host (6) is connected to the while-drilling transient electromagnetic device (3), the while-drilling impact source device (4) and the drill bit (28) via an equipment cable (5), and is used to control the working states of the while-drilling transient electromagnetic device (3), the while-drilling impact source device (4) and the drill bit (28), and to obtain data during while-drilling electrical detection and data during while-drilling seismic detection, thereby achieving synchronous drilling, seismic wave excitation and transient electromagnetic detection, and improving the efficiency and accuracy of geological identification during coal mine excavation.

2. The rapid excavation surrounding rock drilling geophysical exploration device for weakly cemented rock coal mine tunnels according to claim 1 is characterized by: The transient electromagnetic device while drilling (3) comprises a transient electromagnetic drill rod (36) and a transmitting coil (32), a receiving coil (33), a separation device (34) and a high-precision inertial navigation module (35) arranged in the transient electromagnetic drill rod (36); the transmitting coil (32) and the receiving coil (33) are used for transmitting and receiving electromagnetic signals, the transmitting coil (32) adopts a high-power step pulse driving circuit and can generate a stable high-energy pulse magnetic field during the excavation process, and the receiving coil (33) has a broadband sensing capability and can effectively capture the induced eddy current caused by underground water bodies or conductive abnormal bodies; the high-precision inertial navigation module (35) is separated by a plurality of channels. The isolation device (34) is separated from the transmitting coil (32) and the receiving coil (33) and is used to obtain real-time position data of the transient electromagnetic drill pipe (36); the transmitting coil (32), the receiving coil (33) and the high-precision inertial navigation module (35) are all connected to the on-site host (6) through the equipment cable (5) and are used to feed back data to the on-site host (6), and at the same time control the working status of the transmitting coil (32), the receiving coil (33) and the high-precision inertial navigation module (35) through the on-site host (6); the transient electromagnetic device (3) while drilling is synchronously operated during the drilling process to achieve the long-distance three-dimensional imaging capability of the surrounding rock resistivity.

3. The rapid excavation surrounding rock drilling geophysical exploration device for weakly cemented rock coal mine tunnels according to claim 2 is characterized by: The drilling-while-percussion source device (4) comprises a percussion source drill rod (42), a detector group fixing member (43) and a detector group (44) arranged in the percussion source drill rod (42); the drilling-while-percussion source device (4) is integrally connected to a drill bit (28), and the impact force generated by the contact between the drill bit (28) and the rock serves as a source excitation body to generate seismic waves for seismic exploration; When the drill bit (28) performs drilling work, seismic waves are released; the detector group (44) is arranged circumferentially on the inner wall of the impact source drill rod (42), and is arranged in a row on each column, and synchronously collects seismic wave signals excited by the drill bit (28) during the drilling process of the drill bit (28); the detector group (44) is connected to the detector group fixing member (43), and the detector group fixing member (43) is fixedly installed in the impact source drill rod (42); the detector group (44) is connected to the on-site host (6) through the equipment cable (5) for feeding data back to the on-site host (6), and the on-site host (6) is installed inside the tunneling machine (1).

4. The rapid excavation surrounding rock drilling geophysical exploration device for weakly cemented rock coal mine tunnels according to claim 3 is characterized by: The cable drill rod (22), transient electromagnetic drill rod (36) and impact source drill rod (42) are all made of non-magnetic steel pipes, and the Hall effect sensor (25) fixing device, the separation device (34) and the detector group (44) fixing device are made of PE plastic pipes.

5. A method for rapid excavation of surrounding rock drilling geophysical exploration in weakly cemented rock coal mine tunnels, characterized by: The rapid excavation drilling and geophysical exploration device for coal mine tunnels according to claim 4 is used, specifically The following steps are involved: A: Implementing drilling detection: For the tunnel boring machine (1) implementing the tunneling operation, the drill bit (28) is controlled by the on-site host (6) to start and drill a hole in the tunnel surrounding rock. During the drilling process of the drill bit (28), the drilling speed and torque data during the drilling process are recorded by a speed sensor composed of a permanent magnet (24), a Hall effect sensor (25), and a torque sensor (27). The data are returned to the on-site host (6) via the equipment cable (5) to draw a relevant curve. At the same time, it is recorded whether the drill bit (28) is stuck, the drill jumps, and whether the return water volume of the borehole changes significantly during the drilling process; B: Implementing geophysical exploration: When carrying out step A, start the geophysical exploration while drilling device at the same time, so that drilling and geophysical exploration can be carried out simultaneously; the specific process is as follows: b1: Seismic detection while drilling: a detection instruction is sent to the impact source device (4) while drilling through the on-site host (6), and the detector group (44) collects the seismic waves generated by the drill bit (28) during the drilling process and feeds the seismic data back to the on-site host (6). The on-site host (6) analyzes and obtains the geological conditions around the current geophysical exploration location while drilling, thus completing the seismic detection work; b2: Detection by transient electromagnetic method while drilling: a detection instruction is sent to the transient electromagnetic device while drilling (3) through the on-site host (6), the transmitting coil (32) transmits electromagnetic waves and the receiving coil (33) receives the transient electromagnetic signal of the surrounding geology and feeds it back to the on-site host (6), which analyzes and stores the geological conditions around the current geophysical exploration location, completing the transient electromagnetic detection work; C: Continue to detect each location point: After the first geophysical exploration while drilling location point is detected, repeat step A to drill other boreholes, and repeat the detection process of the first geophysical exploration while drilling location point in step B to complete the detection of the second geophysical exploration while drilling location point; repeat this process until all required geophysical exploration while drilling location points are detected; D: Joint analysis of detection data: The drilling data, transient electromagnetic data and seismic detection data of each while-drilling geophysical exploration location recorded in the field host (6) are summarized, and abnormal data points are eliminated. Then, the obtained multiple data are jointly inverted to achieve real-time coordinated collection of drilling mechanical data, seismic wave signals excited by the drill bit (28) and transient electromagnetic response signals, and integrated analysis and inversion calculation are performed through the field host (6) to achieve three-dimensional accurate imaging of the surrounding rock geological body and accurately identify the specific structure of the detected surrounding rock.

6. The method for rapid excavation of surrounding rock drilling geophysical exploration in weakly cemented rock strata coal mine tunnels according to claim 5, characterized in that: The specific process of the seismic detection while drilling in step b1 is as follows: the on-site host (6) controls the drill bit (28) to drill forward through the equipment cable (5), and the drill bit (28) transmits the impact force generated by the vibration to the rock at the bottom of the hole in close contact with it, thereby generating seismic waves; in the process of forward propagation, the seismic waves will be reflected when encountering abnormal structures, and the reflected seismic waves are received by the detector group (44), and then the signals are transmitted to the on-site host (6) through the equipment cable (5). The on-site host (6) performs preliminary analysis and processing on the seismic signals, thereby judging whether there are geological structures ahead and identifying the direction.

7. The method for rapid excavation of surrounding rock drilling geophysical exploration in weakly cemented rock strata coal mine tunnels according to claim 6, characterized in that: The specific process of the transient electromagnetic detection in step b2 is as follows: the on-site host (6) sends a transmission instruction to the transmitting coil (32) through the equipment cable (5), and the transmitting coil (32) emits a step pulse magnetic field to the surroundings. When the pulse magnetic field encounters a water body, it will induce an induced eddy current field in the water body. The receiving coil (33) can observe the induced eddy current field and transmit the received transient electromagnetic response data back to the on-site host (6) through the equipment cable (5). The on-site host (6) performs preliminary analysis and processing on the transient electromagnetic signal to determine whether there is a water body in front and identify the location; The high-precision inertial navigation module (35) records the trajectory information of the azimuth, inclination, and roll angle of the while-drilling transient electromagnetic device (3) in real time, and transmits it back to the on-site host (6) via the equipment cable (5).

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