Hydraulic directional drilling device and method

Abstract

The present invention discloses a hydraulic directional drilling device, comprising a first directional nozzle, a first push rod, a straight pipe pusher, a coiler, a three-way valve and a pump truck; the end of the first directional nozzle is connected to the first push rod, the straight pipe pusher is used to push the first push rod, the coiler is used to coil the first push rod, and the end of the first push rod is connected to the pump truck through a three-way valve. The present invention also provides a hydraulic directional drilling method. Compared with the radial rotary hydraulic jet drilling technology, the present invention adopts a remote-controlled jet nozzle coal seam deflection drilling method, which provides a larger rotation space for the directional nozzle and the push rod, and has the advantages of small propulsion resistance, large hole size, simple process and low cost. Compared with the horizontal well directional drilling technology, the push rod of the present invention has the advantages of better flexibility, small rotation radius, simple process and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine gas disaster prevention and control, and in particular to a hydraulic directional drilling device and method. Background Art

[0002] Coalbed methane is one of the important unconventional natural gas resources. When extracting coalbed methane from high-gas coal seams in coal mines, whether the extraction effect can be achieved is mainly determined by the permeability of the coal seams. However, the coal seams in most mining areas in my country are high-gas low-permeability coal seams, which are soft and have poor permeability, with a permeability of only 10 -4 ~10 -3 Since coal seam permeability directly determines the efficiency of coal mine gas extraction and utilization, resolving the difficulty of extracting coalbed methane from low-permeability coal seams has become a key step in ensuring safe coal mine production and increasing coalbed methane production and utilization. Developing technologies and equipment to improve the permeability of low-permeability coal seams and increase coalbed methane production has become a difficult and urgent task. Therefore, the development of key underground permeability enhancement technologies and equipment for difficult-to-extract coal seams has become an urgent and important task.

[0003] Currently, dense drilling is often used to enhance coal seam permeability. Using drilling alone, especially for through-layer drilling, results in a limited exposed coal area. Using permeability enhancement technology to create multiple radial holes along the borehole's radial direction can significantly increase the exposed coal area and permeability enhancement range of a single hole. Using radial hydraulic jet horizontal drilling technology in coal mines results in small borehole sizes, a small rotation radius, high push resistance, and complex process technology. Furthermore, due to the limited rotation radius, the water jet nozzle and elastic drill rod are relatively small, resulting in poor hydraulic drilling and push performance. Conventional directional drilling technology suffers from large rotation radiuses and high construction costs, making it unsuitable for drilling and enhancing permeability in small, multi-branched, single-hole, multi-branch areas. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a hydraulic directional drilling device and method.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The first technical solution: A hydraulic directional drilling device includes a first directional nozzle, a first push rod, a straight pipe pusher, a coiler, a three-way valve, and a pump truck; the distal end of the first directional nozzle is connected to the first push rod, the straight pipe pusher is used to push the first push rod, the coiler is used to coil the first push rod, and the distal end of the first push rod is connected to the pump truck via the three-way valve;

[0007] The first directional nozzle includes a first nozzle body, the front end of the first nozzle body is a first guide arc surface, a first jet cavity and a second jet cavity are opened in the vertical direction inside the first nozzle body, two first oblique nozzles are symmetrically arranged at the front end of the first jet cavity, and a first backward nozzle facing the rear end of the first nozzle body is respectively provided on both sides of the first jet cavity, two first axial nozzles are symmetrically arranged at the front end of the second jet cavity, and a second backward nozzle facing the rear end of the first nozzle body is respectively provided on both sides of the first jet cavity; internal threads are respectively provided on the inner circumferential surface of the end of the first nozzle body, the inner circumferential surface of the end of the first jet cavity and the inner circumferential surface of the end of the second jet cavity.

[0008] Furthermore, the first push rod includes a mining PE outer pipe, a first high-pressure water injection pipe, a second high-pressure water injection pipe, a connector and a compression sleeve. The first high-pressure water injection pipe and the second high-pressure water injection pipe are axially fixed to the inside of the mining PE outer pipe through a compression sleeve. The front ends of the first high-pressure water injection pipe and the second high-pressure water injection pipe are respectively connected to the ends of the first jet cavity and the second jet cavity by a threaded manner. A connector is provided at the front end of the mining PE outer pipe, and the connector is connected to the end of the first nozzle body by a threaded manner. The ends of the first high-pressure water injection pipe and the second high-pressure water injection pipe are respectively connected to the three-way valve by a threaded manner.

[0009] The second technical solution is a hydraulic directional drilling method, which is implemented using the hydraulic directional drilling device of the first technical solution and specifically includes the following steps:

[0010] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the first directional sprinkler and the first push rod, straighten the first push rod through the straight pipe pusher and send it to the bottom of the drill hole before stopping the push;

[0011] Step 2: Connect the first and second high-pressure water injection pipes to the pump truck through the three-way valve; adjust the three-way valve to the first state and start the pump truck; high-pressure water flows from the pump truck to the three-way valve, the first high-pressure water injection pipe, the first jet cavity, and the first oblique nozzle to jet and break the coal, and then jet through the first backward nozzle to remove slag. After the oblique jet drilling is formed, stop the pump truck;

[0012] Step 3: Start the straight pipe pusher and coiler, push the first push rod and the first directional nozzle. Under the reaction force of the coal wall, the first push rod is slightly deflected. Under the auxiliary guidance of the first guide arc surface, the first push rod and the first directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler;

[0013] Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the three-way valve, the first high-pressure water injection pipe, the first jet cavity, and the first oblique nozzle to break the coal. After the oblique jet drilling is formed, stop the pump truck;

[0014] Step 5: Repeat steps 3 and 4 to complete the first oblique nozzle jetting to break the coal and create an oblique shape; start the straight pipe pusher and the coiler, push the first push rod and the first directional nozzle, and under the action of the reaction force of the coal wall, the first push rod is bent and, under the auxiliary guidance of the first guide arc surface, push the first push rod and the first directional nozzle to the bottom of the oblique jet drilling hole, and stop the straight pipe pusher and the coiler;

[0015] Step 6: Adjust the three-way valve to the second state. High-pressure water flows from the pump truck to the three-way valve, the second high-pressure water injection pipe, the second jet cavity to the first axial nozzle to break the coal, and discharge the slag through the second backward nozzle. After the axial jet drilling is formed, the straight pipe pusher and the coil machine are turned on to continue pushing the first push rod and the first directional nozzle to hydraulically drill along the axial jet drilling.

[0016] Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the first push rod and the first directional sprinkler head to the initial drilling position to complete the hydraulic directional drilling at the designed position.

[0017] A third technical solution: a hydraulic directional drilling device comprising a second directional nozzle, a second push rod, a straight pipe pusher, a coiler, and a pump truck; the distal end of the second directional nozzle is connected to the second push rod, the straight pipe pusher is used to push the second push rod, the coiler is used to coil the second push rod, and the distal end of the second push rod is connected to the pump truck;

[0018] The second directional nozzle includes a second nozzle body, the front end of the second nozzle body is a second guide arc surface, a third jet cavity and a fourth jet cavity are opened in the vertical direction inside the second nozzle body, two second oblique nozzles are symmetrically provided at the front end of the third jet cavity, and a third backward nozzle facing the rear end of the second nozzle body is provided on both sides of the third jet cavity, two second axial nozzles are symmetrically provided at the front end of the fourth jet cavity, and a fourth backward nozzle facing the rear end of the second nozzle body is provided on both sides of the fourth jet cavity;

[0019] A first water guide channel is provided at the center of the bottom inner portion of the second nozzle body, the bottom end of the third jet cavity is connected to the first water guide channel through the second water guide channel, and the fourth jet cavity is connected to the first water guide channel through the third water guide channel. A water guide piston is provided at the bottom inner portion of the first water guide channel, and a disc spring is provided above the water guide piston. The water guide piston can slide up and down in the first water guide channel. A water guide hole is provided in the vertical direction at the center inner portion of the water guide piston. The bottom end of the water guide hole is a water inlet for the water guide piston. A first water guide piston outlet for communicating with the first water guide channel and a second water guide piston outlet for communicating with the second water guide channel are provided on the outer side of the water guide hole.

[0020] Internal threads are respectively provided on the inner circumferential surface of the end of the second nozzle body and the inner circumferential surface of the bottom end of the first water guide channel.

[0021] Furthermore, the second push rod includes a mining PE outer pipe, a third high-pressure water injection pipe, a connector and a compression sleeve. The third high-pressure water injection pipe is axially fixed to the inside of the mining PE outer pipe by a compression sleeve. The front end of the third high-pressure water injection pipe is connected to the end of the first water guide channel by a threaded manner. The front end of the mining PE outer pipe is provided with a connector, and the connector is connected to the end of the second nozzle body by a threaded manner. The end of the third high-pressure water injection pipe is connected to the pump truck.

[0022] The second directional sprinkler has two states. When the water pressure is less than the M value, the movement of the water-guiding piston compressing the disc spring is less than the L value, and it is in the first state: the second oblique nozzle and the third backward nozzle are connected to the third jet cavity, the third jet cavity is connected to the water outlet of the first water-guiding piston, the water outlet of the first water-guiding piston is connected to the third high-pressure water injection pipe through the first water guide channel, and the third high-pressure water injection pipe is connected to the pump truck; when the water pressure is greater than or equal to the M value, under the action of high-pressure water, the movement of the water-guiding piston compressing the disc spring is greater than or equal to the L value, and the second directional sprinkler switches to the second state: the second axial nozzle and the fourth backward nozzle are connected to the fourth jet cavity, the fourth jet cavity is connected to the water outlet of the second water-guiding piston, the water outlet of the second water-guiding piston is connected to the third high-pressure water injection pipe through the first water guide channel, and the third high-pressure water injection pipe is connected to the pump truck.

[0023] A fourth technical solution: a hydraulic directional drilling method, implemented using the hydraulic directional drilling device of the third technical solution, specifically comprising the following steps:

[0024] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the second directional sprinkler and the second push rod, start the straight pipe pusher and coiler, straighten the second push rod and push it to the bottom of the drill hole, then stop pushing;

[0025] Step 2: Connect the third high-pressure water injection pipe to the pump truck; control the water injection pressure of the pump truck to be less than the M value, and start the pump truck; high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the third jet cavity, and the second oblique nozzle to jet and break the coal, and then jet through the third backward nozzle to remove slag. After the oblique jet drilling is formed, stop the pump truck;

[0026] Step 3: Start the straight pipe pusher and coiler, push the second push rod and the second directional nozzle. Under the reaction force of the coal wall, the second push rod is slightly deflected. Under the auxiliary guidance of the second guide arc surface, the second push rod and the second directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler;

[0027] Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the third jet cavity, and the second oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck;

[0028] Step 5: Repeat steps 3 and 4 to complete the second oblique nozzle jetting to break the coal and create an oblique shape; start the straight pipe pusher and the coiler, push the second push rod and the second directional nozzle, and under the action of the reaction force of the coal wall, the second push rod is bent and, with the auxiliary guidance of the second guide arc surface, push the second push rod and the second directional nozzle to the bottom of the oblique jet drilling hole, and stop the straight pipe pusher and the coiler;

[0029] Step 6: Start the pump truck and adjust the water injection pressure of the pump truck to be no less than the M value. The high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the fourth jet cavity, and the second axial nozzle to jet and break the coal. The slag is discharged through the fourth backward nozzle. After the axial jet drilling is formed, the straight pipe pusher and the coil machine are started to continue to push the second push rod and the second directional nozzle to hydraulically drill along the axial jet drilling;

[0030] Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the second push rod and the second directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

[0031] A fifth technical solution: A hydraulic directional drilling device includes a third directional nozzle, a third push rod, a straight pipe pusher, a coiled tubing machine, a pump truck, and a trajectory monitoring and control system; the distal end of the third directional nozzle is connected to the third push rod, the straight pipe pusher is used to push the third push rod, the coiled tubing machine is used to coil tubing on the third push rod, the distal end of the third push rod is connected to the pump truck, and the pump truck is equipped with a trajectory monitoring and control system;

[0032] The third directional nozzle includes a third nozzle body, the front end of the third nozzle body is a third guide arc surface, a fifth jet cavity and a sixth jet cavity are opened in the vertical direction inside the third nozzle body, two third oblique nozzles are symmetrically provided at the front end of the fifth jet cavity, a fifth backward nozzle facing the rear end of the third nozzle body is provided on both sides of the fifth jet cavity, two third axial nozzles are symmetrically provided at the front end of the sixth jet cavity, and a sixth backward nozzle facing the rear end of the third nozzle body is provided on both sides of the sixth jet cavity;

[0033] A fourth water guide channel is provided at the center of the inner bottom of the third nozzle body, the bottom end of the fifth jet cavity is connected to the fourth water guide channel through the fifth water guide channel, and the bottom end of the sixth jet cavity is connected to the fourth water guide channel through the sixth water guide channel. A water guide piston is provided at the bottom end of the inner part of the fourth water guide channel, and a return spring is provided above the water guide piston. The water guide piston can slide up and down in the fourth water guide channel. A water guide hole is provided in the vertical direction at the inner center of the water guide piston. The bottom end of the water guide hole is a water inlet for the water guide piston. A first water guide piston outlet for communicating with the fifth water guide channel and a second water guide piston outlet for communicating with the sixth water guide channel are provided on the outer side of the water guide hole.

[0034] A limit slot is provided at the position of the water guide piston below the water outlet of the first water guide piston. An electric push rod and an electric push rod limiter are installed in the third nozzle body. The electric push rod limiter is connected to the third push rod through an intrinsically safe line. When the electric push rod limiter is closed, the electric push rod is in an extended state, and the water guide piston is fixed to the limit slot through the electric push rod of the electric push rod limiter.

[0035] When the electric push rod limiter is opened, the electric push rod is in a retracted state, the electric push rod of the electric push rod limiter is disengaged from the limit slot, and the water guide piston can slide axially along the fourth water guide channel;

[0036] Internal threads are respectively provided on the inner circumferential surface of the end of the third nozzle body and the inner circumferential surface of the bottom end of the fourth water guide channel;

[0037] The third push rod includes a mining PE outer pipe, a fourth high-pressure water injection pipe, a connector, a compression sleeve, an intrinsically safe cable, and an MWD wired measurement while drilling device. The fourth high-pressure water injection pipe, the intrinsically safe cable, and the MWD wired measurement while drilling device are axially fixed to the inside of the mining PE outer pipe through the compression sleeve. One end of the intrinsically safe cable is connected to the intrinsically safe wire on the electric push rod limiter, and the other end is connected to the MWD wired measurement while drilling device. The MWD wired measurement while drilling device is connected to the trajectory monitoring and control system through the intrinsically safe cable. The trajectory monitoring and control system provides real-time power supply and real-time communication for the MWD wired measurement while drilling device and the electric push rod limiter. The drilling trajectory information is obtained in real time through real-time communication with the MWD wired measurement while drilling device. The electric push rod limiter is controlled to switch between the two states of closing and opening through real-time communication with the electric push rod limiter.

[0038] The front end of the fourth high-pressure water injection pipe is connected to the end of the fourth water guide channel through a threaded manner. The front end of the mining PE outer pipe is provided with a connector, and the connector is connected to the end of the third nozzle body through a threaded manner. The end of the fourth high-pressure water injection pipe is connected to the pump truck.

[0039] The sixth technical solution:

[0040] Unlike the fifth technical solution, the third push rod also includes a stepper motor, a motor driving gear, a driven gear on the inner wall of the connector, and an inner bearing of the connector. The stepper motor is fixed to the inside of the mining PE outer pipe via a compression sleeve. A driven gear on the inner wall of the connector is provided inside the connector. The motor driving gear of the stepper motor meshes with the driven gear on the inner wall of the connector. The connector is rotatably mounted on the outside of the mining PE outer pipe via the inner bearing of the connector. The stepper motor controls the rotation of the connector, thereby driving the rotation of the third directional sprinkler. The trajectory monitoring and control system acquires drilling trajectory information in real time through real-time communication with the MWD wired measurement while drilling device. The trajectory monitoring and control system communicates in real time with the stepper motor and the electric push rod limiter, respectively controlling the switching between the two states of the electric push rod limiter and the rotation of the stepper motor.

[0041] A seventh technical solution: a hydraulic directional drilling method, implemented using the hydraulic directional drilling device of the fifth technical solution, specifically comprising the following steps:

[0042] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional sprinkler and the third push rod, start the straight pipe pusher and coiler, and use the straight pipe pusher to straighten the third push rod and send it to the bottom of the borehole before stopping the push;

[0043] Step 2: Connect the fourth high-pressure water injection pipe to the pump truck; connect the intrinsically safe cable to the trajectory monitoring and control system, and set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal, and then jet through the fifth backward nozzle to discharge the slag. After the oblique jet drilling is formed, stop the pump truck;

[0044] Step 3: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler;

[0045] Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck;

[0046] Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system communicates with the MWD wired measurement while drilling device in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle jet is completed to break the coal and create an oblique direction; the straight pipe pusher and the coiler are turned on to push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is bent and, with the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole, and the straight pipe pusher and the coiler are stopped;

[0047] Step six: Set the power supply of the electric push rod limiter to the on state through the trajectory monitoring and control system, and the electric push rod is retracted; turn on the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the sixth jet cavity to the third axial nozzle jet to break the coal, and the slag is discharged through the sixth backward nozzle jet to form the axial jet drilling. After that, the straight pipe pusher is turned on to continue pushing the third push rod and the third directional nozzle to hydraulically drill along the axial jet drilling.

[0048] Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reel-in mode, and use the straight pipe pusher and coiler to retract the third push rod and the third directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

[0049] An eighth technical solution: A hydraulic directional drilling method, implemented using the hydraulic directional drilling device of the sixth technical solution, specifically comprising the following steps:

[0050] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional sprinkler and the third push rod, start the straight pipe pusher and coiler, and use the straight pipe pusher to straighten the third push rod and send it to the bottom of the borehole before stopping the push;

[0051] Step 2: Connect the fourth high-pressure water injection pipe to the pump truck; connect the intrinsically safe cable to the trajectory monitoring and control system; set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle for jet breaking of coal, and the fifth rear nozzle for jet discharge of slag. After the oblique jet drilling is formed, stop the pump truck;

[0052] Step 3: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler;

[0053] Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck;

[0054] Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system communicates with the MWD wired measurement while drilling device in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle jet is completed to break the coal and create an oblique direction; the straight pipe pusher and the coiler are turned on to push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is bent and, with the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole, and the straight pipe pusher and the coiler are stopped;

[0055] Step six: Set the power supply of the electric push rod limiter to the on state through the trajectory monitoring and control system, and the electric push rod is retracted; turn on the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the sixth jet cavity to the third axial nozzle jet to break the coal, and the slag is discharged through the sixth backward nozzle jet to form the axial jet drilling. After that, the straight pipe pusher is turned on to continue pushing the third push rod and the third directional nozzle to hydraulically drill along the axial jet drilling.

[0056] Step 7: When the drilling direction needs to be changed, stop the straight pipe pusher, coiled pipe machine, and pump truck, and control the stepper motor to rotate through the trajectory monitoring and control system. The motor driving gear drives the driven gear on the inner wall of the connector, driving the connector to rotate, and then driving the third directional nozzle to rotate; when the jet direction of the third oblique nozzle is consistent with the designed oblique drilling direction, stop the stepper motor;

[0057] Step 8: Set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle for jetting to break the coal, and then jets through the fifth backward nozzle for slag removal. After the oblique jet drilling is formed, stop the pump truck;

[0058] Step 9: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler;

[0059] Step 10: Repeat steps 7, 8, and 9. After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the third push rod and the third directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] The present invention adopts a directional nozzle with switchable injection state, a push rod that can push continuously and has large flexibility, and a straight pipe pusher, a coil machine, a pump truck, a trajectory drilling monitoring system and other system devices to perform hydraulic directional drilling along the small radius of the coal body. Compared with the radial rotation hydraulic jet drilling technology, the present invention adopts a remote-controlled jet nozzle coal seam deflection drilling method, which provides a larger rotation space for the directional nozzle and the push rod, and has the advantages of small propulsion resistance, large hole size, simple process and low cost. Compared with the horizontal well directional drilling technology, the push rod of the present invention has better flexibility, a small rotation radius, a simple process and low cost. Compared with a hydraulic deflection directional drilling device and method provided by a prior patent application (patent number CN202110780143.9), the present invention has the advantages of no need to repeatedly stop the pump and add drill rods, easy control of the nozzle deflection and drilling state, and high stability. The present invention is particularly suitable for small-radius rotary directional drilling to increase permeability and eliminate sudden changes in small-area coal seams. Compared with conventional permeability-increasing measures such as hydraulic punching, it can significantly increase the exposed area of ​​a single-hole coal body and the permeability-increasing range. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a schematic structural diagram of a hydraulic directional drilling device according to a first embodiment of the present invention;

[0063] Figure 2 Schematic diagram of the internal structure of the first directional sprinkler in the first state;

[0064] Figure 3 Schematic diagram of the internal structure of the first directional sprinkler in the second state;

[0065] Figure 4 Schematic diagram of the external structure of the first directional nozzle;

[0066] Figure 5 This is a schematic structural diagram of the first oblique nozzle and the first axial nozzle at the top of the first directional nozzle located on both sides of the first guide arc surface;

[0067] Figure 6 A schematic diagram of an oblique jet drilling method for a hydraulic directional drilling method according to a second embodiment of the present invention;

[0068] Figure 7 A schematic diagram of axial jet drilling in a hydraulic directional drilling method according to a second embodiment of the present invention;

[0069] Figure 8 Schematic diagram of the structure of the first push rod;

[0070] Figure 9 This is a schematic structural diagram of a hydraulic directional drilling device according to a third embodiment of the present invention;

[0071] Figure 10 Schematic diagram of the internal structure of the second directional sprinkler in the first state;

[0072] Figure 11 Schematic diagram of the internal structure of the second directional sprinkler in the second state;

[0073] Figure 12 Schematic diagram of the structure of the second push rod;

[0074] Figure 13 This is a schematic structural diagram of a hydraulic directional drilling device according to a fifth embodiment of the present invention;

[0075] Figure 14 Schematic diagram of the internal structure of the third directional sprinkler in the first state;

[0076] Figure 15 Schematic diagram of the internal structure of the third directional sprinkler in the second state;

[0077] Figure 16 This is a schematic structural diagram of the third push rod of Example 5;

[0078] Figure 17 This is a schematic structural diagram of the third push rod of Example 7;

[0079] Figure 18 Schematic diagram of hydraulic drilling along the axial jet drilling path in the hydraulic directional drilling method of Example 8;

[0080] Figure 19 This is a schematic diagram of changing the drilling direction in the hydraulic directional drilling method of Example 8.

[0081] In the figure: 1. First directional nozzle, 101. First guide arc surface, 102. First oblique nozzle, 103. First jet cavity, 104. First backward nozzle, 105. First axial nozzle, 106. Second jet cavity, 107. Second backward nozzle, 2. First push rod, 201. Mining PE outer pipe, 202. First high-pressure water injection pipe, 203. Second high-pressure water injection pipe, 204. Connector, 205. Compression sleeve, 3. Drilling, 301. Oblique jet drilling, 302. Axial jet drilling, 4. Straight pipe pusher, 5. Coiler, 6. Three-way valve, 7. Pump truck, 8. Trajectory monitoring and control system;

[0082] 10. Second directional nozzle, 1001. Second guide arc surface, 1002. Second oblique nozzle, 1003. Third jet cavity, 1004. Third backward nozzle, 1005. Second axial nozzle, 1006. Fourth jet cavity, 1007. Fourth backward nozzle, 10031. Second water guide channel, 10061. Third water guide channel, 111. Water guide piston, 112. Water inlet of water guide piston, 113. Water outlet of first water guide piston, 114. Water outlet of second water guide piston, 115. Disc spring, 116. First water guide channel, 20. Second push rod, 2001. Third high-pressure water injection pipe;

[0083] 30. Third directional sprinkler, 3001. Third guide arc surface, 3002. Third oblique nozzle, 3003. Fifth jet cavity, 3004. Fifth backward nozzle, 3005. Third axial nozzle, 3006. Sixth jet cavity, 3007. Sixth backward nozzle, 3008. Fourth water guide channel, 30031. Fifth water guide channel, 30061. Sixth water guide channel, 121. Electric push rod limiter, 122. Intrinsically safe wire, 123. Electric push rod, 124. Return spring, 125. Limit slot, 40. Third push rod, 4001. Fourth high-pressure water injection pipe, 4002. Intrinsically safe cable, 4003. MWD wired measurement while drilling device, 4004. Stepper motor, 4005. Motor driving gear, 4006. Driven gear on the inner wall of the connector, 4007. Bearing inside the connector. DETAILED DESCRIPTION

[0084] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0085] Example 1

[0086] See also Figure 1 A hydraulic directional drilling device includes a first directional nozzle 1, a first push rod 2, a straight pipe pusher 4, a coiler 5, a three-way valve 6, and a pump truck 7; the end of the first directional nozzle 1 is connected to the first push rod 2, the straight pipe pusher 4 is used to push the first push rod 2, the coiler 5 is used to coil the first push rod 2, and the end of the first push rod 2 is connected to the pump truck 7 via the three-way valve 6;

[0087] Reference Figure 2-Figure 5The first directional nozzle 1 includes a first nozzle body, the front end of the first nozzle body is a first guide arc surface 101, a first jet cavity 103 and a second jet cavity 106 are vertically opened inside the first nozzle body, and two first oblique nozzles 102 for hydraulic deflection are symmetrically arranged at the front end of the first jet cavity 103. The two first oblique nozzles 102 extend out of the top of the first nozzle body and are located on both sides of the first guide arc surface 101. A first backward nozzle 104 facing the rear end of the first nozzle body is respectively provided on both sides of the first jet cavity 103. (The first backward nozzle 104 extends outward from the first nozzle body), the two first backward nozzles 104 are used for punching and slag removal, two first axial nozzles 105 are symmetrically provided at the front end of the second jet cavity 106, the two first axial nozzles 105 respectively extend outward from the first nozzle body and are located on both sides of the first nozzle body for axial hydraulic drilling, and a second backward nozzle 107 is provided on each side of the first jet cavity 103 towards the rear end of the first nozzle body (the second backward nozzle 107 extends outward from the first nozzle body); the two second backward nozzles 107 are also used for punching and slag removal;

[0088] Internal threads are respectively provided on the inner peripheral surface of the terminal end of the first nozzle body, the inner peripheral surface of the terminal end of the first jet cavity 103 and the inner peripheral surface of the terminal end of the second jet cavity 106;

[0089] Reference Figure 8 The first push rod 2 includes a mining PE outer tube 201, a first high-pressure water injection pipe 202, a second high-pressure water injection pipe 203, a connector 204 and a compression sleeve 205. The first high-pressure water injection pipe 202 and the second high-pressure water injection pipe 203 are fixed to the inside of the mining PE outer tube 201 along the axial direction through the compression sleeve 205. The front ends of the first high-pressure water injection pipe 202 and the second high-pressure water injection pipe 203 are respectively connected to the ends of the first jet cavity 103 and the second jet cavity 106 by a threaded manner. A connector 204 is provided at the front end of the mining PE outer tube 201, and the connector 204 is connected to the end of the first nozzle body by a threaded manner. The ends of the first high-pressure water injection pipe 202 and the second high-pressure water injection pipe 203 are respectively connected to the three-way valve 6 by a threaded manner.

[0090] The mining PE outer pipe 201 can be replaced by other polyethylene pipes, elastic drill rods (elastic drill rods in CN113266281A) or continuous metal pipes.

[0091] The three-way valve 6 has two states. In the first state, the first high-pressure water injection pipe 202 is connected to the pump truck 7. In the second state, the second high-pressure water injection pipe 203 is connected to the pump truck 7.

[0092] The straight pipe pusher 4 and the coiler 5 are existing devices.

[0093] Example 2

[0094] A hydraulic directional drilling method is provided, which is implemented using the hydraulic directional drilling device in the first embodiment, and specifically includes the following steps:

[0095] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the first directional sprinkler 1 and the first push rod 2, and use the straight pipe pusher 4 to straighten the first push rod 2 and send it to the bottom of the drill hole before stopping the push;

[0096] Step 2: Connect the first high-pressure water injection pipe 202 and the second high-pressure water injection pipe 203 to the pump truck 7 through the three-way valve 6; adjust the three-way valve 6 to the first state and start the pump truck 7; high-pressure water flows from the pump truck 7 to the three-way valve 6, the first high-pressure water injection pipe 202, the first jet cavity 103, and the first oblique nozzle 102 to break the coal, and then passes through the first backward nozzle 104 to remove slag. After the oblique jet drilling hole 301 is formed, stop the pump truck 7;

[0097] Step 3: If Figure 6 As shown, the straight pipe pusher 4 and the coiler 5 are turned on to push the first push rod 2 and the first directional nozzle 1. Under the reaction force of the coal wall, the first push rod 2 is slightly deflected. Under the auxiliary guidance of the first guide arc surface 101, the first push rod 2 and the first directional nozzle 1 are pushed to the bottom of the oblique jet drilling hole 301. The straight pipe pusher 4 and the coiler 5 are stopped.

[0098] Step 4: Turn on the pump truck 7. High-pressure water flows from the pump truck 7 to the three-way valve 6, the first high-pressure water injection pipe 202, the first jet cavity 103, and the first oblique nozzle 102 to break the coal. After the oblique jet drilling hole 301 is formed, stop the pump truck 7.

[0099] Step 5: Repeat steps 3 and 4 to complete the coal breaking and oblique formation by the jet of the first oblique nozzle 102; start the straight pipe pusher 4 and the coiler 5, push the first push rod 2 and the first directional nozzle 1, and under the action of the reaction force of the coal wall, the first push rod 2 is bent and, under the auxiliary guidance of the first guide arc surface 101, push the first push rod 2 and the first directional nozzle 1 to the bottom of the oblique jet drilling hole 301, and stop the straight pipe pusher 4 and the coiler 5;

[0100] Step 6: If Figure 7 As shown, the three-way valve 6 is adjusted to the second state, and high-pressure water flows from the pump truck 7 to the three-way valve 6, the second high-pressure water injection pipe 203, the second jet cavity 106 to the first axial nozzle 105 for jet breaking the coal, and is jetted through the second backward nozzle 107 for slag removal. After the axial jet drilling hole 302 is formed, the straight pipe pusher 4 and the coil machine 5 are turned on to continue pushing the first push rod 2 and the first directional nozzle 1 to hydraulically drill along the axial jet drilling hole 302.

[0101] Step 7: After drilling is completed, stop the pump truck 7, adjust the straight pipe pusher 4 to the reversing mode, adjust the coiler 5 to the winding mode, and use the straight pipe pusher 4 and the coiler 5 to retract the first push rod 2 and the first directional sprinkler 1 to the initial drilling position to complete the hydraulic directional drilling of the designed position.

[0102] Example 3

[0103] Reference Figure 9 A hydraulic directional drilling device includes a second directional nozzle 10, a second push rod 20, a straight pipe pusher 4, a coiler 5, and a pump truck 7; the end of the second directional nozzle 10 is connected to the second push rod 20, the straight pipe pusher 4 is used to push the second push rod 20, the coiler 5 is used to coil the second push rod 20, and the end of the second push rod 20 is connected to the pump truck 7;

[0104] Reference Figure 10-11 The second directional nozzle 10 includes a second nozzle body, the front end of the second nozzle body is a second guide arc surface 1001, and a third jet cavity 1003 and a fourth jet cavity 1006 are vertically opened inside the second nozzle body. Two second oblique nozzles 1002 for hydraulic deflection are symmetrically arranged at the front end of the third jet cavity 1003. The two second oblique nozzles 1002 extend out of the top of the first nozzle body and are located on both sides of the second guide arc surface 1001. On both sides of the third jet cavity 1003, a third backward nozzle 100 is respectively provided facing the rear end of the second nozzle body. 04 (the third backward nozzle 1004 extends outward from the second nozzle body), two third backward nozzles 1004 are used for punching and slag removal, two second axial nozzles 1005 are symmetrically provided at the front end of the fourth jet cavity 1006, the two second axial nozzles 1005 respectively extend out of the second nozzle body and are located on both sides of the second nozzle body for axial hydraulic drilling, and fourth backward nozzles 1007 are respectively provided on both sides of the fourth jet cavity 1006 towards the rear end of the second nozzle body (the fourth backward nozzle 1007 extends outward from the second nozzle body); the two fourth backward nozzles 1007 are also used for punching and slag removal;

[0105] A first water guide channel 116 is provided at the center of the inner bottom of the second nozzle body. The bottom end of the third jet cavity 1003 is connected to the first water guide channel 116 through the second water guide channel 10031. The fourth jet cavity 1006 is connected to the first water guide channel 116 through the third water guide channel 10061. A water guide piston 111 is provided at the bottom end of the first water guide channel 116. A disc spring 115 is provided above the water guide piston 111. The water guide piston 111 can be opened and closed at the bottom of the first water guide channel 116. The second nozzle body slides up and down in the water channel 116. A water guide hole is provided in the vertical direction at the center of the water guide piston 111. The bottom end of the water guide hole is the water inlet 112 of the water guide piston. A first water guide piston outlet 113 for communicating with the first water guide channel 116 and a second water guide piston outlet 114 for communicating with the second water guide channel 10031 are provided on the outside of the water guide hole. Internal threads are provided on the inner circumference of the end of the second nozzle body and the inner circumference of the bottom end of the first water guide channel 116 respectively.

[0106] Reference Figure 12 The second push rod 20 includes a mining PE outer tube 201, a third high-pressure water injection pipe 2001, a connector 204 and a compression sleeve 205. The third high-pressure water injection pipe 2001 is fixed to the inside of the mining PE outer tube 201 along the axial direction through the compression sleeve 205. The front end of the third high-pressure water injection pipe 2001 is connected to the end of the first water guide channel 116 by a threaded manner. The front end of the mining PE outer tube 201 is provided with a connector 204, and the connector 204 is connected to the end of the second nozzle body by a threaded manner. The end of the third high-pressure water injection pipe 2001 is connected to the pump truck 7.

[0107] The second directional nozzle 10 has two states. When the water pressure is less than the M value, the movement of the water-guiding piston 111 compressing the disc spring 115 is less than the L value, and it is in the first state: the second oblique nozzle 1002 and the third backward nozzle 1004 are connected to the third jet cavity 1003, the third jet cavity 1003 is connected to the first water-guiding piston water outlet 113, the first water-guiding piston water outlet 113 is connected to the third high-pressure water injection pipe 2001 through the first water-guiding channel 116, and the third high-pressure water injection pipe 2001 is connected to the pump truck 7; when the water pressure is less than the M value, the water-guiding piston 111 compresses the disc spring 115 less than the L value, and it is in the first state: the second oblique nozzle 1002 and the third backward nozzle 1004 are connected to the third jet cavity 1003, the third jet cavity 1003 is connected to the first water-guiding piston water outlet 113, the first water-guiding piston water outlet 113 is connected to the third high-pressure water injection pipe 2001 through the first water-guiding channel 116, and the third high-pressure water injection pipe 2001 is connected to the pump truck 7; When it is greater than or equal to the M value, under the action of high-pressure water, the movement of the water-guiding piston 111 compressing the disc spring 115 is greater than or equal to the L value, and the second directional nozzle 10 switches to the second state: the second axial nozzle 1005 and the fourth backward nozzle 1007 are connected to the fourth jet cavity 1006, the fourth jet cavity 1006 is connected to the second water-guiding piston water outlet 114, the second water-guiding piston water outlet 114 is connected to the third high-pressure water injection pipe 2001 through the first water-guiding channel 116, and the third high-pressure water injection pipe 2001 is connected to the pump truck 7.

[0108] Among them, the second push rod 20 can be replaced by a continuous metal tube or an elastic drill rod (the elastic drill rod in CN113266281A); one end of the continuous metal tube or elastic drill rod is fixedly connected to the second directional nozzle 10, and then connected to the first water guide channel 116, and the other end is connected to the pump truck 7.

[0109] Example 4

[0110] A hydraulic directional drilling method is implemented using the hydraulic directional drilling device of the third embodiment, and specifically includes the following steps:

[0111] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the second directional sprinkler 10 and the second push rod 20, start the straight pipe pusher 4 and the coiled pipe machine 5, straighten the second push rod 20 and push it to the bottom of the drill hole, then stop pushing;

[0112] Step 2: Connect the third high-pressure water injection pipe 2001 to the pump truck 7; control the water injection pressure of the pump truck 7 to be less than the M value, and start the pump truck 7; high-pressure water flows from the pump truck 7 to the third high-pressure water injection pipe 2001, the first water guide channel 116, the water guide piston water inlet 112, the first water guide piston water outlet 113, the third jet cavity 1003, and the second oblique nozzle 1002 to break the coal, and then passes through the third backward nozzle 1004 to remove slag. After the oblique jet drilling hole 301 is formed, stop the pump truck 7;

[0113] Step 3: Start the straight pipe pusher 4 and the coiler 5, push the second push rod 20 and the second directional nozzle 10. Under the reaction force of the coal wall, the second push rod 20 is slightly deflected. Under the auxiliary guidance of the second guide arc surface 1001, the second push rod 20 and the second directional nozzle 10 are pushed to the bottom of the oblique jet drilling hole 301. Stop the straight pipe pusher 4 and the coiler 5.

[0114] Step 4: Start the pump truck 7. High-pressure water flows from the pump truck 7 to the third high-pressure water injection pipe 2001, the first water guide channel 116, the water guide piston water inlet 112, the first water guide piston water outlet 113, the third jet cavity 1003, and the second oblique nozzle 1002 to break the coal. After the oblique jet drilling hole 301 is formed, stop the pump truck 7.

[0115] Step 5: Repeat steps 3 and 4 to complete the coal breaking and deflection by the jet of the second oblique nozzle 1002; start the straight pipe pusher 4 and the coiler 5, push the second push rod 20 and the second directional nozzle 10, and under the action of the reaction force of the coal wall, the second push rod 20 is bent and, with the auxiliary guidance of the second guide arc surface 1001, push the second push rod 20 and the second directional nozzle 10 to the bottom of the oblique jet drilling hole 301, and stop the straight pipe pusher 4 and the coiler 5;

[0116] Step 6: Start the pump truck 7 and adjust the water injection pressure of the pump truck 7 to be no less than the M value. The high-pressure water flows from the pump truck 7 to the third high-pressure water injection pipe 2001, the first water guide channel 116, the water guide piston water inlet 112, the second water guide piston water outlet 114, the fourth jet cavity 1006, and the second axial nozzle 1005 to break the coal by jet, and then passes through the fourth backward nozzle 1007 to discharge the slag by jet. After the axial jet drilling hole 302 is formed, the straight pipe pusher 4 and the coiled pipe machine 5 are started to continue pushing the second push rod 20 and the second directional nozzle 10 to hydraulically drill along the axial jet drilling hole 302;

[0117] Step 7: After drilling is completed, stop the pump truck 7, adjust the straight pipe pusher 4 to the reversing mode, adjust the coiler 5 to the winding mode, and use the straight pipe pusher 4 and the coiler 5 to retract the second push rod 20 and the second directional nozzle 10 to the initial drilling position to complete the hydraulic directional drilling of the designed position.

[0118] Example 5

[0119] Reference Figure 13 A hydraulic directional drilling device includes a third directional nozzle 30, a third push rod 40, a straight pipe pusher 4, a coiler 5, a pump truck 7, and a trajectory monitoring and control system 8; the end of the third directional nozzle 30 is connected to the third push rod 40, the straight pipe pusher 4 is used to push the third push rod 40, the coiler 5 is used to coil the third push rod 40, and the end of the third push rod 40 is connected to the pump truck 7, which is provided with a trajectory monitoring and control system 8;

[0120] Reference Figure 14-15 The third directional nozzle 30 includes a third nozzle body, the front end of the third nozzle body is a third guide arc surface 3001, and a fifth jet cavity 3003 and a sixth jet cavity 3006 are opened in the vertical direction inside the third nozzle body. Two third oblique nozzles 3002 for hydraulic deflection are symmetrically provided at the front end of the fifth jet cavity 3003, and a fifth backward nozzle 3004 facing the rear end of the third nozzle body is provided on both sides of the fifth jet cavity 3003. The two fifth backward nozzles 3004 are used for punching and slag removal. Two third axial nozzles 3005 are symmetrically provided at the front end of the sixth jet cavity 3006 for axial hydraulic drilling. A sixth backward nozzle 3007 facing the rear end of the third nozzle body is provided on both sides of the sixth jet cavity 3006; the two sixth backward nozzles 3007 are also used for punching and slag removal.

[0121] A fourth water channel 3008 is provided at the center of the inner bottom of the third nozzle body. The bottom end of the fifth jet cavity 3003 is connected to the fourth water channel 3008 via a fifth water channel 30031. The bottom end of the sixth jet cavity 3006 is connected to the fourth water channel 3008 via a sixth water channel 30061. A water guide piston 111 is provided at the bottom end of the fourth water channel 3008. A return spring 124 is provided above the water guide piston 111. The water guide piston 111 can slide up and down in the fourth water channel 3008. A water guide hole is provided vertically at the center of the water guide piston 111. The bottom end of the water guide hole is a water guide piston water inlet 112. A first water guide piston water outlet 113 for communicating with the fifth water channel 30031 and a second water guide piston water outlet 114 for communicating with the sixth water channel 30061 are provided on the outside of the water guide hole.

[0122] A limit slot 125 is provided at the position of the water guide piston 111 below the water outlet 113 of the first water guide piston. An electric push rod 123 and an electric push rod stopper 121 are installed in the third nozzle body. The electric push rod stopper 121 is connected to the third push rod 40 via an intrinsically safe line 122. When the electric push rod stopper 121 is closed, the electric push rod 123 is in an extended state, and the water guide piston 111 is fixed by the electric push rod 123 of the electric push rod stopper 121 and the limit slot 125.

[0123] When the electric push rod limiter 121 is opened, the electric push rod 123 is in a retracted state, the electric push rod 123 of the electric push rod limiter 121 is disengaged from the limiting slot 125, and the water guide piston 111 can slide axially along the fourth water guide channel 3008;

[0124] Internal threads are respectively provided on the inner circumference of the end of the third nozzle body and the inner circumference of the bottom end of the fourth water guide channel 3008;

[0125] Reference Figure 16The third push rod 40 includes a mining PE outer tube 201, a fourth high-pressure water injection pipe 4001, a connector 204, a compression sleeve 205, an intrinsically safe cable 4002, and an MWD wired drilling measurement device 4003. The fourth high-pressure water injection pipe 4001, the intrinsically safe cable 4002 and the MWD wired drilling measurement device 4003 are fixed axially to the inside of the mining PE outer tube 201 through the compression sleeve 205. One end of the intrinsically safe cable 4002 is connected to the intrinsically safe line 122 on the electric push rod limiter 121, and the other end is connected to the MWD wired drilling measurement device 4003. The MWD wired measurement while drilling device 4003 is connected to the track monitoring and control system 8 via the intrinsically safe cable 4002. The track monitoring and control system 8 provides real-time power supply and communication for the MWD wired measurement while drilling device 4003 and the electric push rod limiter 121. The real-time communication with the MWD wired measurement while drilling device 4003 obtains the drilling trajectory information in real time. The real-time communication with the electric push rod limiter 121 controls the switching between the closed and open states of the electric push rod limiter 121.

[0126] The front end of the fourth high-pressure water injection pipe 4001 is connected to the end of the fourth water guide channel 3008 through a threaded manner. The front end of the mining PE outer pipe 201 is provided with a connector 204. The connector 204 is connected to the end of the third nozzle body through a threaded manner. The end of the fourth high-pressure water injection pipe 4001 is connected to the pump truck 7.

[0127] The third directional nozzle 30 has two states. When the electric push rod limiter 121 is closed, it is in the first state: the third oblique nozzle 3002 and the fifth backward nozzle 3004 are connected to the fifth jet cavity 3003, the fifth jet cavity 3003 is connected to the first water guide piston water outlet 113, the first water guide piston water outlet 113 is connected to the fourth high-pressure water injection pipe 4001 through the fourth water guide channel 3008, and the fourth high-pressure water injection pipe 4001 is connected to the pump truck 7. When the electric push rod limiter 121 is opened, under the action of high-pressure water, the water-guiding piston 111 moves (the thrust of the return spring 124 is much smaller than the force of the high-pressure water on the water-guiding piston 111), and the third directional nozzle 30 switches to the second state: the third axial nozzle 3005 and the sixth backward nozzle 3007 are connected to the sixth jet cavity 3006, the sixth jet cavity 3006 is connected to the second water-guiding piston water outlet 114, the second water-guiding piston water outlet 114 is connected to the fourth high-pressure water injection pipe 4001 through the fourth water guide channel 3008, and the fourth high-pressure water injection pipe 4001 is connected to the pump truck 7.

[0128] The MWD wired measurement while drilling device 4003 can be replaced by an MWD wireless measurement while drilling device, which uses a built-in battery pack to power the measurement while drilling device and the electric push rod limiter 121 and communicates wirelessly with the trajectory monitoring and control system 8.

[0129] Example 6

[0130] A hydraulic directional drilling method, using the hydraulic directional drilling device of the fifth embodiment, specifically comprises the following steps:

[0131] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional nozzle 30 and the third push rod 40, start the straight pipe pusher 4 and the coiled pipe machine 5, and use the straight pipe pusher 4 to straighten the third push rod 40 and send it to the bottom of the drill hole, then stop pushing;

[0132] Step 2: Connect the fourth high-pressure water injection pipe 4001 to the pump truck 7; connect the intrinsically safe cable 4002 to the trajectory monitoring and control system 8, and set the power supply of the electric push rod limiter 121 to the off state through the trajectory monitoring and control system 8; start the pump truck 7, and high-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the first water guide piston water outlet 113, the fifth jet cavity 3003, and the third oblique nozzle 3002 to jet and break the coal, and then jet through the fifth backward nozzle 3004 to discharge slag. After the oblique jet drilling hole 301 is formed, stop the pump truck 7;

[0133] Step 3: Start the straight pipe pusher 4 and the coiler 5, push the third push rod 40 and the third directional nozzle 30. Under the reaction force of the coal wall, the third push rod 40 is slightly deflected. Under the auxiliary guidance of the third guide arc surface 3001, the third push rod 40 and the third directional nozzle 30 are pushed to the bottom of the oblique jet drilling hole 301. Stop the straight pipe pusher 4 and the coiler 5.

[0134] Step 4: Start the pump truck 7. High-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the first water guide piston water outlet 113, the fifth jet cavity 3003, and the third oblique nozzle 3002 to break the coal. After the oblique jet drilling hole 301 is formed, stop the pump truck 7.

[0135] Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system 8 communicates with the MWD wired measurement while drilling device 4003 in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle 3002 jets the coal to create an oblique direction. The straight pipe pusher 4 and the coiler 5 are turned on to push the third push rod 40 and the third directional nozzle 30. Under the reaction force of the coal wall, the third push rod 40 bends and, under the auxiliary guidance of the third guide arc surface 3001, pushes the third push rod 40 and the third directional nozzle 30 to the bottom of the oblique jet drilling hole 301. The straight pipe pusher 4 and the coiler 5 are stopped.

[0136] Step 6: The electric push rod limiter 121 is set to the on state through the trajectory monitoring and control system 8, and the electric push rod 123 is retracted; the pump truck 7 is turned on, and high-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the second water guide piston water outlet 114, the sixth jet cavity 3006, and the third axial nozzle 3005 for jet breaking of coal, and the sixth backward nozzle 3007 is used for jet discharge of slag. After the axial jet drilling hole 302 is formed, the straight pipe pusher 4 is turned on to continue pushing the third push rod 40 and the third directional nozzle 30 to hydraulically drill along the axial jet drilling hole 302;

[0137] Step 7: After drilling is completed, stop the pump truck 7, adjust the straight pipe pusher 4 to the reversing mode, adjust the coiler 5 to the winding mode, and use the straight pipe pusher 4 and the coiler 5 to retract the third push rod 40 and the third directional nozzle 30 to the initial drilling position to complete the hydraulic directional drilling of the designed position.

[0138] Example 7

[0139] A hydraulic directional drilling device, which differs from the fifth embodiment in that:

[0140] Reference Figure 17 The third push rod 40 also includes a stepper motor 4004, a motor driving gear 4005, a driven gear 4006 on the inner wall of the connector, and a bearing 4007 inside the connector. The stepper motor 4004 is fixed to the inside of the mining PE outer pipe 201 through a compression sleeve 205. A driven gear 4006 on the inner wall of the connector is provided inside the connector 204. The motor driving gear 4005 of the stepper motor 4004 is meshed with the driven gear 4006 on the inner wall of the connector. The connector 204 is fixed to the inside of the mining PE outer pipe 201 through a compression sleeve 205. A driven gear 4006 on the inner wall of the connector is provided inside the connector 204. 07 is rotatably installed on the outside of the mining PE outer pipe 201; the stepper motor 4004 can control the rotation of the connecting head 204, thereby driving the third directional nozzle 30 to rotate, and the trajectory monitoring and control system 8 communicates with the MWD wired downhole measurement device 4003 in real time to obtain drilling trajectory information in real time. The trajectory monitoring and control system 8 communicates with the stepper motor 4004 and the electric push rod limiter 121 in real time to control the switching of the two states of the electric push rod limiter 121 and the rotation of the stepper motor 4004 respectively.

[0141] The MWD wired measurement while drilling device 4003 can be replaced by an MWD wireless measurement while drilling device, which uses a built-in battery pack to power the measurement while drilling device and the electric push rod limiter 121 and wirelessly communicates with the trajectory monitoring and control system 8;

[0142] Example 8

[0143] A hydraulic directional drilling method, using the hydraulic directional drilling device of the seventh embodiment, specifically comprises the following steps:

[0144] Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional nozzle 30 and the third push rod 40, start the straight pipe pusher 4 and the coiled pipe machine 5, and use the straight pipe pusher 4 to straighten the third push rod 40 and send it to the bottom of the drill hole, then stop pushing;

[0145] Step 2: Connect the fourth high-pressure water injection pipe 4001 to the pump truck 7; connect the intrinsically safe cable 4002 to the trajectory monitoring and control system 8; set the power supply of the electric push rod limiter 121 to the off state through the trajectory monitoring and control system 8; start the pump truck 7, and high-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the first water guide piston water outlet 113, the fifth jet cavity 3003, and the third oblique nozzle 3002 to jet and break the coal, and then jet through the fifth backward nozzle 3004 to discharge the slag. After the oblique jet drilling hole 301 is formed, stop the pump truck 7;

[0146] Step 3: Start the straight pipe pusher 4 and the coiler 5, push the third push rod 40 and the third directional nozzle 30. Under the reaction force of the coal wall, the third push rod 40 is slightly deflected. Under the auxiliary guidance of the third guide arc surface 3001, the third push rod 40 and the third directional nozzle 30 are pushed to the bottom of the oblique jet drilling hole 301. Stop the straight pipe pusher 4 and the coiler 5.

[0147] Step 4: Start the pump truck 7. High-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the first water guide piston water outlet 113, the fifth jet cavity 3003, and the third oblique nozzle 3002 to break the coal. After the oblique jet drilling hole 301 is formed, stop the pump truck 7.

[0148] Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system 8 communicates with the MWD wired measurement while drilling device 4003 in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle 3002 jets the coal to create an oblique direction. The straight pipe pusher 4 and the coiler 5 are turned on to push the third push rod 40 and the third directional nozzle 30. Under the reaction force of the coal wall, the third push rod 40 bends and, under the auxiliary guidance of the third guide arc surface 3001, pushes the third push rod 40 and the third directional nozzle 30 to the bottom of the oblique jet drilling hole 301. The straight pipe pusher 4 and the coiler 5 are stopped.

[0149] Step 6: Reference Figure 18, the electric push rod limiter 121 is set to the on state through the trajectory monitoring and control system 8, and the electric push rod 123 is retracted; the pump truck 7 is turned on, and high-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the second water guide piston water outlet 114, the sixth jet cavity 3006, and the third axial nozzle 3005 for jet crushing coal, and the sixth backward nozzle 3007 is used for jet discharge to form the axial jet drilling hole 302. After that, the straight pipe pusher 4 is turned on to continue pushing the third push rod 40 and the third directional nozzle 30 to hydraulically drill along the axial jet drilling hole 302;

[0150] Step 7: Reference Figure 19 When the drilling direction needs to be changed, the straight pipe pusher 4, the coiled pipe machine 5 and the pump truck 7 are stopped, and the trajectory monitoring and control system 8 controls the stepper motor 4004 to rotate, and the motor driving gear 4005 drives the driven gear 4006 on the inner wall of the connector to drive the connector 204 to rotate, and then drives the third directional nozzle 30 to rotate; when the jet direction of the third oblique nozzle 3002 is consistent with the designed oblique drilling direction, the stepper motor 4004 is stopped;

[0151] Step 8: The electric push rod limiter 121 is set to the off state through the trajectory monitoring and control system 8; the pump truck 7 is turned on, and high-pressure water flows from the pump truck 7 to the fourth high-pressure water injection pipe 4001, the fourth water guide channel 3008, the water guide piston water inlet 112, the first water guide piston water outlet 113, the fifth jet cavity 3003, and the third oblique nozzle 3002 for jetting to break the coal, and the fifth backward nozzle 3004 for jetting to remove slag. After the oblique jet drilling hole 301 is formed, the pump truck 7 is stopped;

[0152] Step 9: Start the straight pipe pusher 4 and the coiler 5, push the third push rod 40 and the third directional nozzle 30. Under the reaction force of the coal wall, the third push rod 40 is slightly deflected. Under the auxiliary guidance of the third guide arc surface 3001, the third push rod 40 and the third directional nozzle 30 are pushed to the bottom of the oblique jet drilling hole 301. Stop the straight pipe pusher 4 and the coiler 5.

[0153] Step 10: Repeat steps 7, 8, and 9; after drilling is completed, stop the pump truck 7, adjust the straight pipe pusher 4 to the reverse mode, adjust the coiler 5 to the reeling mode, and use the straight pipe pusher 4 and the coiler 5 to retract the third push rod 40 and the third directional nozzle 30 to the initial drilling position to complete the hydraulic directional drilling of the designed position.

[0154] The present invention adopts a directional nozzle with switchable injection state, a push rod that can push continuously and has greater flexibility, and a straight pipe pusher, a coil machine, a pump truck, a trajectory drilling monitoring system and other system devices to perform hydraulic directional drilling along the small radius of the coal body. Compared with the radial rotary hydraulic jet drilling technology, the present invention adopts a remote-controlled jet nozzle coal seam deflection drilling method, which provides a larger rotation space for the directional nozzle and the push rod, and has the advantages of small propulsion resistance, large hole size, simple process and low cost. Compared with the horizontal well directional drilling technology, the push rod of the present invention has better flexibility, a small rotation radius, a simple process and low cost. In addition, compared with a hydraulic deflection directional drilling device and method provided by a prior patent application (patent number CN202110780143.9), the present invention has the advantages of no need to repeatedly stop the pump and add drill rods, easy control of the nozzle deflection and drilling state, and high stability. The present invention is particularly suitable for small-radius rotary directional drilling to increase permeability and eliminate sudden changes in small-area coal seams. Compared with conventional permeability-increasing measures such as hydraulic punching, it can significantly increase the exposed area of ​​a single-hole coal body and the permeability-increasing range.

[0155] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic directional drilling device, characterized in that: It includes a first directional nozzle, a first push rod, a straight pipe pusher, a coiler, a three-way valve and a pump truck; the end of the first directional nozzle is connected to the first push rod, the straight pipe pusher is used to push the first push rod, the coiler is used to coil the first push rod, and the end of the first push rod is connected to the pump truck through the three-way valve; The first directional nozzle includes a first nozzle body, the front end of the first nozzle body is a first guide arc surface, a first jet cavity and a second jet cavity are opened in the vertical direction inside the first nozzle body, two first oblique nozzles are symmetrically provided at the front end of the first jet cavity, and a first backward nozzle facing the rear end of the first nozzle body is provided on both sides of the first jet cavity, and two first axial nozzles are symmetrically provided at the front end of the second jet cavity, and a second backward nozzle facing the rear end of the first nozzle body is provided on both sides of the first jet cavity; Internal threads are respectively provided on the inner circumferential surface of the terminal end of the first nozzle body, the inner circumferential surface of the terminal end of the first jet cavity, and the inner circumferential surface of the terminal end of the second jet cavity.

2. A hydraulic directional drilling device according to claim 1, characterized in that: The first push rod includes a mining PE outer pipe, a first high-pressure water injection pipe, a second high-pressure water injection pipe, a connecting head and a compression sleeve. The first high-pressure water injection pipe and the second high-pressure water injection pipe are fixed axially to the inside of the mining PE outer pipe through a compression sleeve. The front ends of the first high-pressure water injection pipe and the second high-pressure water injection pipe are respectively connected to the ends of the first jet cavity and the second jet cavity by a threaded manner. A connecting head is provided at the front end of the mining PE outer pipe, and the connecting head is connected to the end of the first nozzle body by a threaded manner. The ends of the first high-pressure water injection pipe and the second high-pressure water injection pipe are respectively connected to the three-way valve by a threaded manner.

3. A hydraulic directional drilling device, characterized in that: It includes a second directional nozzle, a second push rod, a straight pipe pusher, a pipe coiler and a pump truck; the end of the second directional nozzle is connected to the second push rod, the straight pipe pusher is used to push the second push rod, the pipe coiler is used to coil the second push rod, and the end of the second push rod is connected to the pump truck; The second directional nozzle includes a second nozzle body, the front end of the second nozzle body is a second guide arc surface, a third jet cavity and a fourth jet cavity are opened in the vertical direction inside the second nozzle body, two second oblique nozzles are symmetrically provided at the front end of the third jet cavity, and a third backward nozzle facing the rear end of the second nozzle body is provided on both sides of the third jet cavity, two second axial nozzles are symmetrically provided at the front end of the fourth jet cavity, and a fourth backward nozzle facing the rear end of the second nozzle body is provided on both sides of the fourth jet cavity; A first water guide channel is provided at the center of the bottom inner portion of the second nozzle body, the bottom end of the third jet cavity is connected to the first water guide channel through the second water guide channel, and the fourth jet cavity is connected to the first water guide channel through the third water guide channel. A water guide piston is provided at the bottom inner portion of the first water guide channel, and a disc spring is provided above the water guide piston. The water guide piston can slide up and down in the first water guide channel. A water guide hole is provided in the vertical direction at the center inner portion of the water guide piston. The bottom end of the water guide hole is a water inlet for the water guide piston. A first water guide piston outlet for communicating with the first water guide channel and a second water guide piston outlet for communicating with the second water guide channel are provided on the outer side of the water guide hole. Internal threads are respectively provided on the inner circumferential surface of the end of the second nozzle body and the inner circumferential surface of the bottom end of the first water guide channel.

4. A hydraulic directional drilling device according to claim 3, characterized in that: The second push rod includes a mining PE outer pipe, a third high-pressure water injection pipe, a connecting head and a compression sleeve. The third high-pressure water injection pipe is fixed axially to the inside of the mining PE outer pipe through a compression sleeve. The front end of the third high-pressure water injection pipe is connected to the end of the first water guide channel by a threaded manner. The front end of the mining PE outer pipe is provided with a connecting head, and the connecting head is connected to the end of the second nozzle body by a threaded manner. The end of the third high-pressure water injection pipe is connected to the pump truck.

5. A hydraulic directional drilling device, characterized in that: It includes a third directional nozzle, a third push rod, a straight pipe pusher, a coiler, a pump truck, and a trajectory monitoring and control system; the end of the third directional nozzle is connected to the third push rod, the straight pipe pusher is used to push the third push rod, the coiler is used to coil the third push rod, the end of the third push rod is connected to the pump truck, and the pump truck is equipped with a trajectory monitoring and control system; The third directional nozzle includes a third nozzle body, the front end of the third nozzle body is a third guide arc surface, a fifth jet cavity and a sixth jet cavity are opened in the vertical direction inside the third nozzle body, two third oblique nozzles are symmetrically provided at the front end of the fifth jet cavity, a fifth backward nozzle facing the rear end of the third nozzle body is provided on both sides of the fifth jet cavity, two third axial nozzles are symmetrically provided at the front end of the sixth jet cavity, and a sixth backward nozzle facing the rear end of the third nozzle body is provided on both sides of the sixth jet cavity; A fourth water guide channel is provided at the center of the inner bottom of the third nozzle body, the bottom end of the fifth jet cavity is connected to the fourth water guide channel through the fifth water guide channel, and the bottom end of the sixth jet cavity is connected to the fourth water guide channel through the sixth water guide channel. A water guide piston is provided at the bottom end of the inner part of the fourth water guide channel, and a return spring is provided above the water guide piston. The water guide piston can slide up and down in the fourth water guide channel. A water guide hole is provided in the vertical direction at the inner center of the water guide piston. The bottom end of the water guide hole is a water inlet for the water guide piston. A first water guide piston outlet for communicating with the fifth water guide channel and a second water guide piston outlet for communicating with the sixth water guide channel are provided on the outer side of the water guide hole. A limit slot is provided at the position of the water guide piston below the water outlet of the first water guide piston. An electric push rod and an electric push rod limiter are installed in the third nozzle body. The electric push rod limiter is connected to the third push rod through an intrinsically safe line. When the electric push rod limiter is closed, the electric push rod is in an extended state, and the water guide piston is fixed to the limit slot through the electric push rod of the electric push rod limiter. When the electric push rod limiter is opened, the electric push rod is in a retracted state, the electric push rod of the electric push rod limiter is disengaged from the limit slot, and the water guide piston can slide axially along the fourth water guide channel; Internal threads are respectively provided on the inner circumferential surface of the end of the third nozzle body and the inner circumferential surface of the bottom end of the fourth water guide channel; The third push rod includes a mining PE outer pipe, a fourth high-pressure water injection pipe, a connector, a compression sleeve, an intrinsically safe cable, and an MWD wired measurement while drilling device. The fourth high-pressure water injection pipe, the intrinsically safe cable, and the MWD wired measurement while drilling device are axially fixed to the inside of the mining PE outer pipe through the compression sleeve. One end of the intrinsically safe cable is connected to the intrinsically safe wire on the electric push rod limiter, and the other end is connected to the MWD wired measurement while drilling device. The MWD wired measurement while drilling device is connected to the trajectory monitoring and control system through the intrinsically safe cable. The trajectory monitoring and control system provides real-time power supply and real-time communication for the MWD wired measurement while drilling device and the electric push rod limiter. The drilling trajectory information is obtained in real time through real-time communication with the MWD wired measurement while drilling device. The electric push rod limiter is controlled to switch between the two states of closing and opening through real-time communication with the electric push rod limiter. The front end of the fourth high-pressure water injection pipe is connected to the end of the fourth water guide channel through a threaded manner. The front end of the mining PE outer pipe is provided with a connector, and the connector is connected to the end of the third nozzle body through a threaded manner. The end of the fourth high-pressure water injection pipe is connected to the pump truck.

6. A hydraulic directional drilling device according to claim 5, characterized in that: The third push rod also includes a stepper motor, a motor driving gear, a driven gear on the inner wall of the connector, and an inner bearing of the connector. The stepper motor is fixed to the inside of the mining PE outer pipe through a compression sleeve, and a driven gear on the inner wall of the connector is provided inside the connector. The motor driving gear of the stepper motor is engaged with the driven gear on the inner wall of the connector. The connector is rotatably installed on the outside of the mining PE outer pipe through the inner bearing of the connector. The stepper motor controls the rotation of the connector, thereby driving the third directional sprinkler to rotate. The trajectory monitoring and control system obtains drilling trajectory information in real time through real-time communication with the MWD wired measurement while drilling device. The trajectory monitoring and control system communicates in real time with the stepper motor and the electric push rod limiter to control the switching of the two states of the electric push rod limiter and the rotation of the stepper motor.

7. A hydraulic directional drilling method, implemented using the hydraulic directional drilling device according to claim 1 or 2, characterized in that: The specific steps include: Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the first directional sprinkler and the first push rod, straighten the first push rod through the straight pipe pusher and send it to the bottom of the drill hole before stopping the push; Step 2: Connect the first and second high-pressure water injection pipes to the pump truck through the three-way valve; adjust the three-way valve to the first state and start the pump truck; high-pressure water flows from the pump truck to the three-way valve, the first high-pressure water injection pipe, the first jet cavity, and the first oblique nozzle to jet and break the coal, and then jet through the first backward nozzle to remove slag. After the oblique jet drilling is formed, stop the pump truck; Step 3: Start the straight pipe pusher and coiler, push the first push rod and the first directional nozzle. Under the reaction force of the coal wall, the first push rod is slightly deflected. Under the auxiliary guidance of the first guide arc surface, the first push rod and the first directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler; Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the three-way valve, the first high-pressure water injection pipe, the first jet cavity, and the first oblique nozzle to break the coal. After the oblique jet drilling is formed, stop the pump truck; Step 5: Repeat steps 3 and 4 to complete the first oblique nozzle jetting to break the coal and create an oblique shape; start the straight pipe pusher and the coiler, push the first push rod and the first directional nozzle, and under the action of the reaction force of the coal wall, the first push rod is bent and, under the auxiliary guidance of the first guide arc surface, push the first push rod and the first directional nozzle to the bottom of the oblique jet drilling hole, and stop the straight pipe pusher and the coiler; Step 6: Adjust the three-way valve to the second state. High-pressure water flows from the pump truck to the three-way valve, the second high-pressure water injection pipe, the second jet cavity, and the first axial nozzle to break the coal. The water then flows through the second backward nozzle to remove slag. After the axial jet drilling is formed, the straight pipe pusher and the coiled pipe machine are turned on to continue pushing the first push rod and the first directional nozzle to hydraulically drill along the axial jet drilling. Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the first push rod and the first directional sprinkler head to the initial drilling position to complete the hydraulic directional drilling at the designed position.

8. A hydraulic directional drilling method, implemented using the hydraulic directional drilling device according to claim 3 or 4, characterized in that: The specific steps include: Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the second directional sprinkler and the second push rod, start the straight pipe pusher and coiler, straighten the second push rod and push it to the bottom of the drill hole, then stop pushing; Step 2: Connect the third high-pressure water injection pipe to the pump truck; control the water injection pressure of the pump truck to be less than the M value, and start the pump truck; high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the third jet cavity, and the second oblique nozzle to jet and break the coal, and then jet through the third backward nozzle to remove slag. After the oblique jet drilling is formed, stop the pump truck; Step 3: Start the straight pipe pusher and coiler, push the second push rod and the second directional nozzle. Under the reaction force of the coal wall, the second push rod is slightly deflected. Under the auxiliary guidance of the second guide arc surface, the second push rod and the second directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler; Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the third jet cavity, and the second oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck; Step 5: Repeat steps 3 and 4 to complete the second oblique nozzle jetting to break the coal and create an oblique shape; start the straight pipe pusher and the coiler, push the second push rod and the second directional nozzle, and under the action of the reaction force of the coal wall, the second push rod is bent and, with the auxiliary guidance of the second guide arc surface, push the second push rod and the second directional nozzle to the bottom of the oblique jet drilling hole, and stop the straight pipe pusher and the coiler; Step 6: Start the pump truck and adjust the water injection pressure of the pump truck to be no less than the M value. The high-pressure water flows from the pump truck to the third high-pressure water injection pipe, the first water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the fourth jet cavity, and the second axial nozzle to jet and break the coal. The slag is discharged through the fourth backward nozzle. After the axial jet drilling is formed, the straight pipe pusher and the coil machine are started to continue to push the second push rod and the second directional nozzle to hydraulically drill along the axial jet drilling; Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the second push rod and the second directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

9. A hydraulic directional drilling method, implemented using the hydraulic directional drilling device according to claim 5, comprising the following steps: Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional sprinkler and the third push rod, start the straight pipe pusher and coiler, and use the straight pipe pusher to straighten the third push rod and send it to the bottom of the borehole before stopping the push; Step 2: Connect the fourth high-pressure water injection pipe to the pump truck; connect the intrinsically safe cable to the trajectory monitoring and control system, and set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal, and then jet through the fifth backward nozzle to discharge the slag. After the oblique jet drilling is formed, stop the pump truck; Step 3: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler; Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck; Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system communicates with the MWD wired measurement while drilling device in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle jet is completed to break the coal and create an oblique direction; the straight pipe pusher and the coiler are turned on to push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is bent and, with the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole, and the straight pipe pusher and the coiler are stopped; Step 6: Set the electric push rod limiter power supply to the on state through the trajectory monitoring and control system, and the electric push rod is retracted; turn on the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the sixth jet cavity, and the third axial nozzle to jet and break the coal, and discharge the slag through the sixth backward nozzle. After the axial jet drilling is formed, turn on the straight pipe pusher to continue pushing the third push rod and the third directional nozzle to hydraulically drill along the axial jet drilling; Step 7: After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reel-in mode, and use the straight pipe pusher and coiler to retract the third push rod and the third directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

10. A hydraulic directional drilling method, implemented using the hydraulic directional drilling device according to claim 6, characterized in that: The specific steps include: Step 1: After drilling to the designed position, remove the drill rod and drill bit; connect the third directional sprinkler and the third push rod, start the straight pipe pusher and coiler, and use the straight pipe pusher to straighten the third push rod and send it to the bottom of the borehole before stopping the push; Step 2: Connect the fourth high-pressure water injection pipe to the pump truck; connect the intrinsically safe cable to the trajectory monitoring and control system; set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle for jet breaking of coal, and the fifth rear nozzle for jet discharge of slag. After the oblique jet drilling is formed, stop the pump truck; Step 3: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler; Step 4: Start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle to jet and break the coal. After the oblique jet drilling is formed, stop the pump truck; Step 5: Repeat steps 3 and 4. At the same time, the trajectory monitoring and control system communicates with the MWD wired measurement while drilling device in real time to obtain drilling trajectory information in real time. When the drilling trajectory meets the designed drilling requirements, the third oblique nozzle jet is completed to break the coal and create an oblique direction; the straight pipe pusher and the coiler are turned on to push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is bent and, with the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole, and the straight pipe pusher and the coiler are stopped; Step 6: Set the electric push rod limiter power supply to the on state through the trajectory monitoring and control system, and the electric push rod is retracted; turn on the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the second water guide piston, the sixth jet cavity, and the third axial nozzle to jet and break the coal, and discharge the slag through the sixth backward nozzle. After the axial jet drilling is formed, turn on the straight pipe pusher to continue pushing the third push rod and the third directional nozzle to hydraulically drill along the axial jet drilling; Step 7: When the drilling direction needs to be changed, the straight pipe pusher, coiled tubing machine, and pump truck are stopped. The trajectory monitoring and control system controls the stepper motor to rotate. The motor driving gear drives the driven gear on the inner wall of the connector, which in turn drives the third directional nozzle to rotate. When the jet direction of the third oblique nozzle is consistent with the designed oblique drilling direction, the stepper motor is stopped. Step 8: Set the power supply of the electric push rod limiter to the off state through the trajectory monitoring and control system; start the pump truck, and high-pressure water flows from the pump truck to the fourth high-pressure water injection pipe, the fourth water guide channel, the water inlet of the water guide piston, the water outlet of the first water guide piston, the fifth jet cavity, and the third oblique nozzle for jetting to break the coal, and then jets through the fifth backward nozzle for slag removal. After the oblique jet drilling is formed, stop the pump truck; Step 9: Start the straight pipe pusher and coiler, push the third push rod and the third directional nozzle. Under the reaction force of the coal wall, the third push rod is slightly deflected. Under the auxiliary guidance of the third guide arc surface, the third push rod and the third directional nozzle are pushed to the bottom of the oblique jet drilling hole. Stop the straight pipe pusher and coiler; Step 10: Repeat steps 7, 8, and 9. After drilling is completed, stop the pump truck, adjust the straight pipe pusher to the reverse mode, adjust the coiler to the reeling mode, and use the straight pipe pusher and coiler to retract the third push rod and the third directional sprinkler to the initial drilling position to complete the hydraulic directional drilling at the designed position.

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